arXiv Papers with Code in Systems and Control (July 2025

Abstract:
NashOpt is an open-source Python library for computing and designing generalized Nash equilibria (GNEs) in noncooperative games with shared constraints and real-valued decision variables. The library exploits the joint Karush-Kuhn-Tucker (KKT) conditions of all players to handle both general nonlinear GNEs and linear-quadratic games, including their variational versions. Nonlinear games are solved via nonlinear least-squares formulations, relying on JAX for automatic differentiation. Linear-quadratic GNEs are reformulated as mixed-integer linear programs, enabling efficient computation of multiple equilibria. The framework also supports inverse-game and Stackelberg game-design problems. The capabilities of NashOpt are demonstrated through several examples, including noncooperative game-theoretic control problems of linear quadratic regulation and model predictive control. The library is available at https://github.com/bemporad/nashopt

Paperid: 2, https://arxiv.org/pdf/2512.19576.pdf GitHub

Abstract:
Attitude control is essential for many satellite missions. Classical controllers, however, are time-consuming to design and sensitive to model uncertainties and variations in operational boundary conditions. Deep Reinforcement Learning (DRL) offers a promising alternative by learning adaptive control strategies through autonomous interaction with a simulation environment. Overcoming the Sim2Real gap, which involves deploying an agent trained in simulation onto the real physical satellite, remains a significant challenge. In this work, we present the first successful in-orbit demonstration of an AI-based attitude controller for inertial pointing maneuvers. The controller was trained entirely in simulation and deployed to the InnoCube 3U nanosatellite, which was developed by the Julius-Maximilians-Universität Würzburg in cooperation with the Technische Universität Berlin, and launched in January 2025. We present the AI agent design, the methodology of the training procedure, the discrepancies between the simulation and the observed behavior of the real satellite, and a comparison of the AI-based attitude controller with the classical PD controller of InnoCube. Steady-state metrics confirm the robust performance of the AI-based controller during repeated in-orbit maneuvers.

Paperid: 3, https://arxiv.org/pdf/2512.18980.pdf GitHub

Abstract:
Bayesian optimization is an effective method for solving expensive black-box optimization problems. Most existing methods use Gaussian processes (GP) as the surrogate model for approximating the black-box objective function, it is well-known that it can fail in high-dimensional space (e.g., dimension over 500). We argue that the reliance of GP on precise numerical fitting is fundamentally ill-suited in high-dimensional space, where it leads to prohibitive computational complexity. In order to address this, we propose a simple order-preserving Bayesian optimization (OPBO) method, where the surrogate model preserves the order, instead of the value, of the black-box objective function. Then we can use a simple but effective OP neural network (NN) to replace GP as the surrogate model. Moreover, instead of searching for the best solution from the acquisition model, we select good-enough solutions in the ordinal set to reduce computational cost. The experimental results show that for high-dimensional (over 500) black-box optimization problems, the proposed OPBO significantly outperforms traditional BO methods based on regression NN and GP. The source code is available at https://github.com/pengwei222/OPBO.

Paperid: 4, https://arxiv.org/pdf/2512.18566.pdf GitHub

Abstract:
Dynamical systems models such as recurrent neural networks (RNNs) are increasingly popular in theoretical neuroscience for hypothesis-generation and data analysis. Evaluating the dynamics in such models is key to understanding their learned generative mechanisms. However, such evaluation is impeded by two major challenges: First, comparison of learned dynamics across models is difficult because there is no enforced equivalence of their coordinate systems. Second, identification of mechanistically important low-dimensional motifs (e.g., limit sets) is intractable in high-dimensional nonlinear models such as RNNs. Here, we propose a comprehensive framework to address these two issues, termed Diffeomorphic vector field alignment FOR learned Models (DFORM). DFORM learns a nonlinear coordinate transformation between the state spaces of two dynamical systems, which aligns their trajectories in a maximally one-to-one manner. In so doing, DFORM enables an assessment of whether two models exhibit topological equivalence, i.e., similar mechanisms despite differences in coordinate systems. A byproduct of this method is a means to locate dynamical motifs on low-dimensional manifolds embedded within higher-dimensional systems. We verified DFORM's ability to identify linear and nonlinear coordinate transformations using canonical topologically equivalent systems, RNNs, and systems related by nonlinear flows. DFORM was also shown to provide a quantification of similarity between topologically distinct systems. We then demonstrated that DFORM can locate important dynamical motifs including invariant manifolds and saddle limit sets within high-dimensional models. Finally, using a set of RNN models trained on human functional MRI (fMRI) recordings, we illustrated that DFORM can identify limit cycles from high-dimensional data-driven models, which agreed well with prior numerical analysis.

Paperid: 5, https://arxiv.org/pdf/2512.15721.pdf GitHub

Abstract:
We propose DiscoverDCP, a data-driven framework that integrates symbolic regression with the rule sets of Disciplined Convex Programming (DCP) to perform system identification. By enforcing that all discovered candidate model expressions adhere to DCP composition rules, we ensure that the output expressions are globally convex by construction, circumventing the computationally intractable process of post-hoc convexity verification. This approach allows for the discovery of convex surrogates that exhibit more relaxed and accurate functional forms than traditional fixed-parameter convex expressions (e.g., quadratic functions). The proposed method produces interpretable, verifiable, and flexible convex models suitable for safety-critical control and optimization tasks.

Paperid: 6, https://arxiv.org/pdf/2512.14658.pdf GitHub

Abstract:
We introduce gridfm-datakit-v1, a Python library for generating realistic and diverse Power Flow (PF) and Optimal Power Flow (OPF) datasets for training Machine Learning (ML) solvers. Existing datasets and libraries face three main challenges: (1) lack of realistic stochastic load and topology perturbations, limiting scenario diversity; (2) PF datasets are restricted to OPF-feasible points, hindering generalization of ML solvers to cases that violate operating limits (e.g., branch overloads or voltage violations); and (3) OPF datasets use fixed generator cost functions, limiting generalization across varying costs. gridfm-datakit addresses these challenges by: (1) combining global load scaling from real-world profiles with localized noise and supporting arbitrary N-k topology perturbations to create diverse yet realistic datasets; (2) generating PF samples beyond operating limits; and (3) producing OPF data with varying generator costs. It also scales efficiently to large grids (up to 10,000 buses). Comparisons with OPFData, OPF-Learn, PGLearn, and PF$Δ$ are provided. Available on GitHub at https://github.com/gridfm/gridfm-datakit under Apache 2.0 and via `pip install gridfm-datakit`.

Paperid: 7, https://arxiv.org/pdf/2512.14450.pdf GitHub

Abstract:
We introduce a benchmark for system identification based on 75k real-world samples from the Crazyflie 2.1 Brushless nano-quadrotor, a sub-50g aerial vehicle widely adopted in robotics research. The platform presents a challenging testbed due to its multi-input, multi-output nature, open-loop instability, and nonlinear dynamics under agile maneuvers. The dataset comprises four aggressive trajectories with synchronized 4-dimensional motor inputs and 13-dimensional output measurements. To enable fair comparison of identification methods, the benchmark includes a suite of multi-horizon prediction metrics for evaluating both one-step and multi-step error propagation. In addition to the data, we provide a detailed description of the platform and experimental setup, as well as baseline models highlighting the challenge of accurate prediction under real-world noise and actuation nonlinearities. All data, scripts, and reference implementations are released as open-source at https://github.com/idsia-robotics/nanodrone-sysid-benchmark to facilitate transparent comparison of algorithms and support research on agile, miniaturized aerial robotics.

Paperid: 8, https://arxiv.org/pdf/2512.11891.pdf GitHub

Abstract:
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in generalizing across diverse robotic manipulation tasks. However, deploying these models in unstructured environments remains challenging due to the critical need for simultaneous task compliance and safety assurance, particularly in preventing potential collisions during physical interactions. In this work, we introduce a Vision-Language-Safe Action (VLSA) architecture, named AEGIS, which contains a plug-and-play safety constraint (SC) layer formulated via control barrier functions. AEGIS integrates directly with existing VLA models to improve safety with theoretical guarantees, while maintaining their original instruction-following performance. To evaluate the efficacy of our architecture, we construct a comprehensive safety-critical benchmark SafeLIBERO, spanning distinct manipulation scenarios characterized by varying degrees of spatial complexity and obstacle intervention. Extensive experiments demonstrate the superiority of our method over state-of-the-art baselines. Notably, AEGIS achieves a 59.16% improvement in obstacle avoidance rate while substantially increasing the task execution success rate by 17.25%. To facilitate reproducibility and future research, we make our code, models, and the benchmark datasets publicly available at https://vlsa-aegis.github.io/.

Paperid: 9, https://arxiv.org/pdf/2512.11125.pdf GitHub

Abstract:
This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultaneously handles multiple position and velocity constraints through an explicit closed-form control law, eliminating the need to solve a Quadratic Program (QP) at every control step and enabling efficient real-time implementation. This letter derives necessary and sufficient conditions under which the closed-form expression remains non-singular, thereby ensuring well-posedness of the CBF solution to multi-constraint problem. The controller is validated in both simulation and hardware experiments on a custom-built Stewart platform prototype, demonstrating safetyguaranteed performance that is comparable to the QP-based formulation, while reducing computation time by more than an order of magnitude. The results confirm that the proposed approach provides a reliable and computationally lightweight framework for real-time safe control of parallel robotic systems. The experimental videos are available on the project website. (https://nail-uh.github.io/StewartPlatformSafeControl.github.io/)

Paperid: 10, https://arxiv.org/pdf/2512.09898.pdf GitHub

Abstract:
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and logistics. However, precise coordination between these platforms in real-time scenarios presents major challenges, particularly when external localization infrastructure such as GPS or GNSS is unavailable or degraded [1]. This paper proposes a vision-based, data-driven framework for real-time UAV-UGV integration, with a focus on robust UGV detection and heading angle prediction for navigation and coordination. The system employs a fine-tuned YOLOv5 model to detect UGVs and extract bounding box features, which are then used by a lightweight artificial neural network (ANN) to estimate the UAV's required heading angle. A VICON motion capture system was used to generate ground-truth data during training, resulting in a dataset of over 13,000 annotated images collected in a controlled lab environment. The trained ANN achieves a mean absolute error of 0.1506° and a root mean squared error of 0.1957°, offering accurate heading angle predictions using only monocular camera inputs. Experimental evaluations achieve 95% accuracy in UGV detection. This work contributes a vision-based, infrastructure- independent solution that demonstrates strong potential for deployment in GPS/GNSS-denied environments, supporting reliable multi-agent coordination under realistic dynamic conditions. A demonstration video showcasing the system's real-time performance, including UGV detection, heading angle prediction, and UAV alignment under dynamic conditions, is available at: https://github.com/Kooroshraf/UAV-UGV-Integration

Paperid: 11, https://arxiv.org/pdf/2512.09058.pdf GitHub

Abstract:
We present Cyqlone, a solver for linear systems with a stage-wise optimal control structure that fully exploits the various levels of parallelism available in modern hardware. Cyqlone unifies algorithms based on the sequential Riccati recursion, parallel Schur complement methods, and cyclic reduction methods, thereby minimizing the required number of floating-point operations, while allowing parallelization across a user-configurable number of processors. Given sufficient parallelism, the solver run time scales with the logarithm of the horizon length (in contrast to the linear scaling of sequential Riccati-based methods), enabling real-time solution of long-horizon problems. Beyond multithreading on multi-core processors, implementations of Cyqlone can also leverage vectorization using batched linear algebra routines. Such batched routines exploit data parallelism using single instruction, multiple data (SIMD) operations, and expose a higher degree of instruction-level parallelism than their non-batched counterparts. This enables them to significantly outperform BLAS and BLASFEO for the small matrices that arise in optimal control. Building on this high-performance linear solver, we develop CyQPALM, a parallel and optimal-control-specific variant of the QPALM quadratic programming solver. It combines the parallel and vectorized linear algebra operations from Cyqlone with a parallel line search and parallel factorization updates, resulting in order-of-magnitude speedups compared to the state-of-the-art HPIPM solver. Open-source C++ implementations of Cyqlone and CyQPALM are available at https://github.com/kul-optec/cyqlone

Paperid: 12, https://arxiv.org/pdf/2512.08667.pdf GitHub

Abstract:
Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments relies on dimensional analysis and the principle of dynamic similarity. However, transferring controllers to full-scale systems often requires additional tuning. In this paper, we propose a method to enable a direct controller transfer using dimensionless model predictive control, tuned automatically for closed-loop performance. With this reformulation, the closed-loop behavior of an optimized controller transfers directly to a new, dynamically similar system. Additionally, the dimensionless formulation allows for the use of data from systems of different scales during parameter optimization. We demonstrate the method on a cartpole swing-up and a car racing problem, applying either reinforcement learning or Bayesian optimization for tuning the controller parameters. Software used to obtain the results in this paper is publicly available at https://github.com/josipkh/dimensionless-mpcrl.

Paperid: 13, https://arxiv.org/pdf/2512.05505.pdf GitHub

Abstract:
We present a method to compute explicit solutions of parametric Generalized Nash Equilibrium (GNE) problems with convex quadratic cost functions and linear coupling and local constraints. Assuming the parameters only enter the linear terms of the cost functions and constraint right-hand sides, we provide the exact multiparametric solution of the GNE problem. Such a solution enables (i) minimal real-time computation, (ii) inherent interpretability, explainability, and exact enumeration of all multiple equilibria, (iii) determine desired GNE solution types in the case of infinitely-many equilibria, and (iv) zero-shot updates of the GNE solution due to changes of constraint right-hand sides and/or linear costs. In line with explicit Model Predictive Control (MPC) approaches, we apply our method to solve game-theoretic MPC (Receding Horizon Games) explicitly, comparing performance against centralized solvers in a battery charging game and in a toy two-mass spring system control problem. A Python implementation of the algorithms presented in this paper is available on https://github.com/bemporad/nash_mpqp.

Paperid: 14, https://arxiv.org/pdf/2512.04770.pdf GitHub

Abstract:
Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for creating intelligent agents-from virtual creatures to physical robots-by jointly optimizing their morphologies and controllers rather than treating control in isolation. This integrated approach facilitates richer environmental interactions and robust task performance. In this survey, we provide a systematic overview of recent advances in ECD. We first formalize the concept of ECD and position it within related fields. We then introduce a hierarchical taxonomy: a lower layer that breaks down agent design into three fundamental components-controlling brain, body morphology, and task environment-and an upper layer that integrates these components into four major ECD frameworks: bi-level, single-level, generative, and open-ended. This taxonomy allows us to synthesize insights from more than one hundred recent studies. We further review notable benchmarks, datasets, and applications in both simulated and real-world scenarios. Finally, we identify significant challenges and offer insights into promising future research directions. A project associated with this survey has been created at https://github.com/Yuxing-Wang-THU/SurveyBrainBody.

Paperid: 15, https://arxiv.org/pdf/2512.04194.pdf GitHub

Abstract:
We propose a simple safety filter design for stochastic discrete-time systems based on piecewise affine probabilistic control barrier functions, providing an appealing balance between modeling flexibility and computational complexity. Exact evaluation of the safety filter consists of solving a mixed-integer quadratic program (MIQP) if the dynamics are control-affine (or a mixed-integer nonlinear program in general). We propose a heuristic search method that replaces this by a small number of small-scale quadratic programs (QPs), or nonlinear programs (NLPs) respectively. The proposed approach provides a flexible framework in which arbitrary (data-driven) quantile estimators can be used to bound the probability of safety violations. Through extensive numerical experiments, we demonstrate improvements in conservatism and computation time with respect to existing methods, and we illustrate the flexibility of the method for modeling complex safety sets. Supplementary material can be found at https://mathijssch.github.io/ecc26-supplementary/.

Paperid: 16, https://arxiv.org/pdf/2512.00018.pdf GitHub

Abstract:
We present X-SYCON, a xylem-inspired multi-agent architecture in which coordination emerges from passive field dynamics rather than explicit planning or communication. Incidents (demands) and obstructions (hazards) continually write diffusing and decaying scalar fields, and agents greedily ascend a local utility $U=ϕ_{\mathrm{DE}}-κ\,ϕ_{\mathrm{HZ}}$ with light anti-congestion and separation. A beaconing rule triggered on first contact temporarily deepens the local demand sink, accelerating completion without reducing time-to-first-response. Across dynamic, partially blocked simulated environments, we observe low miss rates and stable throughput with interpretable, tunable trade-offs over carrier count, arrival rate, hazard density, and hazard sensitivity $κ$. We derive that a characteristic hydraulic length scale $\ell\approx\sqrt{D/λ}$ predicts recruitment range in a continuum approximation, and we provide a work-conservation (Ohm-law) bound consistent with sublinear capacity scaling with team size. Empirically: (i) soft hazard penalties yield fewer misses when obstacles already block motion; (ii) throughput saturates sublinearly with carriers while reliability improves sharply; (iii) stronger arrivals can reduce misses by sustaining sinks that recruit help; and (iv) phase-stability regions shrink with hazard density but are recovered by more carriers or higher arrivals. We refer to X-SYCON as an instance of Distributed Passive Computation and Control, and we evaluate it in simulations modeling communication-denied disaster response and other constrained sensing-action regimes.

Paperid: 17, https://arxiv.org/pdf/2511.22338.pdf GitHub

Abstract:
Nonholonomic constraints restrict feasible velocities without reducing configuration-space dimension, which makes collision-free geometric paths generally non-executable for car-like robots. Ackermann steering further imposes curvature bounds and forbids in-place rotation, so escaping from narrow dead ends typically requires tightly sequenced forward and reverse maneuvers. Classical planners that decouple global search and local steering struggle in these settings because narrow passages occupy low-measure regions and nonholonomic reachability shrinks the set of valid connections, which degrades sampling efficiency and increases sensitivity to clearances. We study nonholonomic narrow dead-end escape for Ackermann vehicles and contribute three components. First, we construct a generator that samples multi-phase forward-reverse trajectories compatible with Ackermann kinematics and inflates their envelopes to synthesize families of narrow dead ends that are guaranteed to admit at least one feasible escape. Second, we construct a training environment that enforces kinematic constraints and train a policy using the soft actor-critic algorithm. Third, we evaluate against representative classical planners that combine global search with nonholonomic steering. Across parameterized dead-end families, the learned policy solves a larger fraction of instances, reduces maneuver count, and maintains comparable path length and planning time while under the same sensing and control limits. We provide our project as open source at https://github.com/gitagitty/cisDRL-RobotNav.git

Paperid: 18, https://arxiv.org/pdf/2511.22142.pdf GitHub

Abstract:
In the field of autonomous driving, camera-based perception models are mostly trained on clear weather data. Models that focus on addressing specific weather challenges are unable to adapt to various weather changes and primarily prioritize their weather removal characteristics. Our study introduces a semantic-enabled network for object detection in diverse weather conditions. In our analysis, semantics information can enable the model to generate plausible content for missing areas, understand object boundaries, and preserve visual coherency and realism across both filled-in and existing portions of the image, which are conducive to image transformation and object recognition. Specific in implementation, our architecture consists of a Preprocessing Unit (PPU) and a Detection Unit (DTU), where the PPU utilizes a U-shaped net enriched by semantics to refine degraded images, and the DTU integrates this semantic information for object detection using a modified YOLO network. Our method pioneers the use of semantic data for all-weather transformations, resulting in an increase between 1.47\% to 8.80\% in mAP compared to existing methods across benchmark datasets of different weather. This highlights the potency of semantics in image enhancement and object detection, offering a comprehensive approach to improving object detection performance. Code will be available at https://github.com/EnisZuo/SemOD.

Paperid: 19, https://arxiv.org/pdf/2511.22043.pdf GitHub

Abstract:
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning frameworks operate in an open-loop manner, making it hard to cope with environmental uncertainties such as wind disturbances or external perturbations. This paper presents a unified real-time navigation framework for quadrotors in unknown complex environments, based on the online construction of guiding vector fields (GVFs) from discrete reference path points. In the framework, onboard perception modules build a Euclidean Signed Distance Field (ESDF) representation of the environment, which enables obstacle awareness and path distance evaluation. The system first generates discrete, collision-free path points using a global planner, and then parameterizes them via uniform B-splines to produce a smooth and physically feasible reference trajectory. An adaptive GVF is then synthesized from the ESDF and the optimized B-spline trajectory. Unlike conventional approaches, the method adopts a closed-loop navigation paradigm, which significantly enhances robustness under external disturbances. Compared with conventional GVF methods, the proposed approach directly accommodates discretized paths and maintains compatibility with standard planning algorithms. Extensive simulations and real-world experiments demonstrate improved robustness against external disturbances and superior real-time performance.

Paperid: 20, https://arxiv.org/pdf/2511.20612.pdf GitHub

Abstract:
Many consequential real-world systems, like wind fields and ocean currents, are dynamic and hard to model. Learning their governing dynamics remains a central challenge in scientific machine learning. Dynamic Mode Decomposition (DMD) provides a simple, data-driven approximation, but practical use is limited by sparse/noisy observations from continuous fields, reliance on linear approximations, and the lack of principled uncertainty quantification. To address these issues, we introduce Stochastic NODE-DMD, a probabilistic extension of DMD that models continuous-time, nonlinear dynamics while remaining interpretable. Our approach enables continuous spatiotemporal reconstruction at arbitrary coordinates and quantifies predictive uncertainty. Across four benchmarks, a synthetic setting and three physics-based flows, it surpasses a baseline in reconstruction accuracy when trained from only 10% observation density. It further recovers the dynamical structure by aligning learned modes and continuous-time eigenvalues with ground truth. Finally, on datasets with multiple realizations, our method learns a calibrated distribution over latent dynamics that preserves ensemble variability rather than averaging across regimes. Our code is available at: https://github.com/sedan-group/Stochastic-NODE-DMD

Paperid: 21, https://arxiv.org/pdf/2511.20015.pdf GitHub

Abstract:
Radio maps (RMs) serve as environment-aware electromagnetic (EM) representations that connect scenario geometry and material properties to the spatial distribution of signal strength, enabling localization without costly in-situ measurements. However, constructing high-fidelity indoor RMs remains challenging due to the prohibitive latency of EM solvers and the limitations of learning-based methods, which often rely on sparse measurements or assumptions of homogeneous material, which are misaligned with the heterogeneous and multipath-rich nature of indoor environments. To overcome these challenges, we propose iRadioDiff, a sampling-free diffusion-based framework for indoor RM construction. iRadioDiff is conditioned on access point (AP) positions, and physics-informed prompt encoded by material reflection and transmission coefficients. It further incorporates multipath-critical priors, including diffraction points, strong transmission boundaries, and line-of-sight (LoS) contours, to guide the generative process via conditional channels and boundary-weighted objectives. This design enables accurate modeling of nonstationary field discontinuities and efficient construction of physically consistent RMs. Experiments demonstrate that iRadioDiff achieves state-of-the-art performance in indoor RM construction and received signal strength based indoor localization, which offers effective generalization across layouts and material configurations. Code is available at https://github.com/UNIC-Lab/iRadioDiff.

Paperid: 22, https://arxiv.org/pdf/2511.14390.pdf GitHub

Abstract:
We introduce a general formulation for automatic differentiation through direct form filters, yielding a closed-form backpropagation that includes initial condition gradients. The result is a single expression that can represent both the filter and its gradients computation while supporting parallelism. C++/CUDA implementations in PyTorch achieve at least 1000x speedup over naive Python implementations and consistently run fastest on the GPU. For the low-order filters commonly used in practice, exact time-domain filtering with analytical gradients outperforms the frequency-domain method in terms of speed. The source code is available at https://github.com/yoyolicoris/philtorch.

Paperid: 23, https://arxiv.org/pdf/2511.13927.pdf GitHub

Abstract:
Models used for control design are, to some degree, uncertain. Model uncertainty must be accounted for to ensure the robustness of the closed-loop system. $μ$-analysis and $μ$-synthesis methods allow for the analysis and design of controllers subject to structured uncertainties. Moreover, these tools can be applied to robust performance problems as they are fundamentally robust control problems with structured uncertainty. The contribution of this paper is dkpy, an open-source Python package for performing robust controller analysis and synthesis for systems subject to structured uncertainty. dkpy also provides tools for performing model uncertainty characterization using data from a set of perturbed systems. The open-source project can be found at https://github.com/decargroup/dkpy.

Paperid: 24, https://arxiv.org/pdf/2511.13186.pdf GitHub

Abstract:
Self-play reinforcement learning has demonstrated significant success in learning complex strategic and interactive behaviors in competitive multi-agent games. However, achieving such behaviors in continuous decision spaces remains challenging. Ensuring adaptability and generalization in self-play settings is critical for achieving competitive performance in dynamic multi-agent environments. These challenges often cause methods to converge slowly or fail to converge at all to a Nash equilibrium, making agents vulnerable to strategic exploitation by unseen opponents. To address these challenges, we propose DiffFP, a fictitious play (FP) framework that estimates the best response to unseen opponents while learning a robust and multimodal behavioral policy. Specifically, we approximate the best response using a diffusion policy that leverages generative modeling to learn adaptive and diverse strategies. Through empirical evaluation, we demonstrate that the proposed FP framework converges towards $ε$-Nash equilibria in continuous- space zero-sum games. We validate our method on complex multi-agent environments, including racing and multi-particle zero-sum games. Simulation results show that the learned policies are robust against diverse opponents and outperform baseline reinforcement learning policies. Our approach achieves up to 3$\times$ faster convergence and 30$\times$ higher success rates on average against RL-based baselines, demonstrating its robustness to opponent strategies and stability across training iterations

Paperid: 25, https://arxiv.org/pdf/2511.12603.pdf GitHub GitHub

Abstract:
Langevin dynamics sampling suffers from extremely low generation speed, fundamentally limited by numerous fine-grained iterations to converge to the target distribution. We introduce PID-controlled Langevin Dynamics (PIDLD), a novel sampling acceleration algorithm that reinterprets the sampling process using control-theoretic principles. By treating energy gradients as feedback signals, PIDLD combines historical gradients (the integral term) and gradient trends (the derivative term) to efficiently traverse energy landscapes and adaptively stabilize, thereby significantly reducing the number of iterations required to produce high-quality samples. Our approach requires no additional training, datasets, or prior information, making it immediately integrable with any Langevin-based method. Extensive experiments across image generation and reasoning tasks demonstrate that PIDLD achieves higher quality with fewer steps, making Langevin-based generative models more practical for efficiency-critical applications. The implementation can be found at \href{https://github.com/tsinghua-fib-lab/PIDLD}{https://github.com/tsinghua-fib-lab/PIDLD}.

Paperid: 26, https://arxiv.org/pdf/2511.08054.pdf GitHub

Abstract:
This work introduces the Re$^{\text{2}}$MaP method, which generates expert-quality macro placements through recursively prototyping and packing tree-based relocating. We first perform multi-level macro grouping and PPA-aware cell clustering to produce a unified connection matrix that captures both wirelength and dataflow among macros and clusters. Next, we use DREAMPlace to build a mixed-size placement prototype and obtain reference positions for each macro and cluster. Based on this prototype, we introduce ABPlace, an angle-based analytical method that optimizes macro positions on an ellipse to distribute macros uniformly near chip periphery, while optimizing wirelength and dataflow. A packing tree-based relocating procedure is then designed to jointly adjust the locations of macro groups and the macros within each group, by optimizing an expertise-inspired cost function that captures various design constraints through evolutionary search. Re$^{\text{2}}$MaP repeats the above process: Only a subset of macro groups are positioned in each iteration, and the remaining macros are deferred to the next iteration to improve the prototype's accuracy. Using a well-established backend flow with sufficient timing optimizations, Re$^{\text{2}}$MaP achieves up to 22.22% (average 10.26%) improvement in worst negative slack (WNS) and up to 97.91% (average 33.97%) improvement in total negative slack (TNS) compared to the state-of-the-art academic placer Hier-RTLMP. It also ranks higher on WNS, TNS, power, design rule check (DRC) violations, and runtime than the conference version ReMaP, across seven tested cases. Our code is available at https://github.com/lamda-bbo/Re2MaP.

Paperid: 27, https://arxiv.org/pdf/2511.07820.pdf GitHub

Abstract:
Despite the rise of billion-parameter foundation models trained across thousands of GPUs, similar scaling gains have not been shown for humanoid control. Current neural controllers for humanoids remain modest in size, target a limited behavior set, and are trained on a handful of GPUs over several days. We show that scaling up model capacity, data, and compute yields a generalist humanoid controller capable of creating natural and robust whole-body movements. Specifically, we posit motion tracking as a natural and scalable task for humanoid control, leverageing dense supervision from diverse motion-capture data to acquire human motion priors without manual reward engineering. We build a foundation model for motion tracking by scaling along three axes: network size (from 1.2M to 42M parameters), dataset volume (over 100M frames, 700 hours of high-quality motion data), and compute (9k GPU hours). Beyond demonstrating the benefits of scale, we show the practical utility of our model through two mechanisms: (1) a real-time universal kinematic planner that bridges motion tracking to downstream task execution, enabling natural and interactive control, and (2) a unified token space that supports various motion input interfaces, such as VR teleoperation devices, human videos, and vision-language-action (VLA) models, all using the same policy. Scaling motion tracking exhibits favorable properties: performance improves steadily with increased compute and data diversity, and learned representations generalize to unseen motions, establishing motion tracking at scale as a practical foundation for humanoid control.

Paperid: 28, https://arxiv.org/pdf/2511.06385.pdf GitHub

Abstract:
Diffusion policies (DPs) achieve state-of-the-art performance on complex manipulation tasks by learning from large-scale demonstration datasets, often spanning multiple embodiments and environments. However, they cannot guarantee safe behavior, so external safety mechanisms are needed. These, however, alter actions in ways unseen during training, causing unpredictable behavior and performance degradation. To address these problems, we propose path-consistent safety filtering (PACS) for DPs. Our approach performs path-consistent braking on a trajectory computed from the sequence of generated actions. In this way, we keep execution consistent with the policy's training distribution, maintaining the learned, task-completing behavior. To enable a real-time deployment and handle uncertainties, we verify safety using set-based reachability analysis. Our experimental evaluation in simulation and on three challenging real-world human-robot interaction tasks shows that PACS (a) provides formal safety guarantees in dynamic environments, (b) preserves task success rates, and (c) outperforms reactive safety approaches, such as control barrier functions, by up to 68% in terms of task success. Videos are available at our project website: https://tum-lsy.github.io/pacs/.

Paperid: 29, https://arxiv.org/pdf/2511.03104.pdf GitHub

Abstract:
This paper introduces D2-UC, a quantum-ready framework for the unit commitment (UC) problem that prepares UC for near-term hybrid quantum-classical solvers by combining distributed classical decomposition with distributed quantum execution. We reformulate deterministic and stochastic UC into a three-block alternating direction method of multipliers (ADMM): (i) a convex quadratic subproblem for dispatch and reserves, (ii) a binary subproblem expressed as a quadratic unconstrained binary optimization (QUBO), and (iii) a proximal slack update for consensus. The core contributions are fivefold. First, we demonstrate how the full UC problem can be expressed as a single monolithic QUBO, establishing a direct interface to quantum solvers. Second, we decompose this large binary block into three type-specific QUBOs for commitment, startup, and shutdown, making the problem more tractable but revealing slower ADMM convergence. Third, we restore local logical couplings through per-unit-time micro-QUBOs, which accelerate convergence. Fourth, we batch micro-QUBOs into K non-overlapping block-diagonal problems, reducing many subproblems to a fixed number of solver-ready QUBOs per iteration, compatible with distributed variational quantum eigensolvers (DVQE). Fifth, we integrate an accept-if-better safeguard with DVQE to stabilize hybrid updates and prevent oscillations. Case studies confirm that the proposed methods deliver feasible schedules, faster convergence, and QUBO sizes aligned with current and near-term quantum hardware capabilities. All detailed data, codes, and parameter values are available at https://github.com/LSU-RAISE-LAB/3B-ADMM-UC-DVQE .

Paperid: 30, https://arxiv.org/pdf/2511.03002.pdf GitHub

Abstract:
We address the design of a model predictive control (MPC) scheme for large-scale linear systems using reduced-order models (ROMs). Our approach uses a ROM, leverages tools from robust control, and integrates them into an MPC framework to achieve computational tractability with robust constraint satisfaction. Our key contribution is a method to obtain guaranteed bounds on the predicted outputs of the full-order system by predicting a (scalar) error-bounding system alongside the ROM. This bound is then used to formulate a robust ROM-based MPC that guarantees constraint satisfaction and robust performance. Our method is developed step-by-step by (i) analysing the error, (ii) bounding the peak-to-peak gain, an (iii) using filtered signals. We demonstrate our method on a 100-dimensional mass-spring-damper system, achieving over four orders of magnitude reduction in conservatism relative to existing approaches.

Paperid: 31, https://arxiv.org/pdf/2510.26603.pdf GitHub

Abstract:
The electricity sector transition requires substantial increases in residential demand response capacity, yet Home Energy Management Systems (HEMS) adoption remains limited by user interaction barriers requiring translation of everyday preferences into technical parameters. While large language models have been applied to energy systems as code generators and parameter extractors, no existing implementation deploys LLMs as autonomous coordinators managing the complete workflow from natural language input to multi-appliance scheduling. This paper presents an agentic AI HEMS where LLMs autonomously coordinate multi-appliance scheduling from natural language requests to device control, achieving optimal scheduling without example demonstrations. A hierarchical architecture combining one orchestrator with three specialist agents uses the ReAct pattern for iterative reasoning, enabling dynamic coordination without hardcoded workflows while integrating Google Calendar for context-aware deadline extraction. Evaluation across three open-source models using real Austrian day-ahead electricity prices reveals substantial capability differences. Llama-3.3-70B successfully coordinates all appliances across all scenarios to match cost-optimal benchmarks computed via mixed-integer linear programming, while other models achieve perfect single-appliance performance but struggle to coordinate all appliances simultaneously. Progressive prompt engineering experiments demonstrate that analytical query handling without explicit guidance remains unreliable despite models' general reasoning capabilities. We open-source the complete system including orchestration logic, agent prompts, tools, and web interfaces to enable reproducibility, extension, and future research.

Paperid: 32, https://arxiv.org/pdf/2510.23057.pdf GitHub

Abstract:
We present Seq-DeepIPC, a sequential end-to-end perception-to-control model for legged robot navigation in realworld environments. Seq-DeepIPC advances intelligent sensing for autonomous legged navigation by tightly integrating multi-modal perception (RGB-D + GNSS) with temporal fusion and control. The model jointly predicts semantic segmentation and depth estimation, giving richer spatial features for planning and control. For efficient deployment on edge devices, we use EfficientNet-B0 as the encoder, reducing computation while maintaining accuracy. Heading estimation is simplified by removing the noisy IMU and instead computing the bearing angle directly from consecutive GNSS positions. We collected a larger and more diverse dataset that includes both road and grass terrains, and validated Seq-DeepIPC on a robot dog. Comparative and ablation studies show that sequential inputs improve perception and control in our models, while other baselines do not benefit. Seq-DeepIPC achieves competitive or better results with reasonable model size; although GNSS-only heading is less reliable near tall buildings, it is robust in open areas. Overall, Seq-DeepIPC extends end-to-end navigation beyond wheeled robots to more versatile and temporally-aware systems. To support future research, we will release the codes to our GitHub repository at https://github.com/oskarnatan/Seq-DeepIPC.

Paperid: 33, https://arxiv.org/pdf/2510.18347.pdf GitHub

Abstract:
This article addresses collaborative 3D map reconstruction using multiple drones. Achieving high-quality reconstruction requires capturing images of keypoints within the target scene from diverse viewing angles, and coverage control offers an effective framework to meet this requirement. Meanwhile, recent advances in real-time 3D reconstruction algorithms make it possible to render an evolving map during flight, enabling immediate feedback to guide drone motion. Building on this, we present Coverage-Recon, a novel coordinated image sampling algorithm that integrates online map feedback to improve reconstruction quality on-the-fly. In Coverage-Recon, the coordinated motion of drones is governed by a Quadratic Programming (QP)-based angle-aware coverage controller, which ensures multi-viewpoint image capture while enforcing safety constraints. The captured images are processed in real time by the NeuralRecon algorithm to generate an evolving 3D mesh. Mesh changes across the scene are interpreted as indicators of reconstruction uncertainty and serve as feedback to update the importance index of the coverage control as the map evolves. The effectiveness of Coverage-Recon is validated through simulation and experiments, demonstrating both qualitatively and quantitatively that incorporating online map feedback yields more complete and accurate 3D reconstructions than conventional methods. Project page: https://htnk-lab.github.io/coverage-recon/

Paperid: 34, https://arxiv.org/pdf/2510.17564.pdf GitHub

Abstract:
In safety-critical domains such as robotics, navigation and power systems, constrained optimization problems arise where maximizing performance must be carefully balanced with associated constraints. Safe reinforcement learning provides a framework to address these challenges, with Lagrangian methods being a popular choice. However, the effectiveness of Lagrangian methods crucially depends on the choice of the Lagrange multiplier $λ$, which governs the trade-off between return and constraint cost. A common approach is to update the multiplier automatically during training. Although this is standard in practice, there remains limited empirical evidence on the robustness of an automated update and its influence on overall performance. Therefore, we analyze (i) optimality and (ii) stability of Lagrange multipliers in safe reinforcement learning across a range of tasks. We provide $λ$-profiles that give a complete visualization of the trade-off between return and constraint cost of the optimization problem. These profiles show the highly sensitive nature of $λ$ and moreover confirm the lack of general intuition for choosing the optimal value $λ^*$. Our findings additionally show that automated multiplier updates are able to recover and sometimes even exceed the optimal performance found at $λ^*$ due to the vast difference in their learning trajectories. Furthermore, we show that automated multiplier updates exhibit oscillatory behavior during training, which can be mitigated through PID-controlled updates. However, this method requires careful tuning to achieve consistently better performance across tasks. This highlights the need for further research on stabilizing Lagrangian methods in safe reinforcement learning. The code used to reproduce our results can be found at https://github.com/lindsayspoor/Lagrangian_SafeRL.

Paperid: 35, https://arxiv.org/pdf/2510.15365.pdf GitHub

Abstract:
Air-ground collaborative intelligence is becoming a key approach for next-generation urban intelligent transportation management, where aerial and ground systems work together on perception, communication, and decision-making. However, the lack of a unified multi-modal simulation environment has limited progress in studying cross-domain perception, coordination under communication constraints, and joint decision optimization. To address this gap, we present TranSimHub, a unified simulation platform for air-ground collaborative intelligence. TranSimHub offers synchronized multi-view rendering across RGB, depth, and semantic segmentation modalities, ensuring consistent perception between aerial and ground viewpoints. It also supports information exchange between the two domains and includes a causal scene editor that enables controllable scenario creation and counterfactual analysis under diverse conditions such as different weather, emergency events, and dynamic obstacles. We release TranSimHub as an open-source platform that supports end-to-end research on perception, fusion, and control across realistic air and ground traffic scenes. Our code is available at https://github.com/Traffic-Alpha/TranSimHub.

Paperid: 36, https://arxiv.org/pdf/2510.13025.pdf GitHub

Abstract:
The Koopman operator provides a powerful framework for modeling dynamical systems and has attracted growing interest from the machine learning community. However, its infinite-dimensional nature makes identifying suitable finite-dimensional subspaces challenging, especially for deep architectures. We argue that these difficulties come from suboptimal representation learning, where latent variables fail to balance expressivity and simplicity. This tension is closely related to the information bottleneck (IB) dilemma: constructing compressed representations that are both compact and predictive. Rethinking Koopman learning through this lens, we demonstrate that latent mutual information promotes simplicity, yet an overemphasis on simplicity may cause latent space to collapse onto a few dominant modes. In contrast, expressiveness is sustained by the von Neumann entropy, which prevents such collapse and encourages mode diversity. This insight leads us to propose an information-theoretic Lagrangian formulation that explicitly balances this tradeoff. Furthermore, we propose a new algorithm based on the Lagrangian formulation that encourages both simplicity and expressiveness, leading to a stable and interpretable Koopman representation. Beyond quantitative evaluations, we further visualize the learned manifolds under our representations, observing empirical results consistent with our theoretical predictions. Finally, we validate our approach across a diverse range of dynamical systems, demonstrating improved performance over existing Koopman learning methods. The implementation is publicly available at https://github.com/Wenxuan52/InformationKoopman.

Paperid: 37, https://arxiv.org/pdf/2510.11072.pdf GitHub

Abstract:
Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability individually, combining them in a unified system is still an ongoing challenge. In this work, we present a physical-world humanoid-scene interaction system, PhysHSI, that enables humanoids to autonomously perform diverse interaction tasks while maintaining natural and lifelike behaviors. PhysHSI comprises a simulation training pipeline and a real-world deployment system. In simulation, we adopt adversarial motion prior-based policy learning to imitate natural humanoid-scene interaction data across diverse scenarios, achieving both generalization and lifelike behaviors. For real-world deployment, we introduce a coarse-to-fine object localization module that combines LiDAR and camera inputs to provide continuous and robust scene perception. We validate PhysHSI on four representative interactive tasks--box carrying, sitting, lying, and standing up--in both simulation and real-world settings, demonstrating consistently high success rates, strong generalization across diverse task goals, and natural motion patterns.

Paperid: 38, https://arxiv.org/pdf/2510.10781.pdf GitHub

Abstract:
We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical limitations in emergency contexts: heterogeneous agent capabilities with vastly different velocities, clustered initial deployment configurations, and urgent time constraints requiring rapid response rather than eventual convergence. Our method addresses these challenges through a decoupled two-layer architecture that separately optimizes aerial and ground robot positioning, with aerial agents delivering ground sensors via airdrop to high-priority locations. We provide detailed implementation of bounded Voronoi cell computation, efficient numerical integration techniques for importance-weighted centroids, and robust control strategies that prevent agent trapping. Simulation results demonstrate an 88% reduction in response time, achieving target sensor coverage (18.5% of initial sensor loss) in 25 seconds compared to 220 seconds for ground-only deployment. Complete implementation code is available at https://github.com/dHutchings/ME292B.

Paperid: 39, https://arxiv.org/pdf/2510.09610.pdf GitHub

Abstract:
This paper presents a sequential convex programming (SCP) framework for ensuring the continuous-time satisfaction of compound state-triggered constraints, a subset of logical specifications, in the powered descent guidance (PDG) problem. The proposed framework combines the generalized mean-based smooth robustness measure (D-GMSR), a parameterization technique tailored for expressing discrete-time temporal and logical specifications through smooth functions, with the continuous-time successive convexification (CT-SCvx) method, a real-time solution for constrained trajectory optimization that guarantees continuous-time constraint satisfaction and convergence. The smoothness of the temporal and logical specifications parameterized via D-GMSR enables solving the resulting optimization problem with robust and efficient SCP algorithms while preserving theoretical guarantees. In addition to their smoothness, the parameterized specifications are sound and complete, meaning the specification holds if and only if the constraint defined by the parameterized function is satisfied. The CT-SCvx framework is then applied to solve the parameterized problem, incorporating: (1) reformulation for continuous-time path constraint satisfaction, (2) time-dilation to transform the free-final-time PDG problem into a fixed-final-time problem, (3) multiple shooting for exact discretization, (4) exact penalty functions for penalizing nonconvex constraints, and (5) the prox-linear method, a convergence-guaranteed SCP algorithm, to solve the resulting finite-dimensional nonconvex PDG problem. The effectiveness of the framework is demonstrated through a numerical simulation. The implementation is available at https://github.com/UW-ACL/CT-cSTC

Paperid: 40, https://arxiv.org/pdf/2510.07507.pdf GitHub

Abstract:
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and disturbances, complicates the control design process for trajectory tracking. In this work, we propose an adaptive control architecture for uncertain, nonlinear, underactuated systems with input constraints. Leveraging time-scale separation, we construct a reduced-order model where fast dynamics provide virtual inputs to the slower subsystem and use dynamic control allocation to select the optimal control inputs given the non-affine dynamics. To handle uncertainty, we introduce a state predictor-based adaptive law, and through singular perturbation theory and Lyapunov analysis, we prove stability and bounded tracking of reference trajectories. The proposed method is validated on a VTOL quadplane with nonlinear, state-dependent actuation, demonstrating its utility as a unified controller across various flight regimes, including cruise, landing transition, and hover.

Paperid: 41, https://arxiv.org/pdf/2510.06571.pdf GitHub

Abstract:
This paper presents a safe stabilization of the Stefan PDE model with a moving boundary governed by a high-order dynamics. We consider a parabolic PDE with a time-varying domain governed by a second-order response with respect to the Neumann boundary value of the PDE state at the moving boundary. The objective is to design a boundary heat flux control to stabilize the moving boundary at a desired setpoint, with satisfying the required conditions of the model on PDE state and the moving boundary. We apply a PDE backstepping method for the control design with considering a constraint on the control law. The PDE and moving boundary constraints are shown to be satisfied by applying the maximum principle for parabolic PDEs. Then the closed-loop system is shown to be globally exponentially stable by performing Lyapunov analysis. The proposed control is implemented in numerical simulation, which illustrates the desired performance in safety and stability. An outline of the extension to third-order moving boundary dynamics is also presented. Code is released at https://github.com/shumon0423/HighOrderStefan_CDC2025.git.

Paperid: 42, https://arxiv.org/pdf/2510.05436.pdf GitHub

Abstract:
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer a structured approach to synthesizing safe controllers that are guaranteed to satisfy input bounds by leveraging the knowledge of a backup controller. While powerful, bCBFs require solving a high-dimensional quadratic program at run-time, which may be too costly for computationally-constrained systems such as aerospace vehicles. We propose an approach that optimally interpolates between a nominal controller and the backup controller, and we derive the solution to this optimization problem in closed form. We prove that this closed-form controller is guaranteed to be safe while obeying input bounds. We demonstrate the effectiveness of the approach on a double integrator and a nonlinear fixed-wing aircraft example.

Paperid: 43, https://arxiv.org/pdf/2510.03367.pdf GitHub

Abstract:
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the state-space of joint positions and velocities. These viable sets, constructed via data-driven and analytical methods for self-collision avoidance, external object collision avoidance and joint-position and joint-velocity limits, provide constraints on joint accelerations and thus joint torques via the robot dynamics. A quadratic programming-based control framework enforces these constraints on a passive controller tracking a dynamical system, ensuring the robot states remain within the safe set in an infinite time horizon. We validate the proposed approach through simulations and hardware experiments on a 7-DoF Franka Emika manipulator. In comparison to a baseline constrained passive controller, our method operates at higher control-loop rates and yields smoother trajectories.

Paperid: 44, https://arxiv.org/pdf/2509.24235.pdf GitHub

Abstract:
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", that integrates temporal logic specifications into mixed-integer programs for efficient robot planning. Inspired by the Graph-of-Convex-Sets formulation, temporal predicates are encoded as polyhedron constraints on each edge of a network flow model, instead of as constraints between nodes in traditional Logic Tree formulations. We further propose a network-flow-based Fourier-Motzkin elimination procedure that removes continuous flow variables while preserving convex relaxation tightness, leading to provably tighter convex relaxations and fewer constraints than Logic Tree formulations. For temporal logic motion planning with piecewise-affine dynamic systems, comprehensive experiments across vehicle routing, multi-robot coordination, and temporal logic control on dynamical systems using point mass and linear inverted pendulum models demonstrate computational speedups of up to several orders of magnitude. Hardware demonstrations with quadrupedal robots validate real-time replanning capabilities under dynamically changing environmental conditions. The project website is at https://logicnetworkflow.github.io/.

Paperid: 45, https://arxiv.org/pdf/2509.20392.pdf GitHub

Abstract:
Before 2025, no open-source system existed that could learn Lyapunov stability certificates directly from noisy, real-world flight data. No tool could answer the critical question: is this controller still stabilizable-especially when its closed-loop system is a total black box. We broke that boundary. This year, we released the first-ever open-source framework that can learn Lyapunov functions from trajectory data under realistic, noise-corrupted conditions. Unlike statistical anomaly detectors, our method does not merely flag deviations-it directly determines whether the system can still be proven stable. Applied to public data from the 2024 SAS severe turbulence incident, our method revealed that, within just 60 seconds of the aircrafts descent becoming abnormal, no Lyapunov function could be constructed to certify system stability. Moreover, this is the first known data-driven stability-theoretic method ever applied to a civil airliner accident. And our approach works with zero access to the controller logic-a breakthrough for commercial aircraft where control laws are proprietary and opaque. The implementation of the proposed framework is open-sourced and available at: https://github.com/HansOersted/stability

Paperid: 46, https://arxiv.org/pdf/2509.18760.pdf GitHub GitHub

Abstract:
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation. Our formulation guarantees robust constraint satisfaction, input-to-state stability (ISS) and recursive feasibility. The key idea is to decompose the uncertain nonlinear system into (i) a nominal nonlinear dynamic model, (ii) disturbance-feedback controllers, and (iii) bounds on the model error. These components are optimized jointly using sequential convex programming. The resulting convex subproblems are solved efficiently using a recent disturbance-feedback MPC solver. The approach is validated across multiple dynamics, including a rocket-landing problem with steerable thrust. An open-source implementation is available at https://github.com/antoineleeman/robust-nonlinear-mpc.

Paperid: 47, https://arxiv.org/pdf/2509.18592.pdf GitHub

Abstract:
Rapid adaptation in unseen environments is essential for scalable real-world autonomy, yet existing approaches rely on exhaustive exploration or rigid navigation policies that fail to generalize. We present VLN-Zero, a two-phase vision-language navigation framework that leverages vision-language models to efficiently construct symbolic scene graphs and enable zero-shot neurosymbolic navigation. In the exploration phase, structured prompts guide VLM-based search toward informative and diverse trajectories, yielding compact scene graph representations. In the deployment phase, a neurosymbolic planner reasons over the scene graph and environmental observations to generate executable plans, while a cache-enabled execution module accelerates adaptation by reusing previously computed task-location trajectories. By combining rapid exploration, symbolic reasoning, and cache-enabled execution, the proposed framework overcomes the computational inefficiency and poor generalization of prior vision-language navigation methods, enabling robust and scalable decision-making in unseen environments. VLN-Zero achieves 2x higher success rate compared to state-of-the-art zero-shot models, outperforms most fine-tuned baselines, and reaches goal locations in half the time with 55% fewer VLM calls on average compared to state-of-the-art models across diverse environments. Codebase, datasets, and videos for VLN-Zero are available at: https://vln-zero.github.io/.

Paperid: 48, https://arxiv.org/pdf/2509.15917.pdf GitHub

Abstract:
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory optimization of the MPC. This formulation ensures convergence to dynamically selected targets and guarantees collision avoidance, even under general nonlinear dynamics and cluttered environments. The approach is validated through hardware experiments on a small ground robot, where a human operator dynamically assigns target locations. The robot successfully navigated through complex environments and reached new targets within 2-3 seconds.

Paperid: 49, https://arxiv.org/pdf/2509.14623.pdf GitHub

Abstract:
Dynamic energy systems and controls require advanced modeling frameworks to design and test supervisory and fault tolerant strategies. Modelica is a widely used equation based language, but developing control modules is labor intensive and requires specialized expertise. This paper examines the use of large language models (LLMs) to automate the generation of Control Description Language modules in the Building Modelica Library as a case study. We developed a structured workflow that combines standardized prompt scaffolds, library aware grounding, automated compilation with OpenModelica, and human in the loop evaluation. Experiments were carried out on four basic logic tasks (And, Or, Not, and Switch) and five control modules (chiller enable/disable, bypass valve control, cooling tower fan speed, plant requests, and relief damper control). The results showed that GPT 4o failed to produce executable Modelica code in zero shot mode, while Claude Sonnet 4 achieved up to full success for basic logic blocks with carefully engineered prompts. For control modules, success rates reached 83 percent, and failed outputs required medium level human repair (estimated one to eight hours). Retrieval augmented generation often produced mismatches in module selection (for example, And retrieved as Or), while a deterministic hard rule search strategy avoided these errors. Human evaluation also outperformed AI evaluation, since current LLMs cannot assess simulation results or validate behavioral correctness. Despite these limitations, the LLM assisted workflow reduced the average development time from 10 to 20 hours down to 4 to 6 hours per module, corresponding to 40 to 60 percent time savings. These results highlight both the potential and current limitations of LLM assisted Modelica generation, and point to future research in pre simulation validation, stronger grounding, and closed loop evaluation.

Paperid: 50, https://arxiv.org/pdf/2509.12792.pdf GitHub

Abstract:
Ellipsoidal tube-based model predictive control methods effectively account for the propagation of the reachable set, typically employing linear feedback policies. In contrast, scenario-based approaches offer more flexibility in the feedback structure by considering different control actions for different branches of a scenario tree. However, they face challenges in ensuring rigorous guarantees. This work aims to integrate the strengths of both methodologies by enhancing ellipsoidal tube-based MPC with a scenario tree formulation. The uncertainty ellipsoids are partitioned by halfspaces such that each partitioned set can be controlled independently. The proposed ellipsoidal multi-stage approach is demonstrated in a human-robot system, highlighting its advantages in handling uncertainty while maintaining computational tractability.

Paperid: 51, https://arxiv.org/pdf/2509.11240.pdf GitHub

Abstract:
Reinforcement learning (RL) has shown promise in a large number of robotic control tasks. Nevertheless, its deployment on unmanned aerial vehicles (UAVs) remains challenging, mainly because of reliance on accurate dynamic models and platform-specific sensing, which hinders cross-platform transfer. This paper presents the CORB-Planner (Corridor-as-Observations for RL B-spline planner), a real-time, RL-based trajectory planning framework for high-speed autonomous UAV flight across heterogeneous platforms. The key idea is to combine B-spline trajectory generation with the RL policy producing successive control points with a compact safe flight corridor (SFC) representation obtained via heuristic search. The SFC abstracts obstacle information in a low-dimensional form, mitigating overfitting to platform-specific details and reducing sensitivity to model inaccuracies. To narrow the sim-to-real gap, we adopt an easy-to-hard progressive training pipeline in simulation. A value-based soft decomposed-critic Q (SDCQ) algorithm is used to learn effective policies within approximately ten minutes of training. Benchmarks in simulation and real-world tests demonstrate real-time planning on lightweight onboard hardware and support maximum flight speeds up to 8.2m/s in dense, cluttered environments without external positioning. Compatibility with various UAV configurations (quadrotors, hexarotors) and modest onboard compute underlines the generality and robustness of CORB-Planner for practical deployment.

Paperid: 52, https://arxiv.org/pdf/2509.10982.pdf GitHub

Abstract:
Detecting and localizing leaks in water distribution network systems is an important topic with direct environmental, economic, and social impact. Our paper is the first to explore the use of factor graph optimization techniques for leak localization in water distribution networks, enabling us to perform sensor fusion between pressure and demand sensor readings and to estimate the network's temporal and structural state evolution across all network nodes. The methodology introduces specific water network factors and proposes a new architecture composed of two factor graphs: a leak-free state estimation factor graph and a leak localization factor graph. When a new sensor reading is obtained, unlike Kalman and other interpolation-based methods, which estimate only the current network state, factor graphs update both current and past states. Results on Modena, L-TOWN and synthetic networks show that factor graphs are much faster than nonlinear Kalman-based alternatives such as the UKF, while also providing improvements in localization compared to state-of-the-art estimation-localization approaches. Implementation and benchmarks are available at https://github.com/pirofti/FGLL.

Paperid: 53, https://arxiv.org/pdf/2509.10706.pdf GitHub

Abstract:
Automatic differentiation through digital signal processing algorithms for virtual analogue modelling has recently gained popularity. These algorithms are typically more computationally efficient than black-box neural networks that rely on dense matrix multiplications. Due to their differentiable nature, they can be integrated with neural networks and jointly trained using gradient descent algorithms, resulting in more efficient systems. Furthermore, signal processing algorithms have significantly fewer parameters than neural networks, allowing the application of the Newton-Raphson method. This method offers faster and more robust convergence than gradient descent at the cost of quadratic storage. This paper presents a method to emulate analogue levelling amplifiers using a feed-forward digital compressor with parameters optimised via the Newton-Raphson method. We demonstrate that a digital compressor can successfully approximate the behaviour of our target unit, the Teletronix LA-2A. Different strategies for computing the Hessian matrix are benchmarked. We leverage parallel algorithms for recursive filters to achieve efficient training on modern GPUs. The resulting model is made into a VST plugin and is open-sourced at https://github.com/aim-qmul/4a2a.

Paperid: 54, https://arxiv.org/pdf/2509.10474.pdf GitHub

Abstract:
Mobile edge computing (MEC) is essential for next-generation mobile network applications that prioritize various performance metrics, including delays and energy efficiency. However, conventional single-objective scheduling solutions cannot be directly applied to practical systems in which the preferences (i.e., the weights of different objectives) are often unknown or challenging to specify in advance. In this study, we formulate a multi-objective offloading problem for MEC with multiple edges to minimize the sum of expected long-term energy consumption and delay while considering unknown preferences. To address the challenge of unknown preferences and the potentially diverse MEC systems, we propose a generalizable multi-objective (deep) reinforcement learning (GMORL)-based tasks offloading framework, which employs the Discrete Soft Actor-Critic (Discrete-SAC) method. Our method uses a single policy model to efficiently schedule tasks based on varying preferences and adapt to heterogeneous MEC systems with different CPU frequencies and server quantities. Under the proposed framework, we introduce a histogram-based state encoding method for constructing features for multiple edges in MEC systems, a sophisticated reward function for accurately computing the utilities of delay and energy consumption, and a novel neural network architecture for improving generalization. Simulation results demonstrate that our proposed GMORL scheme enhances the hypervolume of the Pareto front by up to $121.0\%$ compared to benchmarks. Our code are avavilable at https://github.com/gracefulning/Generalizable-Pareto-Optimal-Offloading-with-Reinforcement-Learning-in-Mobile-Edge-Computing

Paperid: 55, https://arxiv.org/pdf/2509.08699.pdf GitHub

Abstract:
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel RGB-only, object-level topometric navigation pipeline that enables zero-shot, long-horizon robot navigation without requiring 3D maps or pre-trained controllers. Our approach integrates global topological path planning with local metric trajectory control, allowing the robot to navigate towards object-level sub-goals while avoiding obstacles. We address key limitations of previous methods by continuously predicting local trajectory using monocular depth and traversability estimation, and incorporating an auto-switching mechanism that falls back to a baseline controller when necessary. The system operates using foundational models, ensuring open-set applicability without the need for domain-specific fine-tuning. We demonstrate the effectiveness of our method in both simulated environments and real-world tests, highlighting its robustness and deployability. Our approach outperforms existing state-of-the-art methods, offering a more adaptable and effective solution for visual navigation in open-set environments. The source code is made publicly available: https://github.com/podgorki/TANGO.

Paperid: 56, https://arxiv.org/pdf/2509.07464.pdf GitHub

Abstract:
Autonomous vehicles must navigate dynamically uncertain environments while balancing the safety and driving efficiency. This challenge is exacerbated by the unpredictable nature of surrounding human-driven vehicles (HVs) and perception inaccuracies, which require planners to adapt to evolving uncertainties while maintaining safe trajectories. Overly conservative planners degrade driving efficiency, while deterministic approaches may encounter serious issues and risks of failure when faced with sudden and unexpected maneuvers. To address these issues, we propose a real-time contingency trajectory optimization framework in this paper. By employing event-triggered online learning of HV control-intent sets, our method dynamically quantifies multi-modal HV uncertainties and refines the forward reachable set (FRS) incrementally. Crucially, we enforce invariant safety through FRS-based barrier constraints that ensure safety without reliance on accurate trajectory prediction of HVs. These constraints are embedded in contingency trajectory optimization and solved efficiently through consensus alternative direction method of multipliers (ADMM). The system continuously adapts to the uncertainties in HV behaviors, preserving feasibility and safety without resorting to excessive conservatism. High-fidelity simulations on highway and urban scenarios, as well as a series of real-world experiments demonstrate significant improvements in driving efficiency and passenger comfort while maintaining safety under uncertainty. The project page is available at https://pathetiue.github.io/frscp.github.io/.

Paperid: 57, https://arxiv.org/pdf/2509.01199.pdf GitHub GitHub

Abstract:
As Industry 4.0 progresses, flexible manufacturing has become a cornerstone of modern industrial systems, with equipment automation playing a pivotal role. However, existing control software for industrial equipment, typically reliant on graphical user interfaces (GUIs) that require human interactions such as mouse clicks or screen touches, poses significant barriers to the adoption of code-based equipment automation. Recently, Large Language Model-based General Computer Control (LLM-GCC) has emerged as a promising approach to automate GUI-based operations. However, industrial settings pose unique challenges, including visually diverse, domain-specific interfaces and mission-critical tasks demanding high precision. This paper introduces IndusGCC, the first dataset and benchmark tailored to LLM-GCC in industrial environments, encompassing 448 real-world tasks across seven domains, from robotic arm control to production line configuration. IndusGCC features multimodal human interaction data with the equipment software, providing robust supervision for GUI-level code generation. Additionally, we propose a novel evaluation framework with functional and structural metrics to assess LLM-generated control scripts. Experimental results on mainstream LLMs demonstrate both the potential of LLM-GCC and the challenges it faces, establishing a strong foundation for future research toward fully automated factories. Our data and code are publicly available at: \href{https://github.com/Golden-Arc/IndustrialLLM}{https://github.com/Golden-Arc/IndustrialLLM.

Paperid: 58, https://arxiv.org/pdf/2508.21635.pdf GitHub

Abstract:
We present a multi-modal dataset collected in a soybean crop field, comprising over two hours of recorded data from sensors such as stereo infrared camera, color camera, accelerometer, gyroscope, magnetometer, GNSS (Single Point Positioning, Real-Time Kinematic and Post-Processed Kinematic), and wheel odometry. This dataset captures key challenges inherent to robotics in agricultural environments, including variations in natural lighting, motion blur, rough terrain, and long, perceptually aliased sequences. By addressing these complexities, the dataset aims to support the development and benchmarking of advanced algorithms for localization, mapping, perception, and navigation in agricultural robotics. The platform and data collection system is designed to meet the key requirements for evaluating multi-modal SLAM systems, including hardware synchronization of sensors, 6-DOF ground truth and loops on long trajectories. We run multimodal state-of-the art SLAM methods on the dataset, showcasing the existing limitations in their application on agricultural settings. The dataset and utilities to work with it are released on https://cifasis.github.io/rosariov2/.

Paperid: 59, https://arxiv.org/pdf/2508.18694.pdf GitHub

Abstract:
Existing datasets for precision agriculture have primarily been collected in static or controlled environments such as indoor labs or greenhouses, often with limited sensor diversity and restricted temporal span. These conditions fail to reflect the dynamic nature of real farmland, including illumination changes, crop growth variation, and natural disturbances. As a result, models trained on such data often lack robustness and generalization when applied to real-world field scenarios. In this paper, we present AgriChrono, a novel robotic data collection platform and multi-modal dataset designed to capture the dynamic conditions of real-world agricultural environments. Our platform integrates multiple sensors and enables remote, time-synchronized acquisition of RGB, Depth, LiDAR, and IMU data, supporting efficient and repeatable long-term data collection across varying illumination and crop growth stages. We benchmark a range of state-of-the-art 3D reconstruction models on the AgriChrono dataset, highlighting the difficulty of reconstruction in real-world field environments and demonstrating its value as a research asset for advancing model generalization under dynamic conditions. The code and dataset are publicly available at: https://github.com/StructuresComp/agri-chrono

Paperid: 60, https://arxiv.org/pdf/2508.17471.pdf GitHub GitHub

Abstract:
We present a distributed algorithm and implementation of the variational quantum eigensolver (VQE), termed distributed VQE (DVQE). DVQE, provided as an open-source Python package, enables the execution of parameterized quantum circuits across multiple logical quantum processing units (QPUs) in a distributed fashion. This approach addresses key hardware limitations of near-term quantum devices, including restricted qubit counts and limited circuit depth. Distributed ansatz circuits are constructed to preserve the quantum state fidelity of their monolithic counterparts, allowing consistent energy estimation while distributing the computational load. To improve the convergence and robustness of the optimization loop for identifying the variational parameters of the DVQE ansatz circuit, we use the ADAM optimizer in combination with metaheuristic initialization strategies, which outperform random initialization across various test cases. The complete DVQE pipeline is implemented in a modular Python package that accepts QUBO problems as input and supports monolithic and distributed execution modes. The framework leverages Qiskit to construct and simulate distributed circuits, and includes an internal greedy algorithm for automatic qubit allocation across multiple QPUs. Simulation results on QUBO benchmarks confirm the correctness of the approach, paving the way for real QPU deployment and further exploration of distributed quantum optimization. \textbf{The simulator is publicly available on \href{https://github.com/LSU-RAISE-LAB/DVQE.git}{GitHub} under a package named raiselab, with a collection of tutorial examples.}

Paperid: 61, https://arxiv.org/pdf/2508.13532.pdf GitHub

Abstract:
With the increasing penetration of renewable generation on the power grid, maintaining system balance requires coordinated demand flexibility from aggregations of buildings. Reinforcement learning (RL) has been widely explored for building controls because of its model-free nature. Open-source simulation testbeds are essential not only for training RL agents but also for fairly benchmarking control strategies. However, most building-sector testbeds target single buildings; multi-building platforms are relatively limited and typically rely on simplified models (e.g., Resistance-Capacitance) or data-driven approaches, which lack the ability to fully capture the physical intricacies and intermediate variables necessary for interpreting control performance. Moreover, these platforms often impose fixed inputs, outputs, and model formats, restricting their applicability as benchmarking tools across diverse control scenarios. To address these gaps, MuFlex, a scalable, open-source platform for benchmarking and testing control strategies for multi-building flexibility coordination, was developed in this study. MuFlex enables synchronous information exchange across EnergyPlus building models and adheres to the latest OpenAI Gym interface, providing a modular, standardized RL implementation. The platform capabilities were demonstrated in a case study coordinating demand flexibility across four office buildings using the Soft Actor-Critic algorithm with carefully fine-tuned hyperparameters. The results show that aggregating the four buildings flexibility reduced total peak demand below a specified threshold while maintaining indoor environmental quality.

Paperid: 62, https://arxiv.org/pdf/2508.10733.pdf GitHub

Abstract:
Urban traffic simulation is vital in planning, modeling, and analyzing road networks. However, the realism of a simulation depends extensively on the quality of input data. This paper presents an intersection traffic simulation tool that leverages real-world vehicle turning movement count (TMC) data from the City of Toronto to model traffic in an urban environment at an individual or multiple intersections using Simulation of Urban MObility (SUMO). The simulation performed in this research focuses specifically on intersection-level traffic generation without creating full vehicle routes through the network. This also helps keep the network's complexity to a minimum. The simulated traffic is evaluated against actual data to show that the simulation closely reproduces real intersection flows. This validates that the real data can drive practical simulations, and these scenarios can replace synthetic or random generated data, which is prominently used in developing new traffic-related methodologies. This is the first tool to integrate TMC data from Toronto into SUMO via an easy-to-use Graphical User Interface. This work contributes to the research and traffic planning community on data-driven traffic simulation. It provides transportation engineers with a framework to evaluate intersection design and traffic signal optimization strategies using readily available aggregate traffic data.

Paperid: 63, https://arxiv.org/pdf/2508.09606.pdf GitHub

Abstract:
\textbf{BEAVR} is an open-source, bimanual, multi-embodiment Virtual Reality (VR) teleoperation system for robots, designed to unify real-time control, data recording, and policy learning across heterogeneous robotic platforms. BEAVR enables real-time, dexterous teleoperation using commodity VR hardware, supports modular integration with robots ranging from 7-DoF manipulators to full-body humanoids, and records synchronized multi-modal demonstrations directly in the LeRobot dataset schema. Our system features a zero-copy streaming architecture achieving $\leq$35\,ms latency, an asynchronous ``think--act'' control loop for scalable inference, and a flexible network API optimized for real-time, multi-robot operation. We benchmark BEAVR across diverse manipulation tasks and demonstrate its compatibility with leading visuomotor policies such as ACT, DiffusionPolicy, and SmolVLA. All code is publicly available, and datasets are released on Hugging Face\footnote{Code, datasets, and VR app available at https://github.com/ARCLab-MIT/BEAVR-Bot.

Paperid: 64, https://arxiv.org/pdf/2508.09294.pdf GitHub

Abstract:
Advances in speech synthesis intensify security threats, motivating real-time deepfake detection research. We investigate whether bidirectional Mamba can serve as a competitive alternative to Self-Attention in detecting synthetic speech. Our solution, Fake-Mamba, integrates an XLSR front-end with bidirectional Mamba to capture both local and global artifacts. Our core innovation introduces three efficient encoders: TransBiMamba, ConBiMamba, and PN-BiMamba. Leveraging XLSR's rich linguistic representations, PN-BiMamba can effectively capture the subtle cues of synthetic speech. Evaluated on ASVspoof 21 LA, 21 DF, and In-The-Wild benchmarks, Fake-Mamba achieves 0.97%, 1.74%, and 5.85% EER, respectively, representing substantial relative gains over SOTA models XLSR-Conformer and XLSR-Mamba. The framework maintains real-time inference across utterance lengths, demonstrating strong generalization and practical viability. The code is available at https://github.com/xuanxixi/Fake-Mamba.

Paperid: 65, https://arxiv.org/pdf/2508.05634.pdf GitHub

Abstract:
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians, a robot can learn safe navigation policies that are robust to distribution shifts. Our method augments agent observations with prediction uncertainty estimates generated by adaptive conformal inference, and it uses these estimates to guide the agent's behavior through constrained reinforcement learning. The system helps regulate the agent's actions and enables it to adapt to distribution shifts. In the in-distribution setting, our approach achieves a 96.93% success rate, which is over 8.80% higher than the previous state-of-the-art baselines with over 3.72 times fewer collisions and 2.43 times fewer intrusions into ground-truth human future trajectories. In three out-of-distribution scenarios, our method shows much stronger robustness when facing distribution shifts in velocity variations, policy changes, and transitions from individual to group dynamics. We deploy our method on a real robot, and experiments show that the robot makes safe and robust decisions when interacting with both sparse and dense crowds. Our code and videos are available on https://gen-safe-nav.github.io/.

Paperid: 66, https://arxiv.org/pdf/2508.05465.pdf GitHub

Abstract:
Pituitary tumors often cause deformation or encapsulation of adjacent vital structures. Anatomical structure segmentation can provide surgeons with early warnings of regions that pose surgical risks, thereby enhancing the safety of pituitary surgery. However, pixel-level annotated video stream datasets for pituitary surgeries are extremely rare. To address this challenge, we introduce a new dataset for Pituitary Anatomy Segmentation (PAS). PAS comprises 7,845 time-coherent images extracted from 120 videos. To mitigate class imbalance, we apply data augmentation techniques that simulate the presence of surgical instruments in the training data. One major challenge in pituitary anatomy segmentation is the inconsistency in feature representation due to occlusions, camera motion, and surgical bleeding. By incorporating a Feature Fusion module, F2PASeg is proposed to refine anatomical structure segmentation by leveraging both high-resolution image features and deep semantic embeddings, enhancing robustness against intraoperative variations. Experimental results demonstrate that F2PASeg consistently segments critical anatomical structures in real time, providing a reliable solution for intraoperative pituitary surgery planning. Code: https://github.com/paulili08/F2PASeg.

Paperid: 67, https://arxiv.org/pdf/2507.21125.pdf GitHub

Abstract:
In an era of radical technology transformations, technology maps play a crucial role in enhancing decision making. These maps heavily rely on automated methods of technology extraction. This paper introduces Retrieval Augmented Technology Extraction (RATE), a Large Language Model (LLM) based pipeline for automated technology extraction from scientific literature. RATE combines Retrieval Augmented Generation (RAG) with multi-definition LLM-based validation. This hybrid method results in high recall in candidate generation alongside with high precision in candidate filtering. While the pipeline is designed to be general and widely applicable, we demonstrate its use on 678 research articles focused on Brain-Computer Interfaces (BCIs) and Extended Reality (XR) as a case study. Consequently, The validated technology terms by RATE were mapped into a co-occurrence network, revealing thematic clusters and structural features of the research landscape. For the purpose of evaluation, a gold standard dataset of technologies in 70 selected random articles had been curated by the experts. In addition, a technology extraction model based on Bidirectional Encoder Representations of Transformers (BERT) was used as a comparative method. RATE achieved F1-score of 91.27%, Significantly outperforming BERT with F1-score of 53.73%. Our findings highlight the promise of definition-driven LLM methods for technology extraction and mapping. They also offer new insights into emerging trends within the BCI-XR field. The source code is available https://github.com/AryaAftab/RATE

Paperid: 68, https://arxiv.org/pdf/2507.19947.pdf GitHub

Abstract:
Fusing information from human observations can help robots overcome sensing limitations in collaborative tasks. However, an uncertainty-aware fusion framework requires a grounded likelihood representing the uncertainty of human inputs. This paper presents a Feature Pyramid Likelihood Grounding Network (FP-LGN) that grounds spatial language by learning relevant map image features and their relationships with spatial relation semantics. The model is trained as a probability estimator to capture aleatoric uncertainty in human language using three-stage curriculum learning. Results showed that FP-LGN matched expert-designed rules in mean Negative Log-Likelihood (NLL) and demonstrated greater robustness with lower standard deviation. Collaborative sensing results demonstrated that the grounded likelihood successfully enabled uncertainty-aware fusion of heterogeneous human language observations and robot sensor measurements, achieving significant improvements in human-robot collaborative task performance.

Paperid: 69, https://arxiv.org/pdf/2507.19707.pdf GitHub

Abstract:
Cooperative Driving Automation (CDA) has garnered increasing research attention, yet the role of intelligent infrastructure remains insufficiently explored. Existing solutions offer limited support for addressing long-tail challenges, real-synthetic data fusion, and heterogeneous sensor management. This paper introduces CDA-SimBoost, a unified framework that constructs infrastructure-centric simulation environments from real-world data. CDA-SimBoost consists of three main components: a Digital Twin Builder for generating high-fidelity simulator assets based on sensor and HD map data, OFDataPip for processing both online and offline data streams, and OpenCDA-InfraX, a high-fidelity platform for infrastructure-focused simulation. The system supports realistic scenario construction, rare event synthesis, and scalable evaluation for CDA research. With its modular architecture and standardized benchmarking capabilities, CDA-SimBoost bridges real-world dynamics and virtual environments, facilitating reproducible and extensible infrastructure-driven CDA studies. All resources are publicly available at https://github.com/zhz03/CDA-SimBoost

Paperid: 70, https://arxiv.org/pdf/2507.19210.pdf GitHub

Abstract:
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation measures, resulting in a convex optimization problem resembling the discrete shortest-paths linear program that can be solved efficiently to global optimality. While this approach inherits the limitations of semidefinite programming, scalability to large numbers of discrete modes improves compared to the NP-hard mixed-integer formulation. We use this to plan trajectories under temporal logic specifications, comparing the computed cost lower bound to a nonconvex optimization approach with fixed mode sequence. In our numerical experiments, we find that this bound is typically in the vicinity of the nonconvex solution, while the runtime speedup is significant compared to the often intractable mixed-integer formulation. Our implementation is available at https://github.com/ebuehrle/hpoc.

Paperid: 71, https://arxiv.org/pdf/2507.18396.pdf GitHub

Abstract:
In vehicle trajectory tracking tasks, the simplest approach is the Pure Pursuit (PP) Control. However, this single-point preview tracking strategy fails to consider vehicle model constraints, compromising driving safety. Model Predictive Control (MPC) as a widely adopted control method, optimizes control actions by incorporating mechanistic models and physical constraints. While its control performance critically depends on the accuracy of vehicle modeling. Traditional vehicle modeling approaches face inherent trade-offs between capturing nonlinear dynamics and maintaining computational efficiency, often resulting in reduced control performance. To address these challenges, this paper proposes Residual Koopman Model Predictive Control (RKMPC) framework. This method uses two linear MPC architecture to calculate control inputs: a Linear Model Predictive Control (LMPC) computes the baseline control input based on the vehicle kinematic model, and a neural network-based RKMPC calculates the compensation input. The final control command is obtained by adding these two components. This design preserves the reliability and interpretability of traditional mechanistic model while achieving performance optimization through residual modeling. This method has been validated on the Carsim-Matlab joint simulation platform and a physical 1:10 scale F1TENTH racing car. Experimental results show that RKMPC requires only 20% of the training data needed by traditional Koopman Model Predictive Control (KMPC) while delivering superior tracking performance. Compared to traditional LMPC, RKMPC reduces lateral error by 11.7%-22.1%, decreases heading error by 8.9%-15.8%, and improves front-wheel steering stability by up to 27.6%. The implementation code is available at: https://github.com/ZJU-DDRX/Residual Koopman.

Paperid: 72, https://arxiv.org/pdf/2507.18150.pdf GitHub

Abstract:
Nuclear reactors are often modeled as inflexible baseload generators with fixed downtimes and restrictive ramping constraints. In practice, however, a reactor's operational flexibility is closely tied to its fuel cycle and associated reactivity margin. A key physical constraint for power maneuverability is xenon poisoning, caused from the transient buildup of neutron-absorbing xenon following a power reduction. This transient can delay or prevent subsequent power ramp-up due to suppressed core reactivity. Additionally, if a reactor is shutdown during periods of low reactivity, restart times can vary significantly, leading to prolonged downtimes. This work introduces a physics-informed modeling framework that embeds fuel cycle dynamics within a unit commitment (UC) formulation. The framework tracks reactivity margin, dynamically enforces xenon induced constraints, and endogenously schedules refueling outages based on core conditions. By capturing intracycle reactivity evolution, the model enables operation dependent nuclear dispatch that reflects both techno-economic requirements and irreducible nuclear physics limits. Application to a representative reactor fleet shows that flexible operation can slow reactivity degradation and extend fuel cycles. Results further demonstrate that different operational modes substantially affect VRE utilization, curtailment, and nuclear fleet capacity factors. These findings highlight the importance of fuel cycle aware flexibility modeling for accurate reactor scheduling and integration of nuclear power into energy system models.

Paperid: 73, https://arxiv.org/pdf/2507.18077.pdf GitHub

Abstract:
Power systems decarbonization are at the focal point of the clean energy transition. While system operators and utility companies increasingly publicize system-level carbon emission information, it remains unclear how emissions from individual generators are transported through the grid and how they impact electricity users at specific locations. This paper presents a novel and computationally efficient approach for exact quantification of nodal average and marginal carbon emission rates, applicable to both AC and DC optimal power flow problems. The approach leverages graph-based topological sorting and directed cycle removal techniques, applied to directed graphs formed by generation dispatch and optimal power flow solutions. Our proposed algorithm efficiently identifies each generator's contribution to each node, capturing how emissions are spatially distributed under varying system conditions. To validate its effectiveness and reveal locational and temporal emission patterns in the real world, we simulate the 8,870-bus realistic California grid using actual CAISO data and the CATS model. Based on year long hourly data on nodal loads and renewable generation, obtained or estimated from CAISO public data, our method accurately estimates power flow conditions, generation mixes, and systemwide emissions, and delivers fine grained spatiotemporal emission analysis for every California county. Both our algorithm and the California study are open-sourced, providing a foundation for future research on grid emissions, planning, operations, and energy policy.

Paperid: 74, https://arxiv.org/pdf/2507.16924.pdf GitHub

Abstract:
Faced with increasing penetration of distributed energy resources and fast development of distribution grid energy management, topology identification of distribution grid becomes an important and fundamental task. As the underlying grid topology is usually unknown or incomplete to the utilities, it is becoming a fundamental task to efficiently identify the distribution grid network topology using limited measurements. A fast and accurate topology identification can help achieving the tasks of load monitoring, operation and control of power distribution system as well as outage detection. In this paper, we propose a novel and ultra-fast topology identification method. By adapting the subset sum method with a hierarchical structure, the overall grid topology can be inferred from fewer samples of smart meter power measurements. Such techniques can be applied in real time under the scenarios with fast topology change, and the proposed hierarchical algorithm is also robust against measurement noises.

Paperid: 75, https://arxiv.org/pdf/2507.15266.pdf GitHub

Abstract:
Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we propose a vision-language model (VLM)-enhanced unified decision-making and motion control framework, named VLM-UDMC. This framework incorporates scene reasoning and risk-aware insights into an upper-level slow system, which dynamically reconfigures the optimal motion planning for the downstream fast system. The reconfiguration is based on real-time environmental changes, which are encoded through context-aware potential functions. More specifically, the upper-level slow system employs a two-step reasoning policy with Retrieval-Augmented Generation (RAG), leveraging foundation models to process multimodal inputs and retrieve contextual knowledge, thereby generating risk-aware insights. Meanwhile, a lightweight multi-kernel decomposed LSTM provides real-time trajectory predictions for heterogeneous traffic participants by extracting smoother trend representations for short-horizon trajectory prediction. The effectiveness of the proposed VLM-UDMC framework is verified via both simulations and real-world experiments with a full-size autonomous vehicle. It is demonstrated that the presented VLM-UDMC effectively leverages scene understanding and attention decomposition for rational driving decisions, thus improving the overall urban driving performance. Our open-source project is available at https://github.com/henryhcliu/vlmudmc.git.

Paperid: 76, https://arxiv.org/pdf/2507.12166.pdf GitHub

Abstract:
Radio maps (RMs) serve as a critical foundation for enabling environment-aware wireless communication, as they provide the spatial distribution of wireless channel characteristics. Despite recent progress in RM construction using data-driven approaches, most existing methods focus solely on pathloss prediction in a fixed 2D plane, neglecting key parameters such as direction of arrival (DoA), time of arrival (ToA), and vertical spatial variations. Such a limitation is primarily due to the reliance on static learning paradigms, which hinder generalization beyond the training data distribution. To address these challenges, we propose UrbanRadio3D, a large-scale, high-resolution 3D RM dataset constructed via ray tracing in realistic urban environments. UrbanRadio3D is over 37$\times$3 larger than previous datasets across a 3D space with 3 metrics as pathloss, DoA, and ToA, forming a novel 3D$\times$33D dataset with 7$\times$3 more height layers than prior state-of-the-art (SOTA) dataset. To benchmark 3D RM construction, a UNet with 3D convolutional operators is proposed. Moreover, we further introduce RadioDiff-3D, a diffusion-model-based generative framework utilizing the 3D convolutional architecture. RadioDiff-3D supports both radiation-aware scenarios with known transmitter locations and radiation-unaware settings based on sparse spatial observations. Extensive evaluations on UrbanRadio3D validate that RadioDiff-3D achieves superior performance in constructing rich, high-dimensional radio maps under diverse environmental dynamics. This work provides a foundational dataset and benchmark for future research in 3D environment-aware communication. The dataset is available at https://github.com/UNIC-Lab/UrbanRadio3D.

Paperid: 77, https://arxiv.org/pdf/2507.11447.pdf GitHub

Abstract:
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to leverage multiple inertial measurement units on different links of the robot to correct a major error source in standard proprioceptive odometry. We fuse the inertial sensor information and joint encoder measurements in an extended Kalman filter, then combine the velocity estimate from this filter with camera data in a factor-graph-based sliding-window estimator to form a visual-inertial-leg odometry method. We validate our state estimator through comprehensive theoretical analysis and hardware experiments performed using real-world robot data collected during a variety of challenging locomotion tasks. Our algorithm consistently achieves minimal position deviation, even in scenarios involving substantial ground impact, foot slippage, and sudden body rotations. A C++ implementation, along with a large-scale dataset, is available at https://github.com/ShuoYangRobotics/Cerberus2.0.

Paperid: 78, https://arxiv.org/pdf/2507.09822.pdf GitHub GitHub

Abstract:
Navigation in dynamic environments requires autonomous systems to reason about uncertainties in the behavior of other agents. In this paper, we introduce a unified framework that combines trajectory planning with multimodal predictions and active probing to enhance decision-making under uncertainty. We develop a novel risk metric that seamlessly integrates multimodal prediction uncertainties through mixture models. When these uncertainties follow a Gaussian mixture distribution, we prove that our risk metric admits a closed-form solution, and is always finite, thus ensuring analytical tractability. To reduce prediction ambiguity, we incorporate an active probing mechanism that strategically selects actions to improve its estimates of behavioral parameters of other agents, while simultaneously handling multimodal uncertainties. We extensively evaluate our framework in autonomous navigation scenarios using the MetaDrive simulation environment. Results demonstrate that our active probing approach successfully navigates complex traffic scenarios with uncertain predictions. Additionally, our framework shows robust performance across diverse traffic agent behavior models, indicating its broad applicability to real-world autonomous navigation challenges. Code and videos are available at https://darshangm.github.io/papers/active-probing-multimodal-predictions/.

Paperid: 79, https://arxiv.org/pdf/2507.06535.pdf GitHub

Abstract:
Graph representation learning on Analog-Mixed Signal (AMS) circuits is crucial for various downstream tasks, e.g., parasitic estimation. However, the scarcity of design data, the unbalanced distribution of labels, and the inherent diversity of circuit implementations pose significant challenges to learning robust and transferable circuit representations. To address these limitations, we propose CircuitGCL, a novel graph contrastive learning framework that integrates representation scattering and label rebalancing to enhance transferability across heterogeneous circuit graphs. CircuitGCL employs a self-supervised strategy to learn topology-invariant node embeddings through hyperspherical representation scattering, eliminating dependency on large-scale data. Simultaneously, balanced mean squared error (BMSE) and balanced softmax cross-entropy (BSCE) losses are introduced to mitigate label distribution disparities between circuits, enabling robust and transferable parasitic estimation. Evaluated on parasitic capacitance estimation (edge-level task) and ground capacitance classification (node-level task) across TSMC 28nm AMS designs, CircuitGCL outperforms all state-of-the-art (SOTA) methods, with the $R^2$ improvement of $33.64\% \sim 44.20\%$ for edge regression and F1-score gain of $0.9\times \sim 2.1\times$ for node classification. Our code is available at https://github.com/ShenShan123/CircuitGCL.

Paperid: 80, https://arxiv.org/pdf/2507.06416.pdf GitHub

Abstract:
Recent boom in foundation models and AI computing have raised growing concerns on the power and energy trajectories of large-scale data centers. This paper focuses on the voltage issues caused by volatile and intensity of data center power demand, which also aligns with recent observations of more frequent voltage disturbances in power grids. To address these data center integration challenges, we propose a dynamic voltage control scheme by harnessing data center's load regulation capabilities. By taking local voltage measurements and adjusting power injections at each data center buses through the dynamic voltage and frequency scaling (DVFS) scheme, we are able to maintain safe voltage magnitude in a distributed fashion with higher data center computing load. Simulations using real large language model (LLM) inference load validate the effectiveness of our proposed mechanism. Both the LLM power data and proposed control scheme are open sourced.

Paperid: 81, https://arxiv.org/pdf/2507.05785.pdf GitHub

Abstract:
Accurate bandwidth estimation (BWE) is critical for real-time communication (RTC) systems. Traditional heuristic approaches offer limited adaptability under dynamic networks, while online reinforcement learning (RL) suffers from high exploration costs and potential service disruptions. Offline RL, which leverages high-quality data collected from real-world environments, offers a promising alternative. However, challenges such as out-of-distribution (OOD) actions, policy extraction from behaviorally diverse datasets, and reliable deployment in production systems remain unsolved. We propose RBWE, a robust bandwidth estimation framework based on offline RL that integrates Q-ensemble (an ensemble of Q-functions) with a Gaussian mixture policy to mitigate OOD risks and enhance policy learning. A fallback mechanism ensures deployment stability by switching to heuristic methods under high uncertainty. Experimental results show that RBWE reduces overestimation errors by 18% and improves the 10th percentile Quality of Experience (QoE) by 18.6%, demonstrating its practical effectiveness in real-world RTC applications. The implementation is publicly available at https://github.com/jiu2021/RBWE_offline.

Paperid: 82, https://arxiv.org/pdf/2507.04589.pdf GitHub

Abstract:
The exponential growth of multimedia data traffic in 6G networks poses unprecedented challenges for immersive communication, where ultra-high-definition, multi-quality streaming must be delivered on demand while minimizing network operational costs. Traditional routing approaches, such as shortest-path algorithms, fail to optimize flow multiplexing across multiple destinations, while conventional Steiner tree methods cannot accommodate heterogeneous quality-of-service (QoS) requirements-a critical need for 6G's personalized services. In this paper, we address a fundamental but unsolved challenge: the minimum flow problem (MFP) with multi-destination, heterogeneous outflow demands, which is pivotal for efficient multimedia distribution such as adaptive-resolution video streaming. To overcome the limitations of existing methods, we propose a two-stage dynamic programming-enhanced On-demand Steiner Tree (OST) algorithm, the first approach that jointly optimizes flow aggregation and QoS-aware path selection for arbitrary outflow requirements. We rigorously prove the optimality of OST using mathematical induction, demonstrating that it guarantees the minimum-cost multicast flow under differentiated service constraints. Extensive experiments in 6G-like multimedia transmission scenarios show that OST reduces total network flow by over 10% compared to state-of-the-art methods while ensuring on-demand QoS fulfillment. The complete code is available at https://github.com/UNIC-Lab/OST.

Paperid: 83, https://arxiv.org/pdf/2507.04425.pdf GitHub

Abstract:
Telerobotic technologies are becoming increasingly essential in fields such as remote surgery, nuclear decommissioning, and space exploration. Reliable datasets and testbeds are essential for evaluating telerobotic system performance prior to real-world deployment. However, there is a notable lack of datasets that capture the impact of network delays, as well as testbeds that realistically model the communication link between the operator and the robot. This paper introduces TeleSim, a network-aware teleoperation dataset and testbed designed to assess the performance of telerobotic applications under diverse network conditions. TeleSim systematically collects performance data from fine manipulation tasks executed under three predefined network quality tiers: High, Medium, and Low. Each tier is characterized through controlled settings of bandwidth, latency, jitter, and packet loss. Using OMNeT++ for precise network simulation, we record a wide range of metrics, including completion time, success rates, video quality indicators (Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index Measure (SSIM)), and quality of service (QoS) parameters. TeleSim comprises 300 experimental trials, providing a robust benchmark for evaluating teleoperation systems across heterogeneous network scenarios. In the worst network condition, completion time increases by 221.8% and success rate drops by 64%. Our findings reveal that network degradation leads to compounding negative impacts, notably reduced video quality and prolonged task execution, highlighting the need for adaptive, resilient teleoperation protocols. The full dataset and testbed software are publicly available on our GitHub repository: https://github.com/ConnectedRoboticsLab and YouTube channel: https://youtu.be/Fz_1iOYe104.

Paperid: 84, https://arxiv.org/pdf/2507.04384.pdf GitHub

Abstract:
Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework that is both rapid and safe. First, we introduce a scene-agnostic, MPC-based data generation pipeline that efficiently produces large volumes of kinematically feasible trajectories. Building on this dataset, our integrated diffusion planner maps raw onboard sensor inputs directly to kinematically feasible trajectories, enabling efficient inference while maintaining strong collision avoidance. To generalize to diverse, previously unseen scenarios, we compose diffusion models at test time, enabling safe behavior without additional training. We further propose a lightweight, rule-based safety filter that, from the candidate set, selects the trajectory meeting safety and kinematic-feasibility requirements. Across seen and unseen settings, the proposed method delivers real-time-capable inference with high safety and stability. Experiments on an F1TENTH vehicle demonstrate practicality on real hardware. Project page: https://rstp-comp-diffuser.github.io/.

Paperid: 85, https://arxiv.org/pdf/2507.02851.pdf GitHub

Abstract:
Recent advancements in the reasoning capabilities of large language models (LLMs) show that employing group relative policy optimization (GRPO) algorithm for reinforcement learning (RL) training allows the models to use more thinking/reasoning tokens for generating better responses. However, LLMs can generate only a finite amount of tokens while maintaining attention to the previously generated tokens. This limit, also known as the context size of an LLM, is a bottleneck in LLM reasoning with arbitrarily large number of tokens. To think beyond the limit of context size, an LLM must employ a modular thinking strategy to reason over multiple rounds. In this work, we propose $\textbf{MOTIF: Modular Thinking via Reinforcement Finetuning}$ -- an RL training method for generating thinking tokens in multiple rounds, effectively allowing the model to think with additional context size. We trained the open-source model Qwen2.5-3B-Instruct on GSM8K dataset via parameter efficient fine-tuning and tested its accuracy on MATH500 and AIME2024 benchmarks. Our experiments show 3.8\% and 3.3\% improvements over vanilla GRPO based training in the respective benchmarks. Furthermore, this improvement was achieved with only 15\% of samples, thus demonstrating sample efficiency of MOTIF. Our code and models are available at https://github.com/purbeshmitra/MOTIF and https://huggingface.co/purbeshmitra/MOTIF, respectively.

Paperid: 86, https://arxiv.org/pdf/2509.12758.pdf

Abstract:
Semantic communication (SemCom) has emerged as a transformative paradigm for future 6G networks, offering task-oriented and meaning-aware transmission that fundamentally redefines traditional bit-centric design. Recognized by leading standardization bodies including the institute of electrical and electronics engineers (IEEE) and the international telecommunication union (ITU), and actively discussed within the 3rd generation partnership project (3GPP) working groups, SemCom is rapidly gaining traction as a foundational enabler for native-AI 6G. This paper presents a comprehensive overview of recent progress in SemCom from both academic and industrial perspectives, with a focus on its ongoing and upcoming standardization activities. We systematically examine advances in representative application scenarios, architectural design, semantic-traditional system compatibility, unified evaluation metrics, and validation methodologies. Furthermore, we highlight several key enabling technologies, such as joint source-channel coding (JSCC), SemCom-based multiple access (MA) technologies such as model division MA (MDMA), and semantic knowledge base (KB), that support the practical implementation of SemCom in standard-compliant systems. Additionally, we present a case study for channel state information (CSI) feedback, illustrating the concrete performance gains of SemCom under 3GPP-compliant fading channels. Finally, we discuss emerging challenges and research opportunities for incorporating semantic-native mechanisms into the evolving 6G standardization landscape, and provide forward-looking insights into its development and global adoption.

Paperid: 87, https://arxiv.org/pdf/2508.15838.pdf

Abstract:
The increasing saturation of terrestrial resources has driven the exploration of low-altitude applications such as air taxis. Low altitude wireless networks (LAWNs) serve as the foundation for these applications, and integrated sensing and communication (ISAC) constitutes one of the core technologies within LAWNs. However, the openness nature of low-altitude airspace makes LAWNs vulnerable to malicious channel access attacks, which degrade the ISAC performance. Therefore, this paper develops a game-based framework to mitigate the influence of the attacks on LAWNs. Concretely, we first derive expressions of communication data's signal-to-interference-plus-noise ratio and the age of information of sensing data under attack conditions, which serve as quality of service metrics. Then, we formulate the ISAC performance optimization problem as a Stackelberg game, where the attacker acts as the leader, and the legitimate drone and the ground ISAC base station act as second and first followers, respectively. On this basis, we design a backward induction algorithm that achieves the Stackelberg equilibrium while maximizing the utilities of all participants, thereby mitigating the attack-induced degradation of ISAC performance in LAWNs. We further prove the existence and uniqueness of the equilibrium. Simulation results show that the proposed algorithm outperforms existing baselines and a static Nash equilibrium benchmark, ensuring that LAWNs can provide reliable service for low-altitude applications.

Paperid: 88, https://arxiv.org/pdf/2512.23294.pdf

Abstract:
Semantic communications (SemCom), as one of the key technologies for 6G, is shifting networks from bit transmission to semantic information exchange. On this basis, introducing agentic artificial intelligence (AI) with perception, memory, reasoning, and action capabilities provides a practicable path to intelligent communications. This paper provides a systematic exposition of how agentic AI empowers SemCom from the perspectives of research foundations, system architecture, and application scenarios. We first provide a comprehensive review of existing studies by agent types, covering embedded agents, large language model (LLM)/large vision model (LVM) agents, and reinforcement learning (RL) agents. Additionally, we propose a unified agentic AI-enhanced SemCom framework covering the application layer, the semantic layer, and the cloud-edge collaboration layer, forming a closed loop from intent to encoding to transmission to decoding to action to evaluation. We also present several typical scenarios, including multi-vehicle collaborative perception, multi-robot cooperative rescue, and agentic operations for intellicise (intelligent and concise) networks. Furthermore, we introduce an agentic knowledge base (KB)-based joint source-channel coding case study, AKB-JSCC, where the source KB and channel KB are built by LLM/LVM agents and RL agents, respectively. Experimental results show that AKB-JSCC achieves higher information reconstruction quality under different channel conditions. Finally, we discuss future evolution and research directions, providing a reference for portable, verifiable, and controllable research and deployment of agentic SemCom.

Paperid: 89, https://arxiv.org/pdf/2509.19855.pdf

Abstract:
The increasing demand for intelligent mobile applications has made multi-agent collaboration with Transformer-based large language models (LLMs) essential in mobile edge computing (MEC) networks. However, training LLMs in such environments remains challenging due to heavy computation, high end-to-end latency, and limited model generalization. We introduce CollaPipe, a hybrid distributed learning framework that integrates collaborative pipeline parallelism with federated aggregation to support self-evolving intelligent networks. In CollaPipe, the encoder part is adaptively partitioned into variable-sized segments and deployed across mobile devices for pipeline-parallel training, while the decoder is deployed on edge servers to handle generative tasks. Then we perform global model update via federated aggregation. To enhance training efficiency, we formulate a joint optimization problem that adaptively allocates model segments, micro-batches, bandwidth, and transmission power. We derive and use a closed-form convergence bound to design an Dynamic Segment Scheduling and Resource Allocation (DSSDA) algorithm based on Lyapunov optimization, ensuring system stability under long-term constraints. Extensive experiments on downstream tasks with Transformer and BERT models show that CollaPipe improves computation efficiency by up to 15.09%, reduces end-to-end latency by at least 48.98%, and cuts single device memory usage by more than half, enabling online learning in heterogeneous and dynamic communication environments.

Paperid: 90, https://arxiv.org/pdf/2511.18892.pdf

Abstract:
The performance of the sensing system is limited by the signal attenuation and the number of receiving components. In this letter, we investigate the sensor position selection in a semi-passive intelligent reflecting surface (IRS) enabled non-line-of-sight (NLoS) sensing system. The IRS consists of passive elements and active sensors, where the sensors can receive and process the echo signal for direction-of-arrival (DoA) estimation. Motivated by the movable antenna array and fluid antenna system, we consider the case where the sensors are integrated into a group for movement and derive the corresponding Cramer-Rao bound (CRB). Then, the optimal solution for the positions of the movable sensors (MSs) to the CRB minimization problem is derived in closed form. Moreover, we characterize the relationship between the CRB and system parameters. Theoretical analysis and numerical results are provided to demonstrate the superiority of the proposed MS scheme over the fixed-position (FP) scheme.

Paperid: 91, https://arxiv.org/pdf/2509.12698.pdf

Abstract:
Sensing-assisted predictive beamforming, as one of the enabling technologies for emerging integrated sensing and communication (ISAC) paradigm, shows significant promise for enhancing various future unmanned aerial vehicle (UAV) applications. However, current works predominately emphasized on spectral efficiency enhancement, while the impact of such beamforming techniques on the communication reliability was largely unexplored and challenging to characterize. To fill this research gap and tackle this issue, this paper investigates outage capacity maximization for UAV tracking under the sensing-assisted predictive beamforming scheme. Specifically, a cellular-connected UAV tracking scheme is proposed leveraging extended Kalman filtering (EKF), where the predicted UAV trajectory, sensing duration ratio, and target constant received signal-to-noise ratio (SNR) are jointly optimized to maximize the outage capacity at each time slot. To address the implicit nature of the objective function, closed-form approximations of the outage probabilities (OPs) at both prediction and measurement stages of each time slot are proposed based on second-order Taylor expansions, providing an efficient and full characterization of outage capacity. Subsequently, an efficient algorithm is proposed based on a combination of bisection search and successive convex approximation (SCA) to address the non-convex optimization problem with guaranteed convergence. To further reduce computational complexity, a second efficient algorithm is developed based on alternating optimization (AO). Simulation results validate the accuracy of the derived OP approximations, the effectiveness of the proposed algorithms, and the significant outage capacity enhancement over various benchmarks, while also indicating a trade-off between decreasing path loss and enjoying wide beam coverage for outage capacity maximization.

Paperid: 92, https://arxiv.org/pdf/2509.23224.pdf

Abstract:
To improve efficiency and temporal coherence, Vision-Language-Action (VLA) models often predict action chunks; however, this action chunking harms reactivity under inference delay and long horizons. We introduce Asynchronous Action Chunk Correction (A2C2), which is a lightweight real-time chunk correction head that runs every control step and adds a time-aware correction to any off-the-shelf VLA's action chunk. The module combines the latest observation, the predicted action from VLA (base action), a positional feature that encodes the index of the base action within the chunk, and some features from the base policy, then outputs a per-step correction. This preserves the base model's competence while restoring closed-loop responsiveness. The approach requires no retraining of the base policy and is orthogonal to asynchronous execution schemes such as Real Time Chunking (RTC). On the dynamic Kinetix task suite (12 tasks) and LIBERO Spatial, our method yields consistent success rate improvements across increasing delays and execution horizons (+23% point and +7% point respectively, compared to RTC), and also improves robustness for long horizons even with zero injected delay. Since the correction head is small and fast, there is minimal overhead compared to the inference of large VLA models. These results indicate that A2C2 is an effective, plug-in mechanism for deploying high-capacity chunking policies in real-time control.

Paperid: 93, https://arxiv.org/pdf/2510.00477.pdf

Abstract:
Low-altitude uncrewed aerial vehicles (UAVs) have become integral enablers for the Internet of Things (IoT) by offering enhanced coverage, improved connectivity and access to remote areas. A critical challenge limiting their operational capacity lies in the energy constraints of both aerial platforms and ground-based sensors. This paper explores WLPT as a transformative solution for sustainable energy provisioning in UAV-assisted IoT networks. We first systematically investigate the fundamental principles of WLPT and analysis the comparative advantages. Then, we introduce three operational paradigms for system integration, identify key challenges, and discuss corresponding potential solutions. In case study, we propose a multi-agent reinforcement learning framework to address the coordination and optimization challenges in WLPT-enabled UAV-assisted IoT data collection. Simulation results demonstrate that our framework significantly improves energy sustainability and data freshness. Finally, we discuss some future directions.

Paperid: 94, https://arxiv.org/pdf/2511.03741.pdf

Abstract:
The evolution of electric vehicles (EVs) is reshaping the automotive industry, advocating for more sustainable transportation practices. Accurately predicting EV charging behavior is essential for effective infrastructure planning and optimization. However, the charging load of EVs is significantly influenced by uncertainties and randomness, posing challenges for accurate estimation. Furthermore, existing literature reviews lack a systematic analysis of modeling approaches focused on information fusion. This paper comprehensively reviews EV charging load models from the past five years. We categorize state-of-the-art modeling methods into statistical, simulated, and data-driven approaches, examining the advantages and drawbacks of each. Additionally, we analyze the three bottom-up level operations of information fusion in existing models. We conclude by discussing the challenges and opportunities in the field, offering guidance for future research endeavors to advance our understanding and explore practical research directions.

Paperid: 95, https://arxiv.org/pdf/2510.07333.pdf

Abstract:
Timely resource allocation in edge-assisted vehicular networks is essential for compute-intensive services such as autonomous driving and navigation. However, vehicle mobility leads to spatio-temporal unpredictability of resource demands, while real-time double auctions incur significant latency. To address these challenges, we propose a look-ahead contract-based auction framework that shifts decision-making from runtime to planning time. Our approach establishes N-step service contracts between edge servers (ESs) using demand forecasts and modified double auctions. The system operates in two stages: first, an LSTM-based prediction module forecasts multi-slot resource needs and determines ES roles (buyer or seller), after which a pre-double auction generates contracts specifying resource quantities, prices, and penalties. Second, these contracts are enforced in real time without rerunning auctions. The framework incorporates energy costs, transmission overhead, and contract breach risks into utility models, ensuring truthful, rational, and energy-efficient trading. Experiments on real-world (UTD19) and synthetic traces demonstrate that our method improves time efficiency, energy use, and social welfare compared with existing baselines.

Paperid: 96, https://arxiv.org/pdf/2507.22389.pdf

Abstract:
The advent of end-to-end autonomy stacks - often lacking interpretable intermediate modules - has placed an increased burden on ensuring that the final output, i.e., the motion plan, is safe in order to validate the safety of the entire stack. This requires a safety monitor that is both complete (able to detect all unsafe plans) and sound (does not flag safe plans). In this work, we propose a principled safety monitor that leverages modern multi-modal trajectory predictors to approximate forward reachable sets (FRS) of surrounding agents. By formulating a convex program, we efficiently extract these data-driven FRSs directly from the predicted state distributions, conditioned on scene context such as lane topology and agent history. To ensure completeness, we leverage conformal prediction to calibrate the FRS and guarantee coverage of ground-truth trajectories with high probability. To preserve soundness in out-of-distribution (OOD) scenarios or under predictor failure, we introduce a Bayesian filter that dynamically adjusts the FRS conservativeness based on the predictor's observed performance. We then assess the safety of the ego vehicle's motion plan by checking for intersections with these calibrated FRSs, ensuring the plan remains collision-free under plausible future behaviors of others. Extensive experiments on the nuScenes dataset show our approach significantly improves soundness while maintaining completeness, offering a practical and reliable safety monitor for learned autonomy stacks.

Paperid: 97, https://arxiv.org/pdf/2512.10965.pdf

Abstract:
Radio maps (RMs) provide a spatially continuous description of wireless propagation, enabling cross-layer optimization and unifying communication and sensing for integrated sensing and communications (ISAC). However, constructing high-fidelity RMs at operational scales is difficult, since physics-based solvers are time-consuming and require precise scene models, while learning methods degrade under incomplete priors and sparse measurements, often smoothing away critical discontinuities. We present RMSup, a physics-informed super-resolution framework that functions with uniform sparse sampling and imperfect environment priors. RMSup extracts Helmholtz equation-informed boundary and singularity prompts from the measurements, fuses them with base-station side information and coarse scene descriptors as conditional inputs, and employs a boundary-aware dual-head network to reconstruct a high-fidelity RM and recover environmental contours jointly. Experimental results show the proposed RMsup achieves state-of-the-art performance both in RM construction and ISAC-related environment sensing.

Paperid: 98, https://arxiv.org/pdf/2512.08608.pdf

Abstract:
Accurate outdoor localization in Non-Line-of-Sight (NLoS) environments remains a critical challenge for wireless communication and sensing systems. Existing methods, including positioning based on the Global Navigation Satellite System (GNSS) and triple Base Stations (BSs) techniques, cannot provide reliable performance under NLoS conditions, particularly in dense urban areas with strong multipath effects. To address this limitation, we propose a single BS localization framework that integrates sequential signal measurements with prior radio information embedded in the Radio Map (RM). Using temporal measurement features and matching them with radio maps, the proposed method effectively mitigates the adverse impact of multipath propagation and reduces the dependence on LoS paths. Simulation experiments further evaluate the impact of different radio map construction strategies and the varying lengths of the measurement sequence on localization accuracy. Results demonstrate that the proposed scheme achieves sub-meter positioning accuracy in typical NLoS environments, highlighting its potential as a practical and robust solution for single-base-station deployment.

Paperid: 99, https://arxiv.org/pdf/2509.01875.pdf

Abstract:
Accurate localization of non-cooperative signal sources in non-line-of-sight (NLoS) environments remains a critical challenge with a wide range of applications, including autonomous navigation, industrial automation, and emergency response. In such settings, traditional positioning techniques relying on line-of-sight (LoS) or cooperative signaling fail due to severe multipath propagation and unknown transmit power. This paper proposes a novel generative inference framework for NLoS localization based on conditional diffusion models. By leveraging the physical insight that diffracted electromagnetic energy concentrates near building edges, we develop a sampling strategy that collects sparse received signal strength (RSS) measurements at the geometric vertices of obstacles--locations that maximize Fisher information and mutual information with respect to the unknown source. To overcome the lack of known transmission power, we normalize all sampled RSS values relative to the maximum observed intensity, enabling the construction of a power-invariant radio map (RM). A conditional diffusion model is trained to reconstruct the full RM based on environmental layout and sparse RSS observations. Localization is then achieved by identifying the brightest point on the generated RM. Moreover, the proposed framework is compatible with existing RSS-based localization algorithms, enabling a dual-driven paradigm that fuses physical knowledge and data-driven inference for improved accuracy. Extensive theoretical analysis and empirical validation demonstrate that our approach achieves high localization accuracy with significantly reduced sampling cost, offering a scalable and physically grounded solution for non-cooperative NLoS emitter localization.

Paperid: 100, https://arxiv.org/pdf/2510.21739.pdf

Abstract:
With the rapid advancement of Large Language Models (LLMs), their capabilities in various automation domains, particularly Unmanned Aerial Vehicle (UAV) operations, have garnered increasing attention. Current research remains predominantly constrained to small-scale UAV applications, with most studies focusing on isolated components such as path planning for toy drones, while lacking comprehensive investigation of medium- and long-range UAV systems in real-world operational contexts. Larger UAV platforms introduce distinct challenges, including stringent requirements for airport-based take-off and landing procedures, adherence to complex regulatory frameworks, and specialized operational capabilities with elevated mission expectations. This position paper presents the Next-Generation LLM for UAV (NeLV) system -- a comprehensive demonstration and automation roadmap for integrating LLMs into multi-scale UAV operations. The NeLV system processes natural language instructions to orchestrate short-, medium-, and long-range UAV missions through five key technical components: (i) LLM-as-Parser for instruction interpretation, (ii) Route Planner for Points of Interest (POI) determination, (iii) Path Planner for waypoint generation, (iv) Control Platform for executable trajectory implementation, and (v) UAV monitoring. We demonstrate the system's feasibility through three representative use cases spanning different operational scales: multi-UAV patrol, multi-POI delivery, and multi-hop relocation. Beyond the current implementation, we establish a five-level automation taxonomy that charts the evolution from current LLM-as-Parser capabilities (Level 1) to fully autonomous LLM-as-Autopilot systems (Level 5), identifying technical prerequisites and research challenges at each stage.

Paperid: 101, https://arxiv.org/pdf/2508.21316.pdf

Abstract:
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are essential for safe flight. In this paper, we investigate how to efficiently and accurately achieve path-following, obstacle sensing and avoidance subtasks, as well as their conflict-free fusion scheduling. Firstly, a high precision deep reinforcement learning (DRL)-based UAV formation path-following model is developed, and the reward function with adaptive weights is designed from the perspective of distance and velocity errors. Then, we use integrated sensing and communication (ISAC) signals to detect the obstacle and derive the Cramer-Rao lower bound (CRLB) for obstacle sensing by information-level fusion, based on which we propose the variable formation enhanced obstacle position estimation (VFEO) algorithm. In addition, an online obstacle avoidance scheme without pretraining is designed to solve the sparse reward. Finally, with the aid of null space based (NSB) behavioral method, we present a hierarchical subtasks fusion strategy. Simulation results demonstrate the effectiveness and superiority of the subtask algorithms and the hierarchical fusion strategy.

Paperid: 102, https://arxiv.org/pdf/2511.13770.pdf

Abstract:
Decentralized air traffic management systems offer a scalable alternative to centralized control, but often assume high levels of cooperation. In practice, such assumptions frequently break down since airspace sectors operate independently and prioritize local objectives. We address the problem of sector overload in decentralized air traffic management by proposing a mechanism that models self-interested behaviors based on best response dynamics. Each sector adjusts the departure times of flights under its control to reduce its own congestion, without any shared decision making. A tunable cooperativeness factor models the degree to which each sector is willing to reduce overload in other sectors. We prove that the proposed mechanism satisfies a potential game structure, ensuring that best response dynamics converge to a pure Nash equilibrium, under a mild restriction. In addition, we identify a sufficient condition under which an overload-free solution corresponds to a global minimizer of the potential function. Numerical experiments using 24 hours of European flight data demonstrate that the proposed algorithm substantially reduces overload even with only minimal cooperation between sectors, while maintaining scalability and matching the solution quality of centralized solvers.

Paperid: 103, https://arxiv.org/pdf/2509.16650.pdf

Abstract:
Ensuring both optimality and safety is critical for the real-world deployment of agents, but becomes particularly challenging when the system dynamics are unknown. To address this problem, we introduce a notion of maximum safe dynamics learning via sufficient exploration in the space of safe policies. We propose a $\textit{pessimistically}$ safe framework that $\textit{optimistically}$ explores informative states and, despite not reaching them due to model uncertainty, ensures continuous online learning of dynamics. The framework achieves first-of-its-kind results: learning the dynamics model sufficiently $-$ up to an arbitrary small tolerance (subject to noise) $-$ in a finite time, while ensuring provably safe operation throughout with high probability and without requiring resets. Building on this, we propose an algorithm to maximize rewards while learning the dynamics $\textit{only to the extent needed}$ to achieve close-to-optimal performance. Unlike typical reinforcement learning (RL) methods, our approach operates online in a non-episodic setting and ensures safety throughout the learning process. We demonstrate the effectiveness of our approach in challenging domains such as autonomous car racing and drone navigation under aerodynamic effects $-$ scenarios where safety is critical and accurate modeling is difficult.

Paperid: 104, https://arxiv.org/pdf/2509.13109.pdf

Abstract:
This paper introduces a learning-based control framework for a soft robotic actuator system designed to modulate intracranial pressure (ICP) waveforms, which is essential for studying cerebrospinal fluid dynamics and pathological processes underlying neurological disorders. A two-layer framework is proposed to safely achieve a desired ICP waveform modulation. First, a model predictive controller (MPC) with a disturbance observer is used for offset-free tracking of the system's motor position reference trajectory under safety constraints. Second, to address the unknown nonlinear dependence of ICP on the motor position, we employ a Bayesian optimization (BO) algorithm used for online learning of a motor position reference trajectory that yields the desired ICP modulation. The framework is experimentally validated using a test bench with a brain phantom that replicates realistic ICP dynamics in vitro. Compared to a previously employed proportional-integral-derivative controller, the MPC reduces mean and maximum motor position reference tracking errors by 83 % and 73 %, respectively. In less than 20 iterations, the BO algorithm learns a motor position reference trajectory that yields an ICP waveform with the desired mean and amplitude.

Paperid: 105, https://arxiv.org/pdf/2509.12212.pdf

Abstract:
Modern power systems are becoming increasingly dynamic, with changing topologies and time-varying loads driven by renewable energy variability, electric vehicle adoption, and active grid reconfiguration. Despite these changes, publicly available test cases remain scarce, due to security concerns and the significant effort required to anonymize real systems. Such limitations call for generative tools that can jointly synthesize grid structure and nodal dynamics. However, modeling the joint distribution of network topology, branch attributes, bus properties, and dynamic load profiles remains a major challenge, while preserving physical feasibility and avoiding prohibitive computational costs. We present PowerGrow, a co-generative framework that significantly reduces computational overhead while maintaining operational validity. The core idea is dependence decomposition: the complex joint distribution is factorized into a chain of conditional distributions over feasible grid topologies, time-series bus loads, and other system attributes, leveraging their mutual dependencies. By constraining the generation process at each stage, we implement a hierarchical graph beta-diffusion process for structural synthesis, paired with a temporal autoencoder that embeds time-series data into a compact latent space, improving both training stability and sample fidelity. Experiments across benchmark settings show that PowerGrow not only outperforms prior diffusion models in fidelity and diversity but also achieves a 98.9\% power flow convergence rate and improved N-1 contingency resilience. This demonstrates its ability to generate operationally valid and realistic power grid scenarios.

Paperid: 106, https://arxiv.org/pdf/2507.02098.pdf

Abstract:
In this paper, we present a robust and adaptive model predictive control (MPC) framework for uncertain nonlinear systems affected by bounded disturbances and unmodeled nonlinearities. We use Gaussian Processes (GPs) to learn the uncertain dynamics based on noisy measurements, including those collected during system operation. As a key contribution, we derive robust predictions for GP models using contraction metrics, which are incorporated in the MPC formulation. The proposed design guarantees recursive feasibility, robust constraint satisfaction and convergence to a reference state, with high probability. We provide a numerical example of a planar quadrotor subject to difficult-to-model ground effects, which highlights significant improvements achieved through the proposed robust prediction method and through online learning.

Paperid: 107, https://arxiv.org/pdf/2507.01567.pdf

Abstract:
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and coordination in search and rescue operations. The achievement of effective coverage is complicated by the presence of time-varying density functions, nonlinear agent dynamics, and stringent system and safety constraints. In this paper, we present a distributed multi-agent control framework for time-varying coverage under nonlinear constrained dynamics. Our approach integrates a reference trajectory planner and a tracking model predictive control (MPC) scheme, which operate at different frequencies within a multi-rate framework. For periodic density functions, we demonstrate closed-loop convergence to an optimal configuration of trajectories and provide formal guarantees regarding constraint satisfaction, collision avoidance, and recursive feasibility. Additionally, we propose an efficient algorithm capable of handling nonperiodic density functions, making the approach suitable for practical applications. Finally, we validate our method through hardware experiments using a fleet of four miniature race cars.

Paperid: 108, https://arxiv.org/pdf/2511.04940.pdf

Abstract:
In strategic scenarios where decision-makers operate at different hierarchical levels, traditional optimization methods are often inadequate for handling uncertainties from incomplete information or unpredictable external factors. To fill this gap, we introduce a mathematical framework that integrates bi-level game theory with distributionally robust optimization (DRO), particularly suited for complex network systems. Our approach leverages the hierarchical structure of bi-level games to model leader-follower interactions while incorporating distributional robustness to guard against worst-case probability distributions. To ensure computational tractability, the Karush-Kuhn-Tucker (KKT) conditions are used to transform the bi-level challenge into a more manageable single-level model, and the infinite-dimensional DRO problem is reformulated into a finite equivalent. We propose a generalized algorithm to solve this integrated model. Simulation results validate our framework's efficacy, demonstrating that under high uncertainty, the proposed model achieves up to a 22\% cost reduction compared to traditional stochastic methods while maintaining a service level of over 90\%. This highlights its potential to significantly improve decision quality and robustness in networked systems such as transportation and communication networks.

Paperid: 109, https://arxiv.org/pdf/2509.06541.pdf

Abstract:
Biomechanical data acquisition in sports demands sub-millisecond synchronization across distributed body-worn sensor nodes. This study evaluates and characterizes the Enhanced ShockBurst (ESB) protocol from Nordic Semiconductor under controlled laboratory conditions for wireless, low-latency command broadcasting, enabling fast event updates in multi-node systems. Through systematic profiling of protocol parameters, including cyclic-redundancy-check modes, bitrate, transmission modes, and payload handling, we achieve a mean Device-to-Device (D2D) latency of 504.99 +- 96.89 us and a network-to-network core latency of 311.78 +- 96.90 us using a one-byte payload with retransmission optimization. This performance significantly outperforms Bluetooth Low Energy (BLE), which is constrained by a 7.5 ms connection interval, by providing deterministic, sub-millisecond synchronization suitable for high-frequency (500 Hz to 1000 Hz) biosignals. These results position ESB as a viable solution for time-critical, multi-node wearable systems in sports, enabling precise event alignment and reliable high-speed data fusion for advanced athlete monitoring and feedback applications.

Paperid: 110, https://arxiv.org/pdf/2509.02839.pdf

Abstract:
Controlling nonlinear dynamical systems remains a central challenge in a wide range of applications, particularly when accurate first-principle models are unavailable. Data-driven approaches offer a promising alternative by designing controllers directly from observed trajectories. A wide range of data-driven methods relies on the Koopman-operator framework that enables linear representations of nonlinear dynamics via lifting into higher-dimensional observable spaces. Finite-dimensional approximations, such as extended dynamic mode decomposition (EDMD) and its controlled variants, make prediction and feedback control tractable but introduce approximation errors that must be accounted for to provide rigorous closed-loop guarantees. This survey provides a systematic overview of Koopman-based control, emphasizing the connection between data-driven surrogate models generated from finite data, approximation errors, controller design, and closed-loop guarantees. We review theoretical foundations, error bounds, and both linear and bilinear EDMD-based control schemes, highlighting robust strategies that ensure stability and performance. Finally, we discuss open challenges and future directions at the interface of operator theory, approximation theory, and nonlinear control.

Paperid: 111, https://arxiv.org/pdf/2509.01345.pdf

Abstract:
In this letter, we study the energy-optimal control of nonlinear port-Hamiltonian (pH) systems in discrete time. For continuous-time pH systems, energy-optimal control problems are strictly dissipative by design. This property, stating that the system to be optimized is dissipative with the cost functional as a supply rate, implies a stable long-term behavior of optimal solutions and enables stability results in predictive control. In this work, we show that the crucial property of strict dissipativity is not straightforwardly preserved by any energy-preserving integrator such as the implicit midpoint rule. Then, we prove that discretizations via difference and differential representations lead to strictly dissipative discrete-time optimal control problems. Consequently, we rigorously show a stable long-term behavior of optimal solutions in the form of a manifold (subspace) turnpike property. Finally, we validate our findings using two numerical examples

Paperid: 112, https://arxiv.org/pdf/2508.04241.pdf

Abstract:
In Sixth Generation (6G) networks, decentralized control in multi-tenant systems is a suggested enabler for autonomous network operations. However, autonomy requires independent rationale decisions be taken by tenants. This rationality can only be underpinned by timely and continuous access to status information. Despite its importance, the questions of what information should be shared, how much should be communicated, and how frequently updates should be dispatched remain open research challenges. This manuscript proposes an information bulletin strategy defined around two models of the system descriptor states to address these fundamental questions. The strategy is that queues periodically broadcast these information models to tenants at different time intervals, who may respond by reneging from the queue or jockeying to a more favorable one. The expectation is that over time, the queues adapt their processing rates based on what they learn from the tenant behavior. The objective is to minimize overall delay and the impatience. We formulate for this impatience as an optimization problem, whose analytical solution is intractable. We perform numerical experiments to evaluate the performance of the learned queue policy and to assess how closely it approaches optimal conditions.

Paperid: 113, https://arxiv.org/pdf/2512.21497.pdf

Abstract:
In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles. We develop a real-time tube synthesis procedure that explicitly accounts for time-varying uncertain obstacles and provides formal probabilistic safety guarantees. The STT is formulated as a time-varying ball in the state space whose center and radius evolve online based on uncertain sensory information. We derive a closed-form, approximation-free control law that confines the system trajectory within the tube, ensuring both probabilistic safety and task satisfaction. Our method offers a formal guarantee for probabilistic avoidance and finite-time task completion. The resulting controller is model-free, approximation-free, and optimization-free, enabling efficient real-time execution while guaranteeing convergence to the target. The effectiveness and scalability of the framework are demonstrated through simulation studies and hardware experiments on mobile robots, a UAV, and a 7-DOF manipulator navigating in cluttered and uncertain environments.

Paperid: 114, https://arxiv.org/pdf/2512.06151.pdf

Abstract:
This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic environments. To achieve this, we introduce a real-time spatiotemporal tube (STT) framework. An STT is defined as a time-varying ball in the state space whose center and radius adapt online using only real-time sensory input. A closed-form, approximation-free control law is then derived to constrain the system output within the STT, ensuring safety and task satisfaction. We provide formal guarantees for obstacle avoidance and on-time task completion. The effectiveness and scalability of the framework are demonstrated through simulations and hardware experiments on a mobile robot and an aerial vehicle, navigating in cluttered dynamic environments.

Paperid: 115, https://arxiv.org/pdf/2512.05495.pdf

Abstract:
This paper presents a Spatiotemporal Tube (STT)-based control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS) specifications. The approach employs circular STT, characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then design analytically a closed-form, approximation-free control law. The resulting controller is computationally efficient, robust to disturbances and {model uncertainties}, and requires no model approximations or online optimization. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency.

Paperid: 116, https://arxiv.org/pdf/2511.16900.pdf

Abstract:
Autonomous Underwater Vehicles (AUVs) are indispensable for marine exploration; yet, their control is hindered by nonlinear hydrodynamics, time-varying disturbances, and localization uncertainty. Traditional controllers provide only limited adaptability, while Reinforcement Learning (RL), though promising, suffers from sample inefficiency, weak long-term planning, and lacks stability guarantees, leading to unreliable behavior. To address these challenges, we propose a diffusion-prior Lyapunov actor-critic framework that unifies exploration, stability, and semantic adaptability. Specifically, a diffusion model generates smooth, multimodal, and disturbance-resilient candidate actions; a Lyapunov critic further imposes dual constraints that ensure stability; and a Large Language Model (LLM)-driven outer loop adaptively selects and refines Lyapunov functions based on task semantics and training feedback. This "generation-filtering-optimization" mechanism not only enhances sample efficiency and planning capability but also aligns stability guarantees with diverse mission requirements in the multi-objective optimization task. Extensive simulations under complex ocean dynamics demonstrate that the proposed framework achieves more accurate trajectory tracking, higher task completion rates, improved energy efficiency, faster convergence, and improved robustness compared with conventional RL and diffusion-augmented baselines.

Paperid: 117, https://arxiv.org/pdf/2511.00783.pdf

Abstract:
Underwater multi-robot cooperative coverage remains challenging due to partial observability, limited communication, environmental uncertainty, and the lack of access to global localization. To address these issues, this paper presents a semantics-guided fuzzy control framework that couples Large Language Models (LLMs) with interpretable control and lightweight coordination. Raw multimodal observations are compressed by the LLM into compact, human-interpretable semantic tokens that summarize obstacles, unexplored regions, and Objects Of Interest (OOIs) under uncertain perception. A fuzzy inference system with pre-defined membership functions then maps these tokens into smooth and stable steering and gait commands, enabling reliable navigation without relying on global positioning. Then, we further coordinate multiple robots by introducing semantic communication that shares intent and local context in linguistic form, enabling agreement on who explores where while avoiding redundant revisits. Extensive simulations in unknown reef-like environments show that, under limited sensing and communication, the proposed framework achieves robust OOI-oriented navigation and cooperative coverage with improved efficiency and adaptability, narrowing the gap between semantic cognition and distributed underwater control in GPS-denied, map-free conditions.

Paperid: 118, https://arxiv.org/pdf/2510.25597.pdf

Abstract:
This paper presents a decentralized control framework that incorporates social awareness into multi-agent systems with unknown dynamics to achieve prescribed-time reach-avoid-stay tasks in dynamic environments. Each agent is assigned a social awareness index that quantifies its level of cooperation or self-interest, allowing heterogeneous social behaviors within the system. Building on the spatiotemporal tube (STT) framework, we propose a real-time STT framework that synthesizes tubes online for each agent while capturing its social interactions with others. A closed-form, approximation-free control law is derived to ensure that each agent remains within its evolving STT, thereby avoiding dynamic obstacles while also preventing inter-agent collisions in a socially aware manner, and reaching the target within a prescribed time. The proposed approach provides formal guarantees on safety and timing, and is computationally lightweight, model-free, and robust to unknown disturbances. The effectiveness and scalability of the framework are validated through simulation and hardware experiments on a 2D omnidirectional

Paperid: 119, https://arxiv.org/pdf/2510.22892.pdf

Abstract:
Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant behaviors by embedding virtual forces and mapping them into joint torques, but its reliance on fixed parameters and limited coordination among virtual components constrains adaptability and may undermine stability as task objectives evolve. To address these limitations, we propose Adaptive VMC with Large Language Model (LLM)- and Lyapunov-Based Reinforcement Learning (RL), which preserves the physical interpretability of VMC while supporting stability-guaranteed online adaptation. The LLM provides structured priors and high-level reasoning that enhance coordination among virtual components, improve sample efficiency, and facilitate flexible adjustment to varying task requirements. Complementarily, Lyapunov-based RL enforces theoretical stability constraints, ensuring safe and reliable adaptation under uncertainty. Extensive simulations on a 7-DoF Panda arm demonstrate that our approach effectively balances competing objectives in dynamic tasks, achieving superior performance while highlighting the synergistic benefits of LLM guidance and Lyapunov-constrained adaptation.

Paperid: 120, https://arxiv.org/pdf/2510.19595.pdf

Abstract:
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a robust optimization problem (ROP) and solve it through a scenario optimization problem (SOP), providing formal guarantees that the resulting tubes capture the given STL specifications. These STTs are then used to construct TV-CBFs, ensuring that under any control law rendering them invariant, the system satisfies the STL tasks. We demonstrate the framework through case studies on a differential-drive mobile robot and a quadrotor, and provide a comparative analysis showing improved efficiency over existing approaches.

Paperid: 121, https://arxiv.org/pdf/2510.19232.pdf

Abstract:
The paper focuses on designing a controller for unknown dynamical multi-agent systems to achieve temporal reach-avoid-stay tasks for each agent while preventing inter-agent collisions. The main objective is to generate a spatiotemporal tube (STT) for each agent and thereby devise a closed-form, approximation-free, and decentralized control strategy that ensures the system trajectory reaches the target within a specific time while avoiding time-varying unsafe sets and collisions with other agents. In order to achieve this, the requirements of STTs are formulated as a robust optimization problem (ROP) and solved using a sampling-based scenario optimization problem (SOP) to address the issue of infeasibility caused by the infinite number of constraints in ROP. The STTs are generated by solving the SOP, and the corresponding closed-form control is designed to fulfill the specified task. Finally, the effectiveness of our approach is demonstrated through two case studies, one involving omnidirectional robots and the other involving multiple drones modelled as Euler-Lagrange systems.

Paperid: 122, https://arxiv.org/pdf/2510.11583.pdf

Abstract:
In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by eliminating the need for circumvent functions, which often lead to abrupt tube modifications and high control effort. We propose an adaptive framework that constructs smooth STTs around static unsafe sets, enabling continuous avoidance while guiding the system toward the target within the prescribed time. A closed-form, approximation-free control law is derived to ensure the system trajectory remains within the tube and satisfies the RAS task. The effectiveness of the proposed approach is demonstrated through a case study, showing a significant reduction in control effort compared to prior methods.

Paperid: 123, https://arxiv.org/pdf/2509.19859.pdf

Abstract:
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact system models and provide guarantees only at discrete sampling instants, our approach relies only on bounds on system parameters and input constraints, and ensures correctness for the full continuous-time trajectory. The framework combines scalable abstraction of a simplified virtual system with a closed-form, model-free controller that guarantees trajectories satisfy the original specification while respecting input bounds and remaining robust to unknown but bounded disturbances. We provide feasibility conditions for the construction of confinement regions and analyze the trade-off between efficiency and conservatism. Case studies on pendulum dynamics, a two-link manipulator, and multi-agent systems, including hardware experiments, demonstrate that the proposed approach ensures both correctness and safety while significantly reducing computational time and memory requirements. These results highlight its scalability and practicality for real-world robotic systems where precise models are unavailable and continuous-time guarantees are essential.

Paperid: 124, https://arxiv.org/pdf/2509.19473.pdf

Abstract:
NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shadowed regions, which can provide drinking water, oxygen, and rocket fuel, is therefore of critical importance. However, current methods to access lunar ice deposits are limited. While rovers have been used to explore the lunar surface for decades, they face significant challenges in navigating harsh terrains, such as permanently shadowed craters, due to the high risk of immobilization. This report introduces COBRA (Crater Observing Bio-inspired Rolling Articulator), a multi-modal snake-style robot designed to overcome mobility challenges in Shackleton Crater's rugged environment. COBRA combines slithering and tumbling locomotion to adapt to various crater terrains. In snake mode, it uses sidewinding to traverse flat or low inclined surfaces, while in tumbling mode, it forms a circular barrel by linking its head and tail, enabling rapid movement with minimal energy on steep slopes. Equipped with an onboard computer, stereo camera, inertial measurement unit, and joint encoders, COBRA facilitates real-time data collection and autonomous operation. This paper highlights COBRAs robustness and efficiency in navigating extreme terrains through both simulations and experimental validation.

Paperid: 125, https://arxiv.org/pdf/2509.01832.pdf

Abstract:
We propose a resilience-based framework for computing feasible assume-guarantee contracts that ensure the satisfaction of temporal specifications in interconnected discrete-time systems. Interconnection effects are modeled as structured disturbances. We use a resilience metric, the maximum disturbance under which local specifications hold, to refine assumptions and guarantees across subsystems iteratively. For two subsystems, we demonstrate correctness, monotone refinement of guarantees, and that the resulting assumptions are maximal within ball-shaped sets. Additionally, we extend our approach to general networks of L subsystems using weighted combinations of interconnection effects. We instantiate the framework on linear systems by meeting finite-horizon safety, exact-time reachability, and finite-time reachability specifications, and on nonlinear systems by fulfilling general finite-horizon specifications. Our approach is demonstrated through numerical linear examples, and a nonlinear DC Microgrid case study, showcasing the impact of our framework in verifying temporal logic specifications with compositional reasoning.

Paperid: 126, https://arxiv.org/pdf/2509.01777.pdf

Abstract:
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a specification, the objective is to synthesize the controller such that the closed-loop system satisfies this specification while maximizing its resilience. The problem is formulated as a robust optimization program where the objective is to compute the maximum resilience while simultaneously synthesizing the corresponding controller parameters. For linear systems and linear controllers, exact solutions are provided for the class of time-varying polytopic specifications. For the case of nonlinear systems, nonlinear controllers and more general specifications, we leverage tools from the scenario optimization approach, offering a probabilistic guarantee of the solution as well as computational feasibility. Different case studies are presented to illustrate the theoretical results.

Paperid: 127, https://arxiv.org/pdf/2507.01426.pdf

Abstract:
In this paper, we present a novel funnel-based tracking control algorithm for robotic systems with unknown dynamics and prescribed input constraints. The Euler-Lagrange formulation, a common modeling approach for robotic systems, has been adopted in this study to address the trade-off between performance and actuator safety. We establish feasibility conditions that ensure tracking errors evolve within predefined funnel bounds while maintaining bounded control efforts, a crucial consideration for robots with limited actuation capabilities. We propose two approximation-free control strategies for scenarios where these conditions are violated: one actively corrects the error, and the other stops further deviation. Finally, we demonstrate the robust performance and safety of the approach through simulations and experimental validations. This work represents a significant advancement in funnel-based control, enhancing its applicability to real-world robotics systems with input constraints.

Paperid: 128, https://arxiv.org/pdf/2512.12803.pdf

Abstract:
Centralised reinforcement learning (RL) for voltage magnitude regulation in distribution networks typically involves numerous agent-environment interactions and power flow (PF) calculations, inducing computational overhead and privacy concerns over shared data. Thus, we propose a distributed RL algorithm to regulate voltage magnitude. First, a dynamic Thevenin equivalent model is integrated within smart meters (SM), enabling local voltage magnitude estimation using local SM data for RL agent training, and mitigating the dependency of synchronised data collection and centralised PF calculations. To mitigate estimation errors induced by Thevenin model inaccuracies, a voltage magnitude correction strategy that combines piecewise functions and neural networks is introduced. The piecewise function corrects the large errors of estimated voltage magnitude, while a neural network mimics the grid's sensitivity to control actions, improving action adjustment precision. Second, a coordination strategy is proposed to refine local RL agent actions online, preventing voltage magnitude violations induced by excessive actions from multiple independently trained agents. Case studies on energy storage systems validate the feasibility and effectiveness of the proposed approach, demonstrating its potential to improve voltage regulation in distribution networks.

Paperid: 129, https://arxiv.org/pdf/2511.20237.pdf

Abstract:
The Newton-Raphson (NR) method is widely used for solving power flow (PF) equations due to its quadratic convergence. However, its performance deteriorates under poor initialization or extreme operating scenarios, e.g., high levels of renewable energy penetration. Traditional NR initialization strategies often fail to address these challenges, resulting in slow convergence or even divergence. We propose the use of reinforcement learning (RL) to optimize the initialization of NR, and introduce a novel quantum-enhanced RL environment update mechanism to mitigate the significant computational cost of evaluating power system states over a combinatorially large action space at each RL timestep by formulating the voltage adjustment task as a quadratic unconstrained binary optimization problem. Specifically, quantum/digital annealers are integrated into the RL environment update to evaluate state transitions using a problem Hamiltonian designed for PF. Results demonstrate significant improvements in convergence speed, a reduction in NR iteration counts, and enhanced robustness under different operating conditions.

Paperid: 130, https://arxiv.org/pdf/2510.13378.pdf

Abstract:
In this paper, we present the first direct comparison between gate-based quantum computing (GQC) and adiabatic quantum computing (AQC) for solving the AC power flow (PF) equations. Building on the Adiabatic Quantum Power Flow (AQPF) algorithm originally designed for annealing platforms, we adapt it to the Quantum Approximate Optimization Algorithm (QAOA). The PF equations are reformulated as a combinatorial optimization problem. Numerical experiments on a 4-bus test system assess solution accuracy and computational time. Results from QAOA are benchmarked against those obtained using D-Wave's Advantage system and Fujitsu's latest generation Digital Annealer, i.e., Quantum-Inspired Integrated Optimization software (QIIO). The findings provide quantitative insights into the performance trade-offs, scalability, and practical viability of GQC versus AQC paradigms for PF analysis, highlighting the potential of quantum algorithms to address the computational challenges associated with modern electricity networks in the Noisy Intermediate-Scale Quantum (NISQ).

Paperid: 131, https://arxiv.org/pdf/2507.04100.pdf

Abstract:
This paper presents HERO (Hierarchical Testing with Rabbit Optimization), a novel black-box adversarial testing framework for evaluating the robustness of deep learning-based Prognostics and Health Management systems in Industrial Cyber-Physical Systems. Leveraging Artificial Rabbit Optimization, HERO generates physically constrained adversarial examples that align with real-world data distributions via global and local perspective. Its generalizability ensures applicability across diverse ICPS scenarios. This study specifically focuses on the Proton Exchange Membrane Fuel Cell system, chosen for its highly dynamic operational conditions, complex degradation mechanisms, and increasing integration into ICPS as a sustainable and efficient energy solution. Experimental results highlight HERO's ability to uncover vulnerabilities in even state-of-the-art PHM models, underscoring the critical need for enhanced robustness in real-world applications. By addressing these challenges, HERO demonstrates its potential to advance more resilient PHM systems across a wide range of ICPS domains.

Paperid: 132, https://arxiv.org/pdf/2512.00400.pdf

Abstract:
The rapid evolution of edge computing has exposed fundamental limitations in traditional operating system and hypervisor architectures, particularly in managing heterogeneous platforms and meeting the constraints of limited resources. Existing solutions often rely on monolithic or layered combinations of hypervisors and guest OSes, which are difficult to tailor for the diverse and dynamic requirements of edge scenarios. To address these challenges, we propose TenonOS, a demand-driven, self-generating, and lightweight operating system framework that fundamentally rethinks and reconstructs both the hypervisor and OS architectures. TenonOS introduces a novel LibOS-on-LibOS approach, in which both virtualization and OS functionalities are modularized into fine-grained, reusable micro-libraries. A dynamic orchestration engine composes these modules on demand to construct customized, application-specific runtime environments. At the core of TenonOS are two key components: Mortise, a minimal, modularized hypervisor, and Tenon, a real-time LibOS. Mortise provides low-overhead resource isolation, fast inter-VM communication, and manages the full lifecycle of Tenon instances - including on-demand creation, suspension, and termination - enabling TenonOS to flexibly adapt its runtime layout to workload variations. Tenon delivers deterministic scheduling and multi-process support for time-critical applications. Through this unified and modular architecture, TenonOS eliminates redundant layers, reduces system overhead, and enhances scalability, security, and maintainability. Extensive evaluations demonstrate that TenonOS achieves superior real-time scheduling (40.28% improvement), a compact memory footprint (361 KiB), and high adaptability to dynamic edge workloads, making it an ideal foundation for heterogeneous, resource-constrained edge systems.

Paperid: 133, https://arxiv.org/pdf/2511.15044.pdf

Abstract:
Over the past decades, network systems have surged in significance, driven by merging technological advancements. These systems play pivotal roles in diverse applications ranging from autonomous driving to smart grids, yet they confront complexities arising from network imperfections and intricate interconnections, which challenge system identification, controller design, as well as stability and performance analysis. This survey provides an in-depth exploration of network systems from most recent data-driven perspective, across four key issues: communication delay, aperiodic sampling, network security, and distributed configurations. By doing so, this survey enhances our comprehension of the challenges and theoretical innovations within the realm of network systems.

Paperid: 134, https://arxiv.org/pdf/2508.00938.pdf

Abstract:
Due to the high flexibility and versatility, unmanned aerial vehicles (UAVs) are leveraged in various fields including surveillance and disaster rescue.However, in UAV networks, routing is vulnerable to malicious damage due to distributed topologies and high dynamics. Hence, ensuring the routing security of UAV networks is challenging. In this paper, we characterize the routing process in a time-varying UAV network with malicious nodes. Specifically, we formulate the routing problem to minimize the total delay, which is an integer linear programming and intractable to solve. Then, to tackle the network security issue, a blockchain-based trust management mechanism (BTMM) is designed to dynamically evaluate trust values and identify low-trust UAVs. To improve traditional practical Byzantine fault tolerance algorithms in the blockchain, we propose a consensus UAV update mechanism. Besides, considering the local observability, the routing problem is reformulated into a decentralized partially observable Markov decision process. Further, a multi-agent double deep Q-network based routing algorithm is designed to minimize the total delay. Finally, simulations are conducted with attacked UAVs and numerical results show that the delay of the proposed mechanism decreases by 13.39$\%$, 12.74$\%$, and 16.6$\%$ than multi-agent proximal policy optimal algorithms, multi-agent deep Q-network algorithms, and methods without BTMM, respectively.

Paperid: 135, https://arxiv.org/pdf/2511.19961.pdf

Abstract:
Optimizing modern wireless networks is exceptionally challenging due to their high dynamism and complexity. While the agentic artificial intelligence (AI) powered by reinforcement learning (RL) offers a promising solution, its practical application is limited by prohibitive exploration costs and potential risks in the real world. The emerging digital twin (DT) technology provides a safe and controlled virtual environment for agentic AI training, but its effectiveness critically depends on the DT's fidelity. Policies trained in a low-fidelity DT that does not accurately represent the physical network may experience severe performance degradation upon real-world deployment. In this article, we introduce a unified DT evaluation framework to ensure trustworthy DTs in agentic AI-based network optimization. This evaluation framework shifts from conventional isolated physical accuracy metrics, such as wireless channel and user trajectory similarities, to a more holistic, task-centric DT assessment. We demonstrate it as an effective guideline for design, selection, and lifecycle management of wireless network DTs. A comprehensive case study on a real-world wireless network testbed shows how this evaluation framework is used to pre-filter candidate DTs, leading to a significant reduction in training and testing costs without sacrificing deployment performance. Finally, potential research opportunities are discussed.

Paperid: 136, https://arxiv.org/pdf/2512.23170.pdf

Abstract:
In this article, we propose a data-enabled economic predictive control method for a class of nonlinear systems, which aims to optimize the economic operational performance while handling hard constraints on the system outputs. Two lifting functions are constructed via training neural networks, which generate mapped input and mapped output in a higher-dimensional space, where the nonlinear economic cost function can be approximated using a quadratic function of the mapped variables. The data-enabled predictive control framework is extended to address nonlinear dynamics by using the mapped input and the mapped output that belong to a virtual linear representation, which serves as an approximation of the original nonlinear system. Additionally, we reconstruct the system output variables from the mapped output, on which hard output constraints are imposed. The online control problem is formulated as a convex optimization problem, despite the nonlinearity of the system dynamics and the original economic cost function. Theoretical analysis is presented to justify the suitability of the proposed method for nonlinear systems. We evaluate the proposed method through two large-scale industrial case studies: (i) a biological water treatment process, and (ii) a solvent-based shipboard post-combustion carbon capture process. These studies demonstrate its effectiveness and advantages.

Paperid: 137, https://arxiv.org/pdf/2511.06663.pdf

Abstract:
Accurate Channel State Information (CSI) is critical for Hybrid Beamforming (HBF) tasks. However, obtaining high-resolution CSI remains challenging in practical wireless communication systems. To address this issue, we propose to utilize Graph Neural Networks (GNNs) and score-based generative models to enable robust HBF under imperfect CSI conditions. Firstly, we develop the Hybrid Message Graph Attention Network (HMGAT) which updates both node and edge features through node-level and edge-level message passing. Secondly, we design a Bidirectional Encoder Representations from Transformers (BERT)-based Noise Conditional Score Network (NCSN) to learn the distribution of high-resolution CSI, facilitating CSI generation and data augmentation to further improve HMGAT's performance. Finally, we present a Denoising Score Network (DSN) framework and its instantiation, termed DeBERT, which can denoise imperfect CSI under arbitrary channel error levels, thereby facilitating robust HBF. Experiments on DeepMIMO urban datasets demonstrate the proposed models' superior generalization, scalability, and robustness across various HBF tasks with perfect and imperfect CSI.

Paperid: 138, https://arxiv.org/pdf/2510.08953.pdf

Abstract:
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonlinear dynamics. Recently, Data-enabled Predictive Control (DeePC) has emerged as a promising model-free approach that bypasses explicit system identification by directly leveraging input-output data. While DeePC has shown success in other domains, its application to soft robots remains underexplored, particularly for three-dimensional (3D) soft robotic systems. This paper addresses this gap by developing and experimentally validating an effective DeePC framework on a 3D, cable-driven soft arm. Specifically, we design and fabricate a soft robotic arm with a thick tubing backbone for stability, a dense silicone body with large cavities for strength and flexibility, and rigid endcaps for secure termination. Using this platform, we implement DeePC with singular value decomposition (SVD)-based dimension reduction for two key control tasks: fixed-point regulation and trajectory tracking in 3D space. Comparative experiments with a baseline model-based controller demonstrate DeePC's superior accuracy, robustness, and adaptability, highlighting its potential as a practical solution for dynamic control of soft robots.

Paperid: 139, https://arxiv.org/pdf/2510.05959.pdf

Abstract:
Distributed control of connected and automated vehicles has attracted considerable interest for its potential to improve traffic efficiency and safety. However, such control schemes require sharing privacy-sensitive vehicle data, which introduces risks of information leakage and potential malicious activities. This paper investigates the stability and privacy-preserving properties of distributed platoon control under two types of quantizers: deterministic and probabilistic. For deterministic quantization, we show that the resulting control strategy ensures the system errors remain uniformly ultimately bounded. Moreover, in the absence of auxiliary information, an eavesdropper cannot uniquely infer sensitive vehicle states. In contrast, the use of probabilistic quantization enables asymptotic convergence of the vehicle platoon in expectation with bounded variance. Importantly, probabilistic quantizers can satisfy differential privacy guarantees, thereby preserving privacy even when the eavesdropper possesses arbitrary auxiliary information. We further analyze the trade-off between control performance and privacy by formulating an optimization problem that characterizes the impact of the quantization step on both metrics. Numerical simulations are provided to illustrate the performance differences between the two quantization strategies.

Paperid: 140, https://arxiv.org/pdf/2510.04509.pdf

Abstract:
Data-driven control methods such as data-enabled predictive control (DeePC) have shown strong potential in efficient control of soft robots without explicit parametric models. However, in object manipulation tasks, unknown external payloads and disturbances can significantly alter the system dynamics and behavior, leading to offset error and degraded control performance. In this paper, we present a novel velocity-form DeePC framework that achieves robust and optimal control of soft robots under unknown payloads. The proposed framework leverages input-output data in an incremental representation to mitigate performance degradation induced by unknown payloads, eliminating the need for weighted datasets or disturbance estimators. We validate the method experimentally on a planar soft robot and demonstrate its superior performance compared to standard DeePC in scenarios involving unknown payloads.

Paperid: 141, https://arxiv.org/pdf/2509.11056.pdf

Abstract:
Artificial intelligence (AI) is anticipated to emerge as a pivotal enabler for the forthcoming sixth-generation (6G) wireless communication systems. However, current research efforts regarding large AI models for wireless communications primarily focus on fine-tuning pre-trained large language models (LLMs) for specific tasks. This paper investigates the large-scale AI model designed for beamforming optimization to adapt and generalize to diverse tasks defined by system utilities and scales. We propose a novel framework based on bidirectional encoder representations from transformers (BERT), termed BERT4beam. We aim to formulate the beamforming optimization problem as a token-level sequence learning task, perform tokenization of the channel state information, construct the BERT model, and conduct task-specific pre-training and fine-tuning strategies. Based on the framework, we propose two BERT-based approaches for single-task and multi-task beamforming optimization, respectively. Both approaches are generalizable for varying user scales. Moreover, the former can adapt to varying system utilities and antenna configurations by re-configuring the input and output module of the BERT model, while the latter, termed UBERT, can directly generalize to diverse tasks, due to a finer-grained tokenization strategy. Extensive simulation results demonstrate that the two proposed approaches can achieve near-optimal performance and outperform existing AI models across various beamforming optimization tasks, showcasing strong adaptability and generalizability.

Paperid: 142, https://arxiv.org/pdf/2512.12211.pdf

Abstract:
Being able to anticipate the motion of surrounding agents is essential for the safe operation of autonomous driving systems in dynamic situations. While various methods have been proposed for trajectory prediction, the current evaluation practices still rely on error-based metrics (e.g., ADE, FDE), which reveal the accuracy from a post-hoc view but ignore the actual effect the predictor brings to the self-driving vehicles (SDVs), especially in complex interactive scenarios: a high-quality predictor not only chases accuracy, but should also captures all possible directions a neighbor agent might move, to support the SDVs' cautious decision-making. Given that the existing metrics hardly account for this standard, in our work, we propose a comprehensive pipeline that adaptively evaluates the predictor's performance by two dimensions: accuracy and diversity. Based on the criticality of the driving scenario, these two dimensions are dynamically combined and result in a final score for the predictor's performance. Extensive experiments on a closed-loop benchmark using real-world datasets show that our pipeline yields a more reasonable evaluation than traditional metrics by better reflecting the correlation of the predictors' evaluation with the autonomous vehicles' driving performance. This evaluation pipeline shows a robust way to select a predictor that potentially contributes most to the SDV's driving performance.

Paperid: 143, https://arxiv.org/pdf/2510.02000.pdf

Abstract:
Hand gesture recognition based on biosignals has shown strong potential for developing intuitive human-machine interaction strategies that closely mimic natural human behavior. In particular, sensor fusion approaches have gained attention for combining complementary information and overcoming the limitations of individual sensing modalities, thereby enabling more robust and reliable systems. Among them, the fusion of surface electromyography (EMG) and A-mode ultrasound (US) is very promising. However, prior solutions rely on power-hungry platforms unsuitable for multi-day use and are limited to discrete gesture classification. In this work, we present an ultra-low-power (sub-50 mW) system for concurrent acquisition of 8-channel EMG and 4-channel A-mode US signals, integrating two state-of-the-art platforms into fully wearable, dry-contact armbands. We propose a framework for continuous tracking of 23 degrees of freedom (DoFs), 20 for the hand and 3 for the wrist, using a kinematic glove for ground-truth labeling. Our method employs lightweight encoder-decoder architectures with multi-task learning to simultaneously estimate hand and wrist joint angles. Experimental results under realistic sensor repositioning conditions demonstrate that EMG-US fusion achieves a root mean squared error of $10.6^\circ\pm2.0^\circ$, compared to $12.0^\circ\pm1^\circ$ for EMG and $13.1^\circ\pm2.6^\circ$ for US, and a R$^2$ score of $0.61\pm0.1$, with $0.54\pm0.03$ for EMG and $0.38\pm0.20$ for US.

Paperid: 144, https://arxiv.org/pdf/2509.21964.pdf

Abstract:
We present a wearable, fully-dry, and ultra-low power EMG system for silent speech recognition, integrated into a textile neckband to enable comfortable, non-intrusive use. The system features 14 fully-differential EMG channels and is based on the BioGAP-Ultra platform for ultra-low power (22 mW) biosignal acquisition and wireless transmission. We evaluate its performance on eight speech commands under both vocalized and silent articulation, achieving average classification accuracies of 87$\pm$3% and 68$\pm$3% respectively, with a 5-fold CV approach. To mimic everyday-life conditions, we introduce session-to-session variability by repositioning the neckband between sessions, achieving leave-one-session-out accuracies of 64$\pm$18% and 54$\pm$7% for the vocalized and silent experiments, respectively. These results highlight the robustness of the proposed approach and the promise of energy-efficient silent-speech decoding.

Paperid: 145, https://arxiv.org/pdf/2509.01856.pdf

Abstract:
Navigating unsignalized roundabouts in mixed-autonomy traffic presents significant challenges due to dense vehicle interactions, lane-changing complexities, and behavioral uncertainties of human-driven vehicles (HDVs). This paper proposes a safety-critical decision-making framework for connected and automated vehicles (CAVs) navigating dual-lane roundabouts alongside HDVs. We formulate the problem as a multi-agent Markov Decision Process and develop a hierarchical safety assessment mechanism that evaluates three critical interaction types: CAV-to-CAV (C2C), CAV-to-HDV (C2H), and CAV-to-Boundary (C2B). A key contribution is our lane-specific uncertainty model for HDVs, which captures distinct behavioral patterns between inner and outer lanes, with outer-lane vehicles exhibiting $2.3\times$ higher uncertainty due to less constrained movements. We integrate this safety framework with a multi-agent Monte Carlo Tree Search (MCTS) algorithm that employs safety-aware pruning to eliminate high-risk trajectories while maintaining computational efficiency. The reward function incorporates Shapley value-based credit assignment to balance individual performance with group coordination. Extensive simulation results validate the effectiveness of the proposed approach under both fully autonomous (100% AVs) and mixed traffic (50% AVs + 50% HDVs) conditions. Compared to benchmark methods, our framework consistently reduces trajectory deviations across all AVs and significantly lowers the rate of Post-Encroachment Time (PET) violations, achieving only 1.0% in the fully autonomous scenario and 3.2% in the mixed traffic setting.

Paperid: 146, https://arxiv.org/pdf/2509.00643.pdf

Abstract:
Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs, unstable performance in dynamic environments, and limited validation across diverse scenarios. To overcome these challenges, we propose an enhanced QP-MPC-based framework that incorporates three key innovations: (i) a novel cost function designed with a dynamic hazard field, which explicitly balances safety, efficiency, and comfort; (ii) seamless integration of this cost function into the QP-MPC formulation, enabling direct optimization of desired driving behaviors; and (iii) extensive validation of the proposed framework across complex tasks. The spatial safe planning is guided by a dynamic hazard field (DHF) for risk assessment, while temporal safe planning is based on a space-time graph. Besides, the quintic polynomial sampling and sub-reward of comforts are used to ensure comforts during lane-changing. The sub-reward of efficiency is used to maintain driving efficiency. Finally, the proposed DHF-enhanced objective function integrates multiple objectives, providing a proper optimization tasks for QP-MPC. Extensive simulations demonstrate that the proposed framework outperforms benchmark optimization methods in terms of efficiency, stability, and comfort across a variety of scenarios likes lane-changing, overtaking, and crossing intersections.

Paperid: 147, https://arxiv.org/pdf/2508.18684.pdf

Abstract:
Signature-based Intrusion Detection Systems (IDS) detect malicious activities by matching network or host activity against predefined rules. These rules are derived from extensive Cyber Threat Intelligence (CTI), which includes attack signatures and behavioral patterns obtained through automated tools and manual threat analysis, such as sandboxing. The CTI is then transformed into actionable rules for the IDS engine, enabling real-time detection and prevention. However, the constant evolution of cyber threats necessitates frequent rule updates, which delay deployment time and weaken overall security readiness. Recent advancements in agentic systems powered by Large Language Models (LLMs) offer the potential for autonomous IDS rule generation with internal evaluation. We introduce FALCON, an autonomous agentic framework that generates deployable IDS rules from CTI data in real-time and evaluates them using built-in multi-phased validators. To demonstrate versatility, we target both network (Snort) and host-based (YARA) mediums and construct a comprehensive dataset of IDS rules with their corresponding CTIs. Our evaluations indicate FALCON excels in automatic rule generation, with an average of 95% accuracy validated by qualitative evaluation with 84% inter-rater agreement among multiple cybersecurity analysts across all metrics. These results underscore the feasibility and effectiveness of LLM-driven data mining for real-time cyber threat mitigation.

Paperid: 148, https://arxiv.org/pdf/2508.13728.pdf

Abstract:
The growing demand for continuous physiological monitoring and human-machine interaction in real-world settings calls for wearable platforms that are flexible, low-power, and capable of on-device intelligence. This work presents BioGAP-Ultra, an advanced multimodal biosensing platform that supports synchronized acquisition of diverse electrophysiological and hemodynamic signals such as EEG, EMG, ECG, and PPG while enabling embedded AI processing at state-of-the-art energy efficiency. BioGAP-Ultra is a major extension of our previous design, BioGAP [1], aimed at meeting the rapidly growing requirements of wearable biosensing applications. It features (i) increased on-device storage (x2 SRAM, x4 FLASH), (ii) improved wireless connectivity (1.4 Mbit/s bandwidth, x4 higher than BioGAP), (iii) enhanced number of signal modalities (from 3 to 5) and analog input channels (x2). Further, it is complemented by a complete real-time visualization and analysis software suite, providing access to raw data and real-time configurability on a mobile phone. Electrical characterization and multiple case studies confirm the platform's robustness, configurability, and suitability for real-world multimodal biosignal acquisition and edge intelligence. Finally, we demonstrate the system's versatility through integration into various wearable form factors: an EEG-PPG headband consuming 32.8 mW, an EMG sleeve at 26.7 mW, and an ECG-PPG chest band requiring only 9.3 mW, tailored for diverse biosignal applications. All hardware and software design files are also released open-source with a permissive license.

Paperid: 149, https://arxiv.org/pdf/2508.00916.pdf

Abstract:
This paper addresses the critical challenge of estimating the reliability of an Electric Vehicle (EV) charging systems when facing risks such as overheating, unpredictable, weather, and cyberattacks. Traditional methods for predicting failures often rely on past data or limiting assumptions, making them ineffective for new or less common threats that results in failure. To solve this issue, we utilize the Principle of Maximum Entropy (PME), a statistical tool that estimates risks even with limited information. PME works by balancing known constraints to create an unbiased predictions without guessing missing details. Using the EV charging ecosystem as a case study, we show how PME models stress factors responsible for failure. Our findings reveal a critical insight: even minor, localized stress events can trigger disproportionately large drops in overall system reliability, similar to a domino effect. The our PME model demonstrates how high-impact components, such as the power grid, are more likely to fail as stress accumulates, creating network-wide tipping points. Beyond EVs, this approach applies to any complex system with incomplete data, such as smart grids, healthcare devices, or logistics networks. By mathematically establishing an inverse relationship between uncertainty (entropy) and reliability, our work quantifies how greater system unpredictability directly degrades robustness. This offers a universal tool to improve decision-making under unpredictable conditions. This work bridges advanced mathematics with real-world engineering, providing actionable insights for policymakers and industries to build safer, more efficient systems in our increasingly connected world.

Paperid: 150, https://arxiv.org/pdf/2512.04772.pdf

Abstract:
In recent years, precision agriculture has been introducing groundbreaking innovations in the field, with a strong focus on automation. However, research studies in robotics and autonomous navigation often rely on controlled simulations or isolated field trials. The absence of a realistic common benchmark represents a significant limitation for the diffusion of robust autonomous systems under real complex agricultural conditions. Vineyards pose significant challenges due to their dynamic nature, and they are increasingly drawing attention from both academic and industrial stakeholders interested in automation. In this context, we introduce the TEMPO-VINE dataset, a large-scale multi-temporal dataset specifically designed for evaluating sensor fusion, simultaneous localization and mapping (SLAM), and place recognition techniques within operational vineyard environments. TEMPO-VINE is the first multi-modal public dataset that brings together data from heterogeneous LiDARs of different price levels, AHRS, RTK-GPS, and cameras in real trellis and pergola vineyards, with multiple rows exceeding 100 m in length. In this work, we address a critical gap in the landscape of agricultural datasets by providing researchers with a comprehensive data collection and ground truth trajectories in different seasons, vegetation growth stages, terrain and weather conditions. The sequence paths with multiple runs and revisits will foster the development of sensor fusion, localization, mapping and place recognition solutions for agricultural fields. The dataset, the processing tools and the benchmarking results will be available at the dedicated webpage upon acceptance.

Paperid: 151, https://arxiv.org/pdf/2509.25855.pdf

Abstract:
IEEE 802.11be (Wi-Fi 7) introduces Multi-Link Operation (MLO) as a While MLO offers significant parallelism and capacity, realizing its full potential in guaranteeing strict delay bounds and optimizing Quality of Service (QoS) for diverse, heterogeneous traffic streams in complex multi-link scenarios remain a significant challenge. This is largely due to the limitations of static Enhanced Distributed Channel Access (EDCA) parameters and the complexity inherent in cross-link traffic management. To address this, this paper investigates the correlation between overall MLO QoS indicators and the configuration of EDCA parameters and Acess Catagory (AC) traffic allocation among links. Based on this analysis, we formulate a constrained optimization problem aiming to minimize the sum of overall packet loss rates for all access categories while satisfying their respective overall delay violation probability constraints. A Genetic Algorithm (GA)-based MLO EDCA QoS optimization algorithm is designed to efficiently search the complex configuration space of AC assignments and EDCA parameters. Experimental results demonstrate that the proposed approach's efficacy in generating adaptive MLO configuration strategies that align with diverse service requirements. The proposed solution significantly improves delay distribution characteristics, and enhance QoS robustness and resource utilization efficiency in high-load MLO environments.

Paperid: 152, https://arxiv.org/pdf/2509.17691.pdf

Abstract:
As a pivotal technology for autonomous driving, collaborative perception enables vehicular agents to exchange perceptual data through vehicle-to-everything (V2X) communications, thereby enhancing perception accuracy of all collaborators. However, existing collaborative perception frameworks often assume ample communication resources, which is usually impractical in real-world vehicular networks. To address this challenge, this paper investigates the problem of communication resource allocation for collaborative perception and proposes RACooper, a novel RSU-assisted resource allocation framework that maximizes perception accuracy under constrained communication resources. RACooper leverages a hierarchical reinforcement learning model to dynamically allocate communication resources while accounting for real-time sensing data and channel dynamics induced by vehicular mobility. By jointly optimizing spatial confidence metrics and channel state information, our approach ensures efficient feature transmission, enhancing the effectiveness of collaborative perception. Simulation results demonstrate that compared to conventional baseline algorithms, RACooper achieves significant improvements in perception accuracy, especially under bandwidth-constrained scenarios.

Paperid: 153, https://arxiv.org/pdf/2508.07841.pdf

Abstract:
Attitude control is a fundamental aspect of spacecraft operations. Model Predictive Control (MPC) has emerged as a powerful strategy for these tasks, relying on accurate models of the system dynamics to optimize control actions over a prediction horizon. In scenarios where physics models are incomplete, difficult to derive, or computationally expensive, machine learning offers a flexible alternative by learning the system behavior directly from data. However, purely data-driven models often struggle with generalization and stability, especially when applied to inputs outside their training domain. To address these limitations, we investigate the benefits of incorporating Physics-Informed Neural Networks (PINNs) into the learning of spacecraft attitude dynamics, comparing their performance with that of purely data-driven approaches. Using a Real-valued Non-Volume Preserving (Real NVP) neural network architecture with a self-attention mechanism, we trained several models on simulated data generated with the Basilisk simulator. Two training strategies were considered: a purely data-driven baseline and a physics-informed variant to improve robustness and stability. Our results demonstrate that the inclusion of physics-based information significantly enhances the performance in terms of the mean relative error of the best architectures found by 27.08%. These advantages are particularly evident when the learned models are integrated into an MPC framework, where PINN-based models consistently outperform their purely data-driven counterparts in terms of control accuracy and robustness, yielding improvements of up to 42.86% in performance stability error and increased robustness-to-noise.

Paperid: 154, https://arxiv.org/pdf/2509.21014.pdf

Abstract:
Recently, the outstanding performance reached by neural networks in many tasks has led to their deployment in autonomous systems, such as robots and vehicles. However, neural networks are not yet trustworthy, being prone to different types of misbehavior, such as anomalous samples, distribution shifts, adversarial attacks, and other threats. Furthermore, frameworks for accelerating the inference of neural networks typically run on rich operating systems that are less predictable in terms of timing behavior and present larger surfaces for cyber-attacks. To address these issues, this paper presents a software architecture for enhancing safety, security, and predictability levels of learning-based autonomous systems. It leverages two isolated execution domains, one dedicated to the execution of neural networks under a rich operating system, which is deemed not trustworthy, and one responsible for running safety-critical functions, possibly under a different operating system capable of handling real-time constraints. Both domains are hosted on the same computing platform and isolated through a type-1 real-time hypervisor enabling fast and predictable inter-domain communication to exchange real-time data. The two domains cooperate to provide a fail-safe mechanism based on a safety monitor, which oversees the state of the system and switches to a simpler but safer backup module, hosted in the safety-critical domain, whenever its behavior is considered untrustworthy. The effectiveness of the proposed architecture is illustrated by a set of experiments performed on two control systems: a Furuta pendulum and a rover. The results confirm the utility of the fall-back mechanism in preventing faults due to the learning component.

Paperid: 155, https://arxiv.org/pdf/2509.16963.pdf

Abstract:
Humans and animals can make real-time adjustments to movements by imagining their action outcomes to prevent unanticipated or even catastrophic motion failures in unknown unstructured environments. Action imagination, as a refined sensorimotor strategy, leverages perception-action loops to handle physical interaction-induced uncertainties in perception and system modeling within complex systems. Inspired by the action-awareness capability of animal intelligence, this study proposes an imagination-inspired motion planner (I-MP) framework that specifically enhances robots' action reliability by imagining plausible spatial states for approaching. After topologizing the workspace, I-MP build perception-action loop enabling robots autonomously build contact models. Leveraging fixed-point theory and Hausdorff distance, the planner computes convergent spatial states under interaction characteristics and mission constraints. By homogenously representing multi-dimensional environmental characteristics through work, the robot can approach the imagined spatial states via real-time computation of energy gradients. Consequently, experimental results demonstrate the practicality and robustness of I-MP in complex cluttered environments.

Paperid: 156, https://arxiv.org/pdf/2509.11516.pdf

Abstract:
Box/cabinet scenarios with stacked objects pose significant challenges for robotic motion due to visual occlusions and constrained free space. Traditional collision-free trajectory planning methods often fail when no collision-free paths exist, and may even lead to catastrophic collisions caused by invisible objects. To overcome these challenges, we propose an operational aware interactive motion planner (PaiP) a real-time closed-loop planning framework utilizing multimodal tactile perception. This framework autonomously infers object interaction features by perceiving motion effects at interaction interfaces. These interaction features are incorporated into grid maps to generate operational cost maps. Building upon this representation, we extend sampling-based planning methods to interactive planning by optimizing both path cost and operational cost. Experimental results demonstrate that PaiP achieves robust motion in narrow spaces.

Paperid: 157, https://arxiv.org/pdf/2507.06326.pdf

Abstract:
Deep brain stimulation (DBS) is an established intervention for Parkinson's disease (PD), but conventional open-loop systems lack adaptability, are energy-inefficient due to continuous stimulation, and provide limited personalization to individual neural dynamics. Adaptive DBS (aDBS) offers a closed-loop alternative, using biomarkers such as beta-band oscillations to dynamically modulate stimulation. While reinforcement learning (RL) holds promise for personalized aDBS control, existing methods suffer from high sample complexity, unstable exploration in binary action spaces, and limited deployability on resource-constrained hardware. We propose SEA-DBS, a sample-efficient actor-critic framework that addresses the core challenges of RL-based adaptive neurostimulation. SEA-DBS integrates a predictive reward model to reduce reliance on real-time feedback and employs Gumbel Softmax-based exploration for stable, differentiable policy updates in binary action spaces. Together, these components improve sample efficiency, exploration robustness, and compatibility with resource-constrained neuromodulatory hardware. We evaluate SEA-DBS on a biologically realistic simulation of Parkinsonian basal ganglia activity, demonstrating faster convergence, stronger suppression of pathological beta-band power, and resilience to post-training FP16 quantization. Our results show that SEA-DBS offers a practical and effective RL-based aDBS framework for real-time, resource-constrained neuromodulation.

Paperid: 158, https://arxiv.org/pdf/2512.21882.pdf

Abstract:
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object in a two-dimensional plane into the manipulator's workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints.

Paperid: 159, https://arxiv.org/pdf/2512.04446.pdf

Abstract:
Automating disassembly of critical components from end-of-life (EoL) desktops, such as high-value items like RAM modules and CPUs, as well as sensitive parts like hard disk drives, remains challenging due to the inherent variability and uncertainty of these products. Moreover, their disassembly requires sequential, precise, and dexterous operations, further increasing the complexity of automation. Current robotic disassembly processes are typically divided into several stages: perception, sequence planning, task planning, motion planning, and manipulation. Each stage requires explicit modeling, which limits generalization to unfamiliar scenarios. Recent development of vision-language-action (VLA) models has presented an end-to-end approach for general robotic manipulation tasks. Although VLAs have demonstrated promising performance on simple tasks, the feasibility of applying such models to complex disassembly remains largely unexplored. In this paper, we collected a customized dataset for robotic RAM and CPU disassembly and used it to fine-tune two well-established VLA approaches, OpenVLA and OpenVLA-OFT, as a case study. We divided the whole disassembly task into several small steps, and our preliminary experimental results indicate that the fine-tuned VLA models can faithfully complete multiple early steps but struggle with certain critical subtasks, leading to task failure. However, we observed that a simple hybrid strategy that combines VLA with a rule-based controller can successfully perform the entire disassembly operation. These findings highlight the current limitations of VLA models in handling the dexterity and precision required for robotic EoL product disassembly. By offering a detailed analysis of the observed results, this study provides insights that may inform future research to address current challenges and advance end-to-end robotic automated disassembly.

Paperid: 160, https://arxiv.org/pdf/2512.03444.pdf

Abstract:
Deep learning methods have significantly enhanced motion planning for robotic manipulators by leveraging prior experiences within planning datasets. However, state-of-the-art neural motion planners are primarily trained on small datasets collected in manually generated workspaces, limiting their generalizability to out-of-distribution scenarios. Additionally, these planners often rely on monolithic network architectures that struggle to encode critical planning information. To address these challenges, we introduce Motion Policy with Dataset Synthesis powered by large language models (LLMs) and Fusion Action-Chunking Transformers (PerFACT), which incorporates two key components. Firstly, a novel LLM-powered workspace generation method, MotionGeneralizer, enables large-scale planning data collection by producing a diverse set of semantically feasible workspaces. Secondly, we introduce Fusion Motion Policy Networks (MpiNetsFusion), a generalist neural motion planner that uses a fusion action-chunking transformer to better encode planning signals and attend to multiple feature modalities. Leveraging MotionGeneralizer, we collect 3.5M trajectories to train and evaluate MpiNetsFusion against state-of-the-art planners, which shows that the proposed MpiNetsFusion can plan several times faster on the evaluated tasks.

Paperid: 161, https://arxiv.org/pdf/2511.00844.pdf

Abstract:
Unmanned Aerial Vehicles (UAVs) play a crucial role in Maritime Search and Rescue (MSAR), contributing to the improvement of rescue efficiency and reduction of casualties. Typically, UAVs equipped with cameras collect data from disaster areas and transmit it to the shore-based rescue command centers. By deploying Mobile Edge Computing (MEC) servers, UAVs can pre-process video footage to reduce data transmission volume, thus reducing transmission delays. However, the limited computational capacity and energy of UAVs pose significant challenges to the efficiency of UAV-assisted MSAR systems. To address these problems, in this paper, we investigate a multi-UAV assisted MSAR system consisting of multiple Surveillance UAVs (S-UAVs) and a Relay UAV (R-UAV). Then, we formulate a joint optimization problem to minimize the maximum total latency among all S-UAVs via jointly making the computing offloading decisions, R-UAV deployment, and the association between a S-UAV and rescue targets while ensuring that all targets are monitored by S-UAVs. Since the formulated optimization problem is typically hard to solve due to its non-convexity, we propose an effective iterative algorithm by breaking it into three sub-problems. Numerical simulation results show the effectiveness of the proposed algorithm with various performance parameters.

Paperid: 162, https://arxiv.org/pdf/2510.18127.pdf

Abstract:
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption. Current enveloping-based fruit harvesting grippers lack adaptability to fruits of different sizes. This paper introduces a drawstring-inspired, cable-driven soft gripper for versatile and gentle fruit harvesting. The design employs 3D-printed Thermoplastic Polyurethane (TPU) pockets with integrated steel wires that constrict around the fruit when actuated, distributing pressure uniformly to minimize bruising and allow versatility to fruits of varying sizes. The lightweight structure, which requires few components, reduces mechanical complexity and cost compared to other grippers. Actuation is achieved through servo-driven cable control, while motor feedback provides autonomous grip adjustment with tunable grip strength. Experimental validation shows that, for tomatoes within the gripper's effective size range, harvesting was achieved with a 0% immediate damage rate and a bruising rate of less than 9% after five days, reinforcing the gripper's suitability for fruit harvesting.

Paperid: 163, https://arxiv.org/pdf/2510.16231.pdf

Abstract:
Intelligent robotic disassembly of end-of-life (EOL) products has been a long-standing challenge in robotics. While machine learning techniques have shown promise, the lack of specialized hardware limits their application in real-world scenarios. We introduce DeGrip, a customized gripper designed for the disassembly of EOL computer desktops. DeGrip provides three degrees of freedom (DOF), enabling arbitrary configurations within the disassembly environment when mounted on a robotic manipulator. It employs a cable-driven transmission mechanism that reduces its overall size and enables operation in confined spaces. The wrist is designed to decouple the actuation of wrist and jaw joints. We also developed an EOL desktop disassembly environment in Isaac Sim to evaluate the effectiveness of DeGrip. The tasks were designed to demonstrate its ability to operate in confined spaces and disassemble components in arbitrary configurations. The evaluation results confirm the capability of DeGrip for EOL desktop disassembly.

Paperid: 164, https://arxiv.org/pdf/2508.05773.pdf

Abstract:
Articulated vehicles such as tractor-trailers, yard trucks, and similar platforms must often reverse and maneuver in cluttered spaces where pedestrians are present. We present how Barrier-Rate guided Model Predictive Path Integral (BR-MPPI) control can solve navigation in such challenging environments. BR-MPPI embeds Control Barrier Function (CBF) constraints directly into the path-integral update. By steering the importance-sampling distribution toward collision-free, dynamically feasible trajectories, BR-MPPI enhances the exploration strength of MPPI and improves robustness of resulting trajectories. The method is evaluated in the high-fidelity CarMaker simulator on a 12 [m] tractor-trailer tasked with reverse and forward parking in a parking lot. BR-MPPI computes control inputs in above 100 [Hz] on a single GPU (for scenarios with eight obstacles) and maintains better parking clearance than a standard MPPI baseline and an MPPI with collision cost baseline.

Paperid: 165, https://arxiv.org/pdf/2507.11283.pdf

Abstract:
This paper presents a diffusion-augmented reinforcement learning (RL) approach for robust autonomous underwater vehicle (AUV) control, addressing key challenges in underwater trajectory planning and dynamic environment adaptation. The proposed method integrates three core innovations: (1) A diffusion-based trajectory generation framework that produces physically feasible multi-step trajectories, enhanced by a high-dimensional state encoding mechanism combining current observations with historical states and actions through a novel diffusion U-Net architecture, significantly improving long-horizon planning. (2) A sample-efficient hybrid learning architecture that synergizes diffusion-guided exploration with RL policy optimization, where the diffusion model generates diverse candidate actions and the RL critic selects optimal actions, achieving higher exploration efficiency and policy stability in dynamic underwater environments. Extensive simulation experiments validating the method's superior robustness and flexibility, outperforms conventional control methods in challenging marine conditions, offering enhanced adaptability and reliability for AUV operations in the underwater tasks.

Paperid: 166, https://arxiv.org/pdf/2510.15668.pdf

Abstract:
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking systems, while neural network-based methods struggle with image noise and error accumulation, compromising reconstruction precision. We propose a cost-effective and versatile solution that leverages lightweight cameras and visual servoing in simulated environments for precise 3D US imaging. These cameras capture visual feedback from a textured planar workspace. To counter occlusions and lighting issues, we introduce an image restoration method that reconstructs occluded regions by matching surrounding texture patterns. For pose estimation, we develop a simulation-in-the-loop approach, which replicates the system setup in simulation and iteratively minimizes pose errors between simulated and real-world observations. A visual servoing controller refines the alignment of camera views, improving translational estimation by optimizing image alignment. Validations on a soft vascular phantom, a 3D-printed conical model, and a human arm demonstrate the robustness and accuracy of our approach, with Hausdorff distances to the reference reconstructions of 0.359 mm, 1.171 mm, and 0.858 mm, respectively. These results confirm the method's potential for reliable freehand 3D US reconstruction.

Paperid: 167, https://arxiv.org/pdf/2510.26948.pdf

Abstract:
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with dedicated sensors to measure the target's states. Unlike earlier approaches that focus solely on either estimation or guidance design, the proposed framework unifies both within a cooperative architecture. To circumvent the limitation posed by heterogeneity in target observability, sensorless vehicles estimate the target's state by leveraging information exchanged with neighboring agents over a directed communication topology through a prescribed-time observer. The proposed approach employs true proportional navigation guidance (TPNG), which uses an exact time-to-go formulation and is applicable across a wide spectrum of target motions. Furthermore, prescribed-time observer and controller are employed to achieve convergence to true target's state and consensus in time-to-go within set predefined times, respectively. Simulations demonstrate the effectiveness of the proposed framework under various engagement scenarios.

Paperid: 168, https://arxiv.org/pdf/2510.08731.pdf

Abstract:
Large Language Models (LLMs) demonstrate substantial accuracy gains when augmented with reasoning modes such as chain-of-thought and inference-time scaling. However, reasoning also incurs significant costs in inference latency and token usage, with environmental and financial impacts, which are unnecessary for many simple prompts. We present a semantic router that classifies queries based on their reasoning requirements and selectively applies reasoning only when beneficial. Our approach achieves a 10.2 percentage point improvement in accuracy on the MMLU-Pro benchmark while reducing response latency by 47.1% and token consumption by 48.5% compared to direct inference with vLLM. These results demonstrate that semantic routing offers an effective mechanism for striking a balance between accuracy and efficiency in open-source LLM serving systems

Paperid: 169, https://arxiv.org/pdf/2510.02087.pdf

Abstract:
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present a cooperative guidance framework for the evader-defender team that guarantees interception of the pursuer before it can capture the evader, even under highly dynamic and uncertain engagement conditions. Unlike traditional heuristic, optimal control, or differential game-based methods, we approach the problem within a time-constrained guidance framework, leveraging true proportional navigation based approach that ensures robust and guaranteed solutions to the aerial defense problem. The proposed strategy is computationally lightweight, scalable to a large number of agent configurations, and does not require knowledge of the pursuer's strategy or control laws. From arbitrary initial geometries, our method guarantees that key engagement errors are driven to zero within a fixed time, leading to a successful mission. Extensive simulations across diverse and adversarial scenarios confirm the effectiveness of the proposed strategy and its relevance for real-time autonomous defense in contested airspace environments.

Paperid: 170, https://arxiv.org/pdf/2509.23218.pdf

Abstract:
In this paper, a novel analytical model for resource allocation is proposed for a device-to-device (D2D) assisted cellular network. The proposed model can be applied to underlay and overlay D2D systems for sharing licensed bands and offloading cellular traffic. The developed model also takes into account the problem of unlicensed band sharing with Wi-Fi systems. In the proposed model, a global system state reflects the interaction among D2D, conventional cellular, and Wi-Fi packets. Under the standard traffic model assumptions, a threshold-based flow control is proposed for guaranteeing the quality-of-service (QoS) of Wi-Fi. The packet blockage probability is then derived. Simulation results show the proposed scheme sacrifices conventional cellular performance slightly to improve overlay D2D performance significantly while maintaining the performance for Wi-Fi users. Meanwhile, the proposed scheme has more flexible adjustments between D2D and Wi-Fi than the underlay scheme.

Paperid: 171, https://arxiv.org/pdf/2509.20314.pdf

Abstract:
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed graphs permit asymmetry but make consensus dependent on root nodes and their influence. Both paradigms impose inherent restrictions on achievable consensus values and network robustness. This paper introduces a theoretical framework for achieving consensus over a class of network topologies, termed pseudo-undirected graphs, which retains bidirectional connectivity between node pairs but allows the corresponding edge weights to differ, including the possibility of negative values under bounded conditions. The resulting Laplacian is generally non-symmetric, yet it guarantees consensus under connectivity assumptions, to expand the solution space, which enables the system to achieve a stable consensus value that can lie outside the convex hull of the initial state set. We derive admissibility bounds for negative weights for a pseudo-undirected path graph, and show an application in the simultaneous interception of a moving target.

Paperid: 172, https://arxiv.org/pdf/2509.17341.pdf

Abstract:
This paper introduces the concept of trajectory encryption in cooperative simultaneous target interception, wherein heterogeneity in guidance principles across a team of unmanned autonomous systems is leveraged as a strategic design feature. By employing a mix of heterogeneous time-to-go formulations leading to a cooperative guidance strategy, the swarm of vehicles is able to generate diverse trajectory families. This diversity expands the feasible solution space for simultaneous target interception, enhances robustness under disturbances, and enables flexible time-to-go adjustments without predictable detouring. From an adversarial perspective, heterogeneity obscures the collective interception intent by preventing straightforward prediction of swarm dynamics, effectively acting as an encryption layer in the trajectory domain. Simulations demonstrate that the swarm of heterogeneous vehicles is able to intercept a moving target simultaneously from a diverse set of initial engagement configurations.

Paperid: 173, https://arxiv.org/pdf/2509.15136.pdf

Abstract:
This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a subset of interceptors are equipped with onboard seekers. To overcome the resulting heterogeneity in target observability, a fixed-time distributed observer is employed, enabling seeker-less interceptors to estimate the target state using information from seeker-equipped agents and local neighbors over a directed communication topology. Departing from conventional strategies that approximate time-to-go via linearization or small-angle assumptions, the proposed approach leverages deviated pursuit guidance where the time-to-go expression is exact for such a target. Moreover, a higher-order sliding mode consensus protocol is utilized to establish time-to-go consensus within a finite time. The effectiveness of the proposed guidance and estimation architecture is demonstrated through simulations.

Paperid: 174, https://arxiv.org/pdf/2509.06775.pdf

Abstract:
In this paper, we present an agentic double deep Q-network (DDQN) scheduler for licensed/unlicensed band allocation in New Radio (NR) sidelink (SL) networks. Beyond conventional reward-seeking reinforcement learning (RL), the agent perceives and reasons over a multi-dimensional context that jointly captures queueing delay, link quality, coexistence intensity, and switching stability. A capacity-aware, quality of service (QoS)-constrained reward aligns the agent with goal-oriented scheduling rather than static thresholding. Under constrained bandwidth, the proposed design reduces blocking by up to 87.5% versus threshold policies while preserving throughput, highlighting the value of context-driven decisions in coexistence-limited NR SL networks. The proposed scheduler is an embodied agent (E-agent) tailored for task-specific, resource-efficient operation at the network edge.

Paperid: 175, https://arxiv.org/pdf/2509.01724.pdf

Abstract:
The Internet of Things (IoT) has emerged as a foundational paradigm supporting a range of applications, including healthcare, education, agriculture, smart homes, and, more recently, enterprise systems. However, significant advancements in IoT networks have been impeded by security vulnerabilities and threats that, if left unaddressed, could hinder the deployment and operation of IoT based systems. Detecting unwanted activities within the IoT is crucial, as it directly impacts confidentiality, integrity, and availability. Consequently, intrusion detection has become a fundamental research area and the focus of numerous studies. An intrusion detection system (IDS) is essential to the IoTs alarm mechanisms, enabling effective security management. This paper examines IoT security and introduces an intelligent two-layer intrusion detection system for IoT. Machine learning techniques power the system's intelligence, with a two layer structure enhancing intrusion detection. By selecting essential features, the system maintains detection accuracy while minimizing processing overhead. The proposed method for intrusion detection in IoT is implemented in two phases. In the first phase, the Grasshopper Optimization Algorithm (GOA) is applied for feature selection. In the second phase, the Support Vector Machine (SVM) algorithm is used to detect intrusions. The method was implemented in MATLAB, and the NSLKDD dataset was used for evaluation. Simulation results show that the proposed method improves accuracy compared to other approaches.

Paperid: 176, https://arxiv.org/pdf/2509.01717.pdf

Abstract:
This paper presents a novel multi-layered hybrid security approach aimed at enhancing lightweight encryption for IoT-Cloud systems. The primary goal is to overcome limitations inherent in conventional solutions such as TPA, Blockchain, ECDSA and ZSS which often fall short in terms of data protection, computational efficiency and scalability. Our proposed method strategically refines and integrates these technologies to address their shortcomings while maximizing their individual strengths. By doing so we create a more reliable and high-performance framework for secure data exchange across heterogeneous environments. The model leverages the combined potential of emerging technologies, particularly Blockchain, IoT and Cloud computing which when effectively coordinated offer significant advancements in security architecture. The proposed framework consists of three core layers: (1) the H.E.EZ Layer which integrates improved versions of Hyperledger Fabric, Enc-Block and a hybrid ECDSA-ZSS scheme to improve encryption speed, scalability and reduce computational cost; (2) the Credential Management Layer independently verifying data integrity and authenticity; and (3) the Time and Auditing Layer designed to reduce traffic overhead and optimize performance across dynamic workloads. Evaluation results highlight that the proposed solution not only strengthens security but also significantly improves execution time, communication efficiency and system responsiveness, offering a robust path forward for next-generation IoT-Cloud infrastructures.

Paperid: 177, https://arxiv.org/pdf/2508.13825.pdf

Abstract:
The rapid growth of the Internet of Things (IoT) presents sustainability challenges such as increased maintenance requirements and overall higher energy consumption. This motivates self-sustainable IoT ecosystems based on Energy Harvesting (EH). This paper treats IoT deployments in which IoT devices (IoTDs) rely solely on EH to sense and transmit information about events/alarms to a base station (BS). The objective is to effectively manage the duty cycling of the IoTDs to prolong battery life and maximize the relevant data sent to the BS. The BS can also wake up specific IoTDs if extra information about an event is needed upon initial detection. We propose a K-nearest neighbors (KNN)-based duty cycling management to optimize energy efficiency and detection accuracy by considering spatial correlations among IoTDs' activity and their EH process. We evaluate machine learning approaches, including reinforcement learning (RL) and decision transformers (DT), to maximize information captured from events while managing energy consumption. Significant improvements over the state-ofthe-art approaches are obtained in terms of energy saving by all three proposals, KNN, RL, and DT. Moreover, the RL-based solution approaches the performance of a genie-aided benchmark as the number of IoTDs increases.

Paperid: 178, https://arxiv.org/pdf/2507.01350.pdf

Abstract:
This paper presents a leaderless cooperative guidance strategy for simultaneous time-constrained interception of a stationary target when the interceptors exchange information over switched dynamic graphs. We specifically focus on scenarios when the interceptors lack radial acceleration capabilities, relying solely on their lateral acceleration components. This consideration aligns with their inherent kinematic turn constraints. The proposed strategy explicitly addresses the complexities of coupled 3D engagements, thereby mitigating performance degradation that typically arises when the pitch and yaw channels are decoupled into two separate, mutually orthogonal planar engagements. Moreover, our formulation incorporates modeling uncertainties associated with the time-to-go estimation into the derivation of cooperative guidance commands to ensure robustness against inaccuracies in dynamic engagement scenarios. To optimize control efficiency, we analytically derive the lateral acceleration components in the orthogonal pitch and yaw channels by solving an instantaneous optimization problem, subject to an affine constraint. We show that the proposed cooperative guidance commands guarantee consensus in time-to-go values within a predefined time, which can be prescribed as a design parameter, regardless of the interceptors' initial configurations. We provide simulations to attest to the efficacy of the proposed method.

Paperid: 179, https://arxiv.org/pdf/2510.20113.pdf

Abstract:
Speech is essential for human communication, yet millions of people face impairments such as dysarthria, stuttering, and aphasia conditions that often lead to social isolation and reduced participation. Despite recent progress in automatic speech recognition (ASR) and text-to-speech (TTS) technologies, accessible web and mobile infrastructures for users with impaired speech remain limited, hindering the practical adoption of these advances in daily communication. To bridge this gap, we present SpeechAgent, a mobile SpeechAgent designed to facilitate people with speech impairments in everyday communication. The system integrates large language model (LLM)- driven reasoning with advanced speech processing modules, providing adaptive support tailored to diverse impairment types. To ensure real-world practicality, we develop a structured deployment pipeline that enables real-time speech processing on mobile and edge devices, achieving imperceptible latency while maintaining high accuracy and speech quality. Evaluation on real-world impaired speech datasets and edge-device latency profiling confirms that SpeechAgent delivers both effective and user-friendly performance, demonstrating its feasibility for personalized, day-to-day assistive communication.

Paperid: 180, https://arxiv.org/pdf/2509.24697.pdf

Abstract:
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are limited by the amount of available motion data, and do not incorporate prior knowledge about the physical laws governing the system and its interactions with the environment. Thus they may violate such laws, leading to divergent trajectories and sliding contacts which limit real-world stability. We address such limitations via a two-pronged learning strategy which leverages the known physics of the system and fundamental control principles. First, we encode physics priors during supervised imitation learning to promote trajectory feasibility. Second, we minimize drift at inference time by applying a proportional-integral controller directly to the generated output state. We validate our method on various locomotion behaviors for the ergoCub humanoid robot, where a physics-informed loss encourages zero contact foot velocity. Our experiments demonstrate that the proposed approach is compatible with multiple controllers on a real robot and significantly improves the accuracy and physical constraint conformity of generated trajectories.

Paperid: 181, https://arxiv.org/pdf/2509.24524.pdf

Abstract:
Vision-Language-Action (VLA) models have achieved notable success but often struggle with limited generalizations. To address this, integrating generalized Vision-Language Models (VLMs) as assistants to VLAs has emerged as a popular solution. However, current approaches often combine these models in rigid, sequential structures: using VLMs primarily for high-level scene understanding and task planning, and VLAs merely as executors of lower-level actions, leading to ineffective collaboration and poor grounding challenges. In this paper, we propose an embodied agent framework, PhysiAgent, tailored to operate effectively in physical environments. By incorporating monitor, memory, self-reflection mechanisms, and lightweight off-the-shelf toolboxes, PhysiAgent offers an autonomous scaffolding framework to prompt VLMs to organize different components based on real-time proficiency feedback from VLAs to maximally exploit VLAs' capabilities. Experimental results demonstrate significant improvements in task-solving performance on complex real-world robotic tasks, showcasing effective self-regulation of VLMs, coherent tool collaboration, and adaptive evolution of the framework during execution. PhysiAgent makes practical and pioneering efforts to integrate VLMs and VLAs, effectively grounding embodied agent frameworks in real-world settings.

Paperid: 182, https://arxiv.org/pdf/2509.20570.pdf

Abstract:
Diffusion models have demonstrated strong generative capabilities across scientific domains, but often produce outputs that violate physical laws. We propose a new perspective by framing physics-informed generation as a sparse reward optimization problem, where adherence to physical constraints is treated as a reward signal. This formulation unifies prior approaches under a reward-based paradigm and reveals a shared bottleneck: reliance on diffusion posterior sampling (DPS)-style value function approximations, which introduce non-negligible errors and lead to training instability and inference inefficiency. To overcome this, we introduce Physics-Informed Reward Fine-tuning (PIRF), a method that bypasses value approximation by computing trajectory-level rewards and backpropagating their gradients directly. However, a naive implementation suffers from low sample efficiency and compromised data fidelity. PIRF mitigates these issues through two key strategies: (1) a layer-wise truncated backpropagation method that leverages the spatiotemporally localized nature of physics-based rewards, and (2) a weight-based regularization scheme that improves efficiency over traditional distillation-based methods. Across five PDE benchmarks, PIRF consistently achieves superior physical enforcement under efficient sampling regimes, highlighting the potential of reward fine-tuning for advancing scientific generative modeling.

Paperid: 183, https://arxiv.org/pdf/2509.10353.pdf

Abstract:
This paper introduces a Data-Fused Model Predictive Control (DFMPC) framework that combines physics-based models with data-driven representations of unknown dynamics. Leveraging Willems' Fundamental Lemma and an artificial equilibrium formulation, the method enables tracking of changing, potentially unreachable setpoints while explicitly handling measurement noise through slack variables and regularization. We provide guarantees of recursive feasibility and practical stability under input-output constraints for a specific class of reference signals. The approach is validated on the iRonCub flying humanoid robot, integrating analytical momentum models with data-driven turbine dynamics. Simulations show improved tracking and robustness compared to a purely model-based MPC, while maintaining real-time feasibility.

Paperid: 184, https://arxiv.org/pdf/2508.20030.pdf

Abstract:
With the growing complexity of modern integrated circuits, hardware engineers are required to devote more effort to the full design-to-manufacturing workflow. This workflow involves numerous iterations, making it both labor-intensive and error-prone. Therefore, there is an urgent demand for more efficient Electronic Design Automation (EDA) solutions to accelerate hardware development. Recently, large language models (LLMs) have shown remarkable advancements in contextual comprehension, logical reasoning, and generative capabilities. Since hardware designs and intermediate scripts can be represented as text, integrating LLM for EDA offers a promising opportunity to simplify and even automate the entire workflow. Accordingly, this paper provides a comprehensive overview of incorporating LLMs into EDA, with emphasis on their capabilities, limitations, and future opportunities. Three case studies, along with their outlook, are introduced to demonstrate the capabilities of LLMs in hardware design, testing, and optimization. Finally, future directions and challenges are highlighted to further explore the potential of LLMs in shaping the next-generation EDA, providing valuable insights for researchers interested in leveraging advanced AI technologies for EDA.

Paperid: 185, https://arxiv.org/pdf/2508.17466.pdf

Abstract:
Quadruped robots have emerged as highly efficient and versatile platforms, excelling in navigating complex and unstructured terrains where traditional wheeled robots might fail. Equipping these robots with manipulator arms unlocks the advanced capability of loco-manipulation to perform complex physical interaction tasks in areas ranging from industrial automation to search-and-rescue missions. However, achieving precise and adaptable grasping in such dynamic scenarios remains a significant challenge, often hindered by the need for extensive real-world calibration and pre-programmed grasp configurations. This paper introduces a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, focusing on improved precision and adaptability. Our approach centers on a sim-to-real methodology that minimizes reliance on physical data collection. We developed a pipeline within the Genesis simulation environment to generate a synthetic dataset of grasp attempts on common objects. By simulating thousands of interactions from various perspectives, we created pixel-wise annotated grasp-quality maps to serve as the ground truth for our model. This dataset was used to train a custom CNN with a U-Net-like architecture that processes multi-modal input from an onboard RGB and depth cameras, including RGB images, depth maps, segmentation masks, and surface normal maps. The trained model outputs a grasp-quality heatmap to identify the optimal grasp point. We validated the complete framework on a four-legged robot. The system successfully executed a full loco-manipulation task: autonomously navigating to a target object, perceiving it with its sensors, predicting the optimal grasp pose using our model, and performing a precise grasp. This work proves that leveraging simulated training with advanced sensing offers a scalable and effective solution for object handling.

Paperid: 186, https://arxiv.org/pdf/2508.16807.pdf

Abstract:
Inspecting confined industrial infrastructure, such as ventilation shafts, is a hazardous and inefficient task for humans. Unmanned Aerial Vehicles (UAVs) offer a promising alternative, but GPS-denied environments require robust control policies to prevent collisions. Deep Reinforcement Learning (DRL) has emerged as a powerful framework for developing such policies, and this paper provides a comparative study of two leading DRL algorithms for this task: the on-policy Proximal Policy Optimization (PPO) and the off-policy Soft Actor-Critic (SAC). The training was conducted with procedurally generated duct environments in Genesis simulation environment. A reward function was designed to guide a drone through a series of waypoints while applying a significant penalty for collisions. PPO learned a stable policy that completed all evaluation episodes without collision, producing smooth trajectories. By contrast, SAC consistently converged to a suboptimal behavior that traversed only the initial segments before failure. These results suggest that, in hazard-dense navigation, the training stability of on-policy methods can outweigh the nominal sample efficiency of off-policy algorithms. More broadly, the study provides evidence that procedurally generated, high-fidelity simulations are effective testbeds for developing and benchmarking robust navigation policies.

Paperid: 187, https://arxiv.org/pdf/2508.14994.pdf

Abstract:
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However, teleoperating quadruped robots is challenging due to the lack of integrated obstacle detection and intuitive control methods for the robotic arm, increasing collision risks in confined or dynamically changing workspaces. Teleoperation via joysticks or pads can be non-intuitive and demands a high level of expertise due to its complexity, culminating in a high cognitive load on the operator. To address this challenge, a teleoperation approach that directly maps human arm movements to the robotic manipulator offers a simpler and more accessible solution. This work proposes an intuitive remote control by leveraging a vision-based pose estimation pipeline that utilizes an external camera with a machine learning-based model to detect the operator's wrist position. The system maps these wrist movements into robotic arm commands to control the robot's arm in real-time. A trajectory planner ensures safe teleoperation by detecting and preventing collisions with both obstacles and the robotic arm itself. The system was validated on the real robot, demonstrating robust performance in real-time control. This teleoperation approach provides a cost-effective solution for industrial applications where safety, precision, and ease of use are paramount, ensuring reliable and intuitive robotic control in high-risk environments.

Paperid: 188, https://arxiv.org/pdf/2512.24905.pdf

Abstract:
Off-the-shelf fused filament fabrication 3D printers are widely accessible and convenient, yet they exhibit quality loss at high speeds due to dynamic mis-synchronization between printhead motion and material extrusion systems, notably corner over-extrusion. Existing methods require specialized hardware, extensive calibration, or firmware modifications that are inaccessible to most users. This work presents a practical, end-to-end optimization framework that enhances high-speed printing using only standard 3D printers and a phone camera, without requiring additional complex setup. The method employs a one-shot calibration approach in which two simple printed patterns, captured by a phone camera, enable identification of extrusion dynamics and cornering behavior. The identified systems enable a model-based constrained optimal control strategy that generates optimized G-code, synchronizing motion and extrusion. Experiments show reduced width tracking error, mitigated corner defects, and lower surface roughness, achieving surface quality at 3600 mm/min comparable to conventional printing at 1600 mm/min, effectively doubling production speed while maintaining print quality. This accessible, hardware-minimal approach enables a wide range of fused filament fabrication users to achieve high-quality, high-speed additive manufacturing.

Paperid: 189, https://arxiv.org/pdf/2512.17518.pdf

Abstract:
This study investigates the stabilization of interlayer temperature in the laser powder bed fusion process through a novel switched layer-to-layer closed-loop feedback controller. The controller architecture aims to measure the interlayer temperature by a laterally positioned thermal camera and maintain a preset reference temperature by switching between the heating mode through dynamic laser power adjustment and the cooling mode by assigning interlayer dwell time to allow cooling between layers. The switching controller employs a feedback optimization control algorithm for the heating mode to adjust the laser power, and a triggering algorithm that increases the interlayer dwell time until the interlayer temperature reaches the reference value. Additionally, the study compares the performance of the proposed controller in both supported and unsupported overhanging parts to evaluate the effect of support structures on the controller performance as well as the thermal behavior of overhanging parts. Results demonstrate the controller's effectiveness in stabilizing interlayer temperature across varying cross-sectional areas while remaining within the material's stable processing zone. In the heating mode, the controller efficiently stabilizes temperature, even in geometries with significant cross-section variation. The study also identifies trade-offs among process efficiency, energy consumption, and build time. Supported parts exhibit reduced overheating but consume more energy and material, while unsupported parts stabilize interlayer temperature faster but with longer build times due to increased dwell time assignments. The research highlights notable improvements in interlayer temperature control for geometries prone to excessive thermal stresses. Moreover, the introduction of interlayer dwell time offers a practical solution to maintaining thermal stability in complex geometries.

Paperid: 190, https://arxiv.org/pdf/2512.16333.pdf

Abstract:
Various defects occur during material extrusion additive manufacturing processes that degrade the quality of the 3D printed parts and lead to significant material waste. This motivates feedback control of the extrusion process to mitigate defects and prevent print failure. We propose a linear quadratic regulator (LQR) for closed-loop control with force feedback to provide accurate width tracking of the extruded filament. Furthermore, we propose preemptive optimization of the reference force given to the LQR that accounts for the performance of the LQR and generates the optimal reference for the closed loop extrusion dynamics and machine constraints. Simulation results demonstrate the improved tracking performance and response time. Experiments on a Fused Filament Fabrication 3D printer showcase a root mean square error improvement of 39.57% compared to tracking the unmodified reference as well as an 83.7% shorter settling time.

Paperid: 191, https://arxiv.org/pdf/2511.15219.pdf

Abstract:
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentially stabilizing, inverse optimal, robust to arbitrary decrease or increase of input coefficients, adaptive, prescribed/fixed-time stabilizing, and safe (ensuring the satisfaction of state constraints). Our nonmodular backstepping feedbacks are implementable with either unidirectional or bidirectional velocity actuation. Thanks to constructing families of strict CLFs for the unicycle, we introduce a general design framework and families of feedback laws for the unicycle, which are inverse optimal with respect to meaningful costs. These inverse optimal feedback laws are endowed with robustness to actuator uncertainty and arbitrarily low input saturation due to the unicycle's driftlessness. Besides ensuring robustness to unknown input coefficients, we also develop adaptive laws for these unknown coefficients, enabling the achievement of good transient performance with lower initial control effort. Additionally, we develop controllers that achieve stabilization within a user-specified time horizon using two systematic methods: time-dilated prescribed-time design with smooth-in-time convergence to zero of both the states and the inputs and homogeneity-based fixed-time control that provides an explicit bound on the settling time. Finally, with a nonovershooting design we guarantee strictly forward motion without curb violation. This article, along with its Part I, lays a broad constructive design foundation for stabilization of the nonholonomic unicycle.

Paperid: 192, https://arxiv.org/pdf/2511.15119.pdf

Abstract:
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the forward velocity to decouple the radial coordinate, allowing the steering subsystem to be stabilized independently. Within this structure, we develop families of feedback laws using passivity, backstepping, and integrator forwarding. Each law is accompanied by a strict control Lyapunov function, including barrier variants that enforce angular constraints. These strict CLFs provide constructive class KL convergence estimates and enable eigenvalue assignment at the target equilibrium. The framework generalizes and extends prior modular and nonmodular approaches, while preparing the ground for inverse optimal and adaptive redesigns in the sequel paper.

Paperid: 193, https://arxiv.org/pdf/2511.11308.pdf

Abstract:
Model-based policy optimization often struggles with inaccurate system dynamics models, leading to suboptimal closed-loop performance. This challenge is especially evident in Model Predictive Control (MPC) policies, which rely on the model for real-time trajectory planning and optimization. We introduce a novel policy optimization framework for MPC-based policies combining differentiable optimization with zeroth-order optimization. Our method combines model-based and model-free gradient estimation approaches, achieving faster transient performance compared to fully data-driven approaches while maintaining convergence guarantees, even under model uncertainty. We demonstrate the effectiveness of the proposed approach on a nonlinear control task involving a 12-dimensional quadcopter model.

Paperid: 194, https://arxiv.org/pdf/2510.04666.pdf

Abstract:
Therapist-in-the-loop robotic rehabilitation has shown great promise in enhancing rehabilitation outcomes by integrating the strengths of therapists and robotic systems. However, its broader adoption remains limited due to insufficient safe interaction and limited adaptation capability. This article proposes a novel telerobotics-mediated framework that enables therapists to intuitively and safely deliver assist-as-needed~(AAN) therapy based on two primary contributions. First, our framework encodes the therapist-informed corrective force into via-points in a latent space, allowing the therapist to provide only minimal assistance while encouraging patient maintaining own motion preferences. Second, a shape-adaptive ANN rehabilitation policy is learned to partially and progressively deform the reference trajectory for movement therapy based on encoded patient motion preferences and therapist-informed via-points. The effectiveness of the proposed shape-adaptive AAN strategy was validated on a telerobotic rehabilitation system using two representative tasks. The results demonstrate its practicality for remote AAN therapy and its superiority over two state-of-the-art methods in reducing corrective force and improving movement smoothness.

Paperid: 195, https://arxiv.org/pdf/2510.02720.pdf

Abstract:
This paper considers the problem of adapting a predesigned policy, represented by a parameterized function class, from a solution that minimizes a given original cost function to a trade-off solution between minimizing the original objective and an additional cost function. The problem is formulated as a constrained optimization problem, where deviations from the optimal value of the original cost are explicitly constrained. To solve it, we develop a closed-loop system that governs the evolution of the policy parameters, with a closed-loop controller designed to adjust the additional cost gradient to ensure the satisfaction of the constraint. The resulting closed-loop system, termed control-barrier-function-based policy adaptation, exploits the set-invariance property of control barrier functions to guarantee constraint satisfaction. The effectiveness of the proposed method is demonstrated through numerical experiments on the Cartpole and Lunar Lander benchmarks from OpenAI Gym, as well as a quadruped robot, thereby illustrating both its practicality and potential for real-world policy adaptation.

Paperid: 196, https://arxiv.org/pdf/2509.25579.pdf

Abstract:
In a companion paper, we present a modular framework for unicycle stabilization in polar coordinates that provides smooth steering laws through backstepping. Surprisingly, the same problem also allows the application of integrator forwarding. In this work, we leverage this feature and construct new smooth steering laws together with control Lyapunov functions (CLFs), expanding the set of CLFs available for inverse optimal control design. In the case of constant forward velocity (Dubins car), backstepping produces finite-time (deadbeat) parking, and we show that integrator forwarding yields the very same class of solutions. This reveals a fundamental connection between backstepping and forwarding in addressing both the unicycle and, the Dubins car parking problems.

Paperid: 197, https://arxiv.org/pdf/2509.25575.pdf

Abstract:
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically stabilizable by smooth feedback in polar coordinates. In this note, we introduce a modular framework for designing smooth feedback laws that achieve global asymptotic stabilization in polar coordinates. These laws are bidirectional, enabling efficient parking maneuvers, and are paired with families of strict control Lyapunov functions (CLFs) constructed in a modular fashion. The resulting CLFs guarantee global asymptotic stability with explicit convergence rates and include barrier variants that yield "almost global" stabilization, excluding only zero-measure subsets of the rotation manifolds. The strictness of the CLFs is further leveraged in our companion paper, where we develop inverse-optimal redesigns with meaningful cost functions and infinite gain margins.

Paperid: 198, https://arxiv.org/pdf/2509.25563.pdf

Abstract:
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address this in the inverse optimal framework, thereby avoiding the need to solve the Hamilton$\unicode{x2013}$Jacobi$\unicode{x2013}$Bellman (HJB) equations, and establish a general result that is optimal with respect to a meaningful cost. We present several design examples that impose varying levels of penalty on the control effort, including arbitrarily bounded control. Furthermore, we show that the inverse optimal controller possesses an infinite gain margin thanks to the system being driftless, and leveraging this property, we extend the design to an adaptive controller that handles model uncertainty. Finally, we compare the performance of the non-adaptive inverse optimal controller with its adaptive counterpart.

Paperid: 199, https://arxiv.org/pdf/2509.23367.pdf

Abstract:
In this work, we present a numerical optimal control framework for reachable set computation using \emph{normotopes}, a new set representation as a norm ball with a shaping matrix. In reachable set computations, we expect to continuously vary the shape matrix as a function of time. Incorporating the shape dynamics as an input, we build a \emph{controlled embedding system} using a linear differential inclusion overapproximating the dynamics of the system, where a single forward simulation of this embedding system always provides an overapproximating reachable set of the system, no matter the choice of \emph{hypercontrol}. By iteratively solving a linear quadratic approximation of the nonlinear optimal hypercontrol problem, we synthesize less conservative final reachable sets, providing a natural tradeoff between runtime and accuracy. Terminating our algorithm at any point always returns a valid reachable set overapproximation.

Paperid: 200, https://arxiv.org/pdf/2509.19484.pdf

Abstract:
We present linrax, the first simplex based linear program (LP) solver compatible with the JAX ecosystem. In many control algorithms, LPs are often automatically generated and frequently solved either offline or online in the control loop. This motivates the design of linrax, which is especially suited for compilation into a complex JAX-based pipeline as a subroutine. We discuss the challenges associated with implementing a general purpose LP solver under strict design requirements from JAX. Notably, we can solve general problems which may include dependent constraints-something not possible with existing JAX-compatible LP solvers that use first-order techniques and may fail to converge. We demonstrate the utility of linrax through several examples, including a robust control synthesis pipeline for a nonlinear vehicle model using automatic differentiation through a LP-based reachable set framework.

Paperid: 201, https://arxiv.org/pdf/2509.19472.pdf

Abstract:
Interval refinement is a technique for reducing the conservatism of traditional interval based reachability methods by lifting the system to a higher dimension using new auxiliary variables and exploiting the introduced structure through a refinement procedure. We present a novel, efficiently scaling, automatic refinement strategy based on a subspace sampling argument and motivated by reducing the number of interval operations through sparsity. Unlike previous methods, we guarantee that refined bounds shrink as additional auxiliary variables are added. This additionally encourages automation of the lifting phase by allowing larger groups of auxiliary variables to be considered. We implement our strategy in JAX, a high-performance computational toolkit for Python and demonstrate its efficacy on several examples, including regulating a multi-agent platoon to the origin while avoiding an obstacle.

Paperid: 202, https://arxiv.org/pdf/2509.14075.pdf

Abstract:
Robotic-assisted minimally invasive surgery (RAMIS) requires precise enforcement of the remote center of motion (RCM) constraint to ensure safe tool manipulation through a trocar. Achieving this constraint under dynamic and interactive conditions remains challenging, as existing control methods either lack robustness at the torque level or do not guarantee consistent RCM constraint satisfaction. This paper proposes a constraint-consistent torque controller that treats the RCM as a rheonomic holonomic constraint and embeds it into a projection-based inverse-dynamics framework. The method unifies task-level and kinematic formulations, enabling accurate tool-tip tracking while maintaining smooth and efficient torque behavior. The controller is validated both in simulation and on a RAMIS training platform, and is benchmarked against state-of-the-art approaches. Results show improved RCM constraint satisfaction, reduced required torque, and robust performance by improving joint torque smoothness through the consistency formulation under clinically relevant scenarios, including spiral trajectories, variable insertion depths, moving trocars, and human interaction. These findings demonstrate the potential of constraint-consistent torque control to enhance safety and reliability in surgical robotics. The project page is available at: https://rcmpc-cube.github.io

Paperid: 203, https://arxiv.org/pdf/2509.14040.pdf

Abstract:
Learning from demonstration allows robots to acquire complex skills from human demonstrations, but conventional approaches often require large datasets and fail to generalize across coordinate transformations. In this paper, we propose Prompt2Auto, a geometry-invariant one-shot Gaussian process (GeoGP) learning framework that enables robots to perform human-guided automated control from a single motion prompt. A dataset-construction strategy based on coordinate transformations is introduced that enforces invariance to translation, rotation, and scaling, while supporting multi-step predictions. Moreover, GeoGP is robust to variations in the user's motion prompt and supports multi-skill autonomy. We validate the proposed approach through numerical simulations with the designed user graphical interface and two real-world robotic experiments, which demonstrate that the proposed method is effective, generalizes across tasks, and significantly reduces the demonstration burden. Project page is available at: https://prompt2auto.github.io

Paperid: 204, https://arxiv.org/pdf/2509.10481.pdf

Abstract:
Wireless communication is evolving into an agent era, where large-scale agents with inherent embodied intelligence are not just users but active participants. The perfect combination of wireless communication and embodied intelligence can achieve a synergetic empowerment and greatly facilitate the development of agent communication. An overview of this synergetic empowerment is presented, framing it as a co-evolutionary process that transforms wireless communication from a simple utility into the digital nervous system of a collective intelligence, while simultaneously elevating isolated agents into a unified superorganism with emergent capabilities far exceeding individual contributions. Moreover, we elaborate how embodied intelligence and wireless communication mutually benefit each other through the lens of the perception-cognition-execution (PCE) loop, revealing a fundamental duality where each PCE stage both challenges network capacity and creates unprecedented opportunities for system-wide optimization. Furthermore, critical open issues and future research directions are identified.

Paperid: 205, https://arxiv.org/pdf/2509.08976.pdf

Abstract:
Cyber warfare has become a central element of modern conflict, especially within multi-domain operations. As both a distinct and critical domain, cyber warfare requires integrating defensive and offensive technologies into coherent strategies. While prior research has emphasized isolated tactics or fragmented technologies, a holistic understanding is essential for effective resource deployment and risk mitigation. Game theory offers a unifying framework for this purpose. It not only models attacker-defender interactions but also provides quantitative tools for equilibrium analysis, risk assessment, and strategic reasoning. Integrated with modern AI techniques, game-theoretic models enable the design and optimization of strategies across multiple levels of cyber warfare, from policy and strategy to operations, tactics, and technical implementations. These models capture the paradoxical logic of conflict, where more resources do not always translate into greater advantage, and where nonlinear dynamics govern outcomes. To illustrate the approach, this chapter examines RedCyber, a synthetic cyber conflict, demonstrating how game-theoretic methods capture the interdependencies of cyber operations. The chapter concludes with directions for future research on resilience, cros-echelon planning, and the evolving role of AI in cyber warfare.

Paperid: 206, https://arxiv.org/pdf/2508.03679.pdf

Abstract:
Gaussian Processes (GPs), as a nonparametric learning method, offer flexible modeling capabilities and calibrated uncertainty quantification for function approximations. Additionally, GPs support online learning by efficiently incorporating new data with polynomial-time computation, making them well-suited for safety-critical dynamical systems that require rapid adaptation. However, the inference and online updates of exact GPs, when processing streaming data, incur cubic computation time and quadratic storage memory complexity, limiting their scalability to large datasets in real-time settings. In this paper, we propose a streaming kernel-induced progressively generated expert framework of Gaussian processes (SkyGP) that addresses both computational and memory constraints by maintaining a bounded set of experts, while inheriting the learning performance guarantees from exact Gaussian processes. Furthermore, two SkyGP variants are introduced, each tailored to a specific objective, either maximizing prediction accuracy (SkyGP-Dense) or improving computational efficiency (SkyGP-Fast). The effectiveness of SkyGP is validated through extensive benchmarks and real-time control experiments demonstrating its superior performance compared to state-of-the-art approaches.

Paperid: 207, https://arxiv.org/pdf/2512.05788.pdf

Abstract:
The success of collaborative task completion among networked devices hinges on the effective selection of trustworthy collaborators. However, accurate task-specific trust evaluation of multi-hop collaborators can be extremely complex. The reason is that their trust evaluation is determined by a combination of diverse trust-related perspectives with different characteristics, including historical collaboration reliability, volatile and sensitive conditions of available resources for collaboration, as well as continuously evolving network topologies. To address this challenge, this paper presents a graph neural network (GNN)-aided distributed agentic AI (GADAI) framework, in which different aspects of devices' task-specific trustworthiness are separately evaluated and jointly integrated to facilitate multi-hop collaborator selection. GADAI first utilizes a GNN-assisted model to infer device trust from historical collaboration data. Specifically, it employs GNN to propagate and aggregate trust information among multi-hop neighbours, resulting in more accurate device reliability evaluation. Considering the dynamic and privacy-sensitive nature of device resources, a privacy-preserving resource evaluation mechanism is implemented using agentic AI. Each device hosts a large AI model-driven agent capable of autonomously determining whether its local resources meet the requirements of a given task, ensuring both task-specific and privacy-preserving trust evaluation. By combining the outcomes of these assessments, only the trusted devices can coordinate a task-oriented multi-hop cooperation path through their agents in a distributed manner. Experimental results show that our proposed GADAI outperforms the comparison algorithms in planning multi-hop paths that maximize the value of task completion.

Paperid: 208, https://arxiv.org/pdf/2512.00775.pdf

Abstract:
Linear Temporal Logic (LTL) provides a rigorous framework for complex robotic tasks, yet existing methods often rely on accurate dynamics models or expensive online interactions. In this work, we address LTL-constrained control in a challenging offline, model-free setting, utilizing only fixed, task-agnostic datasets of fragmented trajectories. We propose SAGAS, a novel framework combining graph-assisted trajectory stitching with automata-guided planning. First, we construct a latent reachability graph from a learned temporal-distance representation. To bridge the semantic gap, we augment this graph with certified anchor nodes and probabilistic soft labels. We then translate the specification into a Büchi automaton and search the implicit product space to derive a cost-minimal prefix-suffix plan. Finally, a subgoal-conditioned low-level policy is deployed to execute these latent waypoints. Experiments on OGBench locomotion domains demonstrate that SAGAS successfully synthesizes efficient trajectories for diverse LTL tasks, effectively bridging the gap between fragmented offline data and complex logical constraints.

Paperid: 209, https://arxiv.org/pdf/2511.20508.pdf

Abstract:
Weather is a dominant external driver of residential electricity demand, but adding many meteorological covariates can inflate model complexity and may even impair accuracy. Selecting appropriate exogenous features is non-trivial and calls for a principled selection framework, given the direct operational implications for day-to-day planning and reliability. This work investigates whether causal feature selection can retain the most informative weather drivers while improving parsimony and robustness for short-term load forecasting. We present a case study on Southern Ontario with two open-source datasets: (i) IESO hourly electricity consumption by Forward Sortation Areas; (ii) ERA5 weather reanalysis data. We compare different feature selection regimes (no feature selection, non-causal selection, PCMCI-causal selection) on city-level forecasting with three different time series forecasting models: GRU, TCN, PatchTST. In the feature analysis, non-causal selection prioritizes radiation and moisture variables that show correlational dependence, whereas PCMCI-causal selection emphasizes more direct thermal drivers and prunes the indirect covariates. We detail the evaluation pipeline and report diagnostics on prediction accuracy and extreme-weather robustness, positioning causal feature selection as a practical complement to modern forecasters when integrating weather into residential load forecasting.

Paperid: 210, https://arxiv.org/pdf/2511.01286.pdf

Abstract:
The application of machine learning (ML) to communication systems is expected to play a pivotal role in future artificial intelligence (AI)-based next-generation wireless networks. While most existing works focus on ML techniques for static wireless environments, they often face limitations when applied to highly dynamic environments, such as flying ad hoc networks (FANETs). This paper explores the use of data-driven Koopman approaches to address these challenges. Specifically, we investigate how these approaches can model UAV trajectory dynamics within FANETs, enabling more accurate predictions and improved network performance. By leveraging Koopman operator theory, we propose two possible approaches -- centralized and distributed -- to efficiently address the challenges posed by the constantly changing topology of FANETs. To demonstrate this, we consider a FANET performing surveillance with UAVs following pre-determined trajectories and predict signal-to-interference-plus-noise ratios (SINRs) to ensure reliable communication between UAVs. Our results show that these approaches can accurately predict connectivity and isolation events that lead to modelled communication outages. This capability could help UAVs schedule their transmissions based on these predictions.

Paperid: 211, https://arxiv.org/pdf/2510.23021.pdf

Abstract:
Integrated sensing and communication (ISAC) enables simultaneous localization, environment perception, and data exchange for connected autonomous vehicles. However, most existing ISAC designs prioritize sensing accuracy and communication throughput, treating all targets uniformly and overlooking the impact of critical obstacles on motion efficiency. To overcome this limitation, we propose a planning-oriented ISAC (PISAC) framework that reduces the sensing uncertainty of planning-bottleneck obstacles and expands the safe navigable path for the ego-vehicle, thereby bridging the gap between physical-layer optimization and motion-level planning. The core of PISAC lies in deriving a closed-form safety bound that explicitly links ISAC transmit power to sensing uncertainty, based on the Cramér-Rao Bound and occupancy inflation principles. Using this model, we formulate a bilevel power allocation and motion planning (PAMP) problem, where the inner layer optimizes the ISAC beam power distribution and the outer layer computes a collision-free trajectory under uncertainty-aware safety constraints. Comprehensive simulations in high-fidelity urban driving environments demonstrate that PISAC achieves up to 40% higher success rates and over 5% shorter traversal times than existing ISAC-based and communication-oriented benchmarks, validating its effectiveness in enhancing both safety and efficiency.

Paperid: 212, https://arxiv.org/pdf/2510.11682.pdf

Abstract:
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based planners struggle with contact complexity, while on-policy reinforcement learning (RL) is sample-inefficient and has limited multi-task ability. We propose a framework combining a learned world model with sampling-based Model Predictive Control (MPC), trained on a demonstration-free offline dataset to predict future outcomes in a compressed latent space. To address sparse contact rewards and sensor noise, the MPC uses a learned surrogate value function for dense, robust planning. Our single, scalable model supports contact-aware tasks, including wall support after perturbation, blocking incoming objects, and traversing height-limited arches, with improved data efficiency and multi-task capability over on-policy RL. Deployed on a physical humanoid, our system achieves robust, real-time contact planning from proprioception and ego-centric depth images. Website: https://ego-vcp.github.io/

Paperid: 213, https://arxiv.org/pdf/2509.11930.pdf

Abstract:
Diffusion-based planners have gained significant recent attention for their robustness and performance in long-horizon tasks. However, most existing planners rely on a fixed, pre-specified horizon during both training and inference. This rigidity often produces length-mismatch (trajectories that are too short or too long) and brittle performance across instances with varying geometric or dynamical difficulty. In this paper, we introduce the Variable Horizon Diffuser (VHD) framework, which treats the horizon as a learned variable rather than a fixed hyperparameter. Given a start-goal pair, we first predict an instance-specific horizon using a learned Length Predictor model, which guides a Diffusion Planner to generate a trajectory of the desired length. Our design maintains compatibility with existing diffusion planners by controlling trajectory length through initial noise shaping and training on randomly cropped sub-trajectories, without requiring architectural changes. Empirically, VHD improves success rates and path efficiency in maze-navigation and robot-arm control benchmarks, showing greater robustness to horizon mismatch and unseen lengths, while keeping training simple and offline-only.

Paperid: 214, https://arxiv.org/pdf/2509.10896.pdf

Abstract:
We investigate the control synthesis problem for continuous-time time-varying nonlinear systems with disturbance under a class of multiple reach-avoid (MRA) tasks. Specifically, the MRA task requires the system to reach a series of target regions in a specified order while satisfying state constraints between each pair of target arrivals. This problem is more challenging than standard reach-avoid tasks, as it requires considering the feasibility of future reach-avoid tasks during the planning process. To solve this problem, we define a series of value functions by solving a cascade of time-varying reach-avoid problems characterized by Hamilton-Jacobi variational inequalities. We prove that the super-level set of the final value function computed is exactly the feasible set of the MRA task. Additionally, we demonstrate that the control law can be effectively synthesized by ensuring the non-negativeness of the value functions over time. We also show that the Linear temporal logic task control synthesis problems can be converted to a collection of MRA task control synthesis problems by properly defining each target and state constraint set of MRA tasks. The effectiveness of the proposed approach is illustrated through four case studies on robot planning problems under time-varying nonlinear systems with disturbance.

Paperid: 215, https://arxiv.org/pdf/2507.17703.pdf

Abstract:
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the synthesis problem to a minimax optimization, which we solve exactly using a dual linear program with zero gap. This enables the joint optimization of the barrier certificate and safe controller within a single formulation. The method accommodates stochastic dynamics with additive noise and a bounded continuous control set. The synthesized controllers and barrier certificates provide a formally guaranteed lower bound on probabilistic safety. Case studies on linear and nonlinear stochastic systems validate the effectiveness of our approach.

Paperid: 216, https://arxiv.org/pdf/2507.17222.pdf

Abstract:
In this paper, we revisit the formal verification problem for stochastic dynamical systems over finite horizon using barrier certificates. Most existing work on this topic focuses on safety properties by constructing barrier certificates based on the notion of $c$-martingales. In this work, we first provide a new insight into the conditions of existing martingale-based barrier certificates from the perspective of dynamic programming operators. Specifically, we show that the existing conditions essentially provide a bound on the dynamic programming solution, which exactly characterizes the safety probability. Based on this new perspective, we demonstrate that the barrier conditions in existing approaches are unnecessarily conservative over unsafe states. To address this, we propose a new set of safety barrier certificate conditions that are strictly less conservative than existing ones, thereby providing tighter probability bounds for safety verification. We further extend our approach to the case of reach-avoid specifications by providing a set of new barrier certificate conditions. We also illustrate how to search for these new barrier certificates using sum-of-squares (SOS) programming. Finally, we use two numerical examples to demonstrate the advantages of our method compared to existing approaches.

Paperid: 217, https://arxiv.org/pdf/2507.02438.pdf

Abstract:
Shared control combines human intention with autonomous decision-making, from low-level safety overrides to high-level task guidance, enabling systems that adapt to users while ensuring safety and performance. This enhances task effectiveness and user experience across domains such as assistive robotics, teleoperation, and autonomous driving. However, existing shared control methods, based on e.g. Model Predictive Control, Control Barrier Functions, or learning-based control, struggle with feasibility, scalability, or safety guarantees, particularly since the user input is unpredictable. To address these challenges, we propose an assistive controller framework based on Constrained Optimal Control Problem that incorporates an offline-computed Control Invariant Set, enabling online computation of control actions that ensure feasibility, strict constraint satisfaction, and minimal override of user intent. Moreover, the framework can accommodate structured class of non-convex constraints, which are common in real-world scenarios. We validate the approach through a large-scale user study with 66 participants--one of the most extensive in shared control research--using a computer game environment to assess task load, trust, and perceived control, in addition to performance. The results show consistent improvements across all these aspects without compromising safety and user intent.

Paperid: 218, https://arxiv.org/pdf/2512.13868.pdf

Abstract:
This paper proposes a Safe Online Control-Informed Learning framework for safety-critical autonomous systems. The framework unifies optimal control, parameter estimation, and safety constraints into an online learning process. It employs an extended Kalman filter to incrementally update system parameters in real time, enabling robust and data-efficient adaptation under uncertainty. A softplus barrier function enforces constraint satisfaction during learning and control while eliminating the dependence on high-quality initial guesses. Theoretical analysis establishes convergence and safety guarantees, and the framework's effectiveness is demonstrated on cart-pole and robot-arm systems.

Paperid: 219, https://arxiv.org/pdf/2512.08731.pdf

Abstract:
The success of large language models LLMs amplifies the need for highthroughput energyefficient inference at scale. 3DDRAMbased accelerators provide high memory bandwidth and therefore an opportunity to accelerate the bandwidthbound decode phase. However, how to adequately balance compute density for prefill with bandwidthcapacity for decode remains open. Moreover, most prior designs do not target endtoend serving, leaving the codesign of dataflow, parallel mapping, and scheduling underexplored. To bridge the gap, we present LaMoSys3.5D, to our knowledge the first scalable 3.5DIC architecture for LLM serving. LaMoSys3.5D composes heterogeneous 3DDRAM chiplets on a 2.5D interposer: computerich chiplets for prefill and bandwidthcapacityrich chiplets for decode. To realize efficient serving, we adopt a hardwaresoftware codesign spanning dataflow, parallel mapping, and introduce a thermalaware modeling and hierarchical designspace exploration framework. Across diverse LLMs and workloads, LaMoSys3.5D improves throughputperwatt over DGXA100 systems by 62 and achieves a 4.87 better endtoend latency geomean versus prior 3D designs. We further distill intriguing design guidelines for 3.5DIC architectures and endtoend inference serving.

Paperid: 220, https://arxiv.org/pdf/2510.09941.pdf

Abstract:
Multi-objective optimization of analog circuits is hindered by high-dimensional parameter spaces, strong feedback couplings, and expensive transistor-level simulations. Evolutionary algorithms such as Non-dominated Sorting Genetic Algorithm II (NSGA-II) are widely used but treat all parameters equally, thereby wasting effort on variables with little impact on performance, which limits their scalability. We introduce CaDRO, a causal-guided dimensionality reduction framework that embeds causal discovery into the optimization pipeline. CaDRO builds a quantitative causal map through a hybrid observational-interventional process, ranking parameters by their causal effect on the objectives. Low-impact parameters are fixed to values from high-quality solutions, while critical drivers remain active in the search. The reduced design space enables focused evolutionary optimization without modifying the underlying algorithm. Across amplifiers, regulators, and RF circuits, CaDRO converges up to 10$\times$ faster than NSGA-II while preserving or improving Pareto quality. For instance, on the Folded-Cascode Amplifier, hypervolume improves from 0.56 to 0.94, and on the LDO regulator from 0.65 to 0.81, with large gains in non-dominated solutions.

Paperid: 221, https://arxiv.org/pdf/2508.20544.pdf

Abstract:
Beyond the traditional neural network training methods based on gradient descent and its variants, state estimation techniques have been proposed to determine a set of ideal weights from a control-theoretic perspective. Hence, the concept of observability becomes relevant in neural network training. In this paper, we investigate local observability of a class of two-layer feedforward neural networks~(FNNs) with rectified linear unit~(ReLU) activation functions. We analyze local observability of FNNs by evaluating an observability rank condition with respect to the weight matrix and the input sequence. First, we show that, in general, the weights of FNNs are not locally observable. Then, we provide sufficient conditions on the network structures and the weights that lead to local observability. Moreover, we propose an input design approach to render the weights distinguishable and show that this input also excites other weights inside a neighborhood. Finally, we validate our results through a numerical example.

Paperid: 222, https://arxiv.org/pdf/2507.19652.pdf

Abstract:
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However, trajectory optimization methods often face challenges due to the hybrid dynamics introduced by contact discontinuities, and tend to neglect leg limitations during planning for computational reasons. In this work, we propose RAKOMO, a path optimization technique that integrates the strengths of K-Order Markov Optimization (KOMO) with a kinematically-aware criterion based on the reachable region defined as reachability margin. We leverage a neural-network to predict the margin and optimize it by incorporating it in the standard KOMO formulation. This approach enables rapid convergence of gradient-based motion planning -- commonly tailored for continuous systems -- while adapting it effectively to legged manipulators, successfully executing loco-manipulation tasks. We benchmark RAKOMO against a baseline KOMO approach through a set of simulations for pick-and-place tasks with the HyQReal quadruped robot equipped with a Kinova Gen3 robotic arm.

Paperid: 223, https://arxiv.org/pdf/2507.16481.pdf

Abstract:
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of robot and terrain parameters, making them less robust in real-world scenarios. Reinforcement learning (RL) is emerging as a viable alternative, yet conventional end-to-end approaches lack efficiency in terms of sample complexity, requiring extensive training in simulations, and predictability of the final motion, which makes it difficult to certify the safety of the final motion. To overcome these limitations, this paper introduces a novel guided reinforcement learning approach that leverages physical intuition for efficient and explainable jumping, by combining BÃ©zier curves with a Uniformly Accelerated Rectilinear Motion (UARM) model. Extensive simulation and experimental results clearly demonstrate the advantages of our approach over existing alternatives.

Paperid: 224, https://arxiv.org/pdf/2512.06287.pdf

Abstract:
In this paper, we develop a hybrid prediction framework for accurate electric vehicle (EV) charging time estimation, a capability that is critical for trip planning, user satisfaction, and efficient operation of charging infrastructure. We combine a physics-based analytical model with a reinforcement learning (RL) approach. The analytical component captures the nonlinear constant-current/constant-voltage (CC--CV) charging dynamics and explicitly models state-of-health (SoH)--dependent capacity and power fade, providing a reliable baseline when historical data are limited. Building on this foundation, we introduce an RL component that progressively refines charging-time predictions as operational data accumulate, enabling improved long-term adaptation. Both models incorporate SoH degradation to maintain predictive accuracy over the battery lifetime. We evaluate the framework using $5{,}000$ simulated charging sessions calibrated to manufacturer specifications and publicly available EV charging datasets. Our results show that the analytical model achieves $R^{2}=98.5\%$ and $\mathrm{MAPE}=2.1\%$, while the RL model further improves performance to $R^{2}=99.2\%$ and $\mathrm{MAPE}=1.6\%$, corresponding to a $23\%$ accuracy gain and $35\%$ improved robustness to battery aging.

Paperid: 225, https://arxiv.org/pdf/2512.06283.pdf

Abstract:
In this paper, we investigate cooperative platoon formation and benefit allocation in mixed-energy truck fleets composed of both electric and fuel-powered trucks. The central challenge arises from the platoon-size constraint, which limits the number of trucks permitted in each platoon and introduces combinatorial coupling into the search for optimal platoon formation structures. We formulate this problem as a coalitional game with bounded coalition sizes and derive a closed-form characterization of the optimal coalition structure that maximizes the fleet-wide platooning benefit. Building on this structure, we develop a type-based least-core payoff allocation scheme that guarantees stability within the coalition-structure core (CS-core). For cases in which the CS-core is empty, we compute the least-core radius to determine the minimal relaxation required to achieve approximate stability. Through numerical studies, we demonstrate that the proposed framework consistently achieves the highest total platooning benefit among all feasible formation configurations while providing stable benefit allocations that outperform existing baseline methods.

Paperid: 226, https://arxiv.org/pdf/2509.25515.pdf

Abstract:
Urban traffic anomalies such as collisions and disruptions threaten the safety, efficiency, and sustainability of transportation systems. We present a simulation-based framework for modeling, detecting, and predicting such anomalies in urban networks. Using the SUMO platform, we generate reproducible rear-end and intersection crash scenarios with matched baselines, enabling controlled experimentation and comparative evaluation. We record vehicle-level travel time, speed, and emissions for edge and network-level analysis. On this dataset, we develop a hybrid forecasting architecture that combines bidirectional long short-term memory networks with a diffusion convolutional recurrent neural network to capture temporal dynamics and spatial dependencies. Our simulation studies on the Broadway corridor in New York City demonstrate the framework's ability to reproduce consistent incident conditions, quantify their effects, and provide accurate multi-horizon traffic forecasts. Our results highlight the value of combining controlled anomaly generation with deep predictive models to support reproducible evaluation and sustainable traffic management.

Paperid: 227, https://arxiv.org/pdf/2509.09206.pdf

Abstract:
Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make static assumptions, thereby limiting foresight and adaptability. We propose an approach that estimates probability of future spot occupancy by distinguishing initially vacant and occupied spots while leveraging nearby dynamic agent motion. We propose a probabilistic estimator that integrates partial, noisy observations from a limited Field-of-View, with the evolving uncertainty of unobserved spots. Coupled with the estimator, we design a strategy planner that balances goal-directed parking maneuvers with exploratory navigation based on information gain, and incorporates wait-and-go behaviors at promising spots. Through randomized simulations emulating large parking lots, we demonstrate that our framework significantly improves parking efficiency and trajectory smoothness over existing approaches, while maintaining safety margins.

Paperid: 228, https://arxiv.org/pdf/2509.00337.pdf

Abstract:
We deal with controlling the spread of an epidemic disease on a network by isolating one or multiple locations by banning people from leaving them. To this aim, we build on the susceptible-infected-susceptible and the susceptible-infected-removed discrete-time network models, encapsulating a control action that captures mobility bans via removing links from the network. Then, we formulate the problem of optimally devising a control policy based on mobility bans that trades-off the burden on the healthcare system and the social and economic costs associated with interventions. The binary nature of mobility bans hampers the possibility to solve the control problem with standard optimization methods, yielding a NP-hard problem. Here, this is tackled by deriving a Quadratic Unconstrained Binary Optimization (QUBO) formulation of the control problem, and leveraging the growing potentialities of quantum computing to efficiently solve it.

Paperid: 229, https://arxiv.org/pdf/2508.06744.pdf

Abstract:
Safety-critical control using high-dimensional sensory feedback from optical data (e.g., images, point clouds) poses significant challenges in domains like autonomous driving and robotic surgery. Control can rely on low-dimensional states estimated from high-dimensional data. However, the estimation errors often follow complex, unknown distributions that standard probabilistic models fail to capture, making formal safety guarantees challenging. In this work, we introduce a novel characterization of these general estimation errors using sub-Gaussian noise with bounded mean. We develop a new technique for uncertainty propagation of proposed noise characterization in linear systems, which combines robust set-based methods with the propagation of sub-Gaussian variance proxies. We further develop a Model Predictive Control (MPC) framework that provides closed-loop safety guarantees for linear systems under the proposed noise assumption. We apply this MPC approach in an ultrasound-image-guided robotic spinal surgery pipeline, which contains deep-learning-based semantic segmentation, image-based registration, high-level optimization-based planning, and low-level robotic control. To validate the pipeline, we developed a realistic simulation environment integrating real human anatomy, robot dynamics, efficient ultrasound simulation, as well as in-vivo data of breathing motion and drilling force. Evaluation results in simulation demonstrate the potential of our approach for solving complex image-guided robotic surgery task while ensuring safety.

Paperid: 230, https://arxiv.org/pdf/2507.16923.pdf

Abstract:
This paper addresses the benefit allocation in a mixed-energy truck platoon composed of fuel-powered and electric trucks. The interactions among trucks during platoon formation are modeled as a coalitional game with transferable utility. We first design a stable payoff allocation scheme that accounts for truck heterogeneity in energy savings and platoon roles (leader or follower), establishing core-stability conditions to ensure that no subset of trucks has an incentive to deviate for greater benefit. To enhance payoff fairness, we then propose a closed-form, Shapley value-based allocation approach that is computationally efficient and independent of the platoon size. Sufficient conditions under which the allocation is both fair and core-stable are provided. In scenarios where the Shapley value falls outside the core, we develop an alternative allocation based on the stable payoff that minimizes the mean relative deviation from the Shapley value while preserving core stability. This deviation is further proved to be upper-bounded by $1$, showing a favorable trade-off between stability and fairness. Finally, extensive numerical studies validate the theoretical results and demonstrate the effectiveness of the proposed framework in facilitating stable, equitable, and sustainable cooperation in mixed-energy truck platooning.

Paperid: 231, https://arxiv.org/pdf/2507.11940.pdf

Abstract:
Motion planning for autonomous vehicles (AVs) in dense traffic is challenging, often leading to overly conservative behavior and unmet planning objectives. This challenge stems from the AVs' limited ability to anticipate and respond to the interactive behavior of surrounding agents. Traditional decoupled prediction and planning pipelines rely on non-interactive predictions that overlook the fact that agents often adapt their behavior in response to the AV's actions. To address this, we propose Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral (IANN-MPPI) control, which enables interactive trajectory planning by predicting how surrounding agents may react to each control sequence sampled by MPPI. To improve performance in structured lane environments, we introduce a spline-based prior for the MPPI sampling distribution, enabling efficient lane-changing behavior. We evaluate IANN-MPPI in a dense traffic merging scenario, demonstrating its ability to perform efficient merging maneuvers. Our project website is available at https://sites.google.com/berkeley.edu/iann-mppi

Paperid: 232, https://arxiv.org/pdf/2512.00490.pdf

Abstract:
Vehicle-to-Everything (V2X) cooperation is reshaping traffic safety from an ego-centric sensing problem into one of collective intelligence. This survey structures recent progress within a unified Sensor-Perception-Decision (SPD) framework that formalizes how safety emerges from the interaction of distributed sensing, cooperative perception, and coordinated decision-making across vehicles and infrastructure. Rather than centering on link protocols or message formats, we focus on how shared evidence, predictive reasoning, and human-aligned interventions jointly enable proactive risk mitigation. Within this SPD lens, we synthesize advances in cooperative perception, multi-modal forecasting, and risk-aware planning, emphasizing how cross-layer coupling turns isolated detections into calibrated, actionable understanding. Timing, trust, and human factors are identified as cross-cutting constraints that determine whether predictive insights are delivered early enough, with reliable confidence, and in forms that humans and automated controllers can use. Compared with prior V2X safety surveys, this work (i) organizes the literature around a formal SPD safety loop and (ii) systematically analyzes research evolution and evaluation gaps through a PRISMA-guided bibliometric study of hundreds of publications from 2016-2025. The survey concludes with a roadmap toward cooperative safety intelligence, outlining SPD-based design principles and evaluation practices for next-generation V2X safety systems.

Paperid: 233, https://arxiv.org/pdf/2511.12431.pdf

Abstract:
Achieving long-term safety in uncertain or extreme environments while accounting for human preferences remains a fundamental challenge for autonomous systems. Existing methods often trade off long-term guarantees for fast real-time control and cannot adapt to variability in human preferences or risk tolerance. To address these limitations, we propose a language-guided adaptive probabilistic safety certificate (PSC) framework that guarantees long-term safety for stochastic systems under environmental uncertainty while accommodating diverse human preferences. The proposed framework integrates natural-language inputs from users and Bayesian estimators of the environment into adaptive safety certificates that explicitly account for user preferences, system dynamics, and quantified uncertainties. Our key technical innovation leverages probabilistic invariance--a generalization of forward invariance to a probability space--to obtain myopic safety conditions with long-term safety guarantees that integrate language guidance, model information, and quantified uncertainty. We validate the framework through numerical simulations of autonomous lane-keeping with human-in-the-loop guidance under uncertain and extreme road conditions, demonstrating enhanced safety-performance trade-offs, adaptability to changing environments, and personalization to different user preferences.

Paperid: 234, https://arxiv.org/pdf/2511.05642.pdf

Abstract:
The deployment of artificial intelligence models at the edge is increasingly critical for autonomous robots operating in GPS-denied environments where local, resource-efficient reasoning is essential. This work demonstrates the feasibility of deploying small Vision-Language Models (VLMs) on mobile robots to achieve real-time scene understanding and reasoning under strict computational constraints. Unlike prior approaches that separate perception from mobility, the proposed framework enables simultaneous movement and reasoning in dynamic environments using only on-board hardware. The system integrates a compact VLM with multimodal perception to perform contextual interpretation directly on embedded hardware, eliminating reliance on cloud connectivity. Experimental validation highlights the balance between computational efficiency, task accuracy, and system responsiveness. Implementation on a mobile robot confirms one of the first successful deployments of small VLMs for concurrent reasoning and mobility at the edge. This work establishes a foundation for scalable, assured autonomy in applications such as service robotics, disaster response, and defense operations.

Paperid: 235, https://arxiv.org/pdf/2511.01247.pdf

Abstract:
To fulfill their promise, quantum networks must transform from isolated testbeds into scalable infrastructures for distributed quantum applications. In this paper, we present a prototype orchestrator for the Argonne Quantum Network (ArQNet) testbed that leverages design principles of software-defined networking (SDN) to automate typical quantum communication experiments across buildings in the Argonne campus connected over deployed, telecom fiber. Our implementation validates a scalable architecture supporting service-level abstraction of quantum networking tasks, distributed time synchronization, and entanglement verification across remote nodes. We present a prototype service of continuous, stable entanglement distribution between remote sites that ran for 12 hours, which defines a promising path towards scalable quantum networks.

Paperid: 236, https://arxiv.org/pdf/2510.23352.pdf

Abstract:
With the increasing number of flexible energy devices in distribution grids, coordination between Transmission System Operators (TSOs) and Distribution System Operators (DSOs) becomes critical for optimal system operation. One form of coordination is to solve the overall system operation problem in a hierarchical way, computing Feasible Operational Regions (FORs) for the interconnection between TSO/DSO. Most methods for computing FORs rely on the assumption of only one interconnection point between TSO and DSOs, which is often violated in practice. In this work, we propose a method for computing FORs in distribution grids with multiple interconnection points to the transmission grid. We test our method in a grid with two interconnecting points and analyze the properties of the resulting high-dimensional FOR from a power systems perspective.

Paperid: 237, https://arxiv.org/pdf/2510.13114.pdf

Abstract:
Ensuring safe autonomous driving in the presence of occlusions poses a significant challenge in its policy design. While existing model-driven control techniques based on set invariance can handle visible risks, occlusions create latent risks in which safety-critical states are not observable. Data-driven techniques also struggle to handle latent risks because direct mappings from risk-critical objects in sensor inputs to safe actions cannot be learned without visible risk-critical objects. Motivated by these challenges, in this paper, we propose a probabilistic safety certificate for latent risk. Our key technical enabler is the application of probabilistic invariance: It relaxes the strict observability requirements imposed by set-invariance methods that demand the knowledge of risk-critical states. The proposed techniques provide linear action constraints that confine the latent risk probability within tolerance. Such constraints can be integrated into model predictive controllers or embedded in data-driven policies to mitigate latent risks. The proposed method is tested using the CARLA simulator and compared with a few existing techniques. The theoretical and empirical analysis jointly demonstrate that the proposed methods assure long-term safety in real-time control in occluded environments without being overly conservative and with transparency to exposed risks.

Paperid: 238, https://arxiv.org/pdf/2510.07756.pdf

Abstract:
Sampling-based approaches are widely used in systems without analytic models to estimate risk or find optimal control. However, gathering sufficient data in such scenarios can be prohibitively costly. On the other hand, in many situations, low-fidelity models or simulators are available from which samples can be obtained at low cost. In this paper, we propose an efficient approach for risk quantification and path integral control that leverages such data from multiple models with heterogeneous sampling costs. A key technical novelty of our approach is the integration of Multi-level Monte Carlo (MLMC) and Multi-fidelity Monte Carlo (MFMC) that enable data from different time and state representations (system models) to be jointly used to reduce variance and improve sampling efficiency. We also provide theoretical analysis of the proposed method and show that our estimator is unbiased and consistent under mild conditions. Finally, we demonstrate via numerical simulation that the proposed method has improved computation (sampling costs) vs. accuracy trade-offs for risk quantification and path integral control.

Paperid: 239, https://arxiv.org/pdf/2510.00203.pdf

Abstract:
Quantum network protocol development is crucial to realizing a production-grade network that can support distributed sensing, secure communication, and utility-scale quantum computation. However, the transition from laboratory demonstration to deployable networks requires software implementations of architectures and protocols tailored to the unique constraints of quantum systems. This paper reviews the current state of software implementations for quantum networks, organized around the three-plane abstraction of infrastructure, logical, and control/service planes. We cover software for both designing quantum network protocols (e.g., SeQUeNCe, QuISP, and NetSquid) and operating them, with a focus on essential control/service plane functions such as entanglement, topology, and resource management, in a proposed taxonomy. Our review highlights a persistent gap between theoretical protocol proposals and their realization in simulators or testbeds, particularly in dynamic topology and network management. We conclude by outlining open challenges and proposing a roadmap for developing scalable software architectures to enable hybrid, large-scale quantum networks.

Paperid: 240, https://arxiv.org/pdf/2509.10595.pdf

Abstract:
The increasing number of flexible devices and distributed energy resources in power grids renders the coordination of transmission and distribution systems increasingly complex. In this paper, we discuss and compare two different approaches to optimization-based complexity reduction: Flexibility aggregation via Approximate Dynamic Programming (ADP) and distributed optimization via the Alternating Direction Method of Multipliers (ADMM). Flexibility aggregation achieves near-optimal solutions with minimal communication. However, its performance depends on the quality of the approximation used. In contrast, ADMM attains results closer to the centralized solution but requires significantly more communication steps. We draw upon a case study combining different matpower benchmarks to compare both methods.

Paperid: 241, https://arxiv.org/pdf/2508.20288.pdf

Abstract:
Accurately quantifying long-term risk probabilities in diverse stochastic systems is essential for safety-critical control. However, existing sampling-based and partial differential equation (PDE)-based methods often struggle to handle complex varying dynamics. Physics-informed neural networks learn surrogate mappings for risk probabilities from varying system parameters of fixed and finite dimensions, yet can not account for functional variations in system dynamics. To address these challenges, we introduce physics-informed neural operator (PINO) methods to risk quantification problems, to learn mappings from varying \textit{functional} system dynamics to corresponding risk probabilities. Specifically, we propose Neural Spline Operators (NeSO), a PINO framework that leverages B-spline representations to improve training efficiency and achieve better initial and boundary condition enforcements, which are crucial for accurate risk quantification. We provide theoretical analysis demonstrating the universal approximation capability of NeSO. We also present two case studies, one with varying functional dynamics and another with high-dimensional multi-agent dynamics, to demonstrate the efficacy of NeSO and its significant online speed-up over existing methods. The proposed framework and the accompanying universal approximation theorem are expected to be beneficial for other control or PDE-related problems beyond risk quantification.

Paperid: 242, https://arxiv.org/pdf/2507.14165.pdf

Abstract:
The widespread adoption of Internet of Things (IoT) technologies has significantly advanced environmental monitoring (EM) by enabling cost-effective and scalable sensing solutions. Concurrently, machine learning (ML) and artificial intelligence (AI) are introducing powerful tools for the efficient and accurate analysis of complex environmental data. However, current IoT platforms for environmental sensing are typically limited to a narrow set of sensors, preventing a comprehensive assessment of environmental conditions and lacking sufficient computational capabilities to support the deployment of advanced ML and AI algorithms on the edge. To overcome these limitations, we introduce a compact (17x38 mm2), multi-modal, MCU-based environmental IoT node integrating 11 sensors, including CO2 concentration, volatile organic compounds (VOCs), light intensity, UV radiation, pressure, temperature, humidity, visual sensing via an RGB camera, and precise geolocation through a GNSS module. It features GAP9, a parallel ultra-low-power system-on-chip, enabling real-time, energy-efficient edge processing of advanced ML models directly on-device. We implemented a YOLOv5-based occupancy detection pipeline (0.3 M parameters, 42 MOP per inference), demonstrating 42% energy savings over raw data streaming. Additionally, we present a smart indoor air quality (IAQ) monitoring setup that combines occupancy detection with adaptive sample rates, achieving operational times of up to 143 h on a single compact 600 mAh, 3.7 V battery. Our platform lays the groundwork for innovative applications such as predictive indoor IAQ, enabling efficient AI-driven on-edge forecasting for energy-efficient and autonomous, proactive pollution-mitigation control strategies

Paperid: 243, https://arxiv.org/pdf/2512.12111.pdf

Abstract:
Many physical, biological, and engineered systems exhibit memory effects that challenge Markovian models. Fractional calculus provides nonlocal operators to capture hereditary dynamics. This survey connects modeling, analysis, and controller/game design for systems with memory. We unify notation for Caputo, Riemann-Liouville, and Grunwald-Letnikov derivatives and relate them to practical approximations, including diffusive (sum-of-exponentials) state augmentation and frequency-domain realizations (e.g., Oustaloup). We review fractional extensions of the calculus of variations and the Pontryagin maximum principle, and dynamic-programming formulations with memory, including path-dependent HJB for optimal control and HJI for zero-sum games. We cover design tools such as LQR, MPC, and fractional-order PID, as well as fractional differential games with Nash, Stackelberg, and minimax equilibria. Computational approaches are compared across time-domain schemes, frequency-domain approximations, and diffusive augmentations, highlighting accuracy-complexity trade-offs and remedies for the curse of history (windowing and sum-of-exponentials). We conclude with applications and open problems on equilibria with memory, Isaacs-type conditions, constraint handling, and scalable solvers.

Paperid: 244, https://arxiv.org/pdf/2512.10118.pdf

Abstract:
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although CBF-based safety filters are often implemented by solving a quadratic program (QP) in real time, the use of off-the-shelf solvers for such optimization problems poses a challenge in applications where control actions need to be computed efficiently at very high frequencies. In this paper, we introduce a closed-form expression for controllers obtained through CBF-based safety filters. This expression is obtained by partitioning the state-space into different regions, with a different closed-form solution in each region. We leverage this formula to introduce a resource-aware implementation of CBF-based safety filters that detects changes in the partition region and uses the closed-form expression between changes. We showcase the applicability of our approach in examples ranging from aerospace control to safe reinforcement learning.

Paperid: 245, https://arxiv.org/pdf/2512.02381.pdf

Abstract:
The electrification of off-road heavy equipment presents operational challenges for agencies serving remote sites with limited fixed charging infrastructure. Existing mobile fast charging vehicle (MFCV) planning approaches typically treat fleet design and routing as separate problems, fixing vehicle characteristics before dispatch. This paper formulates a fleet size and mix capacitated vehicle routing problem with time windows (FSMCVRPTW) for MFCV deployment, jointly optimizing fleet composition, charger specifications, routing, and scheduling within a unified mixed-integer linear program. The model incorporates heterogeneous MFCV types with varying power ratings, battery capacities, fuel range, and cost structures, minimizing total daily cost from labor, fuel, amortized capital expenditure, and energy purchase under temporal service windows, resource budgets, and energy-delivery constraints. The formulation is implemented in Python/Gurobi and applied to two case studies using California Department of Transportation wheel-loader data in Los Angeles (dense urban) and Truckee (sparse mountainous). Results show that simultaneous optimization yields compact, well-utilized fleets that meet all service windows while revealing strong sensitivity of unit cost to demand density and geography. The proposed FSMCVRPTW framework provides a generalizable decision-support methodology that co-designs fleet size, charger power, routing, and service schedules in a single optimization layer for context-aware, cost-efficient mobile fast charging.

Paperid: 246, https://arxiv.org/pdf/2511.13006.pdf

Abstract:
To enhance the performance of aerial-ground networks, this paper proposes an integrated sensing and communication (ISAC) framework for multi-UAV systems. In our model, ground base stations (BSs) cooperatively serve multiple unmanned aerial vehicles (UAVs), and employ a time-division strategy in which beam scanning for sensing comes before data communication in each time slot. To maximize the sum communication rate while satisfying the total sensing mutual information (MI) requirement, we jointly optimize the UAV trajectories, communication and sensing power allocation, and the dynamic time-division ratio. The resulting non-convex optimization problem is efficiently solved using an alternating optimization (AO) framework. Simulation results demonstrate that our proposed joint design significantly outperforms benchmark schemes with static or partially optimized resources. The findings also reveal the critical importance of dynamic trajectory and resource management for effectively navigating the sensing-communication trade-off, especially under stringent power or sensing constraints.

Paperid: 247, https://arxiv.org/pdf/2511.03744.pdf

Abstract:
This paper develops a predictive compensation framework for finite-horizon, discrete-time linear quadratic dynamic games subject to Gauss-Markov execution deviations from feedback Nash strategies. One player's control is corrupted by temporally correlated stochastic perturbations modeled as a first-order autoregressive (AR(1)) process, while the opposing player has causal access to past deviations and employs a predictive feedforward strategy that anticipates their future effect. We derive closed-form recursions for mean and covariance propagation under the resulting perturbed closed loop, establish boundedness and sensitivity properties of the equilibrium trajectory, and characterize the reduction in expected cost achieved by optimal predictive compensation. Numerical experiments corroborate the theoretical results and demonstrate performance gains relative to nominal Nash feedback across a range of disturbance persistence levels.

Paperid: 248, https://arxiv.org/pdf/2510.20202.pdf

Abstract:
Control barrier functions (CBFs) have a well-established theory in Euclidean spaces, yet still lack general formulations and constructive synthesis tools for systems evolving on manifolds common in robotics and aerospace applications. In this paper, we develop a general theory of geometric CBFs on bundles and, for control-affine systems, recover the standard optimization-based CBF controllers and their smooth analogues. Then, by generalizing kinetic energy-based CBF backstepping to Riemannian manifolds, we provide a constructive CBF synthesis technique for geometric mechanical systems, as well as easily verifiable conditions under which it succeeds. Further, this technique utilizes mechanical structure to avoid computations on higher-order tangent bundles. We demonstrate its application to an underactuated satellite on SO(3).

Paperid: 249, https://arxiv.org/pdf/2510.15519.pdf

Abstract:
This paper introduces the first implementation of digital Tsetlin Machines (TMs) on flexible integrated circuit (FlexIC) using Pragmatic's 600nm IGZO-based FlexIC technology. TMs, known for their energy efficiency, interpretability, and suitability for edge computing, have previously been limited by the rigidity of conventional silicon-based chips. We develop two TM inference models as FlexICs: one achieving 98.5% accuracy using 6800 NAND2 equivalent logic gates with an area of 8X8 mm2, and a second more compact version achieving slightly lower prediction accuracy of 93% but using only 1420 NAND2 equivalent gates with an area of 4X4 mm2, both of which are custom-designed for an 8X8-pixel handwritten digit recognition dataset. The paper demonstrates the feasibility of deploying flexible TM inference engines into wearable healthcare and edge computing applications.

Paperid: 250, https://arxiv.org/pdf/2510.02584.pdf

Abstract:
This paper presents a data-driven model predictive control framework for mobile robots navigating in dynamic environments, leveraging Koopman operator theory. Unlike the conventional Koopman-based approaches that focus on the linearization of system dynamics only, our work focuses on finding a global linear representation for the optimal path planning problem that includes both the nonlinear robot dynamics and collision-avoidance constraints. We deploy extended dynamic mode decomposition to identify linear and bilinear Koopman realizations from input-state data. Our open-loop analysis demonstrates that only the bilinear Koopman model can accurately capture nonlinear state-input couplings and quadratic terms essential for collision avoidance, whereas linear realizations fail to do so. We formulate a quadratic program for the robot path planning in the presence of moving obstacles in the lifted space and determine the optimal robot action in an MPC framework. Our approach is capable of finding the safe optimal action 320 times faster than a nonlinear MPC counterpart that solves the path planning problem in the original state space. Our work highlights the potential of bilinear Koopman realizations for linearization of highly nonlinear optimal control problems subject to nonlinear state and input constraints to achieve computational efficiency similar to linear problems.

Paperid: 251, https://arxiv.org/pdf/2510.01144.pdf

Abstract:
This work studies resilient leader-follower consensus with a bounded number of adversaries. Existing approaches typically require robustness conditions of the entire network to guarantee resilient consensus. However, the behavior of such systems when these conditions are not fully met remains unexplored. To address this gap, we introduce the notion of partial leader-follower consensus, in which a subset of non-adversarial followers successfully tracks the leader's reference state despite insufficient robustness. We propose a novel distributed algorithm - the Bootstrap Percolation and Mean Subsequence Reduced (BP-MSR) algorithm - and establish sufficient conditions for individual followers to achieve consensus via the BP-MSR algorithm in arbitrary time-varying graphs. We validate our findings through simulations, demonstrating that our method guarantees partial leader-follower consensus, even when standard resilient consensus algorithms fail.

Paperid: 252, https://arxiv.org/pdf/2509.17952.pdf

Abstract:
We propose a \textit{guided multi-fidelity Bayesian optimization} framework for data-efficient controller tuning that integrates corrected digital twin (DT) simulations with real-world measurements. The method targets closed-loop systems with limited-fidelity simulations or inexpensive approximations. To address model mismatch, we build a multi-fidelity surrogate with a learned correction model that refines DT estimates from real data. An adaptive cost-aware acquisition function balances expected improvement, fidelity, and sampling cost. Our method ensures adaptability as new measurements arrive. The accuracy of DTs is re-estimated, dynamically adapting both cross-source correlations and the acquisition function. This ensures that accurate DTs are used more frequently, while inaccurate DTs are appropriately downweighted. Experiments on robotic drive hardware and supporting numerical studies demonstrate that our method enhances tuning efficiency compared to standard Bayesian optimization (BO) and multi-fidelity methods.

Paperid: 253, https://arxiv.org/pdf/2509.10716.pdf

Abstract:
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF formulations naturally enable conjunctive (AND) combinations, but disjunctive (OR) and more general logical structures introduce nonsmoothness and possibly a combinatorial blow-up in the number of logical combinations. We introduce the framework of combinatorial CBFs that addresses p-choose-r safety specifications and their nested composition. The proposed framework ensures safety for the exact safe set in a scalable way, using the original number of primitive constraints. We establish theoretical guarantees on safety under these compositions, and we demonstrate their use on a patrolling problem in a multi-agent system.

Paperid: 254, https://arxiv.org/pdf/2509.10642.pdf

Abstract:
Earthmoving operations with wheel loaders require substantial power and incur high operational costs. This work presents an efficient automation framework based on the Fundamental Earthmoving Equation (FEE) for soil-tool interaction modeling. A reduced-order multi-step parameter estimation method guided by Sobol's global sensitivity analysis is deployed for accurate, online excavation force prediction. An optimal control problem is then formulated to compute energy-efficient bucket trajectories using soil parameters identified in the previous digging cycle. High-fidelity simulations in Algoryx Dynamics confirm accurate force prediction and demonstrate 15-40% energy savings compared to standard paths. The total computation time is comparable to a single digging cycle, highlighting the framework's potential for real-time, energy-optimized wheel loader automation.

Paperid: 255, https://arxiv.org/pdf/2509.03836.pdf

Abstract:
In this paper, we studies the performance of a novel simultaneous wireless information and power transfer (SWIPT) system enabled by a flexible pinching-antenna. To support flexible deployment and optimize energy-rate performance, we propose three practical pinching antenna placement-schemes: the edge deployment scheme (EDS), the center deployment scheme (CDS), and the diagonal deployment scheme (DDS). Moreover, a hybrid time-switching (TS) and power-splitting (PS) protocol is introduced, allowing dynamic adjustment between energy harvesting and information decoding. Under each deployment strategy and the transmission protocol, closed-form expressions for the average harvested energy and average achievable rate of a randomly located user equipment (UE) are derived based on the optimal positioning of the pinching-antenna. Numerical simulations confirm the accuracy of the theoretical analysis and illustrate the trade-off between rate and energy harvesting under different schemes.

Paperid: 256, https://arxiv.org/pdf/2509.02968.pdf

Abstract:
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop, generates rhythmic spiking. The closed-loop system is robust through the quantized actuation, and negative feedback ensures efficient locomotion with minimal external tuning. We prove that peristaltic waves arise from a supercritical Hopf bifurcation controlled by the sensorimotor gain. Dimensional analysis reveals a separation of mechanical and electrical timescales, and Geometric Singular Perturbation analysis explains endogenous crawling through relaxation oscillations. We further formulate and analytically solve an optimization problem in the singularly perturbed regime, proving that crawling at mechanical resonance maximizes speed by a matching of neuromechanical scales. Given the importance and ubiquity of rhythms and waves in soft-bodied locomotion, we envision that spiking control systems could be utilized in a variety of soft-robotic morphologies and modular distributed architectures, yielding significant robustness, adaptability, and energetic gains across scales.

Paperid: 257, https://arxiv.org/pdf/2508.18530.pdf

Abstract:
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these conditions are essential to ensure the existence and uniqueness of the system's trajectory. Here we propose a general method to convert a Quadratic Program (QP) into a Second-Order Cone Problem (SOCP), which is shown to be Lipschitz continuous. Key features of our approach are that (i) the regularity of the resulting formulation does not depend on the structural properties of the constraints, such as the linear independence of their gradients; and (ii) it admits a closed-form solution, which is not available for general QPs with multiple constraints, enabling faster computation. We support our method with rigorous analysis and examples.

Paperid: 258, https://arxiv.org/pdf/2508.11795.pdf

Abstract:
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and indefinite. Matrix inequalities can be used to describe a richer class of safe sets, including nonsmooth ones. The safety filters constructed from our proposed matrix control barrier functions via semidefinite programming (CBF-SDP) are shown to be continuous. Our matrix formulation naturally provides a continuous safety filter for Boolean-based control barrier functions, notably for disjunctions (OR), without relaxing the safe set. We illustrate the effectiveness of the proposed framework with applications in drone network connectivity maintenance and nonsmooth obstacle avoidance, both in simulations and hardware experiments.

Paperid: 259, https://arxiv.org/pdf/2507.12717.pdf

Abstract:
Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple inequality on the system dynamics: $\dot{h} \geq - Î±(h)$. Yet determining the class $\mathcal{K}^e$ function $Î±$ is a user defined choice that can have a dramatic effect on the resulting system behavior. This paper formalizes the process of choosing $Î±$ using optimal-decay control barrier functions (OD-CBFs). These modify the traditional CBF inequality to: $\dot{h} \geq - ÏÎ±(h)$, where $Ï\geq 0$ is automatically determined by the safety filter. A comprehensive characterization of this framework is elaborated, including tractable conditions on OD-CBF validity, control invariance of the underlying sets in the state space, forward invariance conditions for safe sets, and discussion on optimization-based safe controllers in terms of their feasibility, Lipschitz continuity, and closed-form expressions. The framework also extends existing higher-order CBF techniques, addressing safety constraints with vanishing relative degrees. The proposed method is demonstrated on a satellite control problem in simulation.

Paperid: 260, https://arxiv.org/pdf/2507.12578.pdf

Abstract:
Accurate modeling and control of autonomous vehicles remain a fundamental challenge due to the nonlinear and coupled nature of vehicle dynamics. While Koopman operator theory offers a framework for deploying powerful linear control techniques, learning a finite-dimensional invariant subspace for high-fidelity modeling continues to be an open problem. This paper presents a deep Koopman approach for modeling and control of vehicle dynamics within the curvilinear Frenet frame. The proposed framework uses a deep neural network architecture to simultaneously learn the Koopman operator and its associated invariant subspace from the data. Input-state bilinear interactions are captured by the algorithm while preserving convexity, which makes it suitable for real-time model predictive control (MPC) application. A multi-step prediction loss is utilized during training to ensure long-horizon prediction capability. To further enhance real-time trajectory tracking performance, the model is integrated with a cumulative error regulator (CER) module, which compensates for model mismatch by mitigating accumulated prediction errors. Closed-loop performance is evaluated through hardware-in-the-loop (HIL) experiments using a CarSim RT model as the target plant, with real-time validation conducted on a dSPACE SCALEXIO system. The proposed controller achieved significant reductions in tracking error relative to baseline controllers, confirming its suitability for real-time implementation in embedded autonomous vehicle systems.

Paperid: 261, https://arxiv.org/pdf/2507.00415.pdf

Abstract:
The notions of network $r$-robustness and $(r,s)$-robustness have been earlier introduced in the literature to achieve resilient control in the presence of misbehaving agents. However, while higher robustness levels provide networks with higher tolerances against the misbehaving agents, they also require dense communication structures, which are not always desirable for systems with limited capabilities and energy capacities. Therefore, this paper studies the fundamental structures behind $r$-robustness and $(r,s)$- robustness properties in two different ways. (a) We first explore and establish the tight necessary conditions on the number of edges for undirected graphs with any nodes must satisfy to achieve maximum $r$- and $(r,s)$-robustness. (b) We then use these conditions to construct two classes of undirected graphs, referred as to $Î³$- and $(Î³,Î³)$-Minimal Edge Robust Graphs (MERGs), that provably achieve maximum robustness with minimal numbers of edges. We finally validate our work through some sets of simulations.

Paperid: 262, https://arxiv.org/pdf/2512.06973.pdf

Abstract:
Control Barrier Functions (CBFs) have emerged as a powerful tool for enforcing safety in optimization-based controllers, and their integration with Signal Temporal Logic (STL) has enabled the specification-driven synthesis of complex robotic behaviors. However, existing CBF-STL approaches typically rely on fixed hyperparameters and myopic, per-time step optimization, which can lead to overly conservative behavior, infeasibility near tight input limits, and difficulty satisfying long-horizon STL tasks. To address these limitations, we propose a feasibility-aware learning framework that embeds trainable, time-varying High Order Control Barrier Functions (HOCBFs) into a differentiable Quadratic Program (dQP). Our approach provides a systematic procedure for constructing time-varying HOCBF constraints for a broad fragment of STL and introduces a unified robustness measure that jointly captures STL satisfaction, QP feasibility, and control-bound compliance. Three neural networks-InitNet, RefNet, and an extended BarrierNet-collaborate to generate reference inputs and adapt constraint-related hyperparameters automatically over time and across initial conditions, reducing conservativeness while maximizing robustness. The resulting controller achieves STL satisfaction with strictly feasible dQPs and requires no manual tuning. Simulation results demonstrate that the proposed framework maintains high STL robustness under tight input bounds and significantly outperforms fixed-parameter and non-adaptive baselines in complex environments.

Paperid: 263, https://arxiv.org/pdf/2511.18800.pdf

Abstract:
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of such systems is commonly invariant to the induced action by the Lie group, and the system dynamics can be written as a coupled ordinary differential equation on the group and the dual space of its Lie algebra, termed a Lie-Poisson system. In this paper, we show that Lie-Poisson systems can also be written as a left-invariant system on a semi-direct Lie group structure placed on the trivialised cotangent bundle of the symmetry group. The authors do not know of a prior reference for this observation and we are confident the insight has never been exploited in the context of tracking control. We use this representation to build a right-invariant tracking error for the full state of a Lie-Poisson mechanical system and show that the error dynamics for this error are themselves of Lie-Poisson structure, albeit with time-varying inertia. This allows us to tackle the general trajectory tracking problem using an energy shaping design metholodology. To demonstrate the approach, we apply the proposed design methodology to a simple attitude tracking control.

Paperid: 264, https://arxiv.org/pdf/2511.11897.pdf

Abstract:
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs), effectively guarantee safety in continuous time but may become unsafe when executed under zero-order-hold (ZOH) controllers due to inter-sampling effects. Moreover, they do not explicitly handle finite-time reach-and-remain requirements or multiple simultaneous constraints, which often lead to conflicts between safety and reach-and-remain objectives, resulting in feasibility issues during control synthesis. This paper introduces Sampling-Aware Control Barrier Functions (SACBFs), a unified framework that accounts for sampling effects and high relative-degree constraints by estimating and incorporating Taylor-based upper bounds on barrier evolution between sampling instants. The proposed method guarantees continuous-time forward invariance of safety and finite-time reach-and-remain sets under ZOH control. To further improve feasibility, a relaxed variant (r-SACBF) introduces slack variables for handling multiple constraints realized through time-varying CBFs. Simulation studies on a unicycle robot demonstrate that SACBFs achieve safe and feasible performance in scenarios where traditional HOCBF methods fail.

Paperid: 265, https://arxiv.org/pdf/2511.03740.pdf

Abstract:
Stability analysis of the Kalman filter under randomly lost measurements has been widely studied. We revisit this problem in a general continuous-time framework, where both the measurement matrix and noise covariance evolve as random processes, capturing variability in sensing locations. Within this setting, we derive a closed-form upper bound on the expected estimation covariance for continuous-time Kalman filtering. We then apply this framework to spatiotemporal field estimation, where the field is modeled as a Gaussian process observed by randomly located, noisy sensors. Using clarity, introduced in our earlier work as a rescaled form of the differential entropy of a random variable, we establish a grid-independent lower bound on the spatially averaged expected clarity. This result exposes fundamental performance limits through a composite sensing parameter that jointly captures the effects of the number of sensors, noise level, and measurement frequency. Simulations confirm that the proposed bound is tight for the discrete-time Kalman filter, approaching it as the measurement rate decreases, while avoiding the recursive computations required in the discrete-time formulation. Most importantly, the derived limits provide principled and efficient guidelines for sensor network design problem prior to deployment.

Paperid: 266, https://arxiv.org/pdf/2510.07904.pdf

Abstract:
Engineering design involves demanding models encompassing many decision variables and uncontrollable parameters. In addition, unavoidable aleatoric and epistemic uncertainties can be very impactful and add further complexity. The state-of-the-art adopts two steps, uncertainty quantification and design optimization, to optimize systems under uncertainty by means of robust or stochastic metrics. However, conventional scenario-based, surrogate-assisted, and mathematical programming methods are not sufficiently scalable to be affordable and precise in large and complex cases. Here, a multi-level approach is proposed to accurately optimize resource-intensive, high-dimensional, and complex engineering problems under uncertainty with minimal resources. A non-intrusive, fast-scaling, Kriging-based surrogate is developed to map the combined design/parameter domain efficiently. Multiple surrogates are adaptively updated by hierarchical and orthogonal decomposition to leverage the fewer and most uncertainty-informed data. The proposed method is statistically compared to the state-of-the-art via an analytical testbed and is shown to be concurrently faster and more accurate by orders of magnitude.

Paperid: 267, https://arxiv.org/pdf/2510.04815.pdf

Abstract:
The growing penetration of renewable energy sources is expected to drive higher demand for power reserve ancillary services (AS). One solution is to increase the supply by integrating distributed energy resources (DERs) into the AS market through virtual power plants (VPPs). Several methods have been developed to assess the potential of VPPs to provide services. However, the existing approaches fail to account for AS products' requirements (reliability and technical specifications) and to provide accurate cost estimations. Here, we propose a new method to assess VPPs' potential to deliver power reserve capacity products under forecasting uncertainty. First, the maximum feasible reserve quantity is determined using a novel formulation of subset simulation for efficient uncertainty quantification. Second, the supply curve is characterized by considering explicit and opportunity costs. The method is applied to a VPP based on a representative Swiss low-voltage network with a diversified DER portfolio. We find that VPPs can reliably offer reserve products and that opportunity costs drive product pricing. Additionally, we show that the product's requirements strongly impact the reserve capacity provision capability. This approach aims to support VPP managers in developing market strategies and policymakers in designing DER-focused AS products.

Paperid: 268, https://arxiv.org/pdf/2509.02250.pdf

Abstract:
As wireless networks evolve toward AI-integrated intelligence, conventional energy-efficiency metrics fail to capture the value of AI tasks. In this paper, we propose a novel EE metric called Token-Responsive Energy Efficiency (TREE), which incorporates the token throughput of large models as network utility carriers into the system utility. Based on this metric, we analyze the design principles of AI-integrated 6G networks from the perspective of three critical AI elements, namely computing power, model and data. Case studies validate TREE's unique capability to expose energy-service asymmetries in hybrid traffic scenarios where conventional metrics prove inadequate. Although it is impossible to determine every design detail of AI-integrated 6G network at current time, we believe that the proposed TREE based framework will help the network operators to quantify the operating energy cost of AI services and continue to evolve towards sustainable 6G networks.

Paperid: 269, https://arxiv.org/pdf/2509.00582.pdf

Abstract:
Autonomous driving technology has made significant advancements in recent years, yet challenges remain in ensuring safe and comfortable interactions with human-driven vehicles (HDVs), particularly during lane-changing maneuvers. This paper proposes an improved double quintic polynomial approach for safe and efficient lane-changing in mixed traffic environments. The proposed method integrates a time-to-collision (TTC) based evaluation mechanism directly into the trajectory optimization process, ensuring that the ego vehicle proactively maintains a safe gap from surrounding HDVs throughout the maneuver. The framework comprises state estimation for both the autonomous vehicle (AV) and HDVs, trajectory generation using double quintic polynomials, real-time TTC computation, and adaptive trajectory evaluation. To the best of our knowledge, this is the first work to embed an analytic TTC penalty directly into the closed-form double-quintic polynomial solver, enabling real-time safety-aware trajectory generation without post-hoc validation. Extensive simulations conducted under diverse traffic scenarios demonstrate the safety, efficiency, and comfort of the proposed approach compared to conventional methods such as quintic polynomials, Bezier curves, and B-splines. The results highlight that the improved method not only avoids collisions but also ensures smooth transitions and adaptive decision-making in dynamic environments. This work bridges the gap between model-based and adaptive trajectory planning approaches, offering a stable solution for real-world autonomous driving applications.

Paperid: 270, https://arxiv.org/pdf/2508.17756.pdf

Abstract:
Diffusion models have recently achieved remarkable success in generative tasks (e.g., image and video generation), and the demand for high-quality content (e.g., 2K/4K videos) is rapidly increasing across various domains. However, generating ultra-high-resolution videos on existing standard-resolution (e.g., 720p) platforms remains challenging due to the excessive re-training requirements and prohibitively high computational and memory costs. To this end, we introduce SuperGen, an efficient tile-based framework for ultra-high-resolution video generation. SuperGen features a novel training-free algorithmic innovation with tiling to successfully support a wide range of resolutions without additional training efforts while significantly reducing both memory footprint and computational complexity. Moreover, SuperGen incorporates a tile-tailored, adaptive, region-aware caching strategy that accelerates video generation by exploiting redundancy across denoising steps and spatial regions. SuperGen also integrates cache-guided, communication-minimized tile parallelism for enhanced throughput and minimized latency. Evaluations demonstrate that SuperGen harvests the maximum performance gains while achieving high output quality across various benchmarks.

Paperid: 271, https://arxiv.org/pdf/2508.09963.pdf

Abstract:
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recursively guarantees the existence of an infinite-horizon trajectory that satisfies all constraints and system dynamics. Such trajectory is constructed using a backup controller, which we define formally in this paper. gatekeeper relies on a small number of verifiable assumptions, and is computationally efficient since it requires optimization over a single scalar variable. We make two primary contributions in this letter. (A) First, we develop the theory of gatekeeper: we derive a sub-optimality bound relative to a full nonlinear trajectory optimization problem, and show how this can be used in runtime to validate performance. This also informs the design of the backup controllers and sets. (B) Second, we demonstrate in detail an application of gatekeeper for multi-agent formation flight, where each Dubins agent must avoid multiple obstacles and weapons engagement zones, both of which are nonlinear, nonconvex constraints.

Paperid: 272, https://arxiv.org/pdf/2508.07121.pdf

Abstract:
Distributionally robust control is a well-studied framework for optimal decision making under uncertainty, with the objective of minimizing an expected cost function over control actions, assuming the most adverse probability distribution from an ambiguity set. We consider an interpretable and expressive class of ambiguity sets defined by constraints on the expected value of functions of one-dimensional linear projections of the uncertain parameters. Prior work has shown that, under conditions, problems in this class can be reformulated as finite convex problems. In this work, we propose two iterative methods that can be used to approximately solve problems of this class in the general case. The first is an approximate algorithm based on best-response dynamics. The second is an approximate method that first reformulates the problem as a semi-infinite program and then solves a relaxation. We apply our methods to portfolio construction and trajectory planning scenarios.

Paperid: 273, https://arxiv.org/pdf/2508.01103.pdf

Abstract:
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for iterative performance improvement, its direct application to drone racing faces challenges like real-time compatibility or the trade-off between time-optimal and safe traversal. In this paper, we enhance LMPC with three key innovations: (1) an adaptive cost function that dynamically weights time-optimal tracking against centerline adherence, (2) a shifted local safe set to prevent excessive shortcutting and enable more robust iterative updates, and (3) a Cartesian-based formulation that accommodates safety constraints without the singularities or integration errors associated with Frenet-frame transformations. Results from extensive simulation and real-world experiments demonstrate that our improved algorithm can optimize initial trajectories generated by a wide range of controllers with varying levels of tuning for a maximum improvement in lap time by 60.85%. Even applied to the most aggressively tuned state-of-the-art model-based controller, MPCC++, on a real drone, a 6.05% improvement is still achieved. Overall, the proposed method pushes the drone toward faster traversal and avoids collisions in simulation and real-world experiments, making it a practical solution to improve the peak performance of drone racing.

Paperid: 274, https://arxiv.org/pdf/2507.04568.pdf

Abstract:
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent development of the EKF for the class of group-affine systems on Lie groups that has shown superior performance for inertial navigation problems. The IEKF comes in two versions, left- and right- handed respectively, and there is a perception in the robotics community that these filters are different and one should choose the handedness of the IEKF to match handedness of the measurement model for a given filtering problem. In this paper, we revisit these algorithms and demonstrate that the left- and right- IEKF algorithms (with reset step) are identical, that is, the choice of the handedness does not affect the IEKF's performance when the reset step is properly implemented. The reset step was not originally proposed as part of the IEKF, however, we provide simulations to show that the reset step improves asymptotic performance of all versions of the the filter, and should be included in all high performance algorithms. The GNSS-aided inertial navigation system (INS) is used as a motivating example to demonstrate the equivalence of the two filters.

Paperid: 275, https://arxiv.org/pdf/2512.12427.pdf

Abstract:
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop performance. We present Unique, a unified MPC that cascades models of different fidelity within a single optimization: a short-horizon, high-fidelity model for accurate control, and a long-horizon, low-fidelity model for planning. We align costs across horizons, derive feasibility-preserving thrust and body-rate constraints for the point-mass model, and introduce transition constraints that match the different states, thrust-induced acceleration, and jerk-body-rate relations. To prevent local minima emerging from nonsmooth clutter, we propose a 3D progressive smoothing schedule that morphs norm-based obstacles along the horizon. In addition, we deploy parallel randomly initialized MPC solvers to discover lower-cost local minima on the long, low-fidelity horizon. In simulation and real flights, under equal computational budgets, Unique improves closed-loop position or velocity tracking by up to 75% compared with standard MPC and hierarchical planner-tracker baselines. Ablations and Pareto analyses confirm robust gains across horizon variations, constraint approximations, and smoothing schedules.

Paperid: 276, https://arxiv.org/pdf/2512.08607.pdf

Abstract:
This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components, leveraging structural properties of the system dynamics. The method involves the construction of a specific class of time-invariant CBFs that encode the system's dynamic capabilities with respect to a given constraint, and augments them subsequently with appropriately designed time-dependent transformations. While transformations uniformly varying the time-invariant CBF can be applied to arbitrary systems, transformations exploiting structural properties in the dynamics - equivariances in particular - enable the handling of a broader and more expressive class of time-varying constraints. The article shows how to leverage such properties in the design of time-varying CBFs. The proposed method decouples the design of time variations from the computationally expensive construction of the underlying CBFs, thereby providing a computationally attractive method to the design of time-varying CBFs. The method accounts for input constraints and under-actuation, and requires only qualitative knowledge on the time-variation of the constraints making it suitable to the application in uncertain environments.

Paperid: 277, https://arxiv.org/pdf/2512.04077.pdf

Abstract:
For a remote estimation system, we study age of incorrect information (AoII), which is a recently proposed semantic-aware freshness metric. In particular, we assume an information source observing a discrete-time finite-state Markov chain (DTMC) and employing push-based transmissions of status update packets towards the monitor which is tasked with remote estimation of the source. The source-to-monitor channel delay is assumed to have a general discrete-time phase-type (DPH) distribution, whereas the zero-delay reverse channel ensures that the source has perfect information on AoII and the remote estimate. A multi-threshold transmission policy is employed where packet transmissions are initiated when the AoII process exceeds a threshold which may be different for each estimation value. In this general setting, our goal is to minimize the weighted sum of time average of an arbitrary function of AoII and estimation, and transmission costs, by suitable choice of the thresholds. We formulate the problem as a semi-Markov decision process (SMDP) with the same state-space as the original DTMC to obtain the optimum multi-threshold policy whereas the parameters of the SMDP are obtained by using a novel stochastic tool called dual-regime absorbing Markov chain (DR-AMC), and its corresponding absorption time distribution named as dual-regime DPH (DR-DPH).

Paperid: 278, https://arxiv.org/pdf/2511.23193.pdf

Abstract:
Multi-Agent Reinforcement Learning (MARL) holds significant promise for enabling cooperative driving among Connected and Automated Vehicles (CAVs). However, its practical application is hindered by a critical limitation, i.e., insufficient fault tolerance against observational faults. Such faults, which appear as perturbations in the vehicles' perceived data, can substantially compromise the performance of MARL-based driving systems. Addressing this problem presents two primary challenges. One is to generate adversarial perturbations that effectively stress the policy during training, and the other is to equip vehicles with the capability to mitigate the impact of corrupted observations. To overcome the challenges, we propose a fault-tolerant MARL method for cooperative on-ramp vehicles incorporating two key agents. First, an adversarial fault injection agent is co-trained to generate perturbations that actively challenge and harden the vehicle policies. Second, we design a novel fault-tolerant vehicle agent equipped with a self-diagnosis capability, which leverages the inherent spatio-temporal correlations in vehicle state sequences to detect faults and reconstruct credible observations, thereby shielding the policy from misleading inputs. Experiments in a simulated highway merging scenario demonstrate that our method significantly outperforms baseline MARL approaches, achieving near-fault-free levels of safety and efficiency under various observation fault patterns.

Paperid: 279, https://arxiv.org/pdf/2511.20220.pdf

Abstract:
Satellite constellations in low-Earth orbit are now widespread, enabling positioning, Earth imaging, and communications. In this paper we address the solution of learning problems using these satellite constellations. In particular, we focus on a federated approach, where satellites collect and locally process data, with the ground station aggregating local models. We focus on designing a novel, communication-efficient algorithm that still yields accurate trained models. To this end, we employ several mechanisms to reduce the number of communications with the ground station (local training) and their size (compression). We then propose an error feedback mechanism that enhances accuracy, which yields, as a byproduct, an algorithm-agnostic error feedback scheme that can be more broadly applied. We analyze the convergence of the resulting algorithm, and compare it with the state of the art through simulations in a realistic space scenario, showcasing superior performance.

Paperid: 280, https://arxiv.org/pdf/2511.18554.pdf

Abstract:
We introduce and study a class of online problems called online smoothed demand management $(\texttt{OSDM})$, motivated by paradigm shifts in grid integration and energy storage for large energy consumers such as data centers. In $\texttt{OSDM}$, an operator makes two decisions at each time step: an amount of energy to be purchased, and an amount of energy to be delivered (i.e., used for computation). The difference between these decisions charges (or discharges) the operator's energy storage (e.g., a battery). Two types of demand arrive online: base demand, which must be covered at the current time, and flexible demand, which can be satisfied at any time steps before a demand-specific deadline $Δ_t$. The operator's goal is to minimize a cost (subject to the constraints above) that combines a cost of purchasing energy, a cost for delivering energy (if applicable), and smoothness penalties on the purchasing and delivery rates to discourage fluctuations and encourage ``grid healthy'' decisions. $\texttt{OSDM}$ generalizes several problems in the online algorithms literature while being the first to fully model applications of interest. We propose a competitive algorithm called $\texttt{PAAD}$ (partitioned accounting \& aggregated decisions) and show it achieves the optimal competitive ratio. To overcome the pessimism typical of worst-case analysis, we also propose a novel learning framework that provides guarantees on the worst-case competitive ratio (i.e., to provide robustness against nonstationarity) while allowing end-to-end differentiable learning of the best algorithm on historical instances of the problem. We evaluate our algorithms in a case study of a grid-integrated data center with battery storage, showing that $\texttt{PAAD}$ effectively solves the problem and end-to-end learning achieves substantial performance improvements compared to $\texttt{PAAD}$.

Paperid: 281, https://arxiv.org/pdf/2511.16395.pdf

Abstract:
Large Language Models (LLMs) have demonstrated remarkable potential in hardware front-end design using hardware description languages (HDLs). However, their inherent tendency toward hallucination often introduces functional errors into the generated HDL designs. To address this issue, we propose the framework CorrectHDL that leverages high-level synthesis (HLS) results as functional references to correct potential errors in LLM-generated HDL designs.The input to the proposed framework is a C/C++ program that specifies the target circuit's functionality. The program is provided to an LLM to directly generate an HDL design, whose syntax errors are repaired using a Retrieval-Augmented Generation (RAG) mechanism. The functional correctness of the LLM-generated circuit is iteratively improved by comparing its simulated behavior with an HLS reference design produced by conventional HLS tools, which ensures the functional correctness of the result but can lead to suboptimal area and power efficiency. Experimental results demonstrate that circuits generated by the proposed framework achieve significantly better area and power efficiency than conventional HLS designs and approach the quality of human-engineered circuits. Meanwhile, the correctness of the resulting HDL implementation is maintained, highlighting the effectiveness and potential of agentic HDL design leveraging the generative capabilities of LLMs and the rigor of traditional correctness-driven IC design flows.

Paperid: 282, https://arxiv.org/pdf/2511.06576.pdf

Abstract:
This paper presents a novel dissipativity-based framework for co-designing distributed controllers and communication topologies in AC microgrids (MGs). Unlike existing methods that treat control synthesis and topology design separately, we propose a unified approach that simultaneously optimizes both aspects to achieve voltage and frequency regulation and proportional power sharing among distributed generators (DGs). We formulate the closed-loop AC MG as a networked system where DGs, distribution lines, and loads are interconnected subsystems characterized by their dissipative properties. Each DG employs a hierarchical architecture combining local controllers for voltage regulation and distributed controllers for droop-free power sharing through normalized power consensus. By leveraging dissipativity theory, we establish necessary and sufficient conditions for subsystem passivity and cast the co-design problem as a convex linear matrix inequality (LMI) optimization, enabling efficient computation and guaranteed stability. Our framework systematically synthesizes sparse communication topologies while handling the coupled dq-frame dynamics and dual power flow objectives inherent to AC MGs. Simulation results on a representative AC MG demonstrate the effectiveness of the proposed approach in achieving accurate voltage regulation, frequency synchronization, and proportional power sharing.

Paperid: 283, https://arxiv.org/pdf/2511.05355.pdf

Abstract:
Flow matching (FM) has shown promising results in data-driven planning. However, it inherently lacks formal guarantees for ensuring state and action constraints, whose satisfaction is a fundamental and crucial requirement for the safety and admissibility of planned trajectories on various systems. Moreover, existing FM planners do not ensure the dynamical consistency, which potentially renders trajectories inexecutable. We address these shortcomings by proposing SAD-Flower, a novel framework for generating Safe, Admissible, and Dynamically consistent trajectories. Our approach relies on an augmentation of the flow with a virtual control input. Thereby, principled guidance can be derived using techniques from nonlinear control theory, providing formal guarantees for state constraints, action constraints, and dynamic consistency. Crucially, SAD-Flower operates without retraining, enabling test-time satisfaction of unseen constraints. Through extensive experiments across several tasks, we demonstrate that SAD-Flower outperforms various generative-model-based baselines in ensuring constraint satisfaction.

Paperid: 284, https://arxiv.org/pdf/2511.04626.pdf

Abstract:
In this paper, we focus on recovery control of nonlinear systems from attacks or failures. The main challenges of this problem lie in (1) learning the unknown dynamics caused by attacks or failures with formal guarantees, and (2) finding the invariant set of states to formally ensure the state deviations allowed from the nominal trajectory. To solve this problem, we propose to apply the Recurrent Equilibrium Networks (RENs) to learn the unknown dynamics using the data from the real-time system states. The input-output property of this REN model is guaranteed by incremental integral quadratic constraints (IQCs). Then, we propose a funnel-based control method to achieve system recovery from the deviated states. In particular, a sufficient condition for nominal trajectory stabilization is derived together with the invariant funnels along the nominal trajectory. Eventually, the effectiveness of our proposed control method is illustrated by a simulation example of a DC microgrid control application.

Paperid: 285, https://arxiv.org/pdf/2510.16451.pdf

Abstract:
This paper presents a novel framework for stabilizing nonlinear systems represented in state-dependent form. We first reformulate the nonlinear dynamics as a state-dependent parameter-varying model and synthesize a stabilizing controller offline via tractable linear matrix inequalities (LMIs). The resulting controller guarantees local exponential stability, maintains robustness against disturbances, and provides an estimate of the region of attraction under input saturation. We then extend the formulation to the direct data-driven setting, where a known library of basis functions represents the dynamics with unknown coefficients consistent with noisy experimental data. By leveraging Petersen's lemma, we derive data-dependent LMIs that ensure stability and robustness for all systems compatible with the data. Numerical and physical experimental results validate that our approach achieves rigorous end-to-end guarantees on stability, robustness, and safety directly from finite data without explicit model identification.

Paperid: 286, https://arxiv.org/pdf/2510.15251.pdf

Abstract:
Scenario reduction (SR) alleviates the computational complexity of scenario-based stochastic optimization with conditional value-at-risk (SBSO-CVaR) by identifying representative scenarios to depict the underlying uncertainty and tail risks. Existing distribution-driven SR methods emphasize statistical similarity but often exclude extreme scenarios, leading to weak tail-risk awareness and insufficient problem-specific representativeness. Instead, this paper proposes an iterative problem-driven scenario reduction framework. Specifically, we integrate the SBSO-CVaR problem structure into SR process and project the original scenario set from the distribution space onto the problem space. Subsequently, to minimize the SR optimality gap with acceptable computation complexity, we propose a tractable iterative problem-driven scenario reduction (IPDSR) method that selects representative scenarios that best approximate the optimality distribution of the original scenario set while preserving tail risks. Furthermore, the iteration process is rendered as a mixed-integer program to enable scenario partitioning and representative scenarios selection. And ex-post problem-driven evaluation indices are proposed to evaluate the SR performance. Numerical experiments show IPDSR significantly outperforms existing SR methods by achieving an optimality gap of less than 1% within an acceptable computation time.

Paperid: 287, https://arxiv.org/pdf/2510.08357.pdf

Abstract:
Electrification and decarbonization are transforming power system demand and recovery dynamics, yet their implications for post-outage load surges remain poorly understood. Here we analyze a metropolitan-scale heterogeneous dataset for Indianapolis comprising 30,046 feeder-level outages between 2020 and 2024, linked to smart meters and submetering, to quantify the causal impact of electric vehicles (EVs), heat pumps (HPs) and distributed energy resources (DERs) on restoration surges. Statistical analysis and causal forest inference demonstrate that rising penetrations of all three assets significantly increase surge ratios, with effects strongly modulated by restoration timing, outage duration and weather conditions. We develop a component-aware multi-task Transformer estimator that disaggregates EV, HP and DER contributions, and apply it to project historical outages under counterfactual 2035 adoption pathways. In a policy-aligned pathway, evening restorations emerge as the binding reliability constraint, with exceedance probabilities of 0.057 when 30\% of system load is restored within the first 15 minutes. Mitigation measures, probabilistic EV restarts, short thermostat offsets and accelerated DER reconnection, reduce exceedance to 0.019 and eliminate it entirely when 20\% or less of system load is restored. These results demonstrate that transition-era surges are asset-driven and causally linked to electrification and decarbonization, but can be effectively managed through integrated operational strategies.

Paperid: 288, https://arxiv.org/pdf/2510.08356.pdf

Abstract:
Underground power distribution systems (PDSs) are increasingly deployed in urban areas. The integration of smart devices including smart switchgears, pad-mounted distribution transformers and inverter-based resources (IBRs) enhance system resilience, however simultaneously introducing unique challenges. The challenges include inrush currents caused by trapped charges in underground cables, ferroresonance in distribution transformers during energization, and three-phase load imbalance resulting from single-phase underground laterals. To address these issues, this paper proposes an underground PDS restoration framework using IBRs. Firstly, an underground cable energization model is developed to quantify inrush current by analyzing voltage differences across both switchgear terminals. Secondly, a distribution transformer energization model is proposed to evaluate ferroresonance using Q-factor constraints based on underground cable capacitance and damping resistance. Thirdly, a phase-swapping model is proposed to improve load balancing by dynamically reassigning lateral-phase connections through smart switchgears. The proposed models are further integrated into a mixed-integer nonlinear programming (MINLP) formulation to maximize the total weighted restored load while constraining inrush currents, ferroresonance, and phase imbalance. To address the nonlinearity induced by impedance matrix reordering during phase swapping, a permutation-based linearization technique is proposed. Finally, case studies on an underground PDS established based on IEEE 123-Node Test Feeder validate the effectiveness of the proposed strategy in improving uderground PDS restoration performance.

Paperid: 289, https://arxiv.org/pdf/2510.04616.pdf

Abstract:
In this work, we investigate the problem of synthesizing property-enforcing supervisors for partially-observed discrete-event systems (DES). Unlike most existing approaches, where the enforced property depends solely on the executed behavior of the system, here we consider a more challenging scenario in which the property relies on predicted future behaviors that have not yet occurred. This problem arises naturally in applications involving future information, such as active prediction or intention protection. To formalize the problem, we introduce the notion of prediction-based properties, a new class of observational properties tied to the system's future information. We demonstrate that this notion is very generic and can model various practical properties, including predictability in fault prognosis and pre-opacity in intention security. We then present an effective approach for synthesizing supervisors that enforce prediction-based properties. Our method relies on a novel information structure that addresses the fundamental challenge arising from the dependency between current predictions and the control policy. The key idea is to first borrow information from future instants and then ensure information consistency. This reduces the supervisor synthesis problem to a safety game in the information space. We prove that the proposed algorithm is both sound and complete, and the resulting supervisor is maximally permissive.

Paperid: 290, https://arxiv.org/pdf/2510.02985.pdf

Abstract:
Peer-to-peer energy trading offers a promising solution for enhancing renewable energy utilization and economic benefits within interconnected microgrids. However, existing real-time P2P markets face two key challenges: high computational complexity in trading mechanisms, and suboptimal participant decision-making under diverse uncertainties. Existing prediction-based decision-making methods rely heavily on accurate forecasts, which are typically unavailable for microgrids, while prediction-free methods suffer from myopic behaviors. To address these challenges, this paper proposes an improved double auction mechanism combined with an adaptive step-size search algorithm to reduce computational burden, and a data-driven dual-reference online optimization (DDOO) framework to enhance participant decision-making. The improved mechanism simplifies bidding procedures, significantly reducing computational burden and ensuring rapid convergence to the market equilibrium. Additionally, the prediction-free DDOO framework mitigates myopic decision-making by introducing two informative reference signals. Case studies on a 20-microgrid system demonstrate the effectiveness and scalability of the proposed mechanism and approach. The improved mechanism significantly decreases the computational time while increasing local energy self-sufficiency periods from 0.01% to 29.86%, reducing reverse power flow periods from 24.51% to 3.96%, and lowering average operating costs by 19.20%. Compared with conventional approaches such as Lyapunov optimization and model predictive control, the DDOO framework achieves a 10%-13% reduction in operating costs with an optimality gap of only 5.76%.

Paperid: 291, https://arxiv.org/pdf/2510.02502.pdf

Abstract:
Restoration in power distribution systems (PDSs) is well studied, however, most existing research focuses on network partition and microgrid formation, where load transfer is limited to adjacent feeders. This focus is not practical, as when adjacent feeders lack sufficient capacity, utilities may request support from more distant feeders in practice. Such a hirarchical restoration is complex, especially when involving changing system conditions due to cold load pickup and delayed reconnection of behind-the-meter DERs. To fill this research gap, a situationally aware multi-tier load restoration framework is proposed. Specifically, models are proposed to describe the multi-tier load restoration, including the multi-tier load transfer and substation transformer and feeder protection models. By introducing binary actional switching variables and load block transfer variables, the models effectively captures the dynamics of switches and multi-tier transfer process. To integrate situational awareness of evolving system conditions, the problem is formulated as a mixed-integer linear program (MILP) and then embedded within a rolling horizon optimization. Particularly, a set of safeguarded constraints are developed based on segment-level restoration reward bounds to mitigate the myopia of traditional rolling horizon optimization. The proposed safeguarded rolling strategy guarantees that each time step is lower bounded by a $(1-\varepsilon)$-fraction of its optimal restoration potential, thereby balancing short-term switching decisions with long-term restoration goals. Finally, cases studies on the modified IEEE 123-node test feeder validate the proposed multi-tier restoration framework.

Paperid: 292, https://arxiv.org/pdf/2510.02495.pdf

Abstract:
Integrating renewable energy sources into the grid not only reduces global carbon emissions, but also facilitates distribution system (DS) blackstart restoration. This process leverages renewable energy, inverters, situational awareness and distribution automation to initiate blackstart at the DS level, obtaining a fast response and bottom-up restoration. In this Review, we survey the latest technological advances for DS blackstart restoration using renewable energy. We first present mathematical models for distributed energy resources (DERs), network topology, and load dynamics. We then discuss how the situational awareness can help improve restoration performance through real-time monitoring and forecasting. Next, the DS blackstart restoration problem, including objectives, constraints, and existing methodologies for decision-making are provided. Lastly, we outline remaining challenges, and highlight the opportunities and future research directions.

Paperid: 293, https://arxiv.org/pdf/2510.02485.pdf

Abstract:
Extreme weather frequently cause widespread outages in distribution systems (DSs), demonstrating the importance of hardening strategies for resilience enhancement. However, the well-utilization of real-world outage data with associated weather conditions to make informed hardening decisions in DSs is still an open issue. To bridge this research gap, this paper proposes a data-driven stochastic distribution line (DL) hardening strategy. First, a deep neural network (DNN) regression model is developed to predict the probabilistic evolution of outage scenarios under various hardening decisions. Based on the DNN predictions, the problem is formulated as a decision-dependent distributionally robust optimization (DRO) model, accounting for uncertainties in outage scenario distributions using a data-driven ambiguity set. To address decision-dependent uncertainty, a Bayesian online learning algorithm is proposed. This algorithm decomposes the original problem into inner and outer problems. Then, it iteratively refines hardening decisions by sequentially incorporating outage data and dynamically updating decision-specific ambiguity sets by using Bayes' theorem and Bayesian Inference. Also, the convergence of the algorithm is proven through dynamic regret analysis. Finally, case studies are implemented on a real-world DS in Redfield, Iowa, USA. A dataset spanning 24 years (2001-2024) is constructed based on the utility outage records. The simulation results validates the effectiveness of the proposed strategy.

Paperid: 294, https://arxiv.org/pdf/2509.26633.pdf

Abstract:
A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant embodiment gap between humans and robots, producing physically implausible artifacts like foot-skating and penetration. More importantly, common retargeting methods neglect the rich human-object and human-environment interactions essential for expressive locomotion and loco-manipulation. To address this, we introduce OmniRetarget, an interaction-preserving data generation engine based on an interaction mesh that explicitly models and preserves the crucial spatial and contact relationships between an agent, the terrain, and manipulated objects. By minimizing the Laplacian deformation between the human and robot meshes while enforcing kinematic constraints, OmniRetarget generates kinematically feasible trajectories. Moreover, preserving task-relevant interactions enables efficient data augmentation, from a single demonstration to different robot embodiments, terrains, and object configurations. We comprehensively evaluate OmniRetarget by retargeting motions from OMOMO, LAFAN1, and our in-house MoCap datasets, generating over 8-hour trajectories that achieve better kinematic constraint satisfaction and contact preservation than widely used baselines. Such high-quality data enables proprioceptive RL policies to successfully execute long-horizon (up to 30 seconds) parkour and loco-manipulation skills on a Unitree G1 humanoid, trained with only 5 reward terms and simple domain randomization shared by all tasks, without any learning curriculum.

Paperid: 295, https://arxiv.org/pdf/2509.26443.pdf

Abstract:
This work establishes the first rigorous stability guarantees for approximate predictors in delay-adaptive control of nonlinear systems, addressing a key challenge in practical implementations where exact predictors are unavailable. We analyze two scenarios: (i) when the actuated input is directly measurable, and (ii) when it is estimated online. For the measurable input case, we prove semi-global practical asymptotic stability with an explicit bound proportional to the approximation error $Îµ$. For the unmeasured input case, we demonstrate local practical asymptotic stability, with the region of attraction explicitly dependent on both the initial delay estimate and the predictor approximation error. To bridge theory and practice, we show that neural operators-a flexible class of neural network-based approximators-can achieve arbitrarily small approximation errors, thus satisfying the conditions of our stability theorems. Numerical experiments on two nonlinear benchmark systems-a biological protein activator/repressor model and a micro-organism growth Chemostat model-validate our theoretical results. In particular, our numerical simulations confirm stability under approximate predictors, highlight the strong generalization capabilities of neural operators, and demonstrate a substantial computational speedup of up to 15x compared to a baseline fixed-point method.

Paperid: 296, https://arxiv.org/pdf/2509.24665.pdf

Abstract:
Analyzing and controlling spreading processes are challenging problems due to the involved non-linear node (subsystem) dynamics, unknown disturbances, complex interconnections, and the large-scale and multi-level nature of the problems. The dissipativity concept provides a practical framework for addressing such concerns, thanks to the energy-based representation it offers for subsystems and the compositional properties it provides for the analysis and control of interconnected (networked) systems comprised of such subsystems. Therefore, in this paper, we utilize the dissipativity concept to analyze and control a spreading process that occurs over a hierarchy of nodes, groups, and a network (i.e., a spreading network). We start by generalizing several existing results on dissipativity-based topology design for networked systems. Next, we model the considered spreading network as a networked system and establish the dissipativity properties of its nodes. The generalized topology design method is then applied at multiple levels of the considered spreading network to formulate its analysis and control problems as Linear Matrix Inequality (LMI) problems. We identify and enforce localized necessary conditions to support the feasibility of the LMI problem solved at each subsequent hierarchical level of the spreading network. Consequently, the proposed method does not involve iterative multi-level optimization stages that are computationally inefficient. The proposed control solution ensures that the spreading network is not only stable but also dissipative and mesh-stable. Compared to conventional methods, such as threshold pruning and high-degree edge removal, our approach offers superior performance in terms of infection containment, control efficiency, and disturbance robustness. Extensive numerical results demonstrate the effectiveness of the proposed technique.

Paperid: 297, https://arxiv.org/pdf/2509.17340.pdf

Abstract:
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a fully GPU-accelerated framework that unifies perception and planning through an anchor-guided ensemble of Model Predictive Path Integral (MPPI) optimizers. Specifically, we design a multi-resolution LiDAR point-cloud representation that rapidly extracts spatially distributed "anchors" as look-ahead intermediate endpoints, from which we construct polynomial trajectory guides to explore distinct homotopy path classes. At each planning step, we run multiple MPPI instances in parallel and evaluate them with a two-stage multi-objective cost that balances collision avoidance and goal reaching. Implemented entirely with NVIDIA Warp GPU kernels, AERO-MPPI achieves real-time onboard operation and mitigates the local-minima failures of single-MPPI approaches. Extensive simulations in forests, verticals, and inclines demonstrate sustained reliable flight above 7 m/s, with success rates above 80% and smoother trajectories compared to state-of-the-art baselines. Real-world experiments on a LiDAR-equipped quadrotor with NVIDIA Jetson Orin NX 16G confirm that AERO-MPPI runs in real time onboard and consistently achieves safe, agile, and robust flight in complex cluttered environments. The code will be open-sourced upon acceptance of the paper.

Paperid: 298, https://arxiv.org/pdf/2509.17131.pdf

Abstract:
In this work, we present the first stability results for approximate predictors in multi-input non-linear systems with distinct actuation delays. We show that if the predictor approximation satisfies a uniform (in time) error bound, semi-global practical stability is correspondingly achieved. For such approximators, the required uniform error bound depends on the desired region of attraction and the number of control inputs in the system. The result is achieved through transforming the delay into a transport PDE and conducting analysis on the coupled ODE-PDE cascade. To highlight the viability of such error bounds, we demonstrate our results on a class of approximators - neural operators - showcasing sufficiency for satisfying such a universal bound both theoretically and in simulation on a mobile robot experiment.

Paperid: 299, https://arxiv.org/pdf/2509.15037.pdf

Abstract:
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs encode a system's dynamic capabilities relative to a state constraint, we decouple the design of uniformly time-varying CBFs into a time-invariant and a time-varying component. We characterize the subclass of time-invariant CBFs that yield a uniformly time-varying CBF when combined with a specific type of time-varying function. A detailed analysis of those conditions under which the time-varying function preserves the CBF property of the time-invariant component is provided. These conditions allow for selecting the time-varying function such that diverse variations in the state constraints can be captured while avoiding the redesign of the time-invariant component. From a technical point of view, the analysis requires the derivation of novel relations for comparison functions, not previously reported in the literature. We further relax the requirements on the time-varying function, showing that forward invariance can still be ensured even when the uniformly time-varying value function does not strictly constitute a CBF. Finally, we discuss how existing CBF construction methods can be applied to design suitable time-invariant CBFs, and demonstrate the effectiveness of the approach through detailed numerical examples.

Paperid: 300, https://arxiv.org/pdf/2509.14016.pdf

Authors:Jonas Buchli, Brendan Tracey, Tomislav Andric, Christopher Wipf, Yu Him Justin Chiu, Matthias Lochbrunner, Craig Donner, Rana X. Adhikari, Jan Harms, Iain Barr, Roland Hafner, Andrea Huber, Abbas Abdolmaleki, Charlie Beattie, Joseph Betzwieser, Serkan Cabi, Jonas Degrave, Yuzhu Dong, Leslie Fritz, Anchal Gupta, Oliver Groth, Sandy Huang, Tamara Norman, Hannah Openshaw, Jameson Rollins, Greg Thornton, George Van Den Driessche, Markus Wulfmeier, Pushmeet Kohli, Martin Riedmiller, LIGO Instrument Team

Abstract:
Improved low-frequency sensitivity of gravitational wave observatories would unlock study of intermediate-mass black hole mergers, binary black hole eccentricity, and provide early warnings for multi-messenger observations of binary neutron star mergers. Today's mirror stabilization control injects harmful noise, constituting a major obstacle to sensitivity improvements. We eliminated this noise through Deep Loop Shaping, a reinforcement learning method using frequency domain rewards. We proved our methodology on the LIGO Livingston Observatory (LLO). Our controller reduced control noise in the 10--30Hz band by over 30x, and up to 100x in sub-bands surpassing the design goal motivated by the quantum limit. These results highlight the potential of Deep Loop Shaping to improve current and future GW observatories, and more broadly instrumentation and control systems.

Paperid: 301, https://arxiv.org/pdf/2509.04399.pdf

Abstract:
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and constraints have the potential to mitigate these challenges. In this paper, we explore how equivariances in the dynamics, loosely speaking a form of symmetry, can be leveraged in the CBF synthesis. Although CBFs are generally not inherently symmetric, we show how equivariances in the dynamics and symmetries in the constraints induce symmetries in CBFs derived through reachability analysis. This insight allows us to infer their CBF values across the entire domain from their values on a subset, leading to significant computational savings. Interestingly, equivariances can be even leveraged to the CBF synthesis for non-symmetric constraints. Specifically, we show how a partially known CBF can be leveraged together with equivariances to construct a CBF for various new constraints. Throughout the paper, we provide examples illustrating the theoretical findings. Furthermore, a numerical study investigates the computational gains from invoking equivariances into the CBF synthesis.

Paperid: 302, https://arxiv.org/pdf/2509.04060.pdf

Abstract:
As the number of satellites in orbit has increased exponentially in recent years, ensuring their correct functionality has started to require automated methods to decrease human workload. In this work, we present an algorithm that analyzes the on-board data related to friction from the Reaction Wheel Assemblies (RWA) of a satellite and determines their operating status, distinguishing between nominal status and several possible anomalies that require preventive measures to be taken. The algorithm first uses a model based on hybrid systems theory to extract the information relevant to the problem. The extraction process combines techniques in changepoint detection, dynamic programming, and maximum likelihood in a structured way. A classifier then uses the extracted information to determine the status of the RWA. This last classifier has been previously trained with a labelled dataset produced by a high-fidelity simulator, comprised for the most part of nominal data. The final algorithm combines model-based and data-based approaches to obtain satisfactory results with an accuracy around 95%.

Paperid: 303, https://arxiv.org/pdf/2509.01812.pdf

Abstract:
Intrusion detection in unmanned-aerial-vehicle (UAV) swarms is complicated by high mobility, non-stationary traffic, and severe class imbalance. Leveraging a 120 k-flow simulation corpus that covers five attack types, we benchmark three quantum-machine-learning (QML) approaches - quantum kernels, variational quantum neural networks (QNNs), and hybrid quantum-trained neural networks (QT-NNs) - against strong classical baselines. All models consume an 8-feature flow representation and are evaluated under identical preprocessing, balancing, and noise-model assumptions. We analyse the influence of encoding strategy, circuit depth, qubit count, and shot noise, reporting accuracy, macro-F1, ROC-AUC, Matthews correlation, and quantum-resource footprints. Results reveal clear trade-offs: quantum kernels and QT-NNs excel in low-data, nonlinear regimes, while deeper QNNs suffer from trainability issues, and CNNs dominate when abundant data offset their larger parameter count. The complete codebase and dataset partitions are publicly released to enable reproducible QML research in network security.

Paperid: 304, https://arxiv.org/pdf/2508.21672.pdf

Abstract:
In this work, we investigate a steering problem in a mediator-augmented two-player normal-form game, where the mediator aims to guide players toward a specific action profile through information and incentive design. We first characterize the games for which successful steering is possible. Moreover, we establish that steering players to any desired action profile is not always achievable with information design alone, nor when accompanied with sublinear payment schemes. Consequently, we derive a lower bound on the constant payments required per round to achieve this goal. To address these limitations incurred with information design, we introduce an augmented approach that involves a one-shot information design phase before the start of the repeated game, transforming the prior interaction into a Stackelberg game. Finally, we theoretically demonstrate that this approach improves the convergence rate of players' action profiles to the target point by a constant factor with high probability, and support it with empirical results.

Paperid: 305, https://arxiv.org/pdf/2508.20367.pdf

Abstract:
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we approximate it using a learned neural operator mapping. This mapping is trained once, offline, and then deployed online, leveraging the fast inference capabilities of neural networks. We provide a theoretical stability analysis based on the universal approximation theorem of neural operators and the transport partial differential equation (PDE) representation of the delay. We then prove, via a Lyapunov-Krasovskii functional, semi-global practical convergence of the dynamical system dependent on the approximation error of the predictor and delay bounds. Finally, we validate our theoretical results using a biological activator/repressor system, demonstrating speedups of 15 times compared to traditional numerical methods.

Paperid: 306, https://arxiv.org/pdf/2508.17185.pdf

Abstract:
Many applications -- including power systems, robotics, and economics -- involve a dynamical system interacting with a stochastic and hard-to-model environment. We adopt a reinforcement learning approach to control such systems. Specifically, we consider a deterministic, discrete-time, linear, time-invariant dynamical system coupled with a feature-based linear Markov process with an unknown transition kernel. The objective is to learn a control policy that optimizes a quadratic cost over the system state, the Markov process, and the control input. Leveraging both components of the system, we derive an explicit parametric form for the optimal state-action value function and the corresponding optimal policy. Our model is distinct in combining aspects of both classical Linear Quadratic Regulator (LQR) and linear Markov decision process (MDP) frameworks. This combination retains the implementation simplicity of LQR, while allowing for sophisticated stochastic modeling afforded by linear MDPs, without estimating the transition probabilities, thereby enabling direct policy improvement. We use tools from control theory to provide theoretical guarantees on the stability of the system under the learned policy and provide a sample complexity analysis for its convergence to the optimal policy. We illustrate our results via a numerical example that demonstrates the effectiveness of our approach in learning the optimal control policy under partially known stochastic dynamics.

Paperid: 307, https://arxiv.org/pdf/2508.15509.pdf

Abstract:
We address distributed learning problems over undirected networks. Specifically, we focus on designing a novel ADMM-based algorithm that is jointly computation- and communication-efficient. Our design guarantees computational efficiency by allowing agents to use stochastic gradients during local training. Moreover, communication efficiency is achieved as follows: i) the agents perform multiple training epochs between communication rounds, and ii) compressed transmissions are used. We prove exact linear convergence of the algorithm in the strongly convex setting. We corroborate our theoretical results by numerical comparisons with state of the art techniques on a classification task.

Paperid: 308, https://arxiv.org/pdf/2508.12059.pdf

Abstract:
Network-based systems are inherently interconnected, with the design and performance of subnetworks being interdependent. However, the decisions of self-interested operators may lead to suboptimal outcomes for users and the overall system. This paper explores cooperative mechanisms that can simultaneously benefit both operators and users. We address this challenge using a game-theoretical framework that integrates both non-cooperative and cooperative game theory. In the non-cooperative stage, we propose a network design game in which subnetwork decision-makers strategically design local infrastructures. In the cooperative stage, co-investment with payoff-sharing mechanism is developed to enlarge collective benefits and fairly distribute them. To demonstrate the effectiveness of our framework, we conduct case studies on the Sioux Falls network and real-world public transport networks in Zurich and Winterthur, Switzerland. Our evaluation considers impacts on environmental sustainability, social welfare, and economic efficiency. The proposed framework provides a foundation for improving interdependent networked systems by enabling strategic cooperation among self-interested operators.

Paperid: 309, https://arxiv.org/pdf/2508.05887.pdf

Abstract:
Distributed optimization and learning algorithms are designed to operate over large scale networks enabling processing of vast amounts of data effectively and efficiently. One of the main challenges for ensuring a smooth learning process in gradient-based methods is the appropriate selection of a learning stepsize. Most current distributed approaches let individual nodes adapt their stepsizes locally. However, this may introduce stepsize heterogeneity in the network, thus disrupting the learning process and potentially leading to divergence. In this paper, we propose a distributed learning algorithm that incorporates a novel mechanism for automating stepsize selection among nodes. Our main idea relies on implementing a finite time coordination algorithm for eliminating stepsize heterogeneity among nodes. We analyze the operation of our algorithm and we establish its convergence to the optimal solution. We conclude our paper with numerical simulations for a linear regression problem, showcasing that eliminating stepsize heterogeneity enhances convergence speed and accuracy against current approaches.

Paperid: 310, https://arxiv.org/pdf/2507.20277.pdf

Abstract:
In this paper, we address the issue of model specification in probabilistic latent variable models (PLVMs) using an infinite-horizon optimal control approach. Traditional PLVMs rely on joint distributions to model complex data, but introducing latent variables results in an ill-posed parameter learning problem. To address this issue, regularization terms are typically introduced, leading to the development of the expectation-maximization (EM) algorithm, where the latent variable distribution is restricted to a predefined normalized distribution family to facilitate the expectation step. To overcome this limitation, we propose representing the latent variable distribution as a finite set of instances perturbed via an ordinary differential equation with a control policy. This approach ensures that the instances asymptotically converge to the true latent variable distribution as time approaches infinity. By doing so, we reformulate the distribution inference problem as an optimal control policy determination problem, relaxing the model specification to an infinite-horizon path space. Building on this formulation, we derive the corresponding optimal control policy using the Pontryagin's maximum principle and provide a closed-form expression for its implementation using the reproducing kernel Hilbert space. After that, we develop a novel, convergence-guaranteed EM algorithm for PLVMs based on this infinite-horizon-optimal-control-based inference strategy. Finally, extensive experiments are conducted to validate the effectiveness and superiority of the proposed approach.

Paperid: 311, https://arxiv.org/pdf/2507.16027.pdf

Abstract:
Feeder reconfiguration is a critical operational strategy in power distribution systems. However, existing optimization approaches typically rely on explicit mathematical formulations and analytical models, which are often infeasible in practical utility environments characterized by heterogeneous, proprietary, and black-box simulation modules. To address this challenge, this paper proposes a fast feeder reconfiguration framework based on Mesh Adaptive Direct Search (MADS). The proposed approach requires only performance metric evaluations through simulation modules used for power flow, protection, and voltage regulation analysis. A bi-objective formulation is adopted to jointly minimize active power loss and operational constraint violations. A Pareto-based frontier filter is integrated into the MADS algorithm to efficiently guide the search toward high-quality configurations while systematically pruning dominated solutions. The approach adaptively refines the search space around promising candidates using local polling strategies and convergence aware updates. Case studies on the IEEE-123 node test feeder demonstrate that the proposed approach achieves near-optimal configurations with significantly fewer evaluations compared to heuristic methods.

Paperid: 312, https://arxiv.org/pdf/2507.13872.pdf

Abstract:
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time, they can become overly conservative when the nominal policy lacks safety awareness. Conversely, solving State-Constrained Optimal Control Problems (SC-OCPs) via dynamic programming offers formal guarantees but is intractable in high-dimensional systems. In this work, we propose a novel two-stage framework that combines gradient-based Model Predictive Control (MPC) with CBF-based safety filtering for co-optimizing safety and performance. In the first stage, we relax safety constraints as penalties in the cost function, enabling fast optimization via gradient-based methods. This step improves scalability and avoids feasibility issues associated with hard constraints. In the second stage, we modify the resulting controller using a CBF-based Quadratic Program (CBF-QP), which enforces hard safety constraints with minimal deviation from the reference. Our approach yields controllers that are both performant and provably safe. We validate the proposed framework on two case studies, showcasing its ability to synthesize scalable, safe, and high-performance controllers for complex, high-dimensional autonomous systems.

Paperid: 313, https://arxiv.org/pdf/2512.21314.pdf

Abstract:
We develop a Lyapunov-based small-gain theorem for establishing fixed-time input-to-state stability (FxT-ISS) guarantees in interconnected nonlinear dynamical systems. The proposed framework considers interconnections in which each subsystem admits a FxT-ISS Lyapunov function, providing robustness with respect to external inputs. We show that, under an appropriate nonlinear small-gain condition, the overall interconnected system inherits the FxT-ISS property. In this sense, the proposed result complements existing Lyapunov-based smallgain theorems for asymptotic and finite-time stability, and enables a systematic analysis of interconnection structures exhibiting fixed-time stability. To illustrate the applicability of the theory, we study feedback-based optimization problems with time-varying cost functions, and Nash-equilibrium seeking for noncooperative games with nonlinear dynamical plants in the loop. For both problems, we present a class of non-smooth gradient or pseudogradient-based controllers that achieve fixed-time convergence without requiring time-scale separation and using real-time feedback. Numerical examples are provided to validate the theoretical findings.

Paperid: 314, https://arxiv.org/pdf/2512.19177.pdf

Abstract:
The growing integration of distributed integrated sensing and communication (ISAC) with closed-loop control in intelligent networks demands efficient information transmission under stringent bandwidth constraints. To address this challenge, this paper proposes a unified framework for goal-oriented semantic communication in distributed SCC systems. Building upon Weaver's three-level model, we establish a hierarchical semantic formulation with three error levels (L1: observation reconstruction, L2: state estimation, and L3: control) to jointly optimize their corresponding objectives. Based on this formulation, we propose a unified goal-oriented semantic compression and rate adaptation framework that is applicable to different semantic error levels and optimization goals across the SCC loop. A rate-limited multi-sensor LQR system is used as a case study to validate the proposed framework. We employ a GRU-based AE for semantic compression and a PPO-based rate adaptation algorithm that dynamically allocates transmission rates across sensors. Results show that the proposed framework effectively captures task-relevant semantics and adapts its resource allocation strategies across different semantic levels, thereby achieving level-specific performance gains under bandwidth constraints.

Paperid: 315, https://arxiv.org/pdf/2512.13263.pdf

Abstract:
The evolution toward sixth-generation (6G) wireless networks demands high-performance transceiver architectures capable of handling complex and dynamic environments. Conventional orthogonal frequency-division multiplexing (OFDM) receivers rely on cascaded discrete Fourier transform (DFT) and demodulation blocks, which are prone to inter-stage error propagation and suboptimal global performance. In this work, we propose two neural network (NN) models DFT-Net and Demodulation-Net (Demod-Net) to jointly replace the IDFT/DFT and demodulation modules in an OFDM transceiver. The models are trained end-to-end (E2E) to minimize bit error rate (BER) while preserving operator equivalence for hybrid deployment. A customized DFT-Demodulation Net Accelerator (DDNA) is further developed to efficiently map the proposed networks onto field-programmable gate array (FPGA) platforms. Leveraging fine-grained pipelining and block matrix operations, DDNA achieves high throughput and flexibility under stringent latency constraints. Experimental results show that the DL-based transceiver consistently outperforms the conventional OFDM system across multiple modulation schemes. With only a modest increase in hardware resource usage, it achieves approximately 1.5 dB BER gain and up to 66\% lower execution time.

Paperid: 316, https://arxiv.org/pdf/2512.12776.pdf

Abstract:
Ensuring the safety of Vulnerable Road Users (VRUs) is a critical challenge in the development of advanced autonomous driving systems in smart cities. Among vulnerable road users, bicyclists present unique characteristics that make their safety both critical and also manageable. Vehicles often travel at significantly higher relative speeds when interacting with bicyclists as compared to their interactions with pedestrians which makes collision avoidance system design for bicyclist safety more challenging. Yet, bicyclist movements are generally more predictable and governed by clear traffic rules as compared to the sudden and sometimes erratic pedestrian motion, offering opportunities for model-based control strategies. To address bicyclist safety in complex traffic environments, this study proposes and develops a High Order Control Lyapunov Function High Order Control Barrier Function Quadratic Programming (HOCLF HOCBF QP) control framework. Through this framework, CLFs constraints guarantee system stability so that the vehicle can track its reference trajectory, whereas CBFs constraints ensure system safety by letting vehicle avoiding potential collisions region with surrounding obstacles. Then by solving a QP problem, an optimal control command that simultaneously satisfies stability and safety requirements can be calculated. Three key bicyclist crash scenarios recorded in the Fatality Analysis Reporting System (FARS) are recreated and used to comprehensively evaluate the proposed autonomous driving bicyclist safety control strategy in a simulation study. Simulation results demonstrate that the HOCLF HOCBF QP controller can help the vehicle perform robust, and collision-free maneuvers, highlighting its potential for improving bicyclist safety in complex traffic environments.

Paperid: 317, https://arxiv.org/pdf/2512.12021.pdf

Abstract:
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning algorithm that combines the feasibility guarantee inherent in the standard Hybrid A* algorithm with the addition of static obstacle collision avoidance. A kinematic single-track model is derived to describe the low-speed motion of the vehicle, which is subsequently used as the motion model in the Hybrid A* path-planning algorithm to generate feasible motion primitive branches. The model states are also used to reconstruct the vehicle centerline, which, in conjunction with an inflated binary occupancy map, facilitates static obstacle collision avoidance functions. Simulation study and animation are set up to test the efficacy of the approach, and the proposed algorithm proves to consistently provide kinematically feasible trajectories that are also collision-free.

Paperid: 318, https://arxiv.org/pdf/2511.23474.pdf

Abstract:
This paper introduces a novel Lyapunov-based small-gain methodology for establishing fixed-time stability (FxTS) guarantees in interconnected dynamical systems. Specifically, we consider interconnections in which each subsystem admits an individual fixed-time input-to-state stability (ISS) Lyapunov function that certifies FxT-ISS. We then show that if a nonlinear small-gain condition is satisfied, then the entire interconnected system is FxTS. Our results are analogous to existing Lyapunov-based small-gain theorems developed for asymptotic and finite-time stability, thereby filling an important gap in the stability analysis of interconnected dynamical systems. The proposed theoretical tools are further illustrated through analytical and numerical examples, including an application to fixed-time feedback optimization of dynamical systems without time-scale separation between the plant and the controller.

Paperid: 319, https://arxiv.org/pdf/2511.01774.pdf

Abstract:
This article presents a Multi-Modal Bipedal Intelligent Urban Scout robot (MOBIUS) capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs--two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion--enabling smooth transitions across diverse terrains without reconfiguration. A hybrid control architecture combines reinforcement learning-based locomotion with model-based predictive and admittance control enhanced for safety by a Reference Governor toward compliant contact interactions. A high-level MIQCP planner autonomously selects locomotion modes to balance stability and energy efficiency. Hardware experiments demonstrate robust gait transitions, dynamic climbing, and full-body load support via pinch grasp. Overall, MOBIUS demonstrates the importance of tight integration between morphology, high-level planning, and control to enable mobile loco-manipulation and grasping, substantially expanding its interaction capabilities, workspace, and traversability.

Paperid: 320, https://arxiv.org/pdf/2510.24898.pdf

Abstract:
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a collision free path, a robust low level controller is required to precisely follow this trajectory. However, connected autonomous vehicles (CAV) are inherently affected by communication delays and computation delays, which significantly degrade the performance of conventional controllers such as PID or other more advanced controllers like disturbance observers (DOB). While DOB-based designs have shown effectiveness in rejecting disturbances under nominal conditions, their performance deteriorates considerably in the presence of unknown time delays. To address this challenge, this paper proposes a delay-tolerant communication disturbance observer (CDOB) framework for path-tracking control in delayed systems. The proposed CDOB compensates for the adverse effects of time delays, maintaining accurate trajectory tracking even under uncertain and varying delay conditions. It is shown through a simulation study that the proposed control architecture maintains close alignment with the reference trajectory across various scenarios, including single lane change, double-= lane change, and Elastic Band generated collision avoidance paths under various time delays. Simulation results further demonstrate that the proposed method outperforms conventional approaches in both tracking accuracy and delay robustness, making it well suited for autonomous driving applications.

Paperid: 321, https://arxiv.org/pdf/2510.22224.pdf

Abstract:
The integration of Artificial Intelligence (AI) into safety-critical systems introduces a new reliability paradigm: silent failures, where AI produces confident but incorrect outputs that can be dangerous. This paper introduces the Formal Assurance and Monitoring Environment (FAME), a novel framework that confronts this challenge. FAME synergizes the mathematical rigor of offline formal synthesis with the vigilance of online runtime monitoring to create a verifiable safety net around opaque AI components. We demonstrate its efficacy in an autonomous vehicle perception system, where FAME successfully detected 93.5% of critical safety violations that were otherwise silent. By contextualizing our framework within the ISO 26262 and ISO/PAS 8800 standards, we provide reliability engineers with a practical, certifiable pathway for deploying trustworthy AI. FAME represents a crucial shift from accepting probabilistic performance to enforcing provable safety in next-generation systems.

Paperid: 322, https://arxiv.org/pdf/2510.16397.pdf

Abstract:
The channel state information (CSI) of an eavesdropper is crucial for physical layer security (PLS) design, but it is difficult to obtain due to the passive and non-cooperative nature of the eavesdropper. To this end, integrated sensing and communication (ISAC) offers a novel solution by estimating the CSI of the eavesdropper based on sensing information. However, existing studies normally impose explicit and fixed sensing performance requirement without considering the varying communication conditions, which hinders the system from fully exploiting the synergy between sensing and communication. To address this issue, this paper proposes sensing-enhanced secure communication with adaptive sensing performance. Specifically, we formulate the sensing performance implicitly in the information leakage rate and adaptively optimize it for the minimization of the power consumption, offering enhanced flexibility and adaptability in sensing performance. We consider both centralized and decentralized designs to thoroughly investigate the impact of network structure on system performance and complexity. Specifically, we devise a block coordinate descent (BCD)-based method for centralized design. For decentralized design, we develop an optimization framework based on consensus alternating direction method of multipliers (ADMM) to reduce complexity and information exchange overhead. Experimental results demonstrate the advantage of the proposed implicit sensing performance requirement design due to its capability to adaptively adjust the sensing performance to enhance the system performance for varying system configurations.

Paperid: 323, https://arxiv.org/pdf/2510.15071.pdf

Abstract:
This paper presents a novel concept for achieving omnidirectionality in a multirotor aerial vehicle (MAV) that uses only 6 inputs and ensures no internal forces at the equilibria. The concept integrates a single actively-tilting propeller along with 3 pendulum-like links, each carrying a propeller, connected by passive universal joints to the main body. We show that this design ensures omnidirectionality while minimizing the internal forces and without resorting to overactuation (i.e., more than 6 inputs). A detailed dynamic model of the multi-link MAV is first developed. Afterwards, the analysis identifies the equilibrium configurations and illustrates that a forced equilibrium exists for every pose of the MAV's main platform. In order to render this equilibrium asymptotically stable for the closed-loop system, a geometric nonlinear controller is constructed using dynamic feedback linearization and backstepping techniques with the main platform configuration error being the left-trivialized error on SE(3). The stability of the closed-loop system is then investigated by employing standard Lyapunov arguments on the zero dynamics. We conclude by providing numerical simulations validating the proposed approach. They demonstrate the MAV capability to perform decoupled attitude and translational motions under non-zero initial conditions, parametric uncertainty, and actuators noise.

Paperid: 324, https://arxiv.org/pdf/2510.11413.pdf

Abstract:
This paper presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. Building upon grasp-matrix formulations and internal force redundancy, we propose a feedback wrench controller that actively regulates the payload's pose while an optimization layer dynamically shapes internal-force oscillations to guarantee persistent carrier motion. Preliminary experimental results on multirotor UAVs validate the model assumptions, and numerical simulations demonstrate that the method successfully prevents carrier stagnation, achieves accurate load tracking, and generates physically feasible trajectories with smooth velocity profiles. The proposed framework not only advances the state of the art but also offers a reliable, versatile solution for future real-world applications requiring load transportation by coordinated non-stopping flying carriers.

Paperid: 325, https://arxiv.org/pdf/2510.05456.pdf

Abstract:
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear attitude control, enabling decoupling of position safety and yaw orientation. Second, since quadrotor safety constraints often involve high relative degree, we adopt high order control barrier functions (HOCBFs) to guarantee safety. To employ HOCBFs in the MPC formulation that has formal guarantees, we extend HOCBFs to sampled-data HOCBF (SdHOCBFs) by introducing compensation terms, ensuring safety over the entire sampling interval. We show that embedding SdHOCBFs as control-affine constraints into the MPC formulation guarantees both safety and optimality while preserving convexity for real-time implementations. Finally, comprehensive simulations are conducted to demonstrate the safety guarantee and high efficiency of the proposed method compared to existing methods.

Paperid: 326, https://arxiv.org/pdf/2510.02167.pdf

Abstract:
In the context of the circular economy, products in their end-of-life phase should be either remanufactured or recycled. Both of these processes are crucial for sustainability and environmental conservation. However, manufacturers often do not support these processes enough by not sharing relevant data. This paper proposes use of a digital twin technology, which is capable to help optimizing the disassembly processes to reduce ecological impact and enhance sustainability. The proposed approach is demonstrated through a disassembly use-case of the product digital twin of an electric vehicle battery. By utilizing product digital twins, challenges associated with the disassembly of electric vehicle batteries can be solved flexibly and efficiently for various battery types. As a backbone for the product digital twin representation, the paper uses the paradigm of product-process-resource asset networks (PAN). Such networks enable to model relevant relationships across products, production resources, manufacturing processes, and specific production operations that have to be done in the manufacturing phase of a product. This paper introduces a Bi-Flow Product-Process-Resource Asset Network (Bi-PAN) representation, which extends the PAN paradigm to cover not only the manufacturing, but also the remanufacturing/recycling phase.

Paperid: 327, https://arxiv.org/pdf/2510.00933.pdf

Abstract:
Current products, especially in the automotive sector, pose complex technical systems having a multi-disciplinary mechatronic nature. Industrial standards supporting system engineering and production typically (i) address the production phase only, but do not cover the complete product life cycle, and (ii) focus on production processes and resources rather than the products themselves. The presented approach is motivated by incorporating the impacts of the end-of-life phase of the product life cycle into the engineering phase. This paper proposes a modeling approach coming up from the Product-Process-Resource (PPR) modeling paradigm. It combines requirements on (i) respecting the product structure as a basis for the model, and (ii) incorporates repairing, remanufacturing, or upcycling within cyber-physical production systems. The proposed model called PoPAN should accompany the product during the entire life cycle as a digital shadow encapsulated within the Asset Administration Shell of a product. To facilitate the adoption of the proposed paradigm, the paper also proposes serialization of the model in the AutomationML data format. The model is demonstrated on a use-case for disassembling electric vehicle batteries to support their remanufacturing for stationary battery applications.

Paperid: 328, https://arxiv.org/pdf/2509.21345.pdf

Abstract:
This paper presents a neuromorphic system for cognitive load classification in a real-world setting, an Air Traffic Control (ATC) task, using a hardware implementation of Spiking Neural Networks (SNNs). Electroencephalogram (EEG) and eye-tracking features, extracted from an open-source dataset, were used to train and evaluate both conventional machine learning models and SNNs. Among the SNN architectures explored, a minimalistic, single-layer model trained with a biologically inspired delta-rule learning algorithm achieved competitive performance (80.6%). To enable deployment on neuromorphic hardware, the model was quantized and implemented on the mixed-signal DYNAP-SE chip. Despite hardware constraints and analog variability, the chip-deployed SNN maintained a classification accuracy of up to 73.5% using spike-based input. These results demonstrate the feasibility of event-driven neuromorphic systems for ultra-low-power, embedded cognitive state monitoring in dynamic real-world scenarios.

Paperid: 329, https://arxiv.org/pdf/2509.15778.pdf

Abstract:
This paper presents a unified framework that integrates modeling, optimization, and sensorless control of an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EMLAs). An EMLA model is formulated to capture motor electromechanics and direction-dependent transmission efficiencies, while a mathematical model of the HDRM, incorporating both kinematics and dynamics, is established to generate joint-space motion profiles for prescribed TCP trajectories. A safety-ensured trajectory generator, tailored to this model, maps Cartesian goals to joint space while enforcing joint-limit and velocity margins. Based on the resulting force and velocity demands, a multi-objective Non-dominated Sorting Genetic Algorithm II (NSGA-II) is employed to select the optimal EMLA configuration. To accelerate this optimization, a deep neural network, trained with EMLA parameters, is embedded in the optimization process to predict steady-state actuator efficiency from trajectory profiles. For the chosen EMLA design, a physics-informed Kriging surrogate, anchored to the analytic model and refined with experimental data, learns residuals of EMLA outputs to support force and velocity sensorless control. The actuator model is further embedded in a hierarchical virtual decomposition control (VDC) framework that outputs voltage commands. Experimental validation on a one-degree-of-freedom EMLA testbed confirms accurate trajectory tracking and effective sensorless control under varying loads.

Paperid: 330, https://arxiv.org/pdf/2509.05259.pdf

Abstract:
Automatic Generation Control (AGC) is essential for power grid stability but remains vulnerable to stealthy cyberattacks, such as False Data Injection Attacks (FDIAs), which can disturb the system's stability while evading traditional detection methods. Unlike previous works that relied on blackbox approaches, this work proposes Kolmogorov-Arnold Networks (KAN) as an interpretable and accurate method for FDIA detection in AGC systems, considering the system nonlinearities. KAN models include a method for extracting symbolic equations, and are thus able to provide more interpretability than the majority of machine learning models. The proposed KAN is trained offline to learn the complex nonlinear relationships between the AGC measurements under different operating scenarios. After training, symbolic formulas that describe the trained model's behavior can be extracted and leveraged, greatly enhancing interpretability. Our findings confirm that the proposed KAN model achieves FDIA detection rates of up to 95.97% and 95.9% for the initial model and the symbolic formula, respectively, with a low false alarm rate, offering a reliable approach to enhancing AGC cybersecurity.

Paperid: 331, https://arxiv.org/pdf/2509.04220.pdf

Abstract:
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to synthesize provably safe controllers that handle multiple state constraints. This paper presents a framework for constrained control of nonlinear systems subject to box constraints on the systems' vector-valued outputs using multiple CBFs. Our results illustrate that when the output has a vector relative degree, the CBF constraints encoding these box constraints are compatible, and the resulting optimization-based controller is locally Lipschitz continuous and admits a closed-form expression. Additional results are presented to characterize the degradation of nominal tracking objectives in the presence of safety constraints. Simulations of a planar quadrotor are presented to demonstrate the efficacy of the proposed framework.

Paperid: 332, https://arxiv.org/pdf/2509.01820.pdf

Abstract:
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence proposes an optimization-based automation routine to handle the path-planning and path-tracking control process of such type of maneuvers. The proposed approach utilizes nonlinear model predictive control (NMPC) to robustly guide the vehicle-trailer system into the desired parking space, and an optional forward repositioning maneuver can be added as an additional stage of the parking process to obtain better system configurations, before backward motion can be attempted again to get a good final pose. The novelty of the proposed approach is the simplicity of its formulation, as the path-planning and path-tracking operations are only conducted on the trailer being viewed as a standalone vehicle, before the control inputs are propagated to the tractor vehicle via inverse kinematic relationships also derived in this paper. Simulation case studies and hardware-in-the-loop tests are performed, and the results demonstrate the efficacy of the proposed approach.

Paperid: 333, https://arxiv.org/pdf/2509.00624.pdf

Abstract:
Extensive research has already been conducted in the autonomous driving field to help vehicles navigate safely and efficiently. At the same time, plenty of current research on vulnerable road user (VRU) safety is performed which largely concentrates on perception, localization, or trajectory prediction of VRUs. However, existing research still exhibits several gaps, including the lack of a unified planning and collision avoidance system for autonomous vehicles, limited investigation into delay tolerant control strategies, and the absence of an efficient and standardized testing methodology. Ensuring VRU safety remains one of the most pressing challenges in autonomous driving, particularly in dynamic and unpredictable environments. In this two year project, we focused on applying the Vehicle in Virtual Environment (VVE) method to develop, evaluate, and demonstrate safety functions for Vulnerable Road Users (VRUs) using automated steering and braking of ADS. In this current second year project report, our primary focus was on enhancing the previous year results while also considering bicyclist safety.

Paperid: 334, https://arxiv.org/pdf/2509.00294.pdf

Abstract:
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that utilize the full-order model (FOM) for gait synthesis, e.g., hybrid zero dynamics. This paper aims to unify these approaches through a layered control perspective. In particular, we establish conditions on when a ROM of locomotion yields stable walking on the full-order hybrid dynamics. To achieve this result, given an ROM we synthesize a zero dynamics manifold encoding the behavior of the ROM -- controllers can be synthesized that drive the FOM to this surface, yielding hybrid zero dynamics. We prove that a stable periodic orbit in the ROM implies an input-to-state stable periodic orbit of the FOM's hybrid zero dynamics, and hence the FOM dynamics. This result is demonstrated in simulation on a linear inverted pendulum ROM and a 5-link planar walking FOM.

Paperid: 335, https://arxiv.org/pdf/2508.18654.pdf

Abstract:
The convergence of digital twin technology and quantum computing is opening new horizons for the modeling, control, and optimization of smart grid systems. This paper reviews the current research landscape at the intersection of these fields, with a focus on how quantum algorithms can enhance the performance of digital twins in smart energy systems. We conduct a thematic literature review and identify key research trends, technical challenges, and gaps in real-world adoption. Further, a conceptual framework is proposed to integrate quantum modules into classical digital twin architectures. The potential benefits of this hybrid approach for smart grid operation and future research directions are also discussed.

Paperid: 336, https://arxiv.org/pdf/2508.05702.pdf

Abstract:
Modern power grids face unprecedented complexity from Distributed Energy Resources (DERs), Electric Vehicles (EVs), and extreme weather, while also being increasingly exposed to cyberattacks that can trigger grid violations. This paper introduces Grid-Agent, an autonomous AI-driven framework that leverages Large Language Models (LLMs) within a multi-agent system to detect and remediate violations. Grid-Agent integrates semantic reasoning with numerical precision through modular agents: a planning agent generates coordinated action sequences using power flow solvers, while a validation agent ensures stability and safety through sandboxed execution with rollback mechanisms. To enhance scalability, the framework employs an adaptive multi-scale network representation that dynamically adjusts encoding schemes based on system size and complexity. Violation resolution is achieved through optimizing switch configurations, battery deployment, and load curtailment. Our experiments on IEEE and CIGRE benchmark networks, including the IEEE 69-bus, CIGRE MV, IEEE 30-bus test systems, demonstrate superior mitigation performance, highlighting Grid-Agent's suitability for modern smart grids requiring rapid, adaptive response.

Paperid: 337, https://arxiv.org/pdf/2508.04284.pdf

Abstract:
As computing energy demand continues to grow and electrical grid infrastructure struggles to keep pace, an increasing number of data centers are being planned with colocated microgrids that integrate on-site renewable generation and energy storage. However, while existing research has examined the tradeoffs between operational and embodied carbon emissions in the context of renewable energy certificates, there is a lack of tools to assess how the sizing and composition of microgrid components affects long-term sustainability and power reliability. In this paper, we present a novel optimization framework that extends the computing and energy system co-simulator Vessim with detailed renewable energy generation models from the National Renewable Energy Laboratory's (NREL) System Advisor Model (SAM). Our framework simulates the interaction between computing workloads, on-site renewable production, and energy storage, capturing both operational and embodied emissions. We use a multi-horizon black-box optimization to explore efficient microgrid compositions and enable operators to make more informed decisions when planning energy systems for data centers.

Paperid: 338, https://arxiv.org/pdf/2507.22239.pdf

Abstract:
The increasing digitization of smart grids has improved operational efficiency but also introduced new cybersecurity vulnerabilities, such as False Data Injection Attacks (FDIAs) targeting Automatic Generation Control (AGC) systems. While machine learning (ML) and deep learning (DL) models have shown promise in detecting such attacks, their opaque decision-making limits operator trust and real-world applicability. This paper proposes a hybrid framework that integrates lightweight ML-based attack detection with natural language explanations generated by Large Language Models (LLMs). Classifiers such as LightGBM achieve up to 95.13% attack detection accuracy with only 0.004 s inference latency. Upon detecting a cyberattack, the system invokes LLMs, including GPT-3.5 Turbo, GPT-4 Turbo, and GPT-4o mini, to generate human-readable explanation of the event. Evaluated on 100 test samples, GPT-4o mini with 20-shot prompting achieved 93% accuracy in identifying the attack target, a mean absolute error of 0.075 pu in estimating attack magnitude, and 2.19 seconds mean absolute error (MAE) in estimating attack onset. These results demonstrate that the proposed framework effectively balances real-time detection with interpretable, high-fidelity explanations, addressing a critical need for actionable AI in smart grid cybersecurity.

Paperid: 339, https://arxiv.org/pdf/2507.22226.pdf

Abstract:
The increasing integration of IoT-connected devices in smart grids has introduced new vulnerabilities at the distribution level. Of particular concern is the potential for cyberattacks that exploit high-wattage IoT devices, such as EV chargers, to manipulate local demand and destabilize the grid. While previous studies have primarily focused on such attacks at the transmission level, this paper investigates their feasibility and impact at the distribution level. We examine how cyberattackers can target voltage-sensitive nodes, especially those exposed by the presence of high-consumption devices, to cause voltage deviation and service disruption. Our analysis demonstrates that conventional grid protections are insufficient against these intelligent, localized attacks. To address this, we propose resilience strategies using distributed generation (DGs), exploring their role in preemptive planning. This research highlights the urgent need for distribution-level cyber resilience planning in smart grids.

Paperid: 340, https://arxiv.org/pdf/2507.11377.pdf

Abstract:
Marginal Carbon Intensity (MCI) has been promoted as an effective metric for carbon-aware computing. Although it is already considered as impractical for carbon accounting purposes, many still view it as valuable when optimizing for grid flexibility by incentivizing electricity usage during curtailment periods. In this statement paper, we argue that MCI is neither reliable nor actionable for either purpose. We outline its fundamental limitations, including non-observability, reliance on opaque predictive models, and the lack of verifiability. Moreover, MCI fails to reflect curtailment caused by high-carbon sources and offers no insight into the quantity of available excess power. We advocate moving beyond MCI and instead call for research on more actionable metrics, such as direct reporting of excess power, explicit modeling of energy storage and grid stability, and integration with emerging granular renewable energy certificate markets.

Paperid: 341, https://arxiv.org/pdf/2507.03517.pdf

Abstract:
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the capabilities of aerial robots. The proposed system consists of two aerial robots connected by a flexible rope manipulator, which collects floating litter using a hook-based tool. Compared to single-aerial-robot solutions, the use of two aerial robots increases payload capacity and flight endurance while reducing the downwash effect at the manipulation point, located at the midpoint of the rope. Additionally, we employ an optimization-based rope-shape planner to compute the desired rope shape. The planner incorporates an adaptive behavior that maximizes grasping capabilities near the litter while minimizing rope tension when farther away. The computed rope shape trajectory is controlled by a shape visual servoing controller, which approximates the rope as a parabola. The complete system is validated in outdoor experiments, demonstrating successful grasping operations. An ablation study highlights how the planner's adaptive mechanism improves the success rate of the operation. Furthermore, real-world tests in a water channel confirm the effectiveness of our system in floating litter collection. These results demonstrate the potential of aerial robots for autonomous litter removal in aquatic environments.

Paperid: 342, https://arxiv.org/pdf/2507.02348.pdf

Abstract:
Pinching-antenna systems (PASS) have been recently proposed to improve the performance of wireless networks by reconfiguring both the large-scale and small-scale channel conditions. However, existing studies ignore the physical constraints of antenna placement and assume fixed antenna radiation power. To fill this research gap, this paper investigates the design of PASS taking into account the motion power consumption of pinching-antennas (PAs) and the impact of adjustable antenna radiation power. To that end, we minimize the average power consumption for a given quality-of-service (QoS) requirement, by jointly optimizing the antenna positions, antenna radiation power ratios, and transmit beamforming. To the best of the authors' knowledge, this is the first work to consider radiation power optimization in PASS, which provides an additional degree of freedom (DoF) for system design. The cases with both continuous and discrete antenna placement are considered, where the main challenge lies in the fact that the antenna positions affect both the magnitude and phase of the channel coefficients of PASS, making system optimization very challenging. To tackle the resulting unique obstacles, an alternating direction method of multipliers (ADMM)-based framework is proposed to solve the problem for continuous antenna movement, while its discrete counterpart is formulated as a mixed integer nonlinear programming (MINLP) problem and solved by the block coordinate descent (BCD) method. Simulation results validate the performance enhancement achieved by incorporating PA movement power assumption and adjustable radiation power into PASS design, while also demonstrating the efficiency of the proposed optimization framework. The benefits of PASS over conventional multiple-input multiple-output (MIMO) systems in mitigating the large-scale path loss and inter-user interference is also revealed.

Paperid: 343, https://arxiv.org/pdf/2512.22914.pdf

Abstract:
In the context of distributed fusion estimation, directly transmitting local estimates to the fusion center may cause a privacy leakage concerning exogenous inputs. Thus, it is crucial to protect exogenous inputs against full eavesdropping while achieving distributed fusion estimation. To address this issue, a noise injection strategy is provided by injecting mutually independent noises into the local estimates transmitted to the fusion center. To determine the covariance matrices of the injected noises, a constrained minimization problem is constructed by minimizing the sum of mean square errors of the local estimates while ensuring (ε, δ)-differential privacy. Suffering from the non-convexity of the minimization problem, an approach of relaxation is proposed, which efficiently solves the minimization problem without sacrificing differential privacy level. Then, a differentially private distributed fusion estimation algorithm based on the covariance intersection approach is developed. Further, by introducing a feedback mechanism, the fusion estimation accuracy is enhanced on the premise of the same (ε, δ)-differential privacy. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed algorithms, and the trade-off between differential privacy level and fusion estimation accuracy.

Paperid: 344, https://arxiv.org/pdf/2512.19679.pdf

Abstract:
The security of Automated Vehicles (AVs) is an important emerging area of research in traffic safety. Methods have been published and evaluated in experimental vehicles to secure safe AV control in the presence of attacks, but human motion comfort is rarely investigated in such studies. In this paper, we present an innovative optimal-coupling-observer-based framework that rejects the impact of bounded sensor attacks in a network of connected and automated vehicles from safety and comfort point of view. We demonstrate its performance in car following with cooperative adaptive cruise control for platoons with redundant distance and velocity sensors. The error dynamics are formulated as a Linear Time Variant (LTV) system, resulting in complex stability conditions that are investigated using a Linear Matrix Inequality (LMI) approach guaranteeing global asymptotic stability. We prove the capability of the framework to secure occupants' safety and comfort in the presence of bounded attacks. In the onset of attack, the framework rapidly detects attacked sensors and switches to the most reliable observer eliminating attacked sensors, even with modest attack magnitudes. Without our proposed method, severe (but bounded) attacks result in collisions and major discomfort. With our method, attacks had negligible effects on motion comfort evaluated using ISO-2631 Ride Comfort and Motion Sickness indexes. The results pave the path to bring comfort to the forefront of AVs security.

Paperid: 345, https://arxiv.org/pdf/2512.16736.pdf

Abstract:
This paper investigates the differentially private consensus problem for general linear multi-agent systems (MASs) based on output feedback protocols. To protect the output information, which is considered private data and may be at high risk of exposure, Laplace noise is added to the information exchange. The conditions for achieving mean square and almost sure consensus in observer-based MASs are established using the backstepping method and the convergence theory for nonnegative almost supermartingales. It is shown that the separation principle remains valid for the consensus problem of linear MASs with decaying Laplace noise. Furthermore, the convergence rate is provided. Then, a joint design framework is developed for state estimation gain, feedback control gain, and noise to ensure the preservation of ε-differential privacy. The output information of each agent is shown to be protected at every time step. Finally, sufficient conditions are established for simultaneously achieving consensus and preserving differential privacy for linear MASs utilizing both full-order and reduced-order observers. Meanwhile, an ε*-differentially private consensus is achieved to meet the desired privacy level. Two simulation examples are provided to validate the theoretical results.

Paperid: 346, https://arxiv.org/pdf/2512.16624.pdf

Abstract:
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational resources are severely limited, as in battery-powered tools with embedded processors, existing approaches struggle to meet real-time requirements. In this paper, we address the problem of real-time torque control for impact wrenches, where high-frequency control updates are necessary to accurately track the fast transients occurring during periodic impact events, while maintaining high-performance safety-critical control that mitigates harmful vibrations and component wear. The key novelty of the approach is that we combine data-driven model augmentation through Gaussian process regression with neural network approximation of the resulting control policy. This insight allows us to deploy predictive control on resource-constrained embedded platforms while maintaining both constraint satisfaction and microsecond-level inference times. The proposed framework is evaluated through numerical simulations and hardware experiments on a custom impact wrench testbed. The results show that our approach successfully achieves real-time control suitable for high-frequency operation while maintaining constraint satisfaction and improving tracking accuracy compared to baseline PID control.

Paperid: 347, https://arxiv.org/pdf/2512.11786.pdf

Abstract:
The maritime sector is undergoing a disruptive technological change driven by three main factors: autonomy, decarbonization, and digital transformation. Addressing these factors necessitates a reassessment of inland vessel operations. This paper presents the design and development of a decision support system for ferry operations based on a shrinking-horizon optimal control framework. The problem formulation incorporates a mathematical model of the ferry's dynamics and environmental disturbances, specifically water currents and wind, which can significantly influence the dynamics. Real-world data and illustrative scenarios demonstrate the potential of the proposed system to effectively support ferry crews by providing real-time guidance. This enables enhanced operational efficiency while maintaining predefined maneuver durations. The findings suggest that optimal control applications hold substantial promise for advancing future ferry operations on inland waters. A video of the real-world ferry MS Insel Mainau operating on Lake Constance is available at: https://youtu.be/i1MjCdbEQyE

Paperid: 348, https://arxiv.org/pdf/2512.10874.pdf

Abstract:
Many routing and flow optimization problems in wired networks can be solved efficiently using minimum cost flow formulations. However, this approach does not extend to wireless multi-hop networks, where the assumptions of fixed link capacity and linear cost structure collapse due to contention for shared spectrum resources. The key challenge is that the long-term capacity of a wireless link becomes a non-linear function of its network context, including network topology, link quality, and the traffic assigned to neighboring links. In this work, we pursue a new direction of modeling wireless network under randomized medium access control by developing an analytical network digital twin (NDT) that predicts link duty cycles from network context. We generalize randomized contention as finding a Maximal Independent Set (MIS) on the conflict graph using weighted Luby's algorithm, derive an analytical model of link duty cycles, and introduce an iterative procedure that resolves the circular dependency among duty cycle, link capacity, and contention probability. Our numerical experiments show that the proposed NDT accurately predicts link duty cycles and congestion patterns with up to a 5000x speedup over packet-level simulation, and enables us to optimize link scheduling using gradient descent for reduced congestion and radio footprint.

Paperid: 349, https://arxiv.org/pdf/2512.09902.pdf

Abstract:
Backpressure (BP) routing and scheduling is an established resource allocation method for wireless multi-hop networks, noted for its fully distributed operation and maximum queue stability. Recent advances in shortest path-biased BP routing (SP-BP) mitigate shortcomings such as slow startup and random walks, yet exclusive link-level commodity selection still causes last-packet problem and bandwidth underutilization. By revisiting the Lyapunov drift theory underlying BP, we show that the legacy exclusive commodity selection is unnecessary, and propose a Maximum Utility (MaxU) link-sharing method to expand its performance envelope without increasing control message overhead. Numerical results show that MaxU SP-BP substantially mitigates the last-packet problem and slightly expands the network capacity region.

Paperid: 350, https://arxiv.org/pdf/2512.07448.pdf

Abstract:
This work proposes a novel distributed framework for verifying the incremental stability of large-scale systems with unknown dynamics and known interconnection structures using graph neural networks. Our proposed approach relies on the construction of local incremental Lyapunov functions for subsystems, which are then composed together to obtain a suitable Lyapunov function for the interconnected system. Graph neural networks are used to synthesize these functions in a data-driven fashion. The formal correctness guarantee is then obtained by leveraging Lipschitz bounds of the trained neural networks. Finally, the effectiveness of our approach is validated through two nonlinear case studies.

Paperid: 351, https://arxiv.org/pdf/2511.21343.pdf

Abstract:
This paper presents a model predictive control (MPC) framework leveraging an ensemble of data-based models to optimally control complex systems under multiple operating conditions. A novel combination rule for ensemble models is proposed, based on the statistical Mahalanobis distance, enabling the ensemble weights to suitably vary across the prediction window based on the system input. In addition, a novel state observer for ensemble models is developed using moving horizon estimation (MHE). The effectiveness of the proposed methodology is demonstrated on a benchmark energy system operating under multiple conditions.

Paperid: 352, https://arxiv.org/pdf/2511.21210.pdf

Abstract:
This work studies the linear convergence of an accelerated scheme of the Alternating Direction Method of Multipliers (ADMM) for strongly convex and Lipschitz-smooth problems. We use the methodology of expressing the accelerated ADMM as a Lur'e system, i.e., an interconnection of a linear dynamical system in feedback with a slope-restricted operator, and we use Integral Quadratic Constraints to establish linear convergence. In addition, we propose several parameter tuning heuristics and their impact on the convergence rate through numerical analyses. Our new bounds show improved linear convergence rates compared to the vanilla algorithm and previous proposed accelerated variants, which is also empirically validated on a LASSO regression benchmark.

Paperid: 353, https://arxiv.org/pdf/2511.19336.pdf

Abstract:
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of optimization iterations at each sampling instant, and (ii) relies only on a reduced-order model that neglects part of the system dynamics, either due to unmodeled effects or the presence of a low-level compensator. We prove that the closed-loop system resulting from the interconnection of the suboptimal and reduced-order MPC optimizer with the full-order plant has a globally exponentially stable equilibrium point. Specifically, we employ timescale separation arguments to characterize the interaction between the components of the feedback-interconnected system. The analysis relies on an appropriately tuned timescale parameter accounting for how fast the system dynamics are sampled. The theoretical results are validated through numerical simulations on a mechatronic system consisting of a pendulum actuated by a DC motor.

Paperid: 354, https://arxiv.org/pdf/2511.16424.pdf

Abstract:
The state of the art for model predictive control (MPC)-based distributed Q-learning is limited to first-order gradient updates of the MPC parameterization. In general, using secondorder information can significantly improve the speed of convergence for learning, allowing the use of higher learning rates without introducing instability. This work presents a second-order extension to MPC-based Q-learning with updates distributed across local agents, relying only on locally available information and neighbor-to-neighbor communication. In simulation the approach is demonstrated to significantly outperform first-order distributed Q-learning.

Paperid: 355, https://arxiv.org/pdf/2511.14267.pdf

Abstract:
This paper focuses on the cloud-based parameter identification problem of ARX systems while protecting the system input and output. To do so, a CKKS-cryptosystem-based parameter identification algorithm is proposed. By rigorously proving that the statistical distance between the Gaussian distribution and the truncated discrete one is negligible, the algorithm has the same security level as the standard CKKS cryptosystem. By utilizing the projection mapping on the estimates, the conditions for correct encryption and decryption are given. Based on these conditions, the stochastic approximation method is further employed to achieve the almost sure and mean square convergence of the algorithm. The effectiveness is demonstrated through a numerical example.

Paperid: 356, https://arxiv.org/pdf/2511.11722.pdf

Abstract:
Reducing energy consumption and carbon emissions in data centers by enabling real-time temperature prediction is critical for sustainability and operational efficiency. Achieving this requires accurate modeling of the 3D temperature field to capture airflow dynamics and thermal interactions under varying operating conditions. Traditional thermal CFD solvers, while accurate, are computationally expensive and require expert-crafted meshes and boundary conditions, making them impractical for real-time use. To address these limitations, we develop a vision-based surrogate modeling framework that operates directly on a 3D voxelized representation of the data center, incorporating server workloads, fan speeds, and HVAC temperature set points. We evaluate multiple architectures, including 3D CNN U-Net variants, a 3D Fourier Neural Operator, and 3D vision transformers, to map these thermal inputs to high-fidelity heat maps. Our results show that the surrogate models generalize across data center configurations and achieve up to 20,000x speedup (hundreds of milliseconds vs. hours). This fast and accurate estimation of hot spots and temperature distribution enables real-time cooling control and workload redistribution, leading to substantial energy savings (7\%) and reduced carbon footprint.

Paperid: 357, https://arxiv.org/pdf/2511.05327.pdf

Abstract:
This paper establishes the privacy-preserving Cramér-Rao (CR) lower bound theory, characterizing the fundamental limit of identification accuracy under privacy constraint. An identifiability criterion under privacy constraint is derived by using Fisher information matrix as the privacy metric. In the identifiable case, the privacy-preserving CR lower bound is established and its attainability is demonstrated, thereby ensuring the existence of the privacy-preserving Fisher information matrix with explicit expression. Then, the privacy-preserving CR lower bound theory is extended to the multi-sensor multi-measurement system. Specifically, the additivity principle of privacy-preserving Fisher information matrices across both spatial and temporal dimensions is established, building a relationship between privacy-preserving CR lower bounds for the multi-sensor multi-measurement system and its subsystems. Using this additivity principle, distributed identification algorithms capable of achieving the privacy-preserving CR lower bound are further proposed. Numerical examples are provided to demonstrate the privacy-preserving CR lower bound and show the effectiveness of the proposed algorithms.

Paperid: 358, https://arxiv.org/pdf/2511.03734.pdf

Abstract:
The Koopman operator and extended dynamic mode decomposition (EDMD) as a data-driven technique for its approximation have attracted considerable attention as a key tool for modeling, analysis, and control of complex dynamical systems. However, extensions towards control-affine systems resulting in bilinear surrogate models are prone to demanding data requirements rendering their applicability intricate. In this paper, we propose a framework for data-fitting of control-affine mappings to increase the robustness margin in the associated system identification problem and, thus, to provide more reliable bilinear EDMD schemes. In particular, guidelines for input selection based on subspace angles are deduced such that a desired threshold with respect to the minimal singular value is ensured. Moreover, we derive necessary and sufficient conditions of optimality for maximizing the minimal singular value. Further, we demonstrate the usefulness of the proposed approach using bilinear EDMD with control for non-holonomic robots.

Paperid: 359, https://arxiv.org/pdf/2511.00117.pdf

Abstract:
The increasing energy demands and carbon footprint of large-scale AI require intelligent workload management in globally distributed data centers. Yet progress is limited by the absence of benchmarks that realistically capture the interplay of time-varying environmental factors (grid carbon intensity, electricity prices, weather), detailed data center physics (CPUs, GPUs, memory, HVAC energy), and geo-distributed network dynamics (latency and transmission costs). To bridge this gap, we present DCcluster-Opt: an open-source, high-fidelity simulation benchmark for sustainable, geo-temporal task scheduling. DCcluster-Opt combines curated real-world datasets, including AI workload traces, grid carbon intensity, electricity markets, weather across 20 global regions, cloud transmission costs, and empirical network delay parameters with physics-informed models of data center operations, enabling rigorous and reproducible research in sustainable computing. It presents a challenging scheduling problem where a top-level coordinating agent must dynamically reassign or defer tasks that arrive with resource and service-level agreement requirements across a configurable cluster of data centers to optimize multiple objectives. The environment also models advanced components such as heat recovery. A modular reward system enables an explicit study of trade-offs among carbon emissions, energy costs, service level agreements, and water use. It provides a Gymnasium API with baseline controllers, including reinforcement learning and rule-based strategies, to support reproducible ML research and a fair comparison of diverse algorithms. By offering a realistic, configurable, and accessible testbed, DCcluster-Opt accelerates the development and validation of next-generation sustainable computing solutions for geo-distributed data centers.

Paperid: 360, https://arxiv.org/pdf/2511.00116.pdf

Abstract:
Liquid cooling is critical for thermal management in high-density data centers with the rising AI workloads. However, machine learning-based controllers are essential to unlock greater energy efficiency and reliability, promoting sustainability. We present LC-Opt, a Sustainable Liquid Cooling (LC) benchmark environment, for reinforcement learning (RL) control strategies in energy-efficient liquid cooling of high-performance computing (HPC) systems. Built on the baseline of a high-fidelity digital twin of Oak Ridge National Lab's Frontier Supercomputer cooling system, LC-Opt provides detailed Modelica-based end-to-end models spanning site-level cooling towers to data center cabinets and server blade groups. RL agents optimize critical thermal controls like liquid supply temperature, flow rate, and granular valve actuation at the IT cabinet level, as well as cooling tower (CT) setpoints through a Gymnasium interface, with dynamic changes in workloads. This environment creates a multi-objective real-time optimization challenge balancing local thermal regulation and global energy efficiency, and also supports additional components like a heat recovery unit (HRU). We benchmark centralized and decentralized multi-agent RL approaches, demonstrate policy distillation into decision and regression trees for interpretable control, and explore LLM-based methods that explain control actions in natural language through an agentic mesh architecture designed to foster user trust and simplify system management. LC-Opt democratizes access to detailed, customizable liquid cooling models, enabling the ML community, operators, and vendors to develop sustainable data center liquid cooling control solutions.

Paperid: 361, https://arxiv.org/pdf/2510.26531.pdf

Abstract:
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central to the approach is a computationally efficient and continuously differentiable condition for detecting collisions with ellipsoidal obstacles. A novel two-stage optimization approach mitigates numerical issues arising from the structure of the resulting optimal control problem. The effectiveness of the approach is demonstrated through simulations and real-world experiments with the Crazyflie quadrotor. This represents the first hardware demonstration of an MPC controller of this kind for UAVs in a three-dimensional task.

Paperid: 362, https://arxiv.org/pdf/2510.16028.pdf

Abstract:
Neural networks increasingly run on hardware outside the user's control (cloud GPUs, inference marketplaces). Yet ML-as-a-Service reveals little about what actually ran or whether returned outputs faithfully reflect the intended inputs. Users lack recourse against service downgrades (model swaps, quantization, graph rewrites, or discrepancies like altered ad embeddings). Verifying outputs is hard because floating-point(FP) execution on heterogeneous accelerators is inherently nondeterministic. Existing approaches are either impractical for real FP neural networks or reintroduce vendor trust. We present NAO: a Nondeterministic tolerance Aware Optimistic verification protocol that accepts outputs within principled operator-level acceptance regions rather than requiring bitwise equality. NAO combines two error models: (i) sound per-operator IEEE-754 worst-case bounds and (ii) tight empirical percentile profiles calibrated across hardware. Discrepancies trigger a Merkle-anchored, threshold-guided dispute game that recursively partitions the computation graph until one operator remains, where adjudication reduces to a lightweight theoretical-bound check or a small honest-majority vote against empirical thresholds. Unchallenged results finalize after a challenge window, without requiring trusted hardware or deterministic kernels. We implement NAO as a PyTorch-compatible runtime and a contract layer currently deployed on Ethereum Holesky testnet. The runtime instruments graphs, computes per-operator bounds, and runs unmodified vendor kernels in FP32 with negligible overhead (0.3% on Qwen3-8B). Across CNNs, Transformers and diffusion models on A100, H100, RTX6000, RTX4090, empirical thresholds are $10^2-10^3$ times tighter than theoretical bounds, and bound-aware adversarial attacks achieve 0% success. NAO reconciles scalability with verifiability for real-world heterogeneous ML compute.

Paperid: 363, https://arxiv.org/pdf/2510.12549.pdf

Abstract:
This paper focuses on the privacy-preserving distributed estimation problem with a limited data rate, where the observations are the sensitive information. Specifically, a binary-valued quantizer-based privacy-preserving distributed estimation algorithm is developed, which improves the algorithm's privacy-preserving capability and simultaneously reduces the communication costs. The algorithm's privacy-preserving capability, measured by the Fisher information matrix, is dynamically enhanced over time. Notably, the Fisher information matrix of the output signals with respect to the sensitive information converges to zero at a polynomial rate, and the improvement in privacy brought by the quantizers is quantitatively characterized as a multiplicative effect. Regarding the communication costs, each sensor transmits only 1 bit of information to its neighbours at each time step. Additionally, the assumption on the negligible quantization error for real-valued messages is not required. While achieving the requirements of privacy preservation and reducing communication costs, the algorithm ensures that its estimates converge almost surely to the true value of the unknown parameter by establishing a co-design guideline for the time-varying privacy noises and step-sizes. A polynomial almost sure convergence rate is obtained, and then the trade-off between privacy and convergence rate is established. Numerical examples demonstrate the main results.

Paperid: 364, https://arxiv.org/pdf/2510.06518.pdf

Abstract:
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional perception systems because they lack discernible features and can cause conventional depth sensors to fail, leading to inaccurate maps and potential collisions. To ensure safe navigation, robots must be able to accurately detect and map these transparent obstacles. Existing methods often rely on large, expensive sensors or algorithms that impose high computational burdens, making them unsuitable for low Size, Weight, and Power (SWaP) robots. In this work, we propose a novel and computationally efficient framework for detecting and mapping transparent obstacles onboard a sub-300g quadrotor. Our method fuses data from a Time-of-Flight (ToF) camera and an ultrasonic sensor with a custom, lightweight 2D convolution model. This specialized approach accurately detects specular reflections and propagates their depth into corresponding empty regions of the depth map, effectively rendering transparent obstacles visible. The entire pipeline operates in real-time, utilizing only a small fraction of a CPU core on an embedded processor. We validate our system through a series of experiments in both controlled and real-world environments, demonstrating the utility of our method through experiments where the robot maps indoor environments containing glass. Our work is, to our knowledge, the first of its kind to demonstrate a real-time, onboard transparent obstacle mapping system on a low-SWaP quadrotor using only the CPU.

Paperid: 365, https://arxiv.org/pdf/2509.26597.pdf

Abstract:
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world scenarios due to the availability of partial state information. In this work, we propose a neural network-based framework for the co-design of a safety controller, observer, and CBF for partially observed continuous-time systems. By formulating barrier conditions over an augmented state space, our approach ensures safety without requiring bounded estimation errors or handcrafted barrier functions. All components are jointly trained by formulating appropriate loss functions, and we introduce a validity condition to provide formal safety guarantees beyond the training data. Finally, we demonstrate the effectiveness of the proposed approach through several case studies.

Paperid: 366, https://arxiv.org/pdf/2509.25719.pdf

Abstract:
Modern wireless systems require not only position estimates, but also quantified uncertainty to support planning, control, and radio resource management. We formulate localization as posterior inference of an unknown transmitter location from receiver measurements. We propose Monte Carlo Candidate-Likelihood Estimation (MC-CLE), which trains a neural scoring network using Monte Carlo sampling to compare true and candidate transmitter locations. We show that in line-of-sight simulations with a multi-antenna receiver, MC-CLE learns critical properties including angular ambiguity and front-to-back antenna patterns. MC-CLE also achieves lower cross-entropy loss relative to a uniform baseline and Gaussian posteriors. alternatives under a uniform-loss metric.

Paperid: 367, https://arxiv.org/pdf/2509.24157.pdf

Abstract:
This paper investigates the problem of identifying state-dependent switching systems, a class of hybrid dynamical systems that combine multiple linear or nonlinear modes. We propose two broad classes of switching systems: switching linear systems (SLSs) and switching polynomial systems (SPSs). We first formulate the joint estimation of the mode dynamics and switching rules as a mixed integer program. To solve its inherent scalability issue, we develop a hierarchy of convex relaxations and establish a bound and conditions under which these relaxations are tight. Building on these results, we propose a bilevel convex optimization framework that alternates between mode assignment and dynamics estimation, and we recover switching boundaries using margin-based polynomial classifiers. Numerical experiments on both linear and nonlinear oscillators demonstrate that the method accurately identifies mode dynamics and reconstructs switching surfaces from trajectory data. Our results provide a tractable optimization-based framework for switching system identification.

Paperid: 368, https://arxiv.org/pdf/2509.23975.pdf

Abstract:
The control of high-dimensional distributed parameter systems (DPS) remains a challenge when explicit coarse-grained equations are unavailable. Classical equation-free (EF) approaches rely on fine-scale simulators treated as black-box timesteppers. However, repeated simulations for steady-state computation, linearization, and control design are often computationally prohibitive, or the microscopic timestepper may not even be available, leaving us with data as the only resource. We propose a data-driven alternative that uses local neural operators, trained on spatiotemporal microscopic/mesoscopic data, to obtain efficient short-time solution operators. These surrogates are employed within Krylov subspace methods to compute coarse steady and unsteady-states, while also providing Jacobian information in a matrix-free manner. Krylov-Arnoldi iterations then approximate the dominant eigenspectrum, yielding reduced models that capture the open-loop slow dynamics without explicit Jacobian assembly. Both discrete-time Linear Quadratic Regulator (dLQR) and pole-placement (PP) controllers are based on this reduced system and lifted back to the full nonlinear dynamics, thereby closing the feedback loop.

Paperid: 369, https://arxiv.org/pdf/2509.14106.pdf

Abstract:
Asymptotic boundedness is a crucial property of Distributed Set-Membership Filtering (DSMFing) that prevents the unbounded growth of the set estimates caused by the wrapping effect. However, this important property remains underinvestigated, compared to its noise-free and stochastic-noise counterparts, i.e., the convergence of Distributed Observers (DOs) and the bounded error covariance of Distributed Kalman Filters (DKFs). This paper studies the asymptotic boundedness of DSMFing for linear discrete-time systems. A novel concept, termed the Collective Observation-Information Tower (COIT), is introduced to characterize the fundamental relationship between the structure of graphs and the set estimates, which enables the boundedness analysis. Leveraging the COIT, an easily verifiable sufficient condition for the asymptotic boundedness of linear DSMFing is established. Surprisingly, the sufficient condition generalizes the well-known collective detectability condition for DOs and DKFs; it links DSMFs to existing distributed estimation methods and reveals the unique characteristic of DSMFs.

Paperid: 370, https://arxiv.org/pdf/2509.10029.pdf

Abstract:
We present eRTIS, a rugged, embedded ultrasound sensing system for use in harsh industrial environments. The system features a broadband capacitive transducer and a 32-element MEMS microphone array capable of 2D and 3D beamforming. A modular hardware architecture separates sensing and processing tasks: a high-performance microcontroller handles excitation signal generation and data acquisition, while an NVIDIA Jetson module performs GPU-accelerated signal processing. eRTIS supports external synchronization via a custom controller that powers and coordinates up to six devices, either simultaneously or in a defined sequence. Additional synchronization options include bidirectional triggering and in-band signal injection. A sealed, anodized aluminum enclosure with passive cooling and IP-rated connectors ensures reliability in challenging conditions. Performance is demonstrated in three field scenarios: harbor mooring, off-road robotics, and autonomous navigation in cluttered environments, demonstrates that eRTIS provides robust sensing in situations where optical systems degrade.

Paperid: 371, https://arxiv.org/pdf/2509.04506.pdf

Abstract:
Memristors are an emerging technology that enables artificial intelligence (AI) accelerators with high energy efficiency and radiation robustness -- properties that are vital for the deployment of AI on-board spacecraft. However, space applications require reliable and precise computations, while memristive devices suffer from non-idealities, such as device variability, conductance drifts, and device faults. Thus, porting neural networks (NNs) to memristive devices often faces the challenge of severe performance degradation. In this work, we show in simulations that memristor-based NNs achieve competitive performance levels on on-board tasks, such as navigation \& control and geodesy of asteroids. Through bit-slicing, temporal averaging of NN layers, and periodic activation functions, we improve initial results from around $0.07$ to $0.01$ and $0.3$ to $0.007$ for both tasks using RRAM devices, coming close to state-of-the-art levels ($0.003-0.005$ and $0.003$, respectively). Our results demonstrate the potential of memristors for on-board space applications, and we are convinced that future technology and NN improvements will further close the performance gap to fully unlock the benefits of memristors.

Paperid: 372, https://arxiv.org/pdf/2509.03030.pdf

Abstract:
Mean Field Games (MFGs) offer a powerful framework for studying large-scale multi-agent systems. Yet, learning Nash equilibria in MFGs remains a challenging problem, particularly when the initial distribution is unknown or when the population is subject to common noise. In this paper, we introduce an efficient deep reinforcement learning (DRL) algorithm designed to achieve population-dependent Nash equilibria without relying on averaging or historical sampling, inspired by Munchausen RL and Online Mirror Descent. The resulting policy is adaptable to various initial distributions and sources of common noise. Through numerical experiments on seven canonical examples, we demonstrate that our algorithm exhibits superior convergence properties compared to state-of-the-art algorithms, particularly a DRL version of Fictitious Play for population-dependent policies. The performance in the presence of common noise underscores the robustness and adaptability of our approach.

Paperid: 373, https://arxiv.org/pdf/2509.02369.pdf

Abstract:
In recent years, the space community has been exploring the possibilities of Artificial Intelligence (AI), specifically Artificial Neural Networks (ANNs), for a variety of on board applications. However, this development is limited by the restricted energy budget of smallsats and cubesats as well as radiation concerns plaguing modern chips. This necessitates research into neural network accelerators capable of meeting these requirements whilst satisfying the compute and performance needs of the application. This paper explores the use of Phase-Change Memory (PCM) and Resistive Random-Access Memory (RRAM) memristors for on-board in-memory computing AI acceleration in space applications. A guidance and control neural network (G\&CNET) accelerated using memristors is simulated in a variety of scenarios and with both device types to evaluate the performance of memristor-based accelerators, considering device non-idealities such as noise and conductance drift. We show that the memristive accelerator is able to learn the expert actions, though challenges remain with the impact of noise on accuracy. We also show that re-training after degradation is able to restore performance to nominal levels. This study provides a foundation for future research into memristor-based AI accelerators for space, highlighting their potential and the need for further investigation.

Paperid: 374, https://arxiv.org/pdf/2509.01372.pdf

Abstract:
This paper presents the ConamArray, a compact broadband ultrasound transducer array composed of 32 MEMS loudspeakers. Unlike conventional broadband transducers, which are typically large and require high driving voltages, the proposed array combines small form factor MEMS devices in a staggered two-row configuration to enable beam steering across a wide ultrasonic band. A dual-microcontroller back-end with synchronized multi-DAC outputs provides flexible waveform generation and runtime steering control. Both simulations and anechoic chamber measurements demonstrate that the ConamArray achieves stable beam steering, while also revealing the onset of grating lobes when steering to larger angles. These results confirm the feasibility of broadband beam steering using MEMS technology, opening new opportunities for applications in ultrasonic imaging, localization, and bio-inspired robotics.

Paperid: 375, https://arxiv.org/pdf/2509.01212.pdf

Abstract:
Conventional ultrasonic inspection systems rely on phased arrays and high-performance computing hardware, making them costly, bulky, and unsuitable for portable or embedded use. In this work, we present nRTIS (nano Real-Time 3D Imaging Sonar), a compact ultrasonic sensing platform built around a circular array of MEMS microphones and a central ultrasonic transducer. The device achieves real-time acquisition through an RP2350 microcontroller and high-speed USB transfer. We validate the system using both simulations and controlled experiments: point spread function (PSF) simulations demonstrate beamforming resolution and sidelobe suppression, while reflector measurements confirm robust data acquisition. These results highlight the potential of nRTIS for scalable industrial applications such as weld inspection, pipe mapping, and robotic navigation.

Paperid: 376, https://arxiv.org/pdf/2508.09908.pdf

Abstract:
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example.

Paperid: 377, https://arxiv.org/pdf/2508.09620.pdf

Abstract:
Minimizing energy consumption of low-power wireless nodes is a persistent challenge from the constrained Internet of Things (IoT). In this paper, we start from the observation that constrained IoT devices have largely different hardware (im-)balances than full-scale machines. We find that the performance gap between MCU and network throughput on constrained devices enables minimal energy delay product (EDP) for IoT networking at largely reduced clock frequencies. We analyze the potentials by integrating dynamic voltage and frequency scaling (DVFS) into the RIOT IoT operating system and show that the DVFS reconfiguration overhead stays below the energy saved for a single, downscaled MAC operation. Backed by these findings, we systematically investigate how DVFS further improves energy-efficiency for common networking tasks -- in addition to duty-cycling. We measure IoT communication scenarios between real-world systems and analyze two MAC operating modes -- CSMA/CA and time slotting -- in combination with different CoAP transactions, payload sizes, as well as DTLS transport encryption. Our experiments reveal energy savings between 24% and 52% for MAC operations and up to 37% for encrypted CoAP communication. These results shall encourage research and system design work to integrate DVFS in future IoT devices for performing tasks at their optimal frequencies and thereby significantly extending battery lifetimes.

Paperid: 378, https://arxiv.org/pdf/2508.02494.pdf

Abstract:
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of perception and control in autonomous vehicles, we propose a novel perception-based control approach that incorporates road estimation, quantification of its uncertainty, and uncertainty-aware control based on this estimate. At the core of our method is a parametric road curvature model, optimized using visual measurements of the road through a constrained nonlinear optimization problem. This process ensures adherence to constraints on both model parameters and curvature. By leveraging the Frenet frame formulation, we embed the estimated track curvature into the system dynamics, allowing the controller to explicitly account for perception uncertainty and enhancing robustness to estimation errors based on visual input. We validate our approach in a simulated environment, using a high-fidelity 3D rendering engine, and demonstrate its effectiveness in achieving reliable and uncertainty-aware control for autonomous racing.

Paperid: 379, https://arxiv.org/pdf/2508.01469.pdf

Abstract:
We present VWAttacker, the first systematic testing framework for analyzing the security of Voice over WiFi (VoWiFi) User Equipment (UE) implementations. VWAttacker includes a complete VoWiFi network testbed that communicates with Commercial-Off-The-Shelf (COTS) UEs based on a simple interface to test the behavior of diverse VoWiFi UE implementations; uses property-guided adversarial testing to uncover security issues in different UEs systematically. To reduce manual effort in extracting and testing properties, we introduce an LLM-based, semi-automatic, and scalable approach for property extraction and testcase (TC) generation. These TCs are systematically mutated by two domain-specific transformations. Furthermore, we introduce two deterministic oracles to detect property violations automatically. Coupled with these techniques, VWAttacker extracts 63 properties from 11 specifications, evaluates 1,116 testcases, and detects 13 issues in 21 UEs. The issues range from enforcing a DH shared secret to 0 to supporting weak algorithms. These issues result in attacks that expose the victim UE's identity or establish weak channels, thus severely hampering the security of cellular networks. We responsibly disclose the findings to all the related vendors. At the time of writing, one of the vulnerabilities has been acknowledged by MediaTek with high severity.

Paperid: 380, https://arxiv.org/pdf/2508.00928.pdf

Abstract:
Automated vehicles will allow occupants to engage in non-driving tasks, but limited visual cues will make them vulnerable to unexpected movements. These unpredictable perturbations create a "surprise factor," forcing the central nervous system to rely on compensatory postural adjustments, which are less effective, and are more likely to trigger sensory conflicts. Since the head is a key reference for sensory input (vestibular and vision), models accurately capturing head-neck postural stabilization are essential for assessing AV comfort. This study extends an existing model predictive control-based framework to simulate head-neck postural control under lateral perturbations. Experimental validation against human data demonstrates that the model can accurately reproduce dynamic responses during lateral trunk perturbations. The results show that muscle effort combined with partial somatosensory feedback provides the best overall dynamic fit without requiring corrective relative and global head orientation integrators for posture.

Paperid: 381, https://arxiv.org/pdf/2507.19516.pdf

Abstract:
Safety and stability are two critical concerns in pursuit-evasion (PE) problems in an obstacle-rich environment. Most existing works combine control barrier functions (CBFs) and reinforcement learning (RL) to provide an efficient and safe solution. However, they do not consider the presence of disturbances, such as wind gust and actuator fault, which may exist in many practical applications. This paper integrates CBFs and a sliding mode control (SMC) term into RL to simultaneously address safety, stability, and robustness to disturbances. However, this integration is significantly challenging due to the strong coupling between the CBF and SMC terms. Inspired by Stackelberg game, we handle the coupling issue by proposing a hierarchical design scheme where SMC and safe control terms interact with each other in a leader-follower manner. Specifically, the CBF controller, acting as the leader, enforces safety independently of the SMC design; while the SMC term, as the follower, is designed based on the CBF controller. We then formulate the PE problem as a zero-sum game and propose a safe robust RL framework to learn the min-max strategy online. A sufficient condition is provided under which the proposed algorithm remains effective even when constraints are conflicting. Simulation results demonstrate the effectiveness of the proposed safe robust RL framework.

Paperid: 382, https://arxiv.org/pdf/2507.18001.pdf

Abstract:
Small-signal stability issues-induced broadband oscillations pose significant threats to the secure operation of multi-inverter systems, attracting extensive research attention. Researches revealed that system instability is led by the lacking of positive damping, yet it has not been clearly specified how much the exact amount of damping compensation required to sufficiently ensure system global stability. This paper presents a feasible solution for quantitative damping calculation and compensation to enhance the global stability of inverter-based systems. First, based on the system nodal admittance model, a quantitative damping calculation algorithm is presented, which can suggest the required damping compensation as well as compensation location for sufficient stability improvement. Then, we propose a specific AD with output current feedforward control strategy, which make the AD be quasi-pure resistive and can effectively enhance system damping efficiency. Finally, a testing system with three inverters is used as case study, showing that the proposed method provides a promising solution to efficiently enhance the global stability improvement of inverter-based systems. Simulations and experiments validate the proposed method.

Paperid: 383, https://arxiv.org/pdf/2507.16495.pdf

Abstract:
Neurons communicate with downstream systems via sparse and incredibly brief electrical pulses, or spikes. Using these events, they control various targets such as neuromuscular units, neurosecretory systems, and other neurons in connected circuits. This gave rise to the idea of spiking neurons as controllers, in which spikes are the control signal. Using instantaneous events directly as the control inputs, also called `impulse control', is challenging as it does not scale well to larger networks and has low analytical tractability. Therefore, current spiking control usually relies on filtering the spike signal to approximate analog control. This ultimately means spiking neural networks (SNNs) have to output a continuous control signal, necessitating continuous energy input into downstream systems. Here, we circumvent the need for rate-based representations, providing a scalable method for task-specific spiking control with sparse neural activity. In doing so, we take inspiration from both optimal control and neuroscience theory, and define a spiking rule where spikes are only emitted if they bring a dynamical system closer to a target. From this principle, we derive the required connectivity for an SNN, and show that it can successfully control linear systems. We show that for physically constrained systems, predictive control is required, and the control signal ends up exploiting the passive dynamics of the downstream system to reach a target. Finally, we show that the control method scales to both high-dimensional networks and systems. Importantly, in all cases, we maintain a closed-form mathematical derivation of the network connectivity, the network dynamics and the control objective. This work advances the understanding of SNNs as biologically-inspired controllers, providing insight into how real neurons could exert control, and enabling applications in neuromorphic hardware design.

Paperid: 384, https://arxiv.org/pdf/2507.15093.pdf

Abstract:
The challenge of finding exact and finite-dimensional Koopman embeddings of nonlinear systems has been largely circumvented by employing data-driven techniques to learn models of different complexities (e.g., linear, bilinear, input affine). Although these models may provide good accuracy, selecting the model structure and dimension is still ad-hoc and it is difficult to quantify the error that is introduced. In contrast to the general trend of data-driven learning, in this paper, we develop a systematic technique for nonlinear systems that produces a finite-dimensional and exact embedding. If the nonlinear system is represented as a network of series and parallel linear and nonlinear (polynomial) blocks, one can derive an associated Koopman model that has constant state and output matrices and the input influence is polynomial. Furthermore, if the linear blocks do not have feedthrough, the Koopman representation simplifies to a bilinear model.

Paperid: 385, https://arxiv.org/pdf/2507.09646.pdf

Abstract:
This paper presents a novel identification approach of Koopman models of nonlinear systems with inputs under rather general noise conditions. The method uses deep state-space encoders based on the concept of state reconstructability and an efficient multiple-shooting formulation of the squared loss of the prediction error to estimate the dynamics and the lifted state from input-output data. Furthermore, the Koopman model structure includes an innovation noise term that is used to handle process and measurement noise. It is shown that the proposed approach is statistically consistent and computationally efficient due to the multiple-shooting formulation where, on subsections of the data, multi-step prediction errors can be calculated in parallel. The latter allows for efficient batch optimization of the network parameters and, at the same time, excellent long-term prediction capabilities of the obtained models. The performance of the approach is illustrated by nonlinear benchmark examples.

Paperid: 386, https://arxiv.org/pdf/2507.07645.pdf

Abstract:
The integration of compressive sensing with real-time embedded systems opens new possibilities for efficient, low-power biomedical signal acquisition. This paper presents a custom hardware platform based on the RP2350 micro-controller, tailored for synchronized multi-modal biomedical monitoring. The system is capable of capturing cardiopulmonary sounds, along with biopotential signals such as phonocardiography (PCG), electrocardiography (ECG) and electromyography (EMG), photoplethysmography (PPG), and inertial measurement unit (IMU) data for posture recognition. To ensure sample-accurate synchronization, a Sub-1GHz radio system is used across multiple nodes. Wi-Fi and Bluetooth connectivity enable centralized data aggregation. Experimental results demonstrate the achieved decrease in power consumption when using compressive sensing, efficient multi-node synchronization, and scalability for wireless biomedical monitoring applications. The compact form factor and low-cost design make it suitable for various medical applications, including remote healthcare and long-term monitoring.

Paperid: 387, https://arxiv.org/pdf/2512.18698.pdf

Abstract:
We investigate real-time tracking of two correlated stochastic processes over a shared wireless channel. The joint evolution of the processes is modeled as a two-dimensional discrete-time Markov chain. Each process is observed by a dedicated sampler and independently reconstructed at a remote monitor according to a task-specific objective. Although both processes originate from a common underlying phenomenon (e.g., distinct features of the same source), each monitor is interested only in its corresponding feature. A reconstruction error is incurred when the true and reconstructed states mismatch at one or both monitors. To address this problem, we propose an error-aware joint sampling and transmission policy, under which each sampler probabilistically generates samples only when the current process state differs from the most recently reconstructed state at its corresponding monitor. We adopt the time-averaged reconstruction error as the primary performance metric and benchmark the proposed policy against state-of-the-art joint sampling and transmission schemes. For each policy, we derive closed-form expressions for the resulting time-averaged reconstruction error. We further formulate and solve an optimization problem that minimizes the time-averaged reconstruction error subject to an average sampling cost constraint. Analytical and numerical results demonstrate that the proposed error-aware policy achieves the minimum time-averaged reconstruction error among the considered schemes while efficiently utilizing the sampling budget. The performance gains are particularly pronounced in regimes with strong inter-process correlation and stringent tracking requirements, where frequent sampling by both samplers is necessary.

Paperid: 388, https://arxiv.org/pdf/2512.17249.pdf

Abstract:
In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D bearing measurements from a multi-antenna UWB anchor rigidly mounted on the UAV. To enhance the stability and safety under measurement degradation and motion uncertainty, we jointly design a robust factor-graph-based target localization method and a covariance-aware control Lyapunov function--control barrier function (CLF--CBF) tracking controller. This controller adaptively adjusts distance bounds and safety margins based on the posterior target covariance provided by the factor graph. The proposed system is evaluated through numerical simulations and real-world experiments carried out in a narrow indoor corridor environment.

Paperid: 389, https://arxiv.org/pdf/2512.08544.pdf

Abstract:
We consider a behavioral-feedback SIR epidemic model, in which the infection rate depends in feedback on the fractions of susceptible and infected agents, respectively. The considered model allows one to account for endogenous adaptation mechanisms of the agents in response to the epidemics, such as voluntary social distancing, or the adoption of face masks. For this model, we formulate an optimal control problem for a social planner that has the ability to reduce the infection rate to keep the infection curve below a certain threshold within an infinite time horizon, while minimizing the intervention cost. Based on the dynamic properties of the model, we prove that, under quite general conditions on the infection rate, the \emph{filling the box} strategy is the optimal control. This strategy consists in letting the epidemics spread without intervention until the threshold is reached, then applying the minimum control that leaves the fraction of infected individuals constantly at the threshold until the reproduction number becomes less than one and the infection naturally fades out. Our result generalizes one available in the literature for the equivalent problem formulated for the classical SIR model, which can be recovered as a special case of our model when the infection rate is constant. Our contribution enhances the understanding of epidemic management with adaptive human behavior, offering insights for robust containment strategies.

Paperid: 390, https://arxiv.org/pdf/2512.06198.pdf

Abstract:
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement from a fixed anchor point. The design first formulates an extended linear time-varying (LTV) system to estimate body-frame position, body-frame velocity, and the gravity direction. The recovered gravity direction, combined with the body-frame vector measurement, is then used to reconstruct the full orientation on $\mathrm{SO}(3)$, resulting in a cascaded observer architecture. Almost Global Asymptotic Stability (AGAS) of the cascaded design is established under a uniform observability condition, ensuring robustness to sensor noise and trajectory variations. Simulation studies on three-dimensional trajectories demonstrate accurate estimation of position, velocity, and orientation, highlighting single-range aiding as a lightweight and effective modality for autonomous navigation.

Paperid: 391, https://arxiv.org/pdf/2512.00483.pdf

Abstract:
Data-driven modeling of building thermal dynamics is emerging as an increasingly important field of research for large-scale intelligent building control. However, research in data-driven modeling using machine learning (ML) techniques requires massive amounts of thermal building data, which is not easily available. Neither empirical public datasets nor existing data generators meet the needs of ML research in terms of data quality and quantity. Moreover, existing data generation approaches typically require expert knowledge in building simulation. To fill this gap, we present a thermal building data generation framework which we call BuilDa. BuilDa is designed to produce synthetic data of adequate quality and quantity for ML research. The framework does not require profound building simulation knowledge to generate large volumes of data. BuilDa uses a single-zone Modelica model that is exported as a Functional Mock-up Unit (FMU) and simulated in Python. We demonstrate BuilDa by generating data and utilizing it for a transfer learning study involving the fine-tuning of 486 data-driven models.

Paperid: 392, https://arxiv.org/pdf/2511.20453.pdf

Abstract:
High-precision wireless localization in urban canyons is challenged by noisy measurements and severe non-line-of-sight (NLOS) propagation. This paper proposes a robust three-stage algorithm synergizing a digital twin (DT) model with the random sample consensus (RANSAC) algorithm to overcome these limitations. The method leverages the DT for geometric path association and employs RANSAC to identify reliable line-of-sight (LOS) and single-bounce NLOS paths while rejecting multi-bounce outliers. A final optimization on the resulting inlier set estimates the user's position and clock bias. Simulations validate that by effectively turning NLOS paths into valuable geometric information via the DT, the approach enables accurate localization, reduces reliance on direct LOS, and significantly lowers system deployment costs, making it suitable for practical deployment.

Paperid: 393, https://arxiv.org/pdf/2511.14311.pdf

Abstract:
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem in real time remains challenging when combining long horizons with high-fidelity models that capture both short-term dynamics and long-term behavior. Motivated by results on the Exponential Decay of Sensitivities (EDS), which imply that, under certain conditions, the influence of modeling inaccuracies decreases exponentially along the prediction horizon, this paper proposes a multi-timescale MPC scheme for fast-sampled control. Tailored to systems with both fast and slow dynamics, the proposed approach improves computational efficiency by i) switching to a reduced model that captures only the slow, dominant dynamics and ii) exponentially increasing integration step sizes to progressively reduce model detail along the horizon. We evaluate the method on three practically motivated robotic control problems in simulation and observe speed-ups of up to an order of magnitude.

Paperid: 394, https://arxiv.org/pdf/2511.13429.pdf

Abstract:
In this paper, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to fly between two predetermined locations while maintaining ultra-reliable low-latency communications (URLLC) for command-and-control (C2) links with terrestrial base stations (BSs). Long-range flights often trigger frequent inter-cell handovers, which may introduce delays and synchronization overhead. We jointly optimize the continuous trajectory and BS association to minimize handovers, path length, and flying time, subject to communication reliability and kinematic constraints. To address this problem, we reformulate it as an optimization based on the graph of convex sets (GCS). First, the URLLC requirement is translated into spatially feasible regions in the flight plane for each BS. And an intersection graph is constructed including the start and goal points. Each graph node is associated with a smooth and dynamically feasible trajectory segment. The trajectory is parameterized in space by Bézier curves and in time by a monotonic Bézier scaling, together with convex constraints that ensure continuity and enforce speed bounds. Next, we impose unit-flow constraints to enforce a single path, and by coupling the resulting binary edge-selection variables with the convex constraints, we obtain a mixed-integer convex program (MICP). Applying a convex relaxation and rounding to the mixed-integer convex program produces nearly globally optimal routes, and a final refinement yields smooth, dynamically feasible trajectories. Simulations verify that the method preserves URLLC connectivity while achieving a clear trade-off between fewer handovers and flight efficiency.

Paperid: 395, https://arxiv.org/pdf/2511.12139.pdf

Abstract:
Non-intrusive load monitoring (NILM) is an advanced load monitoring technique that uses data-driven algorithms to disaggregate the total power consumption of a household into the consumption of individual appliances. However, real-world NILM deployment still faces major challenges, including overfitting, low model generalization, and disaggregating a large number of appliances operating at the same time. To address these challenges, this work proposes an end-to-end framework for the NILM classification task, which consists of high-frequency labeled data, a feature extraction method, and a lightweight neural network. Within this framework, we introduce a novel feature extraction method that fuses Independent Component Analysis (ICA) and Principal Component Analysis (PCA) features. Moreover, we propose a lightweight architecture for multi-label NILM classification (Fusion-ResNet). The proposed feature-based model achieves a higher $F1$ score on average and across different appliances compared to state-of-the-art NILM classifiers while minimizing the training and inference time. Finally, we assessed the performance of our model against baselines with a varying number of simultaneously active devices. Results demonstrate that Fusion-ResNet is relatively robust to stress conditions with up to 15 concurrently active appliances.

Paperid: 396, https://arxiv.org/pdf/2510.26344.pdf

Abstract:
This paper studies how to achieve accurate modeling and effective control in stochastic nonlinear dynamics with multiple interacting objects. However, non-uniform interactions and random topologies make this task challenging. We address these challenges by proposing \textit{Graph Controllable Embeddings} (GCE), a general framework to learn stochastic multi-object dynamics for linear control. Specifically, GCE is built on Hilbert space embeddings, allowing direct embedding of probability distributions of controlled stochastic dynamics into a reproducing kernel Hilbert space (RKHS), which enables linear operations in its RKHS while retaining nonlinear expressiveness. We provide theoretical guarantees on the existence, convergence, and applicability of GCE. Notably, a mean field approximation technique is adopted to efficiently capture inter-object dependencies and achieve provably low sample complexity. By integrating graph neural networks, we construct data-dependent kernel features that are capable of adapting to dynamic interaction patterns and generalizing to even unseen topologies with only limited training instances. GCE scales seamlessly to multi-object systems of varying sizes and topologies. Leveraging the linearity of Hilbert spaces, GCE also supports simple yet effective control algorithms for synthesizing optimal sequences. Experiments on physical systems, robotics, and power grids validate GCE and demonstrate consistent performance improvement over various competitive embedding methods in both in-distribution and few-shot tests

Paperid: 397, https://arxiv.org/pdf/2510.17290.pdf

Abstract:
Ground-satellite links for 6G networks face critical challenges, including severe path loss, tight size-weight-power limits, and congested spectrum, all of which significantly hinder the performance of traditional radio frequency (RF) front ends. This article introduces the Rydberg Atomic Quantum Receiver (RAQR) for onboard satellite systems, a millimeter-scale front end that converts radio fields to optical signals through atomic electromagnetically induced transparency. RAQR's high sensitivity and high frequency selectivity address link budget, payload, and interference challenges while fitting within space constraints. A hybrid atomic-electronic design and supporting signal model demonstrate enhanced data rate, coverage, and sensing accuracy relative to conventional RF receivers. The article concludes with integration strategies, distributed-satellite concepts, and open research problems for bringing RAQR-enabled satellite payloads into service.

Paperid: 398, https://arxiv.org/pdf/2510.11491.pdf

Abstract:
Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance. Existing approaches typically rely on a single policy to jointly optimize reward and safety, which can cause instability due to conflicting objectives, or they use external safety filters that override actions and require prior system knowledge. In this paper, we propose a modular cost-aware regulator that scales the agent's actions based on predicted constraint violations, preserving exploration through smooth action modulation rather than overriding the policy. The regulator is trained to minimize constraint violations while avoiding degenerate suppression of actions. Our approach integrates seamlessly with off-policy RL methods such as SAC and TD3, and achieves state-of-the-art return-to-cost ratios on Safety Gym locomotion tasks with sparse costs, reducing constraint violations by up to 126 times while increasing returns by over an order of magnitude compared to prior methods.

Paperid: 399, https://arxiv.org/pdf/2510.09055.pdf

Abstract:
The rapid growth of the low-altitude economy has resulted in a significant increase in the number of Low, slow, and small (LLS) unmanned aerial vehicles (UAVs), raising critical challenges for secure airspace management and reliable trajectory planning. To address this, this paper proposes a cooperative radio-frequency (RF) detection and localization framework that leverages existing cellular base stations. The proposed approach features a robust scheme for LSS target identification, integrating a cell averaging-constant false alarm rate (CA-CFAR) detector with a micro-Doppler signature (MDS) based recognition method. Multi-station measurements are fused through a grid-based probabilistic algorithm combined with clustering techniques, effectively mitigating ghost targets and improving localization accuracy in multi-UAV scenarios. Furthermore, the Cramer-Rao lower bound (CRLB) is derived as a performance benchmark and reinforcement learning (RL)-based optimization is employed to balance localization accuracy against station resource usage. Simulations demonstrate that increasing from one to multiple BSs reduces the positioning error to near the CRLB, while practical experiments further verify the framework's effectiveness. Furthermore, our RL-based optimization can find solutions that maintain high accuracy while minimizing resource usage, highlighting its potential as a scalable solution for ensuring airspace safety in the emerging low-altitude economy.

Paperid: 400, https://arxiv.org/pdf/2510.08172.pdf

Abstract:
Distributed energy resources (DERs) are transforming power networks, challenging traditional operational methods, and requiring new coordination mechanisms. To address this challenge, this paper introduces SecuLEx (Secure Limit Exchange), a new market-based paradigm to allocate power injection and withdrawal limits that guarantee network security during time periods, called dynamic operating envelopes (DOEs). Under this paradigm, distribution system operators (DSOs) assign initial DOEs to customers. These limits can be exchanged afterward through a market, allowing customers to reallocate them according to their needs while ensuring network operational constraints. We formalize SecuLEx and illustrate DOE allocation and market exchanges on a small-scale low-voltage (LV) network, demonstrating that both procedures are computationally tractable. In this example, SecuLEx reduces renewable curtailment and improves grid utilization and social welfare compared to traditional approaches.

Paperid: 401, https://arxiv.org/pdf/2509.26234.pdf

Abstract:
Lithium plating during fast charging is a critical degradation mechanism that accelerates capacity fade and can trigger catastrophic safety failures. Recent work has identified a distinctive dQ/dV peak above 4.0 V as a reliable signature of plating onset; however, conventional methods for computing dQ/dV rely on finite differencing with filtering, which amplifies sensor noise and introduces bias in peak location. In this paper, we propose a Gaussian Process (GP) framework for lithium plating detection by directly modeling the charge-voltage relationship Q(V) as a stochastic process with calibrated uncertainty. Leveraging the property that derivatives of GPs remain GPs, we infer dQ/dV analytically and probabilistically from the posterior, enabling robust detection without ad hoc smoothing. The framework provides three key benefits: (i) noise-aware inference with hyperparameters learned from data, (ii) closed-form derivatives with credible intervals for uncertainty quantification, and (iii) scalability to online variants suitable for embedded BMS. Experimental validation on Li-ion coin cells across a range of C-rates (0.2C-1C) and temperatures (0-40°C) demonstrates that the GP-based method reliably detects plating peaks under low-temperature, high-rate charging, while correctly reporting no peaks in baseline cases. The concurrence of GP-identified differential peaks, reduced charge throughput, and capacity fade measured via reference performance tests confirms the method's accuracy and robustness, establishing a practical pathway for real-time lithium plating detection.

Paperid: 402, https://arxiv.org/pdf/2509.25929.pdf

Abstract:
Aiming at the problem of driver's perception lag and low utilization efficiency of space-time resources in expressway ramp confluence area, based on the preemptive spatiotemporal trajectory Adjustment system, from the perspective of coordinating spatiotemporal resources, the reasonable value of safe space-time distance in trajectory pre-preparation is quantitatively analyzed. The minimum safety gap required for ramp vehicles to merge into the mainline is analyzed by introducing double positioning error and spatiotemporal trajectory tracking error. A merging control strategy for autonomous driving heterogeneous vehicles is proposed, which integrates vehicle type, driving intention, and safety spatiotemporal distance. The specific confluence strategies of ramp target vehicles and mainline cooperative vehicles under different vehicle types are systematically expounded. A variety of traffic flow and speed scenarios are used for full combination simulation. By comparing the time-position-speed diagram, the vehicle operation characteristics and the dynamic difference of confluence are qualitatively analyzed, and the average speed and average delay are used as the evaluation indices to quantitatively evaluate the performance advantages of the preemptive cooperative confluence control strategy. The results show that the maximum average delay improvement rates of mainline and ramp vehicles are 90.24 % and 74.24 %, respectively. The proposed strategy can effectively avoid potential vehicle conflicts and emergency braking behaviors, improve driving safety in the confluence area, and show significant advantages in driving stability and overall traffic efficiency optimization.

Paperid: 403, https://arxiv.org/pdf/2509.25375.pdf

Abstract:
Diffusion models have made significant strides in recent years, exhibiting strong generalization capabilities in planning and control tasks. However, most diffusion-based policies remain focused on reward maximization or cost minimization, often overlooking critical aspects of safety and stability. In this work, we propose Safe and Stable Diffusion ($S^2$Diff), a model-based diffusion framework that explores how diffusion models can ensure safety and stability from a Lyapunov perspective. We demonstrate that $S^2$Diff eliminates the reliance on both complex gradient-based solvers (e.g., quadratic programming, non-convex solvers) and control-affine structures, leading to globally valid control policies driven by the learned certificate functions. Additionally, we uncover intrinsic connections between diffusion sampling and Almost Lyapunov theory, enabling the use of trajectory-level control policies to learn better certificate functions for safety and stability guarantees. To validate our approach, we conduct experiments on a wide variety of dynamical control systems, where $S^2$Diff consistently outperforms both certificate-based controllers and model-based diffusion baselines in terms of safety, stability, and overall control performance.

Paperid: 404, https://arxiv.org/pdf/2509.14201.pdf

Abstract:
Integrated sensing and communication (ISAC) is a core technology for 6G, and its application to closed-loop sensing, communication, and control (SCC) enables various services. Existing SCC solutions often treat sensing and control separately, leading to suboptimal performance and resource usage. In this work, we introduce the active inference framework (AIF) into SCC-enabled unmanned aerial vehicle (UAV) systems for joint state estimation, control, and sensing resource allocation. By formulating a unified generative model, the problem reduces to minimizing variational free energy for inference and expected free energy for action planning. Simulation results show that both control cost and sensing cost are reduced relative to baselines.

Paperid: 405, https://arxiv.org/pdf/2509.14047.pdf

Abstract:
We propose data-driven decentralized control algorithms for stabilizing interconnected systems. We first derive a data-driven condition to synthesize a local controller that ensures the dissipativity of the local subsystems. Then, we propose data-driven decentralized stability conditions for the global system based on the dissipativity of each local system. Since both conditions take the form of linear matrix inequalities and are based on dissipativity theory, this yields a unified pipeline, resulting in a data-driven decentralized control algorithm. As a special case, we also consider stabilizing systems interconnected through diffusive coupling and propose a control algorithm. We validate the effectiveness and the scalability of the proposed control algorithms in numerical examples in the context of microgrids.

Paperid: 406, https://arxiv.org/pdf/2509.12257.pdf

Abstract:
This paper investigates a behavioral-feedback SIR model in which the infection rate adapts dynamically based on the fractions of susceptible and infected individuals. We introduce an invariant of motion and we characterize the peak of infection. We further examine the system under a threshold constraint on the infection level. Based on this analysis, we formulate an optimal control problem to keep the infection curve below a healthcare capacity threshold while minimizing the economic cost. For this problem, we study a feasible strategy that involves applying the minimal necessary restrictions to meet the capacity constraint and characterize the corresponding cost.

Paperid: 407, https://arxiv.org/pdf/2509.11808.pdf

Abstract:
Motivated by the well established idea that collective wisdom is greater than that of an individual, we propose a novel learning dynamics as a sort of companion to the Abelson model of opinion dynamics. Agents are assumed to make independent guesses about the true state of the world after which they engage in opinion exchange leading to consensus. We investigate the problem of finding the optimal parameters for this exchange, e.g. those that minimize the variance of the consensus value. Specifically, the parameter we examine is susceptibility to opinion change. We propose a dynamics for distributed learning of the optimal parameters and analytically show that it converges for all relevant initial conditions by linking to well established results from consensus theory. Lastly, a numerical example provides intuition on both system behavior and our proof methods.

Paperid: 408, https://arxiv.org/pdf/2509.08956.pdf

Abstract:
Multi-agent inverse reinforcement learning (IRL) aims to identify Pareto-efficient behavior in a multi-agent system, and reconstruct utility functions of the individual agents. Motivated by the problem of detecting UAV coordination, how can we construct a statistical detector for Pareto-efficient behavior given noisy measurements of the decisions of a multi-agent system? This paper approaches this IRL problem by deriving necessary and sufficient conditions for a dataset of multi-agent system dynamics to be consistent with Pareto-efficient coordination, and providing algorithms for recovering utility functions which are consistent with the system dynamics. We derive an optimal statistical detector for determining Pareto-efficient coordination from noisy system measurements, which minimizes Type-I statistical detection error. Then, we provide a utility estimation algorithm which minimizes the worst-case estimation error over a statistical ambiguity set centered at empirical observations; this min-max solution achieves distributionally robust IRL, which is crucial in adversarial strategic interactions. We illustrate these results in a detailed example for detecting Pareto-efficient coordination among multiple UAVs given noisy measurement recorded at a radar. We then reconstruct the utility functions of the UAVs in a distributionally robust sense.

Paperid: 409, https://arxiv.org/pdf/2509.06312.pdf

Abstract:
The rapid development of the low-altitude economy emphasizes the critical need for effective perception and intent recognition of non-cooperative unmanned aerial vehicles (UAVs). The advanced generative reasoning capabilities of multimodal large language models (MLLMs) present a promising approach in such tasks. In this paper, we focus on the combination of UAV intent recognition and the MLLMs. Specifically, we first present an MLLM-enabled UAV intent recognition architecture, where the multimodal perception system is utilized to obtain real-time payload and motion information of UAVs, generating structured input information, and MLLM outputs intent recognition results by incorporating environmental information, prior knowledge, and tactical preferences. Subsequently, we review the related work and demonstrate their progress within the proposed architecture. Then, a use case for low-altitude confrontation is conducted to demonstrate the feasibility of our architecture and offer valuable insights for practical system design. Finally, the future challenges are discussed, followed by corresponding strategic recommendations for further applications.

Paperid: 410, https://arxiv.org/pdf/2509.06119.pdf

Abstract:
Recent progress in robotics has underscored the demand for real-time control in applications such as manufacturing, healthcare, and autonomous systems, where the timely delivery of mission-critical commands under heterogeneous robotic traffic is paramount for operational efficacy and safety. In these scenarios, mission-critical traffic follows a strict deadline-constrained communication pattern: commands must arrive within defined QoS deadlines, otherwise late arrivals can degrade performance or destabilize control loops.In this work, we demonstrate on a real-time SDR platform that CSMA, widely adopted in robotic communications,suffers severe degradation under high robot traffic loads, with contention-induced collisions and delays disrupting the on-time arrival of mission-critical packets. To address this problem, we propose an IEEE 802.11-compatible hybrid TDMA/CSMA protocol that combines TDMA's deterministic slot scheduling with CSMA's adaptability for heterogeneous robot traffic.The protocol achieves collision-free, low-latency mission-critical command delivery and IEEE 802.11 compatibility through the synergistic integration of sub-microsecond PTP-based slot synchronization-essential for establishing precise timing for TDMA, a three-session superframe with dynamic TDMA allocation for structured and adaptable traffic management,and beacon-NAV protection to preemptively secure these critical communication sessions from interference. Emulation experiments on real-time SDR testbed and Robot Operating System (ROS) simulation show that the proposed protocol reduces missed-deadline errors by 93% compared to the CSMA baseline. In high-speed robot path-tracking ROS simulations, the protocol lowers Root Mean Square (RMS) trajectory error by up to 90% compared with a CSMA baseline, all while maintaining throughput for non-critical traffic within +-2%.

Paperid: 411, https://arxiv.org/pdf/2509.05853.pdf

Abstract:
This paper proposes a novel real-time algorithm for controlling wave energy converters (WECs). We begin with the economic model predictive control (MPC) problem formulation and apply a novel, first-order optimization algorithm inspired by recently developed control-based algorithms for constrained optimization to define the controller dynamics according to the single-iteration MPC approach. We theoretically analyse the convergence of the employed algorithm and the computational complexity of the obtained controller. Results from simulations using a benchmark WEC system indicate that the proposed approach significantly outperforms standard MPC, thanks to the inherent ability to handle faster sampling rates.

Paperid: 412, https://arxiv.org/pdf/2509.05463.pdf

Abstract:
This paper proposes a novel approach to design analog electronic circuits that implement Model Predictive Control (MPC) policies for plants described by affine models. The combination of state-of-the-art approaches to define reduced-complexity Explicit MPC (EMPC) is employed to realize an analog circuit characterized by a limited amount of low-latency and commercially available components. The practical feasibility and effectiveness of the proposed approach are demonstrated through its application in the design of an advanced controller for DC-DC Buck converters. We formally analyze the stability of the obtained system and conduct extensive numerical simulations to demonstrate that it is capable of achieving outstanding load disturbance rejection performance, outclassing standard approaches.

Paperid: 413, https://arxiv.org/pdf/2509.04412.pdf

Abstract:
Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant localization errors among UAVs due to packet loss and high computational complexity in large swarms. This paper proposes a clustering-based framework where the UAVs simultaneously use communication signals for channel estimation and ranging. Firstly, the spectral clustering is utilized to divide the UAV swarm into different sub-clusters, where matrix completion and multidimensional scaling yield high-precision relative coordinates. Subsequently, a global map is created by the inter-cluster anchor fusion. A case study of UAV integrated communication and sensing (ISAC) system is presented, where the Orthogonal Time Frequency Space (OTFS) is adopted for ranging and communication. Experimental results show that the proposed method reduces localization errors in large swarms and loss of range information. It also explores the impact of signal parameters on communication and localization, highlighting the interplay between communication and localization performance.

Paperid: 414, https://arxiv.org/pdf/2509.02102.pdf

Abstract:
This paper presents a novel approach to robust load disturbance rejection in DC-DC Buck converters. We propose a novel control scheme based on the design of two nested feedback loops. First, we design the controller in the outer loop using H infinity optimal control theory, and we show, by means of mu-analysis, that such a controller provides robust stability in the presence of uncertainty affecting the physical parameters of the circuit. Then, we introduce an inner feedback loop to improve the system's response to output load disturbances. As far as the inner loop is considered, we propose a novel load estimation-compensation (LEC) scheme, and we discuss under what conditions the insertion of such an inner loop preserves the robust stability of the entire control system. The LEC scheme is compared with the other two linear structures based on well-established disturbance rejection methods. The advantages of LEC in terms of both complexity of implementation and obtained performances are discussed and demonstrated by means of numerical simulation. Finally, we present experimental results obtained through the implementation of the proposed control scheme on a prototype board to demonstrate that the proposed approach significantly enhances disturbance rejection performances with respect to the approach commonly used in DC-DC buck converters.

Paperid: 415, https://arxiv.org/pdf/2509.01461.pdf

Abstract:
This paper proposes a novel approach to system identification for nonlinear input-output models by minimizing the simulation error and formulating it as a constrained optimization problem. This method addresses vanishing gradient issues, enabling faster convergence than traditional gradient-based methods. We present an algorithm that utilizes feedback-linearization controlled multipliers optimization and provide a theoretical analysis of its performance. We prove that the algorithm converges to a local minimum, and we optimize the computational efficiency by leveraging the problem structure. Numerical experiments illustrate that our approach outperforms gradient-based methods in computational effort and accuracy.

Paperid: 416, https://arxiv.org/pdf/2508.21615.pdf

Abstract:
Transfer Learning (TL) is currently the most effective approach for modeling building thermal dynamics when only limited data are available. TL uses a pretrained model that is fine-tuned to a specific target building. However, it remains unclear how to proceed after initial fine-tuning, as more operational measurement data are collected over time. This challenge becomes even more complex when the dynamics of the building change, for example, after a retrofit or a change in occupancy. In Machine Learning literature, Continual Learning (CL) methods are used to update models of changing systems. TL approaches can also address this challenge by reusing the pretrained model at each update step and fine-tuning it with new measurement data. A comprehensive study on how to incorporate new measurement data over time to improve prediction accuracy and address the challenges of concept drifts (changes in dynamics) for building thermal dynamics is still missing. Therefore, this study compares several CL and TL strategies, as well as a model trained from scratch, for thermal dynamics modeling during building operation. The methods are evaluated using 5--7 years of simulated data representative of single-family houses in Central Europe, including scenarios with concept drifts from retrofits and changes in occupancy. We propose a CL strategy (Seasonal Memory Learning) that provides greater accuracy improvements than existing CL and TL methods, while maintaining low computational effort. SML outperformed the benchmark of initial fine-tuning by 28.1\% without concept drifts and 34.9\% with concept drifts.

Paperid: 417, https://arxiv.org/pdf/2508.19348.pdf

Abstract:
In this paper, we deal with the identification of continuous-time systems from sampled data corrupted by unknown but bounded errors. A significant challenge in continuous-time identification is the estimation of the input and output data derivatives. In this paper, we propose a novel method based on set-membership techniques and Tustin discretization, which overcomes the derivative measurement problem and the presence of bounded errors affecting all the measured signals. First, we derive the proposed method and prove that it becomes an affordable polynomial optimization problem. Then, we present some numerical results based on simulation and experimental data to explore the effectiveness of the proposed method.

Paperid: 418, https://arxiv.org/pdf/2508.18201.pdf

Abstract:
In this paper, we analyze the asymptotic properties of the Two-Stage (TS) estimator -- a simulation-based parameter estimation method that constructs estimators offline from synthetic data. While TS offers significant computational advantages compared to standard approaches to estimation, its statistical properties have not been previously analyzed in the literature. Under simple assumptions, we establish that the TS estimator is strongly consistent and asymptotically normal, providing the first theoretical guarantees for this class of estimators.

Paperid: 419, https://arxiv.org/pdf/2508.13920.pdf

Abstract:
Recent advances in large language models (LLMs) have sparked interest in their application to IoT and automation systems, particularly for facilitating device management through natural language instructions. However, existing centralized approaches face significant scalability challenges when managing and coordinating the collaboration between IoT devices of diverse capabilities in large-scale heterogeneous IoT systems. This paper introduces LLMind 2.0, a distributed IoT automation framework that addresses the scalability challenges through lightweight LLM-empowered device agents via natural language-based machine-to-machine (M2M) communication. Unlike previous LLM-controlled automation systems that rely on a centralized coordinator to generate device-specific code to be executed on individual devices, LLMind 2.0 distributes intelligence across individual devices through lightweight LLMs embedded in IoT devices. The central coordinator translates human instructions into simple subtasks described in natural human language, which are then processed by device-specific agents to generate device-specific code locally at the associated devices. This approach transcends device heterogeneity barriers by using natural language as a unified communication medium, enabling seamless collaboration between devices from different manufacturers. The system incorporates several key innovations: a Retrieval-Augmented Generation (RAG) mechanism for accurate subtask-to-API mapping, fine-tuned lightweight LLMs for reliable code generation, and a finite state machine-based task execution framework. Experimental validation in multi-robot warehouse scenarios and real-world WiFi network deployments demonstrates significant improvements in scalability, reliability, and privacy protection compared to the centralized approach.

Paperid: 420, https://arxiv.org/pdf/2508.12703.pdf

Abstract:
Transfer learning (TL) can improve data-driven modeling of building thermal dynamics. Therefore, many new TL research areas emerge in the field, such as selecting the right source model for TL. However, these research directions require massive amounts of thermal building data which is lacking presently. Neither public datasets nor existing data generators meet the needs of TL research in terms of data quality and quantity. Moreover, existing data generation approaches typically require expert knowledge in building simulation. We present BuilDa, a thermal building data generation framework for producing synthetic data of adequate quality and quantity for TL research. The framework does not require profound building simulation knowledge to generate large volumes of data. BuilDa uses a single-zone Modelica model that is exported as a Functional Mock-up Unit (FMU) and simulated in Python. We demonstrate BuilDa by generating data and utilizing it for pretraining and fine-tuning TL models.

Paperid: 421, https://arxiv.org/pdf/2508.12157.pdf

Abstract:
Wearable exoskeletons offer transformative potential to assist mobility across diverse user groups with reduced muscle strength or other forms of impaired mobility. Yet, their deployment beyond laboratory settings remains constrained by sensing systems able to fully capture users' physiological and biomechanical states in real time. We introduce a soft, lightweight smart leg sleeve with anatomically inspired layered multimodal sensing, integrating textile-based surface electromyography (sEMG) electrodes, ultrasensitive textile strain sensors, and inertial measurement units (IMUs). Each sensing modality targets a distinct physiological layer: IMUs track joint kinematics at the skeletal level, sEMG monitors muscle activation at the muscular level, and strain sensors detect skin deformation at the cutaneous level. Together, these sensors provide real-time perception to support three core objectives: controlling personalized assistance, optimizing user effort, and safeguarding against injury risks. The system is skin-conformal, mechanically compliant, and seamlessly integrated with a custom exoskeleton (<20 g total sensor and electronics weight). We demonstrate: (1) accurate ankle joint moment estimation (RMSE = 0.13 Nm/kg), (2) real-time classification of metabolic trends (accuracy = 97.1%), and (3) injury risk detection within 100 ms (recall = 0.96), all validated on unseen users using a leave-one-subject-out protocol. This work demonstrates a lightweight, multimodal sensing architecture for next-generation human-exoskeleton interaction in controlled and semi-structured walking scenarios, with potential for scaling to broader exoskeleton applications towards intelligent, responsive, and personalized wearable robotics.

Paperid: 422, https://arxiv.org/pdf/2508.10634.pdf

Abstract:
Deep neural networks (DNNs) can enable precise control while maintaining low computational costs by circumventing the need for dynamic modeling. However, the deployment of such black-box approaches remains challenging for heavy-duty wheeled mobile robots (WMRs), which are subject to strict international standards and prone to faults and disturbances. We designed a hierarchical control policy for heavy-duty WMRs, monitored by two safety layers with differing levels of authority. To this end, a DNN policy was trained and deployed as the primary control strategy, providing high-precision performance under nominal operating conditions. When external disturbances arise and reach a level of intensity such that the system performance falls below a predefined threshold, a low-level safety layer intervenes by deactivating the primary control policy and activating a model-free robust adaptive control (RAC) policy. This transition enables the system to continue operating while ensuring stability by effectively managing the inherent trade-off between system robustness and responsiveness. Regardless of the control policy in use, a high-level safety layer continuously monitors system performance during operation. It initiates a shutdown only when disturbances become sufficiently severe such that compensation is no longer viable and continued operation would jeopardize the system or its environment. The proposed synthesis of DNN and RAC policy guarantees uniform exponential stability of the entire WMR system while adhering to safety standards to some extent. The effectiveness of the proposed approach was further validated through real-time experiments using a 6,000 kg WMR.

Paperid: 423, https://arxiv.org/pdf/2508.01445.pdf

Abstract:
Suppose there is an adversarial UAV network being tracked by a radar. How can the radar determine whether the UAVs are coordinating, in some well-defined sense? How can the radar infer the objectives of the individual UAVs and the network as a whole? We present an abstract interpretation of such a strategic interaction, allowing us to conceptualize coordination as a linearly constrained multi-objective optimization problem. Then, we present some tools from microeconomic theory that allow us to detect coordination and reconstruct individual UAV objective functions, from radar tracking signals. This corresponds to performing inverse multi-objective optimization. We present details for how the abstract microeconomic interpretation corresponds to, and naturally arises from, physical-layer radar waveform modulation and multi-target filtering. This article serves as a tutorial, bringing together concepts from several established research contributions in an expository style.

Paperid: 424, https://arxiv.org/pdf/2508.01082.pdf

Abstract:
Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact constraints. However, they tend to be sensitive to model inaccuracies and require access to privileged information (e.g., object mass, size, pose), making them less suitable for novel objects. In contrast, learning-based approaches are typically more robust to modeling errors but require large amounts of data. In this paper, we bridge these two approaches to propose a framework for learning closed-loop pivoting manipulation. By leveraging computationally efficient Contact-Implicit Trajectory Optimization (CITO), we design demonstration-guided deep Reinforcement Learning (RL), leading to sample-efficient learning. We also present a sim-to-real transfer approach using a privileged training strategy, enabling the robot to perform pivoting manipulation using only proprioception, vision, and force sensing without access to privileged information. Our method is evaluated on several pivoting tasks, demonstrating that it can successfully perform sim-to-real transfer. The overview of our method and the hardware experiments are shown at https://youtu.be/akjGDgfwLbM?si=QVw6ExoPy2VsU2g6

Paperid: 425, https://arxiv.org/pdf/2507.02351.pdf

Abstract:
The optimal management of a building's microclimate to satisfy the occupants' needs and objectives in terms of comfort, energy efficiency, and costs is particularly challenging. This complexity arises from the non-linear, time-dependent interactions among all the variables of the control problem and the changing internal and external constraints. Focusing on the accurate modeling of the indoor temperature, we propose a data-driven approach to address this challenge. We account for thermal inertia, non-linear effects, small perturbations of the indoor climate dynamics caused by ventilation and weather variations, as well as for the stochastic nature of the control system due to the observed noise in the input signal. Since the prohibitive cost of quality data acquisition and processing limits the implementation of data-driven approaches for real-life problems, we applied a method that merges several Bayesian machine learning and deep learning architectures that are suitable for predicting complex system dynamics, while relaxing the dataset quality requirements. Our framework includes a built-in deep Kalman filter, which makes it deployable even with low-accuracy temperature sensors. It achieves state-of-the-art performance, best performing with a 150-minute prediction horizon with an RMSE of 0.2455, an MAE of 0.162, and an $R^2$ of 0.926. The model's performance remains consistent even when exposed to highly noisy data. Finally, we show how our approach can be extended to other applications including demand response event duration prediction and equipment failure detection.

Paperid: 426, https://arxiv.org/pdf/2512.16102.pdf

Abstract:
Photon counting (PhC) is an effective detection technology for underwater optical wireless communication (OWC) systems. The presence of signal-dependent Poisson shot noise and asynchronous multi-user interference (MUI) complicates the processing of received data signals, hindering the effective signal detection of PhC OWC systems. This paper proposes a novel iterative signal detection method in grant-free, multi-user, underwater PhC OWC systems with signal-dependent Poisson shot noise. We first introduce a new synchronization algorithm with a unique frame structure design.The algorithm performs active user identification and transmission delay estimation. Specifically, the estimation is performed first on a user group basis and then at the individual user level with reduced complexity and latency.We also develop a nonlinear iterative multi-user detection (MUD) algorithm that utilizes a detection window for each user to identify interfering symbols and estimate MUI on a slot-by-slot basis, followed by maximum \textit{a-posteriori} probability detection of user signals.Simulations demonstrate that our scheme achieves bit error rates comparable to scenarios with transmission delays known and signal detection perfectly synchronized.

Paperid: 427, https://arxiv.org/pdf/2512.04523.pdf

Abstract:
The proximal bundle method (PBM) is a powerful and widely used approach for minimizing nonsmooth convex functions. However, for smooth objectives, its best-known convergence rate remains suboptimal, and whether PBM can be accelerated remains open. In this work, we present the first accelerated proximal bundle method that achieves the optimal $\mathscr{O}(1/\sqrtε)$ iteration complexity for obtaining an $ε$-accurate solution in smooth convex optimization. The proposed method is conceptually simple, which differs from Nesterov's accelerated gradient descent by only a single line and retains all key structural properties of the classical PBM. In particular, it relies on the same minimal assumptions on model approximations and preserves the standard bundle testing criterion. Numerical experiments confirm the accelerated $\mathscr{O}(1/\sqrtε)$ convergence rate predicted by our theory.

Paperid: 428, https://arxiv.org/pdf/2511.18428.pdf

Abstract:
Physical layer security (PLS) is a potential solution for secure and reliable transmissions in future Ultra-Reliable and Low-Latency Communications (URLLC). This work jointly optimizes redundant bits and blocklength allocation in practical round-trip transmission scenarios. To minimize the leakage-failure probability, a metric that jointly characterizes security and reliability in PLS, we formulate an optimization problem for allocating both redundant bits and blocklength. By deriving the boundaries of the feasible set, we obtain the globally optimal solution for this integer optimization problem. To achieve more computationally efficient solutions, we propose a block coordinate descent (BCD) method that exploits the partial convexity of the objective function. Subsequently, we develop a majorization-minimization (MM) algorithm through convex approximation of the objective function, which further improves computational efficiency. Finally, we validate the performance of the three proposed approaches through simulations, demonstrating their practical applicability for future URLLC services.

Paperid: 429, https://arxiv.org/pdf/2511.14280.pdf

Abstract:
We consider the optimal control of large-scale systems using distributed controllers with a network topology that mirrors the coupling graph between subsystems. In this work, we introduce spatial regret, a graph-informed metric that measures the worst-case performance gap between a distributed controller and an oracle which is assumed to have access to additional sensor information. The oracle's graph is a user-specified augmentation of the available information graph, resulting in a benchmark policy that highlights disturbances for which additional sensor information would significantly improve performance. Minimizing spatial regret yields distributed controllers-respecting the nominal information graph-that emulate the oracle's response to disturbances that are characteristic of large-scale networks, such as localized perturbations. We show that minimizing spatial regret admits a convex reformulation as an infinite program with a finite-dimensional approximation. To scale to large networks, we derive a computable upper bound on the spatial regret metric whose minimization problem can be solved in a distributed way. Numerical experiments on power-system models demonstrate that the resulting controllers mitigate localized disturbances more effectively than controllers optimized using classical metrics.

Paperid: 430, https://arxiv.org/pdf/2511.14048.pdf

Abstract:
We study a class of distributionally robust games where agents are allowed to heterogeneously choose their risk aversion with respect to distributional shifts of the uncertainty. In our formulation, heterogeneous Wasserstein ball constraints on each distribution are enforced through a penalty function leveraging a Lagrangian formulation. We then formulate the distributionally robust Nash equilibrium problem and show that under certain assumptions it is equivalent to a finite-dimensional variational inequality problem with a strongly monotone mapping. We then design an approximate Nash equilibrium seeking algorithm and prove convergence of the average regret to a quantity that diminishes with the number of iterations, thus learning the desired equilibrium up to an a priori specified accuracy. Numerical simulations corroborate our theoretical findings.

Paperid: 431, https://arxiv.org/pdf/2511.10383.pdf

Abstract:
Continuous-time stochastic processes underlie many natural and engineered systems. In healthcare, autonomous driving, and industrial control, direct interaction with the environment is often unsafe or impractical, motivating offline reinforcement learning from historical data. However, there is limited statistical understanding of the approximation errors inherent in learning policies from offline datasets. We address this by linking reinforcement learning to the Hamilton-Jacobi-Bellman equation and proposing an operator-theoretic algorithm based on a simple dynamic programming recursion. Specifically, we represent our world model in terms of the infinitesimal generator of controlled diffusion processes learned in a reproducing kernel Hilbert space. By integrating statistical learning methods and operator theory, we establish global convergence of the value function and derive finite-sample guarantees with bounds tied to system properties such as smoothness and stability. Our theoretical and numerical results indicate that operator-based approaches may hold promise in solving offline reinforcement learning using continuous-time optimal control.

Paperid: 432, https://arxiv.org/pdf/2511.09963.pdf

Abstract:
In this work we study an age-structured chemostat model with a renewal boundary condition and a coupled substrate equation. The model is nonlinear and consists of a hyperbolic partial differential equation and an ordinary differential equation with nonlinear, nonlocal terms appearing both in the ordinary differential equation and the boundary condition. Both differential equations contain a non-negative control input, while the states of the model are required to be positive. Under an appropriate weak solution framework, we determine the state space and the input space for this model. We prove global existence and uniqueness of solutions for all admissible initial conditions and all allowable control inputs. To this purpose we employ a combination of Banach's fixed-point theorem with implicit solution formulas and useful solution estimates. Finally, we show that the age-structured chemostat model gives a well-defined control system on a metric space.

Paperid: 433, https://arxiv.org/pdf/2511.08534.pdf

Abstract:
This paper presents an asymptotic analysis of Multiple-Input Multiple-Output (MIMO) systems assisted by a 1-bit Reconfigurable Intelligent Surface (RIS) under Ricean fading conditions. Using random matrix theory, we show that, in the asymptotic regime, the dominant singular values and vectors of the transmitter-RIS and RIS-receiver channels converge to their deterministic Line-of-Sight (LoS) components, almost irrespective of the Ricean factors. This enables RIS phase configuration using only LoS information through a closed-form Sign Alignment (SA) rule that maximizes the channel gain. Furthermore, when the RIS is asymptotically larger than the transceiver arrays, proper RIS configuration can render the end-to-end MIMO channel in the capacity formula asymptotically diagonal, thereby eliminating inter-stream interference and enabling Over-The-Air (OTA) spatial multiplexing without channel knowledge at the transmitter. Building on this result, a waterfilling-inspired SA algorithm that allocates RIS elements to spatial streams, based on the asymptotic singular values and statistical channel parameters, is proposed. Simulation results validate the theoretical analyses, demonstrating that the proposed schemes achieve performance comparable to conventional Riemannian manifold optimization, but with orders of magnitude lower runtime.

Paperid: 434, https://arxiv.org/pdf/2511.05444.pdf

Abstract:
We study adversarially robust multitask adaptive linear quadratic control; a setting where multiple systems collaboratively learn control policies under model uncertainty and adversarial corruption. We propose a clustered multitask approach that integrates clustering and system identification with resilient aggregation to mitigate corrupted model updates. Our analysis characterizes how clustering accuracy, intra-cluster heterogeneity, and adversarial behavior affect the expected regret of certainty-equivalent (CE) control across LQR tasks. We establish non-asymptotic bounds demonstrating that the regret decreases inversely with the number of honest systems per cluster and that this reduction is preserved under a bounded fraction of adversarial systems within each cluster.

Paperid: 435, https://arxiv.org/pdf/2510.25913.pdf

Abstract:
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematical underpinnings of such a representation -- specifically, the goal is to develop safety filters that are risk-aware. To this end, we take a two step approach: encoding an understanding of the environment via Poisson's equation, and associated risk via Laplace guidance fields. That is, we first solve a Dirichlet problem for Poisson's equation to generate a safety function that encodes system safety as its 0-superlevel set. We then separately solve a Dirichlet problem for Laplace's equation to synthesize a safe \textit{guidance field} that encodes variable levels of caution around obstacles -- by enforcing a tunable flux boundary condition. The safety function and guidance fields are then combined to define a safety constraint and used to synthesize a risk-aware safety filter which, given a semantic understanding of an environment with associated risk levels of environmental features, guarantees safety while prioritizing avoidance of higher risk obstacles. We demonstrate this method in simulation and discuss how \textit{a priori} understandings of obstacle risk can be directly incorporated into the safety filter to generate safe behaviors that are risk-aware.

Paperid: 436, https://arxiv.org/pdf/2510.25176.pdf

Abstract:
In the rapidly evolving research on artificial intelligence (AI) the demand for fast, computationally efficient, and scalable solutions has increased in recent years. The problem of optimizing the computing resources for distributed machine learning (ML) and optimization is considered in this paper. Given a set of data distributed over a network of computing-nodes/servers, the idea is to optimally assign the CPU (central processing unit) usage while simultaneously training each computing node locally via its own share of data. This formulates the problem as a co-optimization setup to (i) optimize the data processing and (ii) optimally allocate the computing resources. The information-sharing network among the nodes might be time-varying, but with balanced weights to ensure consensus-type convergence of the algorithm. The algorithm is all-time feasible, which implies that the computing resource-demand balance constraint holds at all iterations of the proposed solution. Moreover, the solution allows addressing possible log-scale quantization over the information-sharing channels to exchange log-quantized data. For some example applications, distributed support-vector-machine (SVM) and regression are considered as the ML training models. Results from perturbation theory, along with Lyapunov stability and eigen-spectrum analysis, are used to prove the convergence towards the optimal case. As compared to existing CPU scheduling solutions, the proposed algorithm improves the cost optimality gap by more than $50\%$.

Paperid: 437, https://arxiv.org/pdf/2510.17814.pdf

Abstract:
Unlicensed 6GHz is becoming a primary workhorse for high-capacity access, with Wi-Fi and 5G NR-U competing for the same channels under listen-before-talk (LBT) rules. Operating in this regime requires decisions that jointly trade throughput, energy, and service-level objectives while remaining safe and auditable. We present an agentic controller that separates {policy} from {execution}. At the start of each scheduling epoch the agent summarizes telemetry (per-channel busy and baseline LBT failure; per-user CQI, backlog, latency, battery, priority, and power mode) and invokes a large language model (LLM) to propose a small set of interpretable knobs: a fairness index α, per-channel duty-cycle caps for Wi-Fi/NR-U, and class weights. A deterministic optimizer then enforces feasibility and computes an α-fair allocation that internalizes LBT losses and energy cost; malformed or unsafe policies are clamped and fall back to a rule baseline. In a 6GHz simulator with two 160MHz channels and mixed Wi-Fi/NR-U users, LLM-assisted policies consistently improve energy efficiency while keeping throughput competitive with a strong rule baseline. One LLM lowers total energy by 35.3% at modest throughput loss, and another attains the best overall trade-off, finishing with higher total bits (+3.5%) and higher bits/J (+12.2%) than the baseline. We release code, per-epoch logs, and plotting utilities to reproduce all figures and numbers, illustrating how transparent, policy-level LLM guidance can safely improve wireless coexistence.

Paperid: 438, https://arxiv.org/pdf/2510.16953.pdf

Abstract:
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload transfer performance. Unlike traditional crane systems, ship-mounted cranes are consistently subjected to significant external disturbances affecting underactuated crane dynamics due to the ship's dynamic motion response to harsh sea conditions, which can lead to robustness issues. To tackle these challenges, we propose a robust and safe model predictive control (MPC) framework and demonstrate it on a 5-DOF crane system, where a Stewart platform simulates the external disturbances that ocean surface motions would have on the supporting ship. The crane payload transfer operation must avoid obstacles and accurately place the payload within a designated target area. We use a robust zero-order control barrier function (R-ZOCBF)-based safety constraint in the nonlinear MPC to ensure safe payload positioning, while time-varying bounding boxes are utilized for collision avoidance. We introduce a new optimization-based online robustness parameter adaptation scheme to reduce the conservativeness of R-ZOCBFs. Experimental trials on a crane prototype demonstrate the overall performance of our safe control approach under significant perturbing motions of the crane base. While our focus is on crane-facilitated transfer, the methods more generally apply to safe robotically-assisted parts mating and parts insertion.

Paperid: 439, https://arxiv.org/pdf/2510.16414.pdf

Abstract:
In the Industrial Internet of Things (IIoT), the frequent transmission of large amounts of data over wireless networks should meet the stringent timeliness requirements. Particularly, the freshness of packet status updates has a significant impact on the system performance. In this paper, we propose an age-of-information (AoI)-aware multi-base station (BS) real-time monitoring framework to support extensive IIoT deployments. To meet the freshness requirements of IIoT, we formulate a joint task offloading and resource allocation optimization problem with the goal of minimizing long-term average AoI. Tackling the core challenges of combinatorial explosion in multi-BS decision spaces and the stochastic dynamics of IIoT systems is crucial, as these factors render traditional optimization methods intractable. Firstly, an innovative branching-based Dueling Double Deep Q-Network (Branching-D3QN) algorithm is proposed to effectively implement task offloading, which optimizes the convergence performance by reducing the action space complexity from exponential to linear levels. Then, an efficient optimization solution to resource allocation is proposed by proving the semi-definite property of the Hessian matrix of bandwidth and computation resources. Finally, we propose an iterative optimization algorithm for efficient joint task offloading and resource allocation to achieve optimal average AoI performance. Extensive simulations demonstrate that our proposed Branching-D3QN algorithm outperforms both state-of-the-art DRL methods and classical heuristics, achieving up to a 75% enhanced convergence speed and at least a 22% reduction in the long-term average AoI.

Paperid: 440, https://arxiv.org/pdf/2510.14854.pdf

Abstract:
Magnetic induction (MI) communication (MIC) has emerged as a promising candidate for underground communication networks due to its excellent penetration capabilities. Integration with Space-Air-Ground-Underground (SAGUI) networks in next-generation mobile communication systems requires a well-defined network architecture. A recent discovery in MIC research, MI fast fading, remains in its early stages and presents unique challenges. This paper provides a comprehensive survey on through-the-earth (TTE) MIC, covering MI applications, channel modeling, point-to-point MIC design, relay techniques, network frameworks, and emerging technologies. We compare various MIC applications to highlight TTE-specific challenges and review the principles of channel modeling, addressing both MI slow fading and MI fast fading, along with its potential impact on existing MIC theories. We conduct a fine-grained decomposition of MI channel power gain into four distinct physical parameters, and propose a novel geometric model to analyze MI fast fading. We also summarize MI relay techniques, examine crosstalk effects in relay and high-density networks, and explore key research tasks within the OSI framework for a holistic MI network protocol in SAGUI. To bridge the gaps identified, we propose a MIC framework that supports TCP/IP and Linux, enabling full implementation of existing and emerging MIC solutions. This framework empowers researchers to leverage Linux resources and deep learning platforms for accelerated development of MIC in SAGUI networks. Remaining research challenges, open issues, and promising novel techniques are further identified to advance MIC research.

Paperid: 441, https://arxiv.org/pdf/2510.09379.pdf

Abstract:
Although softmax attention drives state-of-the-art performance for sequence models, its quadratic complexity limits scalability, motivating linear alternatives such as state space models (SSMs). While these alternatives improve efficiency, their fundamental differences in information processing remain poorly understood. In this work, we leverage the recently proposed dynamical systems framework to represent softmax, norm and linear attention as dynamical systems, enabling a structured comparison with SSMs by analyzing their respective eigenvalue spectra. Since eigenvalues capture essential aspects of dynamical system behavior, we conduct an extensive empirical analysis across diverse sequence models and benchmarks. We first show that eigenvalues influence essential aspects of memory and long-range dependency modeling, revealing spectral signatures that align with task requirements. Building on these insights, we then investigate how architectural modifications in sequence models impact both eigenvalue spectra and task performance. This correspondence further strengthens the position of eigenvalue analysis as a principled metric for interpreting, understanding, and ultimately improving the capabilities of sequence models.

Paperid: 442, https://arxiv.org/pdf/2510.08824.pdf

Abstract:
The upper mid-band FR3 spectrum (7-24 GHz) has garnered significant interest for future cellular services. However, utilizing a large portion of this band requires careful interference coordination with incumbent satellite systems. This paper investigates interference from high-power terrestrial base stations (TN-BSs) to satellite downlink receivers. A central challenge is that the victim receivers, i.e., ground-based non-terrestrial user equipment (NTN-UEs) such as satellite customer premises equipment, must first be detected and their channels estimated before the TN-BS can effectively place nulls in their directions. We explore a potential solution where NTN-UEs periodically transmit preambles or beacon signals that TN-BSs can use for detection and channel estimation. The performance of this nulling approach is analyzed in a simplified scenario with a single victim, revealing the interplay between path loss and estimation quality in determining nulling performance. To further validate the method, we conduct a detailed multi-user site-specific ray-tracing (RT) simulation in a rural environment. The results show that the proposed nulling approach is effective under realistic parameters, even with high densities of victim units, although TN-BS may require a substantial number of antennas.

Paperid: 443, https://arxiv.org/pdf/2510.04117.pdf

Abstract:
This short note shows that the Deadzone-Adapted Disturbance Suppression (DADS) adaptive control scheme is applicable to systems with unknown input coefficients. We study time-invariant, control-affine systems that satisfy the matching condition for which no bounds for the disturbance and the unknown parameters are known. The input coefficients can be time-varying as well as the unknown parameters. The only thing assumed for the input coefficients is their sign. The adaptive control design is Lyapunov-based and can be accomplished for every system for which a smooth globally stabilizing feedback exists when the disturbances are absent and all unknown parameters are known. The design is given by simple, explicit formulas. The proposed controllers guarantee an attenuation of the plant state to an assignable small level, despite unknown bounds on the parameters and disturbance, without a drift of the gain, state, and input.

Paperid: 444, https://arxiv.org/pdf/2510.01501.pdf

Abstract:
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this paper proposes a method for designing safe controllers for discrete-time stochastic systems that retain probabilistic guarantees of safety. To do this we modify the traditional notion of a control barrier function (CBF) to explicitly account for these stochastic uncertainties and call these new modified functions probabilistic CBFs. We show that probabilistic CBFs can be used to design controllers that guarantee safety over a finite number of time steps with a prescribed probability. Next, by leveraging various uncertainty quantification methods, such as concentration inequalities, the scenario approach, and conformal prediction, we provide a variety of sufficient conditions that result in computationally tractable controllers with tunable probabilistic guarantees across a plethora of practical scenarios. Finally, we showcase the applicability of our results in simulation and hardware for the control of a quadruped robot.

Paperid: 445, https://arxiv.org/pdf/2509.25633.pdf

Abstract:
Robust control seeks stabilizing policies that perform reliably under adversarial disturbances, with $\mathcal{H}_\infty$ control as a classical formulation. It is known that policy optimization of robust $\mathcal{H}_\infty$ control naturally lead to nonsmooth and nonconvex problems. This paper builds on recent advances in nonsmooth optimization to analyze discrete-time static output-feedback $\mathcal{H}_\infty$ control. We show that the $\mathcal{H}_\infty$ cost is weakly convex over any convex subset of a sublevel set. This structural property allows us to establish the first non-asymptotic deterministic convergence rate for the subgradient method under suitable assumptions. In addition, we prove a weak Polyak-Åojasiewicz (PL) inequality in the state-feedback case, implying that all stationary points are globally optimal. We finally present a few numerical examples to validate the theoretical results.

Paperid: 446, https://arxiv.org/pdf/2509.24801.pdf

Abstract:
A major challenge in physics-informed machine learning is to understand how the incorporation of prior domain knowledge affects learning rates when data are dependent. Focusing on empirical risk minimization with physics-informed regularization, we derive complexity-dependent bounds on the excess risk in probability and in expectation. We prove that, when the physical prior information is aligned, the learning rate improves from the (slow) Sobolev minimax rate to the (fast) optimal i.i.d. one without any sample-size deflation due to data dependence.

Paperid: 447, https://arxiv.org/pdf/2509.24226.pdf

Abstract:
Multi-agent reinforcement learning (MARL) optimizes strategic interactions in non-cooperative dynamic games, where agents have misaligned objectives. However, data-driven methods such as multi-agent policy gradients (MA-PG) often suffer from instability and limit-cycle behaviors. Prior stabilization techniques typically rely on entropy-based exploration, which slows learning and increases variance. We propose a model-based approach that incorporates approximate priors into the reward function as regularization. In linear quadratic (LQ) games, we prove that such priors stabilize policy gradients and guarantee local exponential convergence to an approximate Nash equilibrium. We then extend this idea to infinite-horizon nonlinear games by introducing Multi-agent Guided Policy Search (MA-GPS), which constructs short-horizon local LQ approximations from trajectories of current policies to guide training. Experiments on nonlinear vehicle platooning and a six-player strategic basketball formation show that MA-GPS achieves faster convergence and more stable learning than existing MARL methods.

Paperid: 448, https://arxiv.org/pdf/2509.24056.pdf

Abstract:
Designing safe derivative-free optimization algorithms under unknown constraints is a fundamental challenge in modern learning and control. Most existing zeroth-order (ZO) approaches typically assume white-box constraints or focus on convex settings, leaving the general case of nonconvex optimization with black-box constraints largely open. We propose a control-theoretic framework for ZO constrained optimization that enforces feasibility without relying on solving costly convex subproblems. Leveraging feedback linearization, we introduce a family of ZO feedback linearization (ZOFL) algorithms applicable to both equality and inequality constraints. Our method requires only noisy, sample-based gradient estimates yet provably guarantees constraint satisfaction under mild regularity conditions. We establish finite-time bounds on constraint violation and further present a midpoint discretization variant that further improves feasibility without sacrificing optimality. Empirical results demonstrate that ZOFL consistently outperforms standard ZO baselines, achieving competitive objective values while maintaining feasibility.

Paperid: 449, https://arxiv.org/pdf/2509.24047.pdf

Abstract:
Risk sensitivity has become a central theme in reinforcement learning (RL), where convex risk measures and robust formulations provide principled ways to model preferences beyond expected return. Recent extensions to multi-agent RL (MARL) have largely emphasized the risk-averse setting, prioritizing robustness to uncertainty. In cooperative MARL, however, such conservatism often leads to suboptimal equilibria, and a parallel line of work has shown that optimism can promote cooperation. Existing optimistic methods, though effective in practice, are typically heuristic and lack theoretical grounding. Building on the dual representation for convex risk measures, we propose a principled framework that interprets risk-seeking objectives as optimism. We introduce optimistic value functions, which formalize optimism as divergence-penalized risk-seeking evaluations. Building on this foundation, we derive a policy-gradient theorem for optimistic value functions, including explicit formulas for the entropic risk/KL-penalty setting, and develop decentralized optimistic actor-critic algorithms that implement these updates. Empirical results on cooperative benchmarks demonstrate that risk-seeking optimism consistently improves coordination over both risk-neutral baselines and heuristic optimistic methods. Our framework thus unifies risk-sensitive learning and optimism, offering a theoretically grounded and practically effective approach to cooperation in MARL.

Paperid: 450, https://arxiv.org/pdf/2509.20616.pdf

Abstract:
Large Language Models (LLMs) have demonstrated remarkable capabilities in knowledge acquisition, reasoning, and tool use, making them promising candidates for autonomous agent applications. However, training LLM agents for complex multi-turn task planning faces significant challenges, including sparse episode-wise rewards, credit assignment across long horizons, and the computational overhead of reinforcement learning in multi-turn interaction settings. To this end, this paper introduces a novel approach that transforms multi-turn task planning into single-turn task reasoning problems, enabling efficient policy optimization through Group Relative Policy Optimization (GRPO) with dense and verifiable reward from expert trajectories. Our theoretical analysis shows that GRPO improvement on single-turn task reasoning results in higher multi-turn success probability under the minimal turns, as well as the generalization to subtasks with shorter horizons. Experimental evaluation on the complex task planning benchmark demonstrates that our 1.5B parameter model trained with single-turn GRPO achieves superior performance compared to larger baseline models up to 14B parameters, with success rates of 70% for long-horizon planning tasks with over 30 steps. We also theoretically and empirically validate the strong cross-task generalizability that the models trained on complex tasks can lead to the successful completion of all simpler subtasks.

Paperid: 451, https://arxiv.org/pdf/2509.20330.pdf

Abstract:
Cislunar space is becoming a critical domain for future lunar and interplanetary missions, yet its remoteness, sparse infrastructure, and unstable dynamics create single points of failure. Adversaries in cislunar orbits can exploit these vulnerabilities to pursue and jam co-located communication relays, potentially severing communications between lunar missions and the Earth. We study a pursuit-evasion scenario between two spacecraft in a cislunar orbit, where the evader must avoid a pursuer-jammer while remaining close to its nominal trajectory. We model the evader-pursuer interaction as a zero-sum adversarial differential game cast in the circular restricted three-body problem. This formulation incorporates critical aspects of cislunar orbital dynamics, including autonomous adjustment of the reference orbit phasing to enable aggressive evading maneuvers, and shaping of the evader's cost with the orbit's stable and unstable manifolds. We solve the resulting nonlinear game locally using a continuous-time differential dynamic programming variant, which iteratively applies linear-quadratic approximations to the Hamilton-Jacobi-Isaacs equation. We simulate the evader's behavior against both a worst-case and a linear-quadratic pursuer. Our results pave the way for securing future missions in cislunar space against emerging cyber threats.

Paperid: 452, https://arxiv.org/pdf/2509.19266.pdf

Abstract:
We analyze the performance of policy gradient in multitask linear quadratic regulation (LQR), where the system and cost parameters differ across tasks. The main goal of multitask LQR is to find a controller with satisfactory performance on every task. Prior analyses on relevant contexts fail to capture closed-loop task similarities, resulting in conservative performance guarantees. To account for such similarities, we propose bisimulation-based measures of task heterogeneity. Our measures employ new bisimulation functions to bound the cost gradient distance between a pair of tasks in closed loop with a common stabilizing controller. Employing these measures, we derive suboptimality bounds for both the multitask optimal controller and the asymptotic policy gradient controller with respect to each of the tasks. We further provide conditions under which the policy gradient iterates remain stabilizing for every system. For multiple random sets of certain tasks, we observe that our bisimulation-based measures improve upon baseline measures of task heterogeneity dramatically.

Paperid: 453, https://arxiv.org/pdf/2509.19246.pdf

Abstract:
Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on permanent faults. One reason for this is that intermittent faults are prohibitively difficult to detect in the fully self-organized ad-hoc networks typical of robot swarms, as their network topologies are transient and often unpredictable. However, in the recently introduced self-organizing nervous systems (SoNS) approach, robot swarms are able to self-organize persistent network structures for the first time, easing the problem of detecting intermittent faults. To address intermittent faults in robot swarms that have persistent networks, we propose a novel proactive-reactive strategy to detection and mitigation, based on self-organized backup layers and distributed consensus in a multiplex network. Proactively, the robots self-organize dynamic backup paths before faults occur, adapting to changes in the primary network topology and the robots' relative positions. Reactively, robots use one-shot likelihood ratio tests to compare information received along different paths in the multiplex network, enabling early fault detection. Upon detection, communication is temporarily rerouted in a self-organized way, until the detected fault resolves. We validate the approach in representative scenarios of faulty positional data occurring during formation control, demonstrating that intermittent faults are prevented from disrupting convergence to desired formations, with high fault detection accuracy and low rates of false positives.

Paperid: 454, https://arxiv.org/pdf/2509.19079.pdf

Abstract:
In this paper, we consider a goal-oriented communication problem for edge server monitoring, where jobs arrive intermittently at multiple dispatchers and must be assigned to shared edge servers with finite queues and time-varying availability. Accurate knowledge of server status is critical for sustaining high throughput, yet remains challenging under dynamic workloads and partial observability. To address this challenge, each dispatcher maintains server knowledge through two complementary mechanisms: (i) active status queries that provide instantaneous updates at a communication cost, and (ii) job execution feedback that reveals server conditions upon successful or failed job completion. We formulate a cooperative multi-agent distributed decision-making problem in which dispatchers jointly optimize query scheduling to balance throughput against communication overhead. To solve this problem, we propose a Multi-Agent Proximal Policy Optimization (MAPPO)-based algorithm that leverages centralized training with decentralized execution (CTDE) to learn distributed query-and-dispatch policies under partial and stale observations. Experiments show that MAPPO achieves superior throughput-cost tradeoffs and significantly outperforms baseline strategies across varying query costs, job arrival rates, and dispatchers.

Paperid: 455, https://arxiv.org/pdf/2509.18676.pdf

Abstract:
Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress perceptual inputs into global or object-centric features, which often overlook localized motion cues critical for precise and contact-rich manipulation. We present 3D Flow Diffusion Policy (3D FDP), a novel framework that leverages scene-level 3D flow as a structured intermediate representation to capture fine-grained local motion cues. Our approach predicts the temporal trajectories of sampled query points and conditions action generation on these interaction-aware flows, implemented jointly within a unified diffusion architecture. This design grounds manipulation in localized dynamics while enabling the policy to reason about broader scene-level consequences of actions. Extensive experiments on the MetaWorld benchmark show that 3D FDP achieves state-of-the-art performance across 50 tasks, particularly excelling on medium and hard settings. Beyond simulation, we validate our method on eight real-robot tasks, where it consistently outperforms prior baselines in contact-rich and non-prehensile scenarios. These results highlight 3D flow as a powerful structural prior for learning generalizable visuomotor policies, supporting the development of more robust and versatile robotic manipulation. Robot demonstrations, additional results, and code can be found at https://sites.google.com/view/3dfdp/home.

Paperid: 456, https://arxiv.org/pdf/2509.18046.pdf

Abstract:
End-to-end reinforcement learning (RL) for humanoid locomotion is appealing for its compact perception-action mapping, yet practical policies often suffer from training instability, inefficient feature fusion, and high actuation cost. We present HuMam, a state-centric end-to-end RL framework that employs a single-layer Mamba encoder to fuse robot-centric states with oriented footstep targets and a continuous phase clock. The policy outputs joint position targets tracked by a low-level PD loop and is optimized with PPO. A concise six-term reward balances contact quality, swing smoothness, foot placement, posture, and body stability while implicitly promoting energy saving. On the JVRC-1 humanoid in mc-mujoco, HuMam consistently improves learning efficiency, training stability, and overall task performance over a strong feedforward baseline, while reducing power consumption and torque peaks. To our knowledge, this is the first end-to-end humanoid RL controller that adopts Mamba as the fusion backbone, demonstrating tangible gains in efficiency, stability, and control economy.

Paperid: 457, https://arxiv.org/pdf/2509.16984.pdf

Abstract:
Prevailing network control strategies, which rely on static shortest-path logic, suffer from catastrophic "stress concentration" on critical nodes. This paper introduces the System Relaxation Algorithm (SRA), a new control paradigm inspired by physical relaxation that guides a network toward an emergent equilibrium of load balance. SRA is an interpretable, 'white-box' dynamical system whose behavior is profoundly topology-dependent: in heterogeneous networks, it acts as a proactive performance optimizer, reducing peak centrality by over 80\% and increasing high-load throughput by more than 45\%; in homogeneous topologies, its objective intelligently shifts to resilience enhancement. We rigorously prove its global convergence and practical stability using the theory of non-smooth dynamical systems, establishing a predictable paradigm for network governance that intelligently trades off performance and resilience.

Paperid: 458, https://arxiv.org/pdf/2509.15794.pdf

Abstract:
System identification in modern engineering systems faces emerging challenges from unanticipated adversarial attacks beyond existing detection mechanisms. In this work, we obtain a provably accurate estimate of the Markov parameter matrix of order $k$ to identify partially observed linear systems, in which the probability of having an attack at each time is $O(1/k)$. We show that given the batch data accumulated up to time $T^*$, the $\ell_2$-norm estimator achieves an error decaying exponentially as $k$ grows. We then propose a stochastic projected subgradient descent algorithm on streaming data that produces an estimate at each time $t

Paperid: 459, https://arxiv.org/pdf/2509.12692.pdf

Abstract:
Nonlinear optimization-based policies have seen large success in recent years, primarily due to the incredible capabilities of nonlinear Model Predictive Control (nMPC). These policies require solving computationally demanding nonlinear optimization programs (NLP) online at each time-step. The solution map of these NLPs, viewed as a function of the measured state of the system and design parameters, may not be differentiable, which poses significant challenges if the policy is designed with a policy optimization scheme. In this paper, we propose a principled way to regularize NLPs to obtain a surrogate derivative even if the NLP is not differentiable. The surrogate problem is differentiable by design and its solution map coincides with the solution of the unregularized problem. We demonstrate the effectiveness of our approach in a free-final-time optimal control problem and a receding-horizon nonlinear MPC example.

Paperid: 460, https://arxiv.org/pdf/2509.12689.pdf

Abstract:
Optimal-Transport Distributionally Robust Optimization (OT-DRO) robustifies data-driven decision-making under uncertainty by capturing the sampling-induced statistical error via optimal transport ambiguity sets. The standard OT-DRO pipeline consists of a two-step procedure, where the ambiguity set is first designed and subsequently embedded into the downstream OT-DRO problem. However, this separation between uncertainty quantification and optimization might result in excessive conservatism. We introduce an end-to-end pipeline to automatically learn decision-focused ambiguity sets for OT-DRO problems, where the loss function informs the shape of the optimal transport ambiguity set, leading to less conservative yet distributionally robust decisions. We formulate the learning problem as a bilevel optimization program and solve it via a hypergradient-based method. By leveraging the recently introduced nonsmooth conservative implicit function theorem, we establish convergence to a critical point of the bilevel problem. We present experiments validating our method on standard portfolio optimization and linear regression tasks.

Paperid: 461, https://arxiv.org/pdf/2509.07593.pdf

Abstract:
End-to-end reinforcement learning for motion control promises unified perception-action policies that scale across embodiments and tasks, yet most deployed controllers are either blind (proprioception-only) or rely on fusion backbones with unfavorable compute-memory trade-offs. Recurrent controllers struggle with long-horizon credit assignment, and Transformer-based fusion incurs quadratic cost in token length, limiting temporal and spatial context. We present a vision-driven cross-modal RL framework built on SSD-Mamba2, a selective state-space backbone that applies state-space duality (SSD) to enable both recurrent and convolutional scanning with hardware-aware streaming and near-linear scaling. Proprioceptive states and exteroceptive observations (e.g., depth tokens) are encoded into compact tokens and fused by stacked SSD-Mamba2 layers. The selective state-space updates retain long-range dependencies with markedly lower latency and memory use than quadratic self-attention, enabling longer look-ahead, higher token resolution, and stable training under limited compute. Policies are trained end-to-end under curricula that randomize terrain and appearance and progressively increase scene complexity. A compact, state-centric reward balances task progress, energy efficiency, and safety. Across diverse motion-control scenarios, our approach consistently surpasses strong state-of-the-art baselines in return, safety (collisions and falls), and sample efficiency, while converging faster at the same compute budget. These results suggest that SSD-Mamba2 provides a practical fusion backbone for scalable, foresightful, and efficient end-to-end motion control.

Paperid: 462, https://arxiv.org/pdf/2509.06722.pdf

Abstract:
In this paper, we study a goal-oriented communication problem for edge server monitoring, where compute jobs arrive intermittently at dispatchers and must be immediately assigned to distributed edge servers. Due to competing workloads and the dynamic nature of the edge environment, server availability fluctuates over time. To maintain accurate estimates of server availability states, each dispatcher updates its belief using two mechanisms: (i) active queries over shared communication channels and (ii) feedback from past job executions. We formulate a query scheduling problem that maximizes the job success rate under limited communication resources for queries. This problem is modeled as a Restless Multi-Armed Bandit (RMAB) with multiple actions and addressed using a Net-Gain Maximization (NGM) scheduling algorithm, which selects servers to query based on their expected improvement in execution performance. Simulation results show that the proposed NGM Policy significantly outperforms baseline strategies, achieving up to a 30% gain over the Round-Robin Policy and up to a 107% gain over the Never-Query Policy.

Paperid: 463, https://arxiv.org/pdf/2509.06588.pdf

Abstract:
This paper considers automatic generation control over an information-sharing network of communicating generators as a multi-agent system. The optimization solution is distributed among the agents based on information consensus algorithms, while addressing the generators' ramp-rate-limits (RRL). This is typically ignored in the existing linear/nonlinear optimization solutions but they exist in real-time power generation scenarios. Without addressing the RRL, the generators cannot follow the assigned rate of generating power by the optimization algorithm; therefore, the existing solutions may not necessarily converge to the exact optimal cost or may lose feasibility in practice. The proposed solution in this work addresses the ramp-rate-limit constraint along with the box constraint (limits on the generated powers) and the coupling-constraint (generation-demand balance) at all iteration times of the algorithm. The latter is referred to as the anytime feasibility and implies that at every termination point of the algorithm, the balance between the demand and generated power holds. To improve the convergence rate of the algorithm we further consider internal signum-based nonlinearity. We also show that our solution can tolerate communication link removal. This follows from the uniform-connectivity assumption on the communication network.

Paperid: 464, https://arxiv.org/pdf/2509.04213.pdf

Abstract:
State estimation in control and systems engineering traditionally requires extensive manual system identification or data-collection effort. However, transformer-based foundation models in other domains have reduced data requirements by leveraging pre-trained generalist models. Ultimately, developing zero-shot foundation models of system dynamics could drastically reduce manual deployment effort. While recent work shows that transformer-based end-to-end approaches can achieve zero-shot performance on unseen systems, they are limited to sensor models seen during training. We introduce the foundation model unscented Kalman filter (FM-UKF), which combines a transformer-based model of system dynamics with analytically known sensor models via an UKF, enabling generalization across varying dynamics without retraining for new sensor configurations. We evaluate FM-UKF on a new benchmark of container ship models with complex dynamics, demonstrating a competitive accuracy, effort, and robustness trade-off compared to classical methods with approximate system knowledge and to an end-to-end approach. The benchmark and dataset are open sourced to further support future research in zero-shot state estimation via foundation models.

Paperid: 465, https://arxiv.org/pdf/2509.02804.pdf

Abstract:
We study the problem of minimizing a $m$-weakly convex and possibly nonsmooth function. Weak convexity provides a broad framework that subsumes convex, smooth, and many composite nonconvex functions. In this work, we propose a $\textit{proximal descent method}$, a simple and efficient first-order algorithm that combines the inexact proximal point method with classical convex bundle techniques. Our analysis establishes explicit non-asymptotic convergence rates in terms of $(Î·,Îµ)$-inexact stationarity. In particular, the method finds an $(Î·,Îµ)$-inexact stationary point using at most $\mathcal{O}\!\left( \Big(\tfrac{1}{Î·^2} + \tfrac{1}Îµ\Big) \max\!\left\{\tfrac{1}{Î·^2}, \tfrac{1}Îµ\right\} \right)$ function value and subgradient evaluations. Consequently, the algorithm also achieves the best-known complexity of $\mathcal{O}(1/Î´^4)$ for finding an approximate Moreau stationary point with $\|\nabla f_{2m}(x)\|\leq Î´$. A distinctive feature of our method is its \emph{automatic adaptivity}: with no parameter tuning or algorithmic modification, it accelerates to $\mathcal{O}(1/Î´^2)$ complexity under smoothness and further achieves linear convergence under quadratic growth. Overall, this work bridges convex bundle methods and weakly convex optimization, while providing accelerated guarantees under structural assumptions.

Paperid: 466, https://arxiv.org/pdf/2509.00956.pdf

Abstract:
The Linear Quadratic Gaussian (LQG) regulator is a cornerstone of optimal control theory, yet its performance can degrade significantly when the noise distributions deviate from the assumed Gaussian model. To address this limitation, this work proposes a distributionally robust generalization of the finite-horizon LQG control problem. Specifically, we assume that the noise distributions are unknown and belong to ambiguity sets defined in terms of an entropy-regularized Wasserstein distance centered at a nominal Gaussian distribution. By deriving novel bounds on this Sinkhorn discrepancy and proving structural and topological properties of the resulting ambiguity sets, we establish global optimality of linear policies. Numerical experiments showcase improved distributional robustness of our control policy.

Paperid: 467, https://arxiv.org/pdf/2508.19159.pdf

Abstract:
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state information. In the presence of estimation errors, several prior robust control barrier function (R-CBF) formulations have imposed strict conditions on the input. These methods can be overly conservative and can introduce issues such as infeasibility, high control effort, etc. This work proposes a systematic method to improve R-CBFs, and demonstrates its advantages on a tracked vehicle that navigates among multiple obstacles. A primary contribution is a new optimization-based online parameter adaptation scheme that reduces the conservativeness of existing R-CBFs. In order to reduce the complexity of the parameter optimization, we merge several safety constraints into one unified numerical CBF via Poisson's equation. We further address the dual relative degree issue that typically causes difficulty in vehicle tracking. Experimental trials demonstrate the overall performance improvement of our approach over existing formulations.

Paperid: 468, https://arxiv.org/pdf/2508.19153.pdf

Abstract:
We address vision-guided quadruped motion control with reinforcement learning (RL) and highlight the necessity of combining proprioception with vision for robust control. We propose QuadKAN, a spline-parameterized cross-modal policy instantiated with Kolmogorov-Arnold Networks (KANs). The framework incorporates a spline encoder for proprioception and a spline fusion head for proprioception-vision inputs. This structured function class aligns the state-to-action mapping with the piecewise-smooth nature of gait, improving sample efficiency, reducing action jitter and energy consumption, and providing interpretable posture-action sensitivities. We adopt Multi-Modal Delay Randomization (MMDR) and perform end-to-end training with Proximal Policy Optimization (PPO). Evaluations across diverse terrains, including both even and uneven surfaces and scenarios with static or dynamic obstacles, demonstrate that QuadKAN achieves consistently higher returns, greater distances, and fewer collisions than state-of-the-art (SOTA) baselines. These results show that spline-parameterized policies offer a simple, effective, and interpretable alternative for robust vision-guided locomotion. A repository will be made available upon acceptance.

Paperid: 469, https://arxiv.org/pdf/2508.12701.pdf

Abstract:
The importance of Radio Access Network (RAN) in support Artificial Intelligence (AI) application services has grown significantly, underscoring the need for an integrated approach that considers not only network efficiency but also AI performance. In this paper we focus on a semantic generative communication (SGC) framework for image inpainting application. Specifically, the transmitter sends semantic information, i.e., semantic masks and textual descriptions, while the receiver utilizes a conditional diffusion model on a base image, using them as conditioning data to produce the intended image. In this framework, we propose a bandwidth allocation scheme designed to maximize bandwidth efficiency while ensuring generation performance. This approach is based on our finding of a Semantic Deadline--the minimum time that conditioning data is required to be injected to meet a given performance threshold--within the multi-modal SGC framework. Given this observation, the proposed scheme allocates limited bandwidth so that each semantic information can be transmitted within the corresponding semantic deadline. Experimental results corroborate that the proposed bandwidth allocation scheme achieves higher generation performance in terms of PSNR for a given bandwidth compared to traditional schemes that do not account for semantic deadlines.

Paperid: 470, https://arxiv.org/pdf/2508.11849.pdf

Abstract:
We introduce LocoMamba, a vision-driven cross-modal DRL framework built on selective state-space models, specifically leveraging Mamba, that achieves near-linear-time sequence modeling, effectively captures long-range dependencies, and enables efficient training with longer sequences. First, we embed proprioceptive states with a multilayer perceptron and patchify depth images with a lightweight convolutional neural network, producing compact tokens that improve state representation. Second, stacked Mamba layers fuse these tokens via near-linear-time selective scanning, reducing latency and memory footprint, remaining robust to token length and image resolution, and providing an inductive bias that mitigates overfitting. Third, we train the policy end-to-end with Proximal Policy Optimization under terrain and appearance randomization and an obstacle-density curriculum, using a compact state-centric reward that balances progress, smoothness, and safety. We evaluate our method in challenging simulated environments with static and moving obstacles as well as uneven terrain. Compared with state-of-the-art baselines, our method achieves higher returns and success rates with fewer collisions, exhibits stronger generalization to unseen terrains and obstacle densities, and improves training efficiency by converging in fewer updates under the same compute budget.

Paperid: 471, https://arxiv.org/pdf/2508.11129.pdf

Abstract:
Autonomous navigation through unstructured and dynamically-changing environments is a complex task that continues to present many challenges for modern roboticists. In particular, legged robots typically possess manipulable asymmetric geometries which must be considered during safety-critical trajectory planning. This work proposes a predictive safety filter: a nonlinear model predictive control (MPC) algorithm for online trajectory generation with geometry-aware safety constraints based on control barrier functions (CBFs). Critically, our method leverages Poisson safety functions to numerically synthesize CBF constraints directly from perception data. We extend the theoretical framework for Poisson safety functions to incorporate temporal changes in the domain by reformulating the static Dirichlet problem for Poisson's equation as a parameterized moving boundary value problem. Furthermore, we employ Minkowski set operations to lift the domain into a configuration space that accounts for robot geometry. Finally, we implement our real-time predictive safety filter on humanoid and quadruped robots in various safety-critical scenarios. The results highlight the versatility of Poisson safety functions, as well as the benefit of CBF constrained model predictive safety-critical controllers.

Paperid: 472, https://arxiv.org/pdf/2508.08185.pdf

Abstract:
Pinching antenna (PA), a flexible waveguide integrated with dielectric particles, intelligently reconstructs line-of-sight channels. Utilizing its geometric deterministic model and meter-level reconstruction, PA systems (PASS) are applied to uplink indoor positioning. In this paper, the uplink positioning system model for PASS is firstly proposed. A PASS-based received signal strength indication (RSSI) method is proposed to measure the distance from the users to each PA, which is efficient and suitable for PASS. PASS-based weighted least squares (WLS) algorithm is designed to calculate the two-dimensional coordinates of the users. Several critical observations can be drawn from our results: i) More PAs on the waveguide improves the positioning accuracy and robustness. ii) When the number of PAs exceeds a certain threshold, the performance gain becomes marginal. iii) User locations between and near PAs yield superior positioning accuracy.

Paperid: 473, https://arxiv.org/pdf/2508.06898.pdf

Abstract:
Performance evaluation of complex networks has traditionally focused on structural integrity or average transmission efficiency, perspectives that often overlook the dimension of functional fairness. This raises a central question: Under certain conditions, structurally heterogeneous networks can exhibit high functional fairness. To systematically address this issue, we introduce a new metric, Network Imbalance (I), designed to quantitatively assess end-to-end accessibility fairness from a perceived QoS perspective. By combining a tunable sigmoid function with a global Shannon entropy framework, the I metric quantifies the uniformity of connection experiences between all node pairs. We analyze the mathematical properties of this metric and validate its explanatory power on various classical network models. Our findings reveal that low imbalance (i.e., high functional fairness) can be achieved through two distinct mechanisms: one via topological symmetry (e.g., in a complete graph) and the other via extreme connection efficiency driven by structural inequality (e.g., in a scale-free network). This decoupling of structure and function provides a new theoretical perspective for network performance evaluation and offers an effective quantitative tool for balancing efficiency and fairness in network design.

Paperid: 474, https://arxiv.org/pdf/2508.06864.pdf

Abstract:
In emergency scenarios, the dynamic and harsh conditions necessitate timely trajectory adjustments for drones, leading to highly dynamic network topologies and potential task failures. To address these challenges, a collaborative computing strategy based strapdown inertial navigation system (SINS) prediction for emergency UAVs network (EUN) is proposed, where a two-step weighted time expanded graph (WTEG) is constructed to deal with dynamic network topology changes. Furthermore, the task scheduling is formulated as a Directed Acyclic Graph (DAG) to WTEG mapping problem to achieve collaborative computing while transmitting among UAVs. Finally, the binary particle swarm optimization (BPSO) algorithm is employed to choose the mapping strategy that minimizes end-to-end processing latency. The simulation results validate that the collaborative computing strategy significantly outperforms both cloud and local computing in terms of latency. Moreover, the task success rate using SINS is substantially improved compared to approaches without prior prediction.

Paperid: 475, https://arxiv.org/pdf/2507.18609.pdf

Abstract:
We extend the Deadzone-Adapted Disturbance Suppression (DADS) control to time-invariant systems with dynamic uncertainties that satisfy the matching condition and for which no bounds for the disturbance and the unknown parameters are known. This problem is equivalent to partial-state adaptive feedback, where the states modeling the dynamic uncertainty are unmeasured. We show that the DADS controller can bypass small-gain conditions and achieve robust regulation for systems in spite of the fact that the strength of the interconnections has no known bound. Moreover, no gain and state drift arise, regardless of the size of the disturbances and unknown parameters. Finally, the paper provides the detailed analysis of a control system where the unmeasured state (or the dynamic uncertainty) is infinite-dimensional and described by a reaction-diffusion Partial Differential Equation, where the diffusion coefficient and the reaction term are unknown. It is shown that even in the infinite-dimensional case, a DADS controller can be designed and guarantees robust regulation of the plant state.

Paperid: 476, https://arxiv.org/pdf/2507.09026.pdf

Abstract:
We consider solutions to the linear quadratic Gaussian (LQG) regulator problem via policy gradient (PG) methods. Although PG methods have demonstrated strong theoretical guarantees in solving the linear quadratic regulator (LQR) problem, despite its nonconvex landscape, their theoretical understanding in the LQG setting remains limited. Notably, the LQG problem lacks gradient dominance in the classical parameterization, i.e., with a dynamic controller, which hinders global convergence guarantees. In this work, we study PG for the LQG problem by adopting an alternative parameterization of the set of stabilizing controllers and employing a lifting argument. We refer to this parameterization as a history representation of the control input as it is parameterized by past input and output data from the previous p time-steps. This representation enables us to establish gradient dominance and approximate smoothness for the LQG cost. We prove global convergence and per-iteration stability guarantees for policy gradient LQG in model-based and model-free settings. Numerical experiments on an open-loop unstable system are provided to support the global convergence guarantees and to illustrate convergence under different history lengths of the history representation.

Paperid: 477, https://arxiv.org/pdf/2507.04640.pdf

Abstract:
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the significant uncertainty in drag and weight parameters introduced by the collected litter. We propose a dynamical model for the coupled UUV-USV system in the primary plane of motion and a risk-aware optimization approach incorporating parameter uncertainty and noise to ensure safe interactions with the environment. A stochastic optimization problem is solved using a conditional value-at-risk framework. Simulations demonstrate that our approach reduces collision risks and energy consumption, highlighting its reliability compared to existing control methods.

Paperid: 478, https://arxiv.org/pdf/2512.24619.pdf

Abstract:
Automotive FMCW radars are indispensable to modern ADAS and autonomous-driving systems, but their increasing density has intensified the risk of mutual interference. Existing mitigation techniques, including reactive receiver-side suppression, proactive waveform design, and cooperative scheduling, often face limitations in scalability, reliance on side-channel communication, or degradation of range-Doppler resolution. Building on our earlier work on decentralized Frequency-Domain No-Regret hopping, this paper introduces a unified time-frequency game-theoretic framework that enables radars to adapt across both spectral and temporal resources. We formulate the interference-avoidance problem as a repeated anti-coordination game, in which each radar autonomously updates a mixed strategy over frequency subbands and chirp-level time offsets using regret-minimization dynamics. We show that the proposed Time-Frequency No-Regret Hopping algorithm achieves vanishing external and swap regret, and that the induced empirical play converges to an $\varepsilon$-coarse correlated equilibrium or a correlated equilibrium. Theoretical analysis provides regret bounds in the joint domain, revealing how temporal adaptation implicitly regularizes frequency selection and enhances robustness against asynchronous interference. Numerical experiments with multi-radar scenarios demonstrate substantial improvements in SINR, collision rate, and range-Doppler quality compared with time-frequency random hopping and centralized Nash-based benchmarks.

Paperid: 479, https://arxiv.org/pdf/2512.18112.pdf

Abstract:
This paper addresses the challenge of modeling and control in hierarchical, multi-agent systems, known as holonic systems, where local agent decisions are coupled with global systemic outcomes. We introduce the Bayesian Holonic Equilibrium (BHE), a concept that ensures consistency between agent-level rationality and system-wide emergent behavior. We establish the theoretical soundness of the BHE by showing its existence and, under stronger regularity conditions, its uniqueness. We propose a two-time scale learning algorithm to compute such an equilibrium. This algorithm mirrors the system's structure, with a fast timescale for intra-holon strategy coordination and a slow timescale for inter-holon belief adaptation about external risks. The convergence of the algorithm to the theoretical equilibrium is validated through a numerical experiment on a continuous public good game. This work provides a complete theoretical and algorithmic framework for the principled design and analysis of strategic risk in complex, coupled control systems.

Paperid: 480, https://arxiv.org/pdf/2512.18109.pdf

Abstract:
We study self-triggered two-player stochastic games on Piecewise Deterministic Markov Processes (PDMPs) where each agent decides when to observe and which open-loop action to hold. Augmenting the state with clocks and committed controls yields flow regions (both hold) and trigger surfaces (at least one updates). The framework covers both blind simultaneous (Nash) timing and observable sequential (Stackelberg) commitments; the former leads to coupled, intractable QVIs, while the latter admits a nested Hamilton-Jacobi-Bellman quasi-variational inequality and a tractable dynamic-programming decomposition. We outline a computational scheme based on implicit differentiation of the follower's fixed point. A pursuit-evasion example illustrates the strategic timing interaction.

Paperid: 481, https://arxiv.org/pdf/2512.18098.pdf

Abstract:
This paper develops a hierarchical games-in-games control architecture for hybrid stochastic systems governed by regime-switching jump-diffusions. We model the interplay between continuous state dynamics and discrete mode transitions as a bilevel differential game: an inner layer solves a robust stochastic control problem within each regime, while a strategic outer layer modulates the transition intensities of the underlying Markov chain. A Dynkin-based analysis yields a system of coupled Hamilton-Jacobi-Isaacs (HJI) equations. We prove that for the class of Linear-Quadratic games and Exponential-Affine games, this hierarchy admits tractable semi-closed form solutions via coupled matrix differential equations. We prove that for the class of Linear-Quadratic games and Exponential-Affine games, this hierarchy admits tractable semi-closed form solutions via coupled matrix differential equations. The framework is demonstrated through a case study on adversarial market microstructure, showing how the outer layer's strategic switching pre-emptively adjusts inventory spreads against latent regime risks, which leads to a hyper-alert equilibrium.

Paperid: 482, https://arxiv.org/pdf/2512.13229.pdf

Abstract:
As cyber-physical systems (CPSs) become more dependent on data and communication networks, their vulnerability to false data injection (FDI) attacks has raised significant concerns. Among these, stealthy attacks, those that evade conventional detection mechanisms, pose a critical threat to closed-loop performance. This paper introduces a controller-oriented method to enhance CPS resiliency against such attacks without compromising nominal closed-loop behavior. Specifically, we propose the concept of plant equivalent controller (PEC) realizations, representing a class of dynamic output-feedback controllers that preserve the input-output behavior of a given base controller while exhibiting distinct robustness properties in the presence of disturbances and sensor attacks. To quantify and improve robustness, we employ reachable set analysis to assess the impact of stealthy attacks on the closed-loop dynamics. Building on this analysis, we provide mathematical tools (in terms of linear matrix inequalities) to synthesize the optimal PEC realization that minimizes the reachable set under peak-bounded disturbances. The proposed framework thus provides systematic analysis and synthesis tools to enhance the attack resilience of CPSs while maintaining the desired nominal performance. The effectiveness of the approach is demonstrated on the quadruple-tank process subject to stealthy sensor attacks.

Paperid: 483, https://arxiv.org/pdf/2512.02285.pdf

Abstract:
Wildlife monitoring with drones must balance competing demands: approaching close enough to capture behaviorally-relevant video while avoiding stress responses that compromise animal welfare and data validity. Human operators face a fundamental attentional bottleneck: they cannot simultaneously control drone operations and monitor vigilance states across entire animal groups. By the time elevated vigilance becomes obvious, an adverse flee response by the animals may be unavoidable. To solve this challenge, we present an edge-native, behavior-adaptive drone system for wildlife monitoring. This configurable decision-support system augments operator expertise with automated group-level vigilance monitoring. Our system continuously tracks individual behaviors using YOLOv11m detection and YOLO-Behavior classification, aggregates vigilance states into a real-time group stress metric, and provides graduated alerts (alert vigilance to flee response) with operator-tunable thresholds for context-specific calibration. We derive service-level objectives (SLOs) from video frame rates and behavioral dynamics: to monitor 30fps video streams in real-time, our system must complete detection and classification within 33ms per frame. Our edge-native pipeline achieves 23.8ms total inference on GPU-accelerated hardware, meeting this constraint with a substantial margin. Retrospective analysis of seven wildlife monitoring missions demonstrates detection capability and quantifies the cost of reactive control: manual piloting results in 14 seconds average adverse behavior duration with 71.9% usable frames. Our analysis reveals operators could have received actionable alerts 51s before animals fled in 57% of missions. Simulating 5-second operator intervention yields a projected performance of 82.8% usable frames with 1-second adverse behavior duration,a 93% reduction compared to manual piloting.

Paperid: 484, https://arxiv.org/pdf/2511.18051.pdf

Abstract:
Sparse dynamics identification is an essential tool for discovering interpretable physical models and enabling efficient control in engineering systems. However, existing methods rely on batch learning with full historical data, limiting their applicability to real-time scenarios involving sequential and partially observable data. To overcome this limitation, this paper proposes an online Sparse Kalman Identification (SKI) method by integrating the Augmented Kalman Filter (AKF) and Automatic Relevance Determination (ARD). The main contributions are: (1) a theoretically grounded Bayesian sparsification scheme that is seamlessly integrated into the AKF framework and adapted to sequentially collected data in online scenarios; (2) an update mechanism that adapts the Kalman posterior to reflect the updated selection of the basis functions that define the model structure; (3) an explicit gradient-descent formulation that enhances computational efficiency. Consequently, the SKI method achieves accurate model structure selection with millisecond-level efficiency and higher identification accuracy, as demonstrated by extensive simulations and real-world experiments (showing an 84.21\% improvement in accuracy over the baseline AKF).

Paperid: 485, https://arxiv.org/pdf/2511.17233.pdf

Abstract:
Deep Model Predictive Control (Deep MPC) is an evolving field that integrates model predictive control and deep learning. This manuscript is focused on a particular approach, which employs deep neural network in the loop with MPC. This class of approaches distributes control authority between a neural network and an MPC controller, in such a way that the neural network learns the model uncertainties while the MPC handles constraints. The approach is appealing because training data collected while the system is in operation can be used to fine-tune the neural network, and MPC prevents unsafe behavior during those learning transients. This manuscript explains implementation challenges of Deep MPC, algorithmic way to distribute control authority and argues that a poor choice in distributing control authority may lead to poor performance. A reason of poor performance is explained through a numerical experiment on a four-wheeled skid-steer dynamics.

Paperid: 486, https://arxiv.org/pdf/2511.09695.pdf

Abstract:
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end effector and RGB-D cameras. To support teleoperation in dynamic environments with limited visibility, we use Gaussian splatting for online 3D reconstruction and introduce motion parameters to model moving objects. For safe operation around dynamic obstacles, we developed a neural configuration-space barrier approach for planning and control. Initial feasibility studies demonstrate the capability of the hardware in drilling, bolting, and anchoring, and the software in safe teleoperation in a dynamic environment.

Paperid: 487, https://arxiv.org/pdf/2511.07646.pdf

Abstract:
This paper studies distributed adaptive estimation over sensor networks with partially known source dynamics. We present parallel continuous-time and discrete-time designs in which each node runs a local adaptive observer and exchanges information over a directed graph. For both time scales, we establish stability of the network coupling operators, prove boundedness of all internal signals, and show convergence of each node estimate to the source despite model uncertainty and disturbances. We further derive input-to-state stability (ISS) bounds that quantify robustness to bounded process noise. A key distinction is that the discrete-time design uses constant adaptive gains and per-step regressor normalization to handle sampling effects, whereas the continuous-time design does not. A unified Lyapunov framework links local observer dynamics with graph topology. Simulations on star, cyclic, and path networks corroborate the analysis, demonstrating accurate tracking, robustness, and scalability with the number of sensing nodes.

Paperid: 488, https://arxiv.org/pdf/2510.24359.pdf

Abstract:
Artificial intelligence in medicine is built to serve the average patient. By minimizing error across large datasets, most systems deliver strong aggregate accuracy yet falter at the margins: patients with rare variants, multimorbidity, or underrepresented demographics. This average patient fallacy erodes both equity and trust. We propose a different design: a multi-agent ecosystem for N-of-1 decision support. In this environment, agents clustered by organ systems, patient populations, and analytic modalities draw on a shared library of models and evidence synthesis tools. Their results converge in a coordination layer that weighs reliability, uncertainty, and data density before presenting the clinician with a decision-support packet: risk estimates bounded by confidence ranges, outlier flags, and linked evidence. Validation shifts from population averages to individual reliability, measured by error in low-density regions, calibration in the small, and risk--coverage trade-offs. Anticipated challenges include computational demands, automation bias, and regulatory fit, addressed through caching strategies, consensus checks, and adaptive trial frameworks. By moving from monolithic models to orchestrated intelligence, this approach seeks to align medical AI with the first principle of medicine: care that is transparent, equitable, and centered on the individual.

Paperid: 489, https://arxiv.org/pdf/2510.20916.pdf

Abstract:
Aircraft collision avoidance systems is critical to modern aviation. These systems are designed to predict potential collisions between aircraft and recommend appropriate avoidance actions. Creating effective collision avoidance systems requires solutions to a variety of technical challenges related to surveillance, decision making, and validation. These challenges have sparked significant research and development efforts over the past several decades that have resulted in a variety of proposed solutions. This article provides an overview of these challenges and solutions with an emphasis on those that have been put through a rigorous validation process and accepted by regulatory bodies. The challenges posed by the collision avoidance problem are often present in other domains, and aircraft collision avoidance systems can serve as case studies that provide valuable insights for a wide range of safety-critical systems.

Paperid: 490, https://arxiv.org/pdf/2510.20081.pdf

Abstract:
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed approach decouples safety objectives from the learning objectives using a CBF-based guarding controller where the CBFs are robustified to account for the lack of full-state measurements. The coupling of this guarding controller with the AOC-based stabilizing control guarantees safety and regulation despite the lack of full state measurement. The paper leverages recent advancements in deep neural network-based adaptive observers to ensure safety in the presence of state estimation errors. Safety and convergence guarantees are provided using a Lyapunov-based analysis, and the effectiveness of the developed controller is demonstrated through simulation under mild excitation conditions.

Paperid: 491, https://arxiv.org/pdf/2510.18402.pdf

Abstract:
Motivated by the application of using model predictive control (MPC) for motion planning of autonomous mobile robots, a form of output tracking MPC for non-holonomic systems and with non-convex constraints is studied. Although the advantages of using MPC for motion planning have been demonstrated in several papers, in most of the available fundamental literature on output tracking MPC it is assumed, often implicitly, that the model is holonomic and generally the state or output constraints must be convex. Thus, in application-oriented publications, empirical results dominate and the topic of proving completeness, in particular under which assumptions the target is always reached, has received comparatively little attention. To address this gap, we present a novel MPC formulation that guarantees convergence to the desired target under realistic assumptions, which can be verified in relevant real-world scenarios.

Paperid: 492, https://arxiv.org/pdf/2510.17808.pdf

Abstract:
This paper presents an experimental investigation and performance evaluation of a hybrid electric radio-controlled car powered by a Nickel-Metal Hydride battery combined with a renewable Proton Exchange Membrane Fuel Cell system. The study evaluates the performance of the system under various load-carrying scenarios and varying environmental conditions, simulating real-world operating conditions including throttle operation. In order to build a predictive model, gather operational insights, and detect anomalies, data-driven analyses using signal processing and modern machine learning techniques were employed. Specifically, machine learning techniques were used to distinguish throttle levels with high precision based on the operational data. Anomaly and change point detection methods enhanced voltage stability, resulting in fewer critical faults in the hybrid system compared to battery-only operation. Temporal Convolutional Networks were effectively employed to predict voltage behavior, demonstrating potential for use in planning the locations of fueling or charging stations. Moreover, integration with a solar-powered electrolyzer confirmed the system's potential for off-grid, renewable hydrogen use. The results indicate that integrating a Proton Exchange Membrane Fuel Cell with Nickel-Metal Hydride batteries significantly improves electrical performance and reliability for small electric vehicles, and these findings can be a potential baseline for scaling up to larger vehicles.

Paperid: 493, https://arxiv.org/pdf/2510.17462.pdf

Abstract:
The vision of a smart wireless factory (SWF) demands highly flexible, low-latency, and reliable connectivity that goes beyond conventional wireless solutions. Reconfigurable intelligent surface (RIS)-empowered communications, when integrated with the open radio access network (O-RAN) architectures, have emerged as a promising enabler to meet these challenging requirements. This article introduces the methodology for the orchestration of RIS with xApps (ORIX), bringing the RIS technology into the O-RAN ecosystem through xApp-based control for SWF environments. ORIX features three key components: an O-RAN-compliant RIS service model for dynamic configuration, an RIS channel simulator that supports 3GPP indoor factory models with multiple industrial scenarios, and practical RIS optimization strategies with finite-resolution control. Together, these elements provide a realistic end-to-end emulation platform for evaluating RIS placement, control, and performance in SWF environments prior to deployment. The presented case study demonstrates how ORIX enables the evaluation of achievable performance gains, exploration of trade-offs among key RIS design parameters, and identification of deployment strategies that balance system performance with practical implementation constraints. By bridging theoretical advances with industrial feasibility, ORIX lays the groundwork for RIS-assisted O-RAN networks to power next-generation wireless communication in industrial scenarios.

Paperid: 494, https://arxiv.org/pdf/2510.17270.pdf

Abstract:
Grey-box methods for system identification combine deep learning with physics-informed constraints, capturing complex dependencies while improving out-of-distribution generalization. Yet, despite the growing importance of floating-base systems such as humanoids and quadrupeds, current grey-box models ignore their specific physical constraints. For instance, the inertia matrix is not only positive definite but also exhibits branch-induced sparsity and input independence. Moreover, the 6x6 composite spatial inertia of the floating base inherits properties of single-rigid-body inertia matrices. As we show, this includes the triangle inequality on the eigenvalues of the composite rotational inertia. To address the lack of physical consistency in deep learning models of floating-base systems, we introduce a parameterization of inertia matrices that satisfies all these constraints. Inspired by Deep Lagrangian Networks (DeLaN), we train neural networks to predict physically plausible inertia matrices that minimize inverse dynamics error under Lagrangian mechanics. For evaluation, we collected and released a dataset on multiple quadrupeds and humanoids. In these experiments, our Floating-Base Deep Lagrangian Networks (FeLaN) achieve highly competitive performance on both simulated and real robots, while providing greater physical interpretability.

Paperid: 495, https://arxiv.org/pdf/2510.15390.pdf

Abstract:
Accurate learning of system dynamics is becoming increasingly crucial for advanced control and decision-making in engineering. However, real-world systems often exhibit multiple channels and highly nonlinear transition dynamics, challenging traditional modeling methods. To enable online learning for these systems, this paper formulates the system as Gaussian process state-space models (GPSSMs) and develops a recursive learning method. The main contributions are threefold. First, a heterogeneous multi-output kernel is designed, allowing each output dimension to adopt distinct kernel types, hyperparameters, and input variables, improving expressiveness in multi-dimensional dynamics learning. Second, an inducing-point management algorithm enhances computational efficiency through independent selection and pruning for each output dimension. Third, a unified recursive inference framework for GPSSMs is derived, supporting general moment matching approaches, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and assumed density filtering (ADF), enabling accurate learning under strong nonlinearity and significant noise. Experiments on synthetic and real-world datasets show that the proposed method matches the accuracy of SOTA offline GPSSMs with only 1/100 of the runtime, and surpasses SOTA online GPSSMs by around 70% in accuracy under heavy noise while using only 1/20 of the runtime.

Paperid: 496, https://arxiv.org/pdf/2510.13627.pdf

Abstract:
Scaling quantum computers from a few qubits to large numbers remains one of the critical challenges in realizing practical quantum advantage. Multi-core quantum architectures have emerged as a promising solution, enabling scalability through distributed quantum processing units (QPUs) interconnected via classical and quantum links. However, the bottleneck of wired connections persists, as densely packed wired interconnects, both vertically across temperature stages and horizontally within the same layer, introduce spatial constraints, power dissipation, and latency, which could hinder performance as the number of QPUs increases. To overcome these limitations, this work proposes a cryo-compatible on-chip differential dipole antenna operating at 28 GHz to enable short-range wireless communication within a quantum computer cryostat. Temperature-dependent material properties are incorporated to accurately capture antenna behavior at 4 K. Moreover, by embedding the antenna in a realistic cryostat structure, we evaluate the feasibility of antenna operation within the cryogenic environment. The proposed antenna achieves a reflection coefficient of -20.8 dB in free space and -18.38 dB within the cryostat, demonstrating efficient impedance matching.

Paperid: 497, https://arxiv.org/pdf/2510.11316.pdf

Abstract:
In this paper, we present pyspect, a Python toolbox that simplifies the use of reachability analysis for temporal logic problems. Currently, satisfying complex requirements in cyber-physical systems requires significant manual effort and domain expertise to develop the underlying reachability programs. This high development effort limits the broader adoption of reachability analysis for complex verification problems. To address this, pyspect provides a method-agnostic approach to performing reachability analysis for verifying a temporal logic specification via temporal logic trees (TLTs). It enables the specification of complex safety and liveness requirements using high-level logic formulations that are independent of any particular reachability technique or set representation. As a result, pyspect allows for the comparison of different reachability implementations, such as Hamilton-Jacobi and Hybrid Zonotope-based reachability analysis, for the same temporal logic specification. This design separates the concerns of implementation developers (who develop numerical procedures for reachability) and end-users (who write specifications). Through a simple vehicle example, we demonstrate how pyspect simplifies the synthesis of reachability programs, promotes specification reusability, and facilitates side-by-side comparisons of reachability techniques for complex tasks.

Paperid: 498, https://arxiv.org/pdf/2510.09943.pdf

Abstract:
We investigate the potential impact of communication and human performance uncertainties on runway operations. Specifically, we consider these impacts within the context of an arrival scenario with two converging flows: a straight-in approach stream and a downwind stream merging into it. Both arrival stream are modeled using a modified Possion distribution that incorporate the separation minima as well as the runway occupancy time. Various system level uncertainties are addressed in this process, including communication link- and human-related uncertainties. In this research, we first build a Monte Carlo-based discrete-time simulation, where aircraft arrivals are generated by modified Poisson processes subject to minimum separation constraints, simulating various traffic operations. The merging logic incorporates standard bank angle continuous turn-to-final, pilot response delays, and dynamic gap availability in real time. Then, we investigate an automated final approach vectoring model (i.e., Auto-ATC), in which inverse optimal control is used to learn decision advisories from human expert records. By augmenting trajectories and incorporating the aforementioned uncertainties into the planning scenario, we create a setup analogous to the discrete event simulation. For both studies, runway capacity is measured by runway throughput, the fraction of downwind arrivals that merge immediately without holding, and the average delay (i.e., holding time/distance) experienced on the downwind leg. This research provides a method for runway capacity estimation in merging scenarios, and demonstrates that aeronautical communication link uncertainties significantly affect runway capacity in current voice-based operations, whereas the impact can be mitigated in autonomous operational settings.

Paperid: 499, https://arxiv.org/pdf/2510.09439.pdf

Abstract:
Artificial intelligence (AI) is rapidly transforming power electronics, with AI-related publications in IEEE Power Electronics Society selected journals increasing more than fourfold from 2020 to 2025. However, the ethical dimensions of this transformation have received limited attention. This article underscores the urgent need for an ethical framework to guide responsible AI integration in power electronics, not only to prevent AI-related incidents but also to comply with legal and regulatory responsibilities. In this context, this article identifies four core pillars of AI ethics in power electronics: Security & Safety, Explainability & Transparency, Energy Sustainability, and Evolving Roles of Engineers. Each pillar is supported by practical and actionable insights to ensure that ethical principles are embedded in algorithm design, system deployment, and workforce development. The authors advocate for power electronics engineers to lead the ethical discourse, given their deep technical understanding of both AI systems and power conversion technologies. The paper concludes by calling on the IEEE Power Electronics Society to spearhead the establishment of ethical standards and best practices that ensure AI innovations are not only technically advanced but also trustworthy, safe, and sustainable.

Paperid: 500, https://arxiv.org/pdf/2510.09042.pdf

Abstract:
In this work, we propose a meta-learning-based Koopman modeling and predictive control approach for nonlinear systems with parametric uncertainties. An adaptive deep meta-learning-based modeling approach, called Meta Adaptive Koopman Operator (MAKO), is proposed. Without knowledge of the parametric uncertainty, the proposed MAKO approach can learn a meta-model from a multi-modal dataset and efficiently adapt to new systems with previously unseen parameter settings by using online data. Based on the learned meta Koopman model, a predictive control scheme is developed, and the stability of the closed-loop system is ensured even in the presence of previously unseen parameter settings. Through extensive simulations, our proposed approach demonstrates superior performance in both modeling accuracy and control efficacy as compared to competitive baselines.

Paperid: 501, https://arxiv.org/pdf/2510.06661.pdf

Abstract:
We present a risk-aware safety certification method for autonomous, learning enabled control systems. Focusing on two realistic risks, state/input delays and interval matrix uncertainty, we model the neural network (NN) controller with local sector bounds and exploit positivity structure to derive linear, delay-independent certificates that guarantee local exponential stability across admissible uncertainties. To benchmark performance, we adopt and implement a state-of-the-art IQC NN verification pipeline. On representative cases, our positivity-based tests run orders of magnitude faster than SDP-based IQC while certifying regimes the latter cannot-providing scalable safety guarantees that complement risk-aware control.

Paperid: 502, https://arxiv.org/pdf/2510.06394.pdf

Abstract:
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics. Unlike conventional leader-follower schemes that fix the follower's position relative to the leader, the follower is steered to maintain range and bearing angles (which is the angle between its velocity vector and its line-of-sight (LOS) with respect to the leader) arbitrarily close to the prescribed values, enabling the follower to maintain formation on a hemispherical region behind the leader. The proposed IGC framework directly maps leader-follower relative range dynamics to throttle commands, and the follower's velocity orientation relative to the LOS to aerodynamic control surface deflections. This enables synergism between guidance and control subsystems. The control design uses a dynamic surface control-based backstepping approach to achieve convergence to the desired formation set, where Lyapunov barrier functions are incorporated to ensure the follower's bearing angle is constrained within specified bounds. Rigorous stability analysis guarantees uniform ultimate boundedness of all error states and strict constraint satisfaction in the presence of aerodynamic nonlinearities. The proposed flexible formation scheme allows the follower to have an orientation mismatch relative to the leader to execute anticipatory reconfiguration by transitioning between the relative positions in the admissible formation set when the leader aggressively maneuvers. The proposed IGC law relies only on relative information and onboard sensors without the information about the leader's maneuver, making it suitable for GPS-denied or non-cooperative scenarios. Finally, we present simulation results to vindicate the effectiveness and robustness of our approach.

Paperid: 503, https://arxiv.org/pdf/2510.03497.pdf

Abstract:
Electric vertical take-off and landing (eVTOL) aircraft have emerged as a promising solution to transform urban transportation. They present a few technical challenges for battery management, a prominent one of which is the prediction of the power capability of their lithium-ion battery systems. The challenge originates from the high C-rate discharging conditions required during eVTOL flights as well as the complexity of lithium-ion batteries' electro-thermal dynamics. This paper, for the first time, formulates a power limit prediction problem for eVTOL which explicitly considers long prediction horizons and the possible occurrence of emergency landings. We then harness machine learning to solve this problem in two intertwined ways. First, we adopt a dynamic model that integrates physics with machine learning to predict a lithium-ion battery's voltage and temperature behaviors with high accuracy. Second, while performing search for the maximum power, we leverage machine learning to predict the remaining discharge time and use the prediction to accelerate the search with fast computation. Our validation results show the effectiveness of the proposed study for eVTOL operations.

Paperid: 504, https://arxiv.org/pdf/2510.03043.pdf

Abstract:
Real-time regulation of water distribution in connected open water systems is critical for ensuring system safety and meeting operational requirements. In this work, we consider a connected open water system that includes linkage hydraulic structures such as weirs, pumps and sluice gates. We propose a mixed-integer economic zone data-enabled predictive control (DeePC) approach, which is used to maintain the water levels of the branches within desired zones to avoid floods and reduce the energy consumption of the pumps in the considered water system. The proposed DeePC-based approach predicts the future dynamics of the system water levels, and generates optimal control actions based on system input and output data, thereby eliminating the need for both first-principles modeling and explicit data-driven modeling. To achieve multiple control objectives in order of priority, we utilize lexicographic optimization and adapt traditional DeePC cost function for zone tracking and energy consumption minimization. Additionally, Bayesian optimization is utilized to determine the control target zone, which effectively balances zone tracking and energy consumption in the presence of external disturbances. Comprehensive simulations and comparative analyses demonstrate the effectiveness of the proposed method. The proposed method maintains water levels within the desired zone for 97.04% of the operating time, with an average energy consumption of 33.5 kWh per 0.5 h. Compared to baseline methods, the proposed approach reduces the zone-tracking mean square error by 98.82% relative to economic zone DeePC without Bayesian optimization, and lowers energy consumption by 44.08% relative to economic set-point tracking DeePC. As compared to passive pump/gate control, the proposed method lowers the frequency of zone violations by 86.94% and the average energy consumption by 4.69%.

Paperid: 505, https://arxiv.org/pdf/2510.01986.pdf

Abstract:
Driving simulators are increasingly used in research and development. However, simulators often cause motion sickness due to downscaled motion and unscaled veridical visuals. In this paper, a motion cueing algorithm is proposed that reduces motion sickness as predicted by the subjective vertical conflict (SVC) model using model predictive control (MPC). Both sensory conflict and specific force errors are penalised in the cost function, allowing the algorithm to jointly optimise fidelity and comfort. Human-in-the-loop experiments were conducted to compare four simulator motion settings: two variations of our MPC-based algorithm, one focused on pure specific force tracking and the second compromising specific force tracking and motion sickness minimisation, as well as reference adaptive washout and no motion cases. The experiments were performed on a hexapod driving simulator with participants exposed to passive driving. Experimental motion sickness results closely matched the sickness model predictions. As predicted by the model, the no motion condition yielded the lowest sickness levels. However, it was rated lowest in terms of fidelity. The compromise solution reduced sickness by over 50% (average MISC level 3 to 1.5) compared to adaptive washout and the algorithm focusing on specific force tracking, without any significant reduction in fidelity rating. The proposed approach for developing MCA that takes into account both the simulator dynamics and time evolution of motion sickness offers a significant advancement in achieving an optimal control of motion sickness and specific force recreation in driving simulators, supporting broader simulator use.

Paperid: 506, https://arxiv.org/pdf/2509.25053.pdf

Abstract:
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit knowledge of defender strategies or utilize conservative safety conditions based on a defender's range, our work characterizes defender threats geometrically through engagement zones that delineate inevitable interception regions. Outside these engagement zones, the interceptor remains invulnerable. The proposed guidance law switches between a repulsive safety maneuver near these zones and a pursuit maneuver outside their influence. To deal with multiple engagement zones, we employ a smooth minimum function (log-sum-exponent approximation) that aggregates threats from all the zones while prioritizing the most critical threats. Input saturation is modeled and embedded in the non-holonomic vehicle dynamics so the controller respects actuator limits while maintaining stability. Numerical simulations with several defenders demonstrate the proposed method's ability to avoid engagement zones and achieve interception across diverse initial conditions.

Paperid: 507, https://arxiv.org/pdf/2509.20338.pdf

Abstract:
Conventional multi-agent reinforcement learning (MARL) methods rely on time-triggered execution, where agents sample and communicate actions at fixed intervals. This approach is often computationally expensive and communication-intensive. To address this limitation, we propose ET-MAPG (Event-Triggered Multi-Agent Policy Gradient reinforcement learning), a framework that jointly learns an agent's control policy and its event-triggering policy. Unlike prior work that decouples these mechanisms, ET-MAPG integrates them into a unified learning process, enabling agents to learn not only what action to take but also when to execute it. For scenarios with inter-agent communication, we introduce AET-MAPG, an attention-based variant that leverages a self-attention mechanism to learn selective communication patterns. AET-MAPG empowers agents to determine not only when to trigger an action but also with whom to communicate and what information to exchange, thereby optimizing coordination. Both methods can be integrated with any policy gradient MARL algorithm. Extensive experiments across diverse MARL benchmarks demonstrate that our approaches achieve performance comparable to state-of-the-art, time-triggered baselines while significantly reducing both computational load and communication overhead.

Paperid: 508, https://arxiv.org/pdf/2509.16642.pdf

Abstract:
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels limits its reliability. Research on reducing information dependencies in Adaptive Cruise Control systems has remained limited, despite its critical role in mitigating collision risks during sudden braking scenarios. This study proposes a novel fallback longitudinal controller that relies solely on LiDAR-based distance measurements and the velocity of a follower vehicle. The controller is designed to be time-independent, ensuring operation in the presence of sensor delays or synchronization issues. Simulation results demonstrate that the proposed controller enables vehicle-following from standstill and prevents collisions during emergency braking, even under minimal onboard information.

Paperid: 509, https://arxiv.org/pdf/2509.15099.pdf

Abstract:
Unsignalized intersections pose safety and efficiency challenges due to complex traffic flows and blind spots. In this paper, a digital twin (DT)-based cooperative driving system with roadside unit (RSU)-centric architecture is proposed for enhancing safety and efficiency at unsignalized intersections. The system leverages comprehensive bird-eye-view (BEV) perception to eliminate blind spots and employs a hybrid reinforcement learning (RL) framework combining offline pre-training with online fine-tuning. Specifically, driving policies are initially trained using conservative Q-learning (CQL) with behavior cloning (BC) on real datasets, then fine-tuned using multi-agent proximal policy optimization (MAPPO) with self-attention mechanisms to handle dynamic multi-agent coordination. The RSU implements real-time commands via vehicle-to-infrastructure (V2I) communications. Experimental results show that the proposed method yields failure rates below 0.03\% coordinating up to three connected autonomous vehicles (CAVs), significantly outperforming traditional methods. In addition, the system exhibits sub-linear computational scaling with inference times under 40 ms. Furthermore, it demonstrates robust generalization across diverse unsignalized intersection scenarios, indicating its practicality and readiness for real-world deployment.

Paperid: 510, https://arxiv.org/pdf/2509.14453.pdf

Abstract:
In supervisory control settings, autonomous systems are not monitored continuously. Instead, monitoring often occurs at sporadic intervals within known bounds. We study the problem of deception, where an agent pursues a private objective while remaining plausibly compliant with a supervisor's reference policy when observations occur. Motivated by the behavior of real, human supervisors, we situate the problem within Theory of Mind: the representation of what an observer believes and expects to see. We show that Theory of Mind can be repurposed to steer online reinforcement learning (RL) toward such deceptive behavior. We model the supervisor's expectations and distill from them a single, calibrated scalar -- the expected evidence of deviation if an observation were to happen now. This scalar combines how unlike the reference and current action distributions appear, with the agent's belief that an observation is imminent. Injected as a state-dependent weight into a KL-regularized policy improvement step within an online RL loop, this scalar informs a closed-form update that smoothly trades off self-interest and compliance, thus sidestepping hand-crafted or heuristic policies. In real-world, real-time hardware experiments on marine (ASV) and aerial (UAV) navigation, our ToM-guided RL runs online, achieves high return and success with observed-trace evidence calibrated to the supervisor's expectations.

Paperid: 511, https://arxiv.org/pdf/2509.07634.pdf

Abstract:
This paper presents a kernel-based framework for physics-informed nonlinear system identification. The key contribution is a structured methodology that extends kernel-based techniques to seamlessly integrate partially known physics-based models, improving parameter estimation and overall model accuracy. The proposed method enhances traditional modeling approaches by integrating a parametric model, which provides physical interpretability, with a kernel-based function, which accounts for unmodelled dynamics. The two model's components are identified from data simultaneously, minimizing a suitable cost that balances the relative importance of the physical and the black-box parts of the model. Additionally, nonlinear state smoothing is employed to address scenarios involving state-space models with not fully measurable states. Numerical simulations on an experimental benchmark system demonstrate the effectiveness of the proposed approach, with performance comparisons against state-of-the-art identification techniques.

Paperid: 512, https://arxiv.org/pdf/2508.17038.pdf

Abstract:
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The primary challenge is ensuring rapid and precise collision-free trajectory planning, which is often in conflict. The secondary challenge involves maintaining sufficient control feasibility of the planned trajectory, particularly at gear shifting points (GSP). This paper proposes a PVD-based rapid iterative trajectory planning (RITP) method to solve the above challenges. The proposed method effectively balances the necessity for time efficiency and precise collision avoidance through a novel collision avoidance framework. Moreover, it enhances the overall control feasibility of the planned trajectory by incorporating the vehicle kinematics model and including terminal smoothing constraints (TSC) at GSP during path planning. Specifically, the proposed method leverages differential flatness to ensure the planned path adheres to the vehicle kinematic model. Additionally, it utilizes TSC to maintain curvature continuity at GSP, thereby enhancing the control feasibility of the overall trajectory. The simulation results demonstrate superior time efficiency and tracking errors compared to model-integrated and other iteration-based trajectory planning methods. In the real-world experiment, the proposed method was implemented and validated on a ROS-based vehicle, demonstrating the applicability of the RITP method for real vehicles.

Paperid: 513, https://arxiv.org/pdf/2508.17033.pdf

Abstract:
The development of decentralized stability conditions has gained considerable attention due to the need to analyze heterogeneous multi-converter power systems. A recent advance is the application of the small-phase theorem, which extends the passivity theory. However, it requires the transfer function matrix to be sectorial, which may not hold in some frequency range and will result in conservatism. This letter tackles this problem by leveraging the Davis-Wielandt (DW) shells for decentralized stability analysis. We develop a geometric decentralized stability condition that visually displays how heterogeneous converters interact with the power grid and enable modular system analysis.

Paperid: 514, https://arxiv.org/pdf/2508.12729.pdf

Abstract:
In autonomous racing, reactive controllers eliminate the computational burden of the full See-Think-Act autonomy stack by directly mapping sensor inputs to control actions. This bypasses the need for explicit localization and trajectory planning. A widely adopted baseline in this category is the Follow-The-Gap method, which performs trajectory planning using LiDAR data. Building on FTG, the Delaunay Triangulation-based Racing algorithm introduces further enhancements. However, DTR's use of circumcircles for trajectory generation often results in insufficiently smooth paths, ultimately degrading performance. Additionally, the commonly used F1TENTH-simulator for autonomous racing competitions lacks support for 3D LiDAR perception, limiting its effectiveness in realistic testing. To address these challenges, this work proposes the MCTR algorithm. MCTR improves trajectory smoothness through the use of Curvature Corrected Moving Average and implements a digital twin system within the CARLA simulator to validate the algorithm's robustness under 3D LiDAR perception. The proposed algorithm has been thoroughly validated through both simulation and real-world vehicle experiments.

Paperid: 515, https://arxiv.org/pdf/2508.12166.pdf

Abstract:
Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-space planners address this by propagating pose-belief covariance through analytic models and switching sensors heuristically--a brittle, runtime-expensive approach. Data-driven approaches--including diffusion models--learn multi-modal trajectories from demonstrations, but presuppose an accurate, always-on state estimate. We address the largely open problem: for a given task in a mapped environment, which \textit{minimal sensor subset} must be active at each location to maintain state uncertainty \textit{just low enough} to complete the task? Our key insight is that when a diffusion planner is explicitly conditioned on a pose-belief raster and a sensor mask, the spread of its denoising trajectories yields a calibrated, differentiable proxy for the expected localisation error. Building on this insight, we present Belief-Conditioned One-Step Diffusion (B-COD), the first planner that, in a 10 ms forward pass, returns a short-horizon trajectory, per-waypoint aleatoric variances, and a proxy for localisation error--eliminating external covariance rollouts. We show that this single proxy suffices for a soft-actor-critic to choose sensors online, optimising energy while bounding pose-covariance growth. We deploy B-COD in real-time marine trials on an unmanned surface vehicle and show that it reduces sensing energy consumption while matching the goal-reach performance of an always-on baseline.

Paperid: 516, https://arxiv.org/pdf/2508.11547.pdf

Abstract:
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches that rely on motion-capture systems, additional onboard cameras, or instrumented payloads, we propose a framework that uses only standard onboard sensors--specifically, real-time kinematic global navigation satellite system measurements and data from the onboard inertial measurement unit--to estimate and control the payload's position. The system models the full coupled dynamics of the aerial vehicle and payload, and integrates a linear Kalman filter for state estimation, a model predictive contouring control planner, and an incremental model predictive controller. The control architecture is designed to remain effective despite sensing limitations and estimation uncertainty. Extensive simulations demonstrate that the proposed system achieves performance comparable to control based on ground-truth measurements, with only minor degradation (< 6%). The system also shows strong robustness to variations in payload parameters. Field experiments further validate the framework, confirming its practical applicability and reliable performance in outdoor environments using only off-the-shelf aerial vehicle hardware.

Paperid: 517, https://arxiv.org/pdf/2508.08578.pdf

Abstract:
Grid-connected power converters are ubiquitous in modern power systems, acting as grid interfaces of renewable energy sources, energy storage systems, electric vehicles, high-voltage DC systems, etc. Conventionally, power converters use multiple PID regulators to achieve different control objectives such as grid synchronization and voltage/power regulations, where the PID parameters are usually tuned based on a presumed (and often overly-simplified) power grid model. However, this may lead to inferior performance or even instabilities in practice, as the real power grid is highly complex, variable, and generally unknown. To tackle this problem, we employ a data-enabled predictive control (DeePC) to perform data-driven, optimal, and robust control for power converters. We call the converters that are operated in this way \textit{DeePConverters}. A DeePConverter can implicitly perceive the characteristics of the power grid from data and adjust its control strategy to achieve optimal and robust performance. We present the modular configurations, generalized structure, control behavior specification, detailed implementation, and computation of DeePConverters. High-fidelity simulations and hardware-in-the-loop (HIL) tests are provided to validate the effectiveness of DeePConverters.

Paperid: 518, https://arxiv.org/pdf/2508.06197.pdf

Abstract:
In this paper, we investigate the problem of decentralized consensus optimization over directed graphs with limited communication bandwidth. We introduce a novel decentralized optimization algorithm that combines the Reduced Consensus Augmented Lagrangian Alternating Direction Inexact Newton (RC-ALADIN) method with a finite time quantized coordination protocol, enabling quantized information exchange among nodes. Assuming the nodes' local objective functions are $Î¼$-strongly convex and simply smooth, we establish global convergence at a linear rate to a neighborhood of the optimal solution, with the neighborhood size determined by the quantization level. Additionally, we show that the same convergence result also holds for the case where the local objective functions are convex and $L$-smooth. Numerical experiments demonstrate that our proposed algorithm compares favorably against algorithms in the current literature while exhibiting communication efficient operation.

Paperid: 519, https://arxiv.org/pdf/2508.05895.pdf

Abstract:
In this paper, we focus on the distributed quantized average consensus problem in open multi-agent systems consisting of communication links that change dynamically over time. Open multi-agent systems exhibiting the aforementioned characteristic are referred to as \textit{open dynamic multi-agent systems} in this work. We present a distributed algorithm that enables active nodes in the open dynamic multi-agent system to calculate the quantized average of their initial states. Our algorithm consists of the following advantages: (i) ensures efficient communication by enabling nodes to exchange quantized valued messages, and (ii) exhibits finite time convergence to the desired solution. We establish the correctness of our algorithm and we present necessary and sufficient topological conditions for it to successfully solve the quantized average consensus problem in an open dynamic multi-agent system. Finally, we illustrate the performance of our algorithm with numerical simulations.

Paperid: 520, https://arxiv.org/pdf/2507.20772.pdf

Abstract:
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper presents a novel vision-based cooperative localization algorithm that leverages onboard cameras and Vehicle-to-Everything (V2X) communication to enable CAVs to estimate their poses, even in occlusion-heavy scenarios such as busy intersections. In particular, we propose a novel decentralized observer for a group of connected agents that includes landmark agents (static or moving) in the environment with known positions and vehicle agents that need to estimate their poses (both positions and orientations). Assuming that (i) there are at least three landmark agents in the environment, (ii) each vehicle agent can measure its own angular and translational velocities as well as relative bearings to at least three neighboring landmarks or vehicles, and (iii) neighboring vehicles can communicate their pose estimates, each vehicle can estimate its own pose using the proposed decentralized observer. We prove that the origin of the estimation error is locally exponentially stable under the proposed observer, provided that the minimal observability conditions are satisfied. Moreover, we evaluate the proposed approach through experiments with real 1/10th-scale connected vehicles and large-scale simulations, demonstrating its scalability and validating the theoretical guarantees in practical scenarios.

Paperid: 521, https://arxiv.org/pdf/2507.13853.pdf

Abstract:
This paper introduces a novel class of multi-stage resource allocation games that model real-world scenarios in which profitability depends on the balance between supply and demand, and where higher resource investment leads to greater returns. Our proposed framework, which incorporates the notion of profit loss due to insufficient player participation, gives rise to a Tullock-like functional form of the stage payoff structure when weighted fair proportional resource allocation is applied. We explore both centralized and Nash equilibrium strategies, establish sufficient conditions for their existence and uniqueness, and provide an iterative, semi-decentralized method to compute the Nash equilibrium in games with arbitrarily many players. Additionally, we demonstrate that the framework generalizes instances of several existing models, including Receding Horizon and Blotto games, and present a semi-analytical method for computing the unique Nash equilibrium within the Blotto setup. Our findings are validated through a numerical case study in smart mobility, highlighting the practical relevance and applicability of the proposed model.

Paperid: 522, https://arxiv.org/pdf/2507.11623.pdf

Authors:Alan Papalia, Charles Dawson, Laurentiu L. Anton, Norhan Magdy Bayomi, Bianca Champenois, Jung-Hoon Cho, Levi Cai, Joseph DelPreto, Kristen Edwards, Bilha-Catherine Githinji, Cameron Hickert, Vindula Jayawardana, Matthew Kramer, Shreyaa Raghavan, David Russell, Shide Salimi, Jingnan Shi, Soumya Sudhakar, Yanwei Wang, Shouyi Wang, Luca Carlone, Vijay Kumar, Daniela Rus, John E. Fernandez, Cathy Wu, George Kantor, Derek Young, Hanumant Singh

Abstract:
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact opportunities for collaboration between roboticists and experts across climate domains such as energy, the built environment, transportation, industry, land use, and Earth sciences. These applications include problems such as energy systems optimization, construction, precision agriculture, building envelope retrofits, autonomous trucking, and large-scale environmental monitoring. Critically, we include opportunities to apply not only physical robots but also the broader robotics toolkit - including planning, perception, control, and estimation algorithms - to climate-relevant problems. A central goal of this roadmap is to inspire new research directions and collaboration by highlighting specific, actionable problems at the intersection of robotics and climate. This work represents a collaboration between robotics researchers and domain experts in various climate disciplines, and it serves as an invitation to the robotics community to bring their expertise to bear on urgent climate priorities.

Paperid: 523, https://arxiv.org/pdf/2507.07370.pdf

Abstract:
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning approaches have been proposed for modeling nonlinear dynamics. However, these models suffer from prediction uncertainty that can negatively affect modeling accuracy, and uncertainty quantification for kinematic modeling in soft robots is underexplored. In this work, using limited simulation and real-world data, we first investigate multiple linear and nonlinear machine learning models commonly used for kinematic modeling of soft robots. The results reveal that nonlinear ensemble methods exhibit the most robust generalization performance. We then develop a conformal kinematic modeling framework for soft robots by utilizing split conformal prediction to quantify predictive position uncertainty, ensuring distribution-free prediction intervals with a theoretical guarantee.

Paperid: 524, https://arxiv.org/pdf/2512.19473.pdf

Abstract:
We study optimal charging of large electric vehicle populations that are exposed to a single real-time imbalance price. The problem is naturally cast as a multistage stochastic linear programme (MSLP), which can be solved by algorithms such as Stochastic Dual Dynamic Programming. However, these methods scale poorly with the number of devices and stages. This paper presents a novel approach to overcome this curse of dimensionality. Building prior work that characterises the aggregate flexibility sets of populations of EVs as a permutahdron, we reformulate the original problem in terms of aggregated quantities. The geometric structure of permutahedra lets us (i) construct an optimal disaggregation policy, (ii) derive an exact, lower-dimensional MSLP, and (iii) characterise the expected recourse function as piecewise affine with a finite, explicit partition. In particular, we provide closed-form expressions for the slopes and intercepts of each affine region via truncated expectations of future prices, yielding an exact form for the recourse function and first-stage policy. Comprehensive numerical studies validate our claims and demonstrate the practical utility of this work.

Paperid: 525, https://arxiv.org/pdf/2512.19245.pdf

Abstract:
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from Inertial Measurement Units (IMUs) mounted on both systems, assuming there is a suitable communication channel to exchange data, together with visual information provided by an onboard monocular camera, from which the bearing (line-of-sight direction) to the platform's center and the normal vector of its planar surface are extracted. We propose a cascade observer with a complementary filter on SO(3) to reconstruct the relative attitude, followed by a linear Riccati observer for relative position and velocity estimation. Convergence of both observers is established under persistently exciting conditions, and the cascade is shown to be almost globally asymptotically and locally exponentially stable. We further extend the design to the case where the platform's rotation is restricted to its normal axis and show that its measured linear acceleration can be exploited to recover the remaining unobservable rotation angle. A sufficient condition to ensure local exponential convergence in this setting is provided. The performance of the proposed observers is validated through extensive simulations.

Paperid: 526, https://arxiv.org/pdf/2512.13496.pdf

Abstract:
The large-scale deployment of renewable energy sources, particularly offshore wind, requires large-scale transmission grid expansion projects to transmit the produced low-carbon power to the main demand centers. However, the planning and design of such complex projects currently lack a transparent and systematic process that system operators can follow when considering such investments in their grids. This paper identifies and classifies the main technical design constraints and considerations relevant to the planning of transmission grid expansion projects, and more specifically, electrical energy hubs. Seven key areas of interest are identified, namely network integration, HVDC technologies, costs (CAPEX, OPEX, and space requirements), electricity market design, future proofness and modular expandability, reliability-availability-maintainability, and sustainability. Each area of interest is analyzed in terms of its technical and operational relevance, with technical design constraints and considerations derived from such analysis. In addition, a hierarchical classification of the identified constraints and considerations (and therefore areas of interest) is introduced, distinguishing them between three criticality classes, namely hard constraints, main drivers, and key considerations. The dependencies between the different areas are discussed, too. Therefore, this work provides system operators and policymakers with a structured basis to support a transparent planning methodology with clear decision hierarchies for investments in transmission grid expansion projects.

Paperid: 527, https://arxiv.org/pdf/2512.12972.pdf

Abstract:
To address system frequency challenges driven by the integration of renewable generation, advanced control strategies are designed at the device level to provide effective frequency support following disturbances. However, typically relying on energy-based performance metrics, these methods cannot guarantee the system frequency constraints such as frequency nadir and maximum Rate-of-Change-of-Frequency (RoCoF). Moreover, locally-designed frequency support cannot minimize the overall system cost to maintain frequency stability. On the other hand, the concept of frequency-constrained system scheduling is introduced, which incorporates frequency dynamic constraints into the system economic optimization, so that frequency requirements can be maintained with minimum cost. However, these works rely on analytical approximations of the frequency dynamic metrics, which are mathematically complicated and tend to be over-conservative for the approximation of IBR headroom requirements.

Paperid: 528, https://arxiv.org/pdf/2512.11106.pdf

Abstract:
This paper focuses on the linear quadratic control (LQC) design of systems corrupted by both stochastic noise and bounded noise simultaneously. When only of these noises are considered, the LQC strategy leads to stochastic or robust controllers, respectively. However, there is no LQC strategy that can simultaneously handle stochastic and bounded noises efficiently. This limits the scope where existing LQC strategies can be applied. In this work, we look into the LQC problem for discrete-time systems that have both stochastic and bounded noises in its dynamics. We develop a state estimation for such systems by efficiently combining a Kalman filter and an ellipsoid set-membership filter. The developed state estimation can recover the estimation optimality when the system is subject to both kinds of noise, the stochastic and the bounded. Upon the estimated state, we derive a robust state-feedback optimal control law for the LQC problem. The control law derivation takes into account both stochastic and bounded-state estimation errors, so as to avoid over-conservativeness while sustaining stability in the control. In this way, the developed LQC strategy extends the range of scenarios where LQC can be applied, especially those of real-world control systems with diverse sensing which are subject to different kinds of noise. We present numerical simulations, and the results demonstrate the enhanced control performance with the proposed strategy.

Paperid: 529, https://arxiv.org/pdf/2512.10841.pdf

Abstract:
This paper presents an $\mathcal{H}_2 / \mathcal{H}_\infty$ minimization-based output-feedback controller for active aeroelastic vibration suppression in a cantilevered beam. First, a nonlinear structural model incorporating moderate deflection and aerodynamic loading is derived and discretized using the finite element method (FEM). Then, a low-order linear model is identified from random gaussian input response data from the FEM model to synthesize an output-feedback controller using the $\mathcal{H}_2 / \mathcal{H}_\infty$ framework. A frequency-weighted dynamic filter is introduced to emphasize disturbance frequencies of interest, enabling the controller to target dominant vibration modes. Simulation results demonstrate the effectiveness of the proposed technique for vibration suppression and study its robustness to system parameter variations, including actuator placement.

Paperid: 530, https://arxiv.org/pdf/2512.10801.pdf

Abstract:
This paper investigates the application of a data-driven technique based on retrospective cost optimization to optimize the frequency of mass injection into an S-shaped diffuser, with the objective of maximizing the pressure recovery. Experimental data indicated that there is an optimal injection frequency between 100 Hz and 300 Hz with a mass flow rate of 1 percent of the free stream. High-fidelity numerical simulations using compressible unsteady Reynolds-Averaged Navier-Stokes (URANS) are conducted to investigate the mean and temporal features resulting from mass injection into an S-shaped diffuser with differing injection speeds and pulse frequencies. The results are compared with experiments to confirm the accuracy of the numerical solution. Overall, 2-D simulations are relatively in good agreement with the experiment, with 3-D simulations currently under investigation to benchmark the effect of spanwise instabilities. Simulation results with the proposed data-driven technique show improvements upon a baseline case by increasing pressure recovery and reducing the region of flow recirculation within the diffuser.

Paperid: 531, https://arxiv.org/pdf/2512.09481.pdf

Abstract:
Efficient tuning of building climate controllers to optimize occupant utility is essential for ensuring overall comfort and satisfaction. However, this is a challenging task since the latent utility are difficult to measure directly. Time-varying contextual factors, such as outdoor temperature, further complicate the problem. To address these challenges, we propose a contextual preferential Bayesian optimization algorithm that leverages binary preference feedback together with contextual information to enable efficient real-time controller tuning. We validate the approach by tuning an economic MPC controller on BOPTEST, a high-fidelity building simulation platform. Over a two-month simulation period, our method outperforms the baseline controller and achieves an improvement of up to 23% in utility. Moreover, for different occupant types, we demonstrate that the algorithm automatically adapts to individual preferences, enabling personalized controller tuning.

Paperid: 532, https://arxiv.org/pdf/2512.09323.pdf

Abstract:
The large-scale integration of inverter-based resources (IBRs) has deteriorated the frequency/voltage (F/V) responses of power systems, leading to a higher risk of instability. Consequently, evaluating the F/V strength has become an important task in power electronics (PE)-dominated power systems. Existing methods typically examine F/V strength separately, employing fundamentally different metrics, such as inertia (focusing on device dynamics) and short-circuit ratio (SCR, addressing network characteristics). These fragmented approaches have resulted in a lack of comprehensive understanding of the overall system strength, potentially overlooking critical aspects. To address this problem, this paper proposes a unified framework for analyzing F/V strength. First, a unified modeling of F/V regulations is introduced. Then, based on modal decoupling, the power systems are decomposed into several eigen-subsystems, where the F/V responses are both decomposed into common-mode (CM) and differential-mode (DM) components, namely, CM-F, DM-F, CM-V, and DM-V. The CM-F and CM-V represent the collective response of all devices to external active or reactive power disturbances, independent of the power network characteristics. In contrast, the DM-F and DM-V capture the redistribution of disturbance power within the system, which is strongly influenced by the network topology and the locations of devices. Notably, traditional strength analysis generally ignores the CM-V (global voltage response), which, as discovered in this paper, may also become unstable in PE-dominated power systems. Based on the proposed framework, new metrics are proposed to evaluate the strength of each modal component. Finally, the effectiveness of the proposed approach is validated through simulations.

Paperid: 533, https://arxiv.org/pdf/2512.06133.pdf

Abstract:
This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV navigation. The contribution of the paper is twofold: (i) an observability analysis establishing the conditions for uniform observability, which are useful for trajectory planning and motion control of the UAV; and (ii) the design of a nonlinear observer on SO3R3R that incorporates pitot-tube, barometric altitude, and magnetometer measurements as outputs, with IMU data used as inputs, within a unified framework. Simulation results are presented to confirm the convergence and robustness of the proposed design, including under minimally excited trajectories.

Paperid: 534, https://arxiv.org/pdf/2512.05299.pdf

Abstract:
Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality collision avoidance system that provides personalized spatial alerts to VRUs via wearable AR headsets. By fusing roadside 360-degree 3D LiDAR with SLAM-based headset tracking and an automatic 3D calibration procedure, ARCAS accurately overlays world-locked 3D bounding boxes and directional arrows onto approaching hazards in the user's passthrough view. The system also enables multi-headset coordination through shared world anchoring. Evaluated in real-world pedestrian interactions with e-scooters and vehicles (180 trials), ARCAS nearly doubled pedestrians' time-to-collision and increased counterparts' reaction margins by up to 4x compared to unaided-eye conditions. Results validate the feasibility and effectiveness of LiDAR-driven AR guidance and highlight the potential of wearable AR as a promising next-generation safety tool for urban mobility.

Paperid: 535, https://arxiv.org/pdf/2512.05270.pdf

Abstract:
As mobile robots increasingly operate alongside humans in shared workspaces, ensuring safe, efficient, and interpretable Human-Robot Interaction (HRI) has become a pressing challenge. While substantial progress has been devoted to human behavior prediction, limited attention has been paid to how humans perceive, interpret, and trust robots' inferences, impeding deployment in safety-critical and socially embedded environments. This paper presents XR-DT, an eXtended Reality-enhanced Digital Twin framework for agentic mobile robots, that bridges physical and virtual spaces to enable bi-directional understanding between humans and robots. Our hierarchical XR-DT architecture integrates virtual-, augmented-, and mixed-reality layers, fusing real-time sensor data, simulated environments in the Unity game engine, and human feedback captured through wearable AR devices. Within this framework, we design an agentic mobile robot system with a unified diffusion policy for context-aware task adaptation. We further propose a chain-of-thought prompting mechanism that allows multimodal large language models to reason over human instructions and environmental context, while leveraging an AutoGen-based multi-agent coordination layer to enhance robustness and collaboration in dynamic tasks. Initial experimental results demonstrate accurate human and robot trajectory prediction, validating the XR-DT framework's effectiveness in HRI tasks. By embedding human intention, environmental dynamics, and robot cognition into the XR-DT framework, our system enables interpretable, trustworthy, and adaptive HRI.

Paperid: 536, https://arxiv.org/pdf/2512.04409.pdf

Abstract:
Identifying articulation points (APs) is fundamental to assessing the robustness of time-varying networks. In such dynamic environments, topological changes including edge additions and deletions can instantly alter the set of APs, demanding rapid and efficient re-assessment. This paper proposes a fully distributed algorithm for identifying APs and monitoring biconnectivity. Our core contribution is an incremental update protocol. Unlike static methods that require global re-initialization which incurs high communication overhead, our algorithm propagates information from the site of the change, updating only the affected nodes' state values. This approach, which builds upon a maximum consensus protocol, not only ensures convergence to the correct AP set following topological changes but also preserves network privacy by preventing nodes from reconstructing the global topology. We provide rigorous proofs of correctness for this eventual convergence and demonstrate its applicability and efficiency through experiments.

Paperid: 537, https://arxiv.org/pdf/2512.00759.pdf

Abstract:
We extend the Datamodels framework from supervised learning to Model Predictive Path Integral (MPPI) control. Whereas Datamodels estimate sample influence via regression on a fixed dataset, we instead learn to predict influence directly from sample cost features, enabling real-time estimation for newly generated samples without online regression. Our influence predictor is trained offline using influence coefficients computed via the Datamodel framework across diverse MPPI instances, and is then deployed online for efficient sample pruning and adaptive constraint handling. A single learned model simultaneously addresses efficiency and safety: low-influence samples are pruned to reduce computational cost, while monitoring the influence of constraint-violating samples enables adaptive penalty tuning. Experiments on path-tracking with obstacle avoidance demonstrate up to a $5\times$ reduction in the number of samples while maintaining control performance and improving constraint satisfaction.

Paperid: 538, https://arxiv.org/pdf/2512.00276.pdf

Abstract:
Data-Enabled Predictive Control (DeePC) has emerged as a powerful framework for controlling unknown systems directly from input-output data. For nonlinear systems, recent work has proposed selecting relevant subsets of data columns based on geometric proximity to the current operating point. However, such proximity-based selection ignores the control objective: different reference trajectories may benefit from different data even at the same operating point. In this paper, we propose a datamodel-based approach that learns a context-dependent influence function mapping the current initial trajectory and reference trajectory to column importance scores. Adapting the linear datamodel framework from machine learning, we model closed-loop cost as a linear function of column inclusion indicators, with coefficients that depend on the control context. Training on closed-loop simulations, our method captures which data columns actually improve tracking performance for specific control tasks. Experimental results demonstrate that task-aware selection substantially outperforms geometry-based heuristics, particularly when using small data subsets.

Paperid: 539, https://arxiv.org/pdf/2511.22975.pdf

Abstract:
Roll-to-roll manufacturing requires precise tension and velocity control to ensure product quality, yet controller commissioning and adaptation remain time-intensive processes dependent on expert knowledge. This paper presents an LLM-assisted multi-agent framework that automates control system design and adaptation for R2R systems while maintaining safety. The framework operates through five phases: system identification from operational data, automated controller selection and tuning, sim-to-real adaptation with safety verification, continuous monitoring with diagnostic capabilities, and periodic model refinement. Experimental validation on a R2R system demonstrates successful tension regulation and velocity tracking under significant model uncertainty, with the framework achieving performance convergence through iterative adaptation. The approach reduces manual tuning effort while providing transparent diagnostic information for maintenance planning, offering a practical pathway for integrating AI-assisted automation in manufacturing control systems.

Paperid: 540, https://arxiv.org/pdf/2511.22954.pdf

Abstract:
Roll-to-roll (R2R) manufacturing demands precise tension and velocity control under strict operational constraints. Model predictive control requires gradient computation, while sampling-based methods such as MPPI struggle with hard constraint satisfaction. This paper presents an adaptive trajectory bundle method that achieves rigorous constraint handling through derivative-free sequential convex programming. The approach approximates nonlinear dynamics and costs via interpolated sample bundles, with adaptive trust regions and penalty parameters ensuring robust convergence without manual tuning. Simulations on a six-zone R2R system demonstrate tracking accuracy comparable to gradient-based MPC with superior constraint satisfaction over sampling-based alternatives.

Paperid: 541, https://arxiv.org/pdf/2511.22952.pdf

Abstract:
Data-Enabled Predictive Control (DeePC) offers a powerful model-free approach to predictive control, but faces two fundamental challenges: computational complexity scaling cubically with dataset size, and severe performance degradation from corrupted data. This paper introduces Robust Data Selection DeePC (RDS-DeePC), which addresses both challenges through influence function analysis. We derive a sensitivity score quantifying each trajectory segment's leverage on the optimization solution, proving that high-sensitivity segments correspond to outliers while low-sensitivity segments represent consistent data. By selecting low-sensitivity segments, RDS-DeePC achieves computational efficiency and automatic outlier filtering without requiring data quality labels. For nonlinear systems, we extend the framework through a two-stage online selection approach accelerated by the LiSSA algorithm.

Paperid: 542, https://arxiv.org/pdf/2511.22406.pdf

Abstract:
In reinforcement learning (RL), it is often advantageous to consider additional constraints on the action space to ensure safety or action relevance. Existing work on such action-constrained RL faces challenges regarding effective policy updates, computational efficiency, and predictable runtime. Recent work proposes to use truncated normal distributions for stochastic policy gradient methods. However, the computation of key characteristics, such as the entropy, log-probability, and their gradients, becomes intractable under complex constraints. Hence, prior work approximates these using the non-truncated distributions, which severely degrades performance. We argue that accurate estimation of these characteristics is crucial in the action-constrained RL setting, and propose efficient numerical approximations for them. We also provide an efficient sampling strategy for truncated policy distributions and validate our approach on three benchmark environments, which demonstrate significant performance improvements when using accurate estimations.

Paperid: 543, https://arxiv.org/pdf/2511.16346.pdf

Abstract:
We present VersaPants, the first loose-fitting, textile-based capacitive sensing system for lower-body motion capture, built on the open-hardware VersaSens platform. By integrating conductive textile patches and a compact acquisition unit into a pair of pants, the system reconstructs lower-body pose without compromising comfort. Unlike IMU-based systems that require user-specific fitting or camera-based methods that compromise privacy, our approach operates without fitting adjustments and preserves user privacy. VersaPants is a custom-designed smart garment featuring 6 capacitive channels per leg. We employ a lightweight Transformer-based deep learning model that maps capacitance signals to joint angles, enabling embedded implementation on edge platforms. To test our system, we collected approximately 3.7 hours of motion data from 11 participants performing 16 daily and exercise-based movements. The model achieves a mean per-joint position error (MPJPE) of 11.96 cm and a mean per-joint angle error (MPJAE) of 12.3 degrees across the hip, knee, and ankle joints, indicating the model's ability to generalize to unseen users and movements. A comparative analysis of existing textile-based deep learning architectures reveals that our model achieves competitive reconstruction performance with up to 22 times fewer parameters and 18 times fewer FLOPs, enabling real-time inference at 42 FPS on a commercial smartwatch without quantization. These results position VersaPants as a promising step toward scalable, comfortable, and embedded motion-capture solutions for fitness, healthcare, and wellbeing applications.

Paperid: 544, https://arxiv.org/pdf/2511.10335.pdf

Abstract:
This paper presents a security-constrained optimal power flow (SCOPF) model for HVDC grids that optimizes the asymmetrical operation of bipolar converter stations, i.e., different current injections of the positive and negative converter poles, to minimize operational costs under post-contingency conditions caused by single converter pole outages. The optimization model allows the selection of the number of converter stations that operate asymmetrically. The results indicate that increasing the number of asymmetrical stations lowers operational costs. The analysis also provides insight into the sensitivity of these costs to the level of asymmetrical operation. However, increased asymmetrical operation leads to higher DC neutral voltage offsets that can rise to undesired levels. Imposing limits on these offsets can, in turn, increase operational costs. To mitigate these effects, a neutral line switching (NLS) strategy is proposed for the post-contingency state.

Paperid: 545, https://arxiv.org/pdf/2511.08734.pdf

Abstract:
Mobility systems are complex socio-technical environments influenced by multiple stakeholders with hierarchically interdependent decisions, rendering effective control and policy design inherently challenging. We bridge hierarchical game-theoretic modeling with online feedback optimization by casting urban mobility as a tri-level Stackelberg game (travelers, operators, municipality) closed in a feedback loop. The municipality iteratively updates taxes, subsidies, and operational constraints using a projected two-point (gradient-free) scheme, while lower levels respond through equilibrium computations (Frank-Wolfe for traveler equilibrium; operator best responses). This model-free pipeline enforces constraints, accommodates heterogeneous users and modes, and scales to higher-dimensional policy vectors without differentiating through equilibrium maps. On a real multimodal network for Zurich, Switzerland, our method attains substantially better municipal objectives than Bayesian optimization and Genetic algorithms, and identifies integration incentives that increase multimodal usage while improving both operator objectives. The results show that feedback-based regulation can steer competition toward cooperative outcomes and deliver tangible welfare gains in complex, data-rich mobility ecosystems.

Paperid: 546, https://arxiv.org/pdf/2511.07894.pdf

Abstract:
We present \textsc{S2C} (Specification-to-Certified-Controller), a multi-agent framework that maps natural-language requirements to certified $\mathcal{H}_\infty$ state-feedback controllers via LMI synthesis. \textsc{S2C} coordinates five roles -- \textit{SpecInt} (spec extraction), \textit{Solv} (bounded-real lemma (BRL) LMI), \textit{Tester} (Monte Carlo and frequency-domain checks), \textit{Adapt} (spec refinement), and \textit{CodeGen} (deployable code). The loop is stabilized by a severity- and iteration-aware $γ$-floor guardrail and a decay-rate region constraint enforcing $\Reλ(A{+}BK)<-α$ with $α=3.9/T_s$ derived from settling-time targets. For state feedback, verification reports disturbance rejection $\big\|C\,(sI-(A{+}BK))^{-1}E\big\|_\infty$ alongside time-domain statistics; discrete benchmarks are converted to continuous time via a Tustin (bilinear) transform when needed. On 14 COMPleib problems, \textsc{S2C} attains \textbf{100\%} synthesis success and \textbf{100\%} convergence within six iterations, with strong decay-rate satisfaction and near-target certified $\mathcal{H}_\infty$ levels; it improves robustness metrics relative to single-shot BRL and BRL+$α$ baselines. An ablation over LLM backbones (GPT-5, GPT-5 mini, DeepSeek-V3, Qwen-2.5-72B, Llama-4 Maverick) shows the pipeline is robust across models, while stronger models yield the highest effectiveness. These results indicate that LLM agents can integrate certificate-bearing control synthesis from high-level intent, enabling rapid end-to-end prototyping without sacrificing formal guarantees.

Paperid: 547, https://arxiv.org/pdf/2511.07878.pdf

Abstract:
We study how trajectory value depends on the learning algorithm in policy-gradient control. Using Trajectory Shapley in an uncertain LQR, we find a negative correlation between Persistence of Excitation (PE) and marginal value under vanilla REINFORCE ($r\approx-0.38$). We prove a variance-mediated mechanism: (i) for fixed energy, higher PE yields lower gradient variance; (ii) near saddles, higher variance increases escape probability, raising marginal contribution. When stabilized (state whitening or Fisher preconditioning), this variance channel is neutralized and information content dominates, flipping the correlation positive ($r\approx+0.29$). Hence, trajectory value is algorithm-relative. Experiments validate the mechanism and show decision-aligned scores (Leave-One-Out) complement Shapley for pruning, while Shapley identifies toxic subsets.

Paperid: 548, https://arxiv.org/pdf/2511.07768.pdf

Abstract:
Real-time model-based control of high-dimensional nonlinear systems faces computational intractability, while traditional reduced-order model (ROM) control requires manual expert tuning without online adaptation. We propose AURORA (\textbf{A}utonomous \textbf{U}pdating of \textbf{RO}M and Controller via \textbf{R}ecursive \textbf{A}daptation), a multi-agent LLM framework automating ROM-based controller design with online adaptation. AURORA employs five specialized agents collaborating through iterative generation-judge-revision cycles, with an Evaluation Agent diagnosing degradation sources and routing corrections appropriately. Validated on eight benchmark systems spanning mechanical assemblies, thermal PDEs, and robots. Comparative evaluation across five state-of-the-art LLMs demonstrates high autonomy with minimal intervention, establishing practical viability for autonomous control design.

Paperid: 549, https://arxiv.org/pdf/2511.07167.pdf

Abstract:
Emerging 6G wireless systems suffer severe performance degradation in challenging environments like high-speed trains traversing dense urban corridors and Unmanned Aerial Vehicles (UAVs) links over mountainous terrain. These scenarios exhibit non-Gaussian, non-stationary channels with heavy-tailed fading and abrupt signal fluctuations. To address these challenges, this paper proposes a novel wireless channel model based on symmetric $α$-stable Lévy processes, thereby enabling continuous-time state-space characterization of both long-term and short-term fading. Building on this model, a generalized optimal control framework is developed via a fractional Hamilton-Jacobi-Bellman (HJB) equation that incorporates the Riesz fractional operator to capture non-local spatial effects and memory-dependent dynamics. The existence and uniqueness of viscosity solutions to the fractional HJB equation are rigorously established, thus ensuring the theoretical validity of the proposed control formulation. Numerical simulations conducted in a multi-cell, multi-user downlink setting demonstrate the effectiveness of the fractional HJB-based strategy in optimizing transmission power under heavy-tailed co-channel and multi-user interference.

Paperid: 550, https://arxiv.org/pdf/2511.06223.pdf

Abstract:
Classical Bayesian persuasion assumes that senders fully understand how receivers form beliefs and make decisions--an assumption that rarely holds when receivers possess private information or exhibit non-Bayesian behavior. In this paper, we develop a learning-based framework that integrates neural networks with conformal prediction to achieve robust persuasion under uncertainty about receiver belief formation. The proposed neural architecture learns end-to-end mappings from receiver observations and sender signals to action predictions, eliminating the need to identify belief mechanisms explicitly. Conformal prediction constructs finite-sample valid prediction sets with provable marginal coverage, enabling principled, distribution-free robust optimization. We establish exact coverage guarantees for the data-generating policy and derive bounds on coverage degradation under policy shifts. Furthermore, we provide neural network approximation and estimation error bounds, with sample complexity $O(d \log(|\mathcal{U}||\mathcal{Y}||\mathcal{S}|)/\varepsilon^2)$, where $d$ denotes the effective network dimension, and finite-sample lower bounds on the sender's expected utility. Numerical experiments on smart-grid energy management illustrate the framework's robustness.

Paperid: 551, https://arxiv.org/pdf/2511.06084.pdf

Abstract:
This paper presents a model-free adaptive control approach to suppress vibrations in a cantilevered beam excited by an unknown disturbance. The cantilevered beam under harmonic excitation is modeled using a lumped parameter approach. Based on retrospective cost optimization, a sampled-data adaptive controller is developed to suppress vibrations caused by external disturbances. Both displacement and acceleration measurements are considered for feedback. Since acceleration measurements are more sensitive to spillover, which excites higher frequency modes, a filter is developed to extract key displacement information from the acceleration data and enhance suppression performance. The vibration suppression performance is compared using both displacement and acceleration measurements.

Paperid: 552, https://arxiv.org/pdf/2511.04293.pdf

Abstract:
Integrating flexible loads and storage systems into the residential sector contributes to the alignment of volatile renewable generation with demand. Besides batteries serving as a short-term storage solution, residential buildings can benefit from a Hydrogen (H2) storage system, allowing seasonal shifting of renewable energy. However, as the initial costs of H2 systems are high, coupling a Fuel Cell (FC) with a Heat Pump (HP) can contribute to the size reduction of the H2 system. The present study develops a Comfort-Oriented Energy Management System for Residential Buildings (ComEMS4Build) comprising Photovoltaics (PV), Battery Energy Storage System (BESS), and H2 storage, where FC and HP are envisioned as complementary technologies. The fuzzy-logic-based ComEMS4Build is designed and evaluated over a period of 12 weeks in winter for a family household building in Germany using a semi-synthetic modeling approach. The Rule-Based Control (RBC), which serves as a lower benchmark, is a scheduler designed to require minimal inputs for operation. The Model Predictive Control (MPC) is intended as a cost-optimal benchmark with an ideal forecast. The results show that ComEMS4Build, similar to MPC, does not violate the thermal comfort of occupants in 10 out of 12 weeks, while RBC has a slightly higher median discomfort of 0.68 Kh. The ComEMS4Build increases the weekly electricity costs by 12.06 EUR compared to MPC, while RBC increases the weekly costs by 30.14 EUR. The ComEMS4Build improves the Hybrid Energy Storage System (HESS) utilization and energy exchange with the main grid compared to the RBC. However, when it comes to the FC operation, the RBC has an advantage, as it reduces the toggling counts by 3.48% and working hours by 7.59% compared to MPC...

Paperid: 553, https://arxiv.org/pdf/2511.03366.pdf

Abstract:
In this paper, we propose a lightwave power transfer-enabled underwater optical integrated sensing and communication (O-ISAC) system, where an access point (AP) mounted on a seasurface ship transmits lightwave signals to two nodes, namely ($i$) a seabed sensor that harvests energy and transmits uplink information to the AP, and ($ii$) a sensing target whose position is estimated by the AP using an array of pinhole cameras. To capture practical deployment conditions, the ship attitude variation is modeled through its roll, pitch, and yaw angles, each following a Gaussian distribution under low-to-moderate sea states. Closed-form approximations are derived for the mean squared error (MSE) of target localization and the achievable uplink data rate. Analytical and simulation results demonstrate excellent agreement, validating the proposed models and derived expressions, while revealing the fundamental communication-sensing tradeoff in the O-ISAC system. The results further provide valuable design insights, including the optimal camera placement on the ship to minimize localization error, achieving a minimum MSE of $10^{-2}$ $\text{m}^2$ with multiple cameras under roll, pitch, and yaw angle variation of $10^{\circ}$, and the optimal harvest-use ratio of $0.55$ for the considered setup.

Paperid: 554, https://arxiv.org/pdf/2511.03189.pdf

Abstract:
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be challenging to measure the force/torque applied by the human for accurate human intent estimation, limiting the robot's ability to assist in the collaborative task. Other methods that attempt to solve pHRC tasks using reinforcement learning (RL) are also unsuitable for the board-insertion task due to its safety constraints and sparse rewards. Therefore, we propose a novel RL approach that utilizes a human-designed admittance controller to facilitate more active robot behavior and reduce human effort. Through simulation and real-world experiments, we demonstrate that our approach outperforms admittance control in terms of success rate and task completion time. Additionally, we observed a significant reduction in measured force/torque when using our proposed approach compared to admittance control. The video of the experiments is available at https://youtu.be/va07Gw6YIog.

Paperid: 555, https://arxiv.org/pdf/2510.26977.pdf

Abstract:
This work introduces a novel dispatchable current source virtual oscillator control (dCVOC) scheme for grid-following (GFL) converters, which exhibits duality with dispatchable virtual oscillator control (dVOC) in two ways: a) the current frequency is generated through reactive power control, similar to a PLL ; b) the current magnitude reference is generated through active power control. We formally prove that our proposed control always admits a steady-state equilibrium and ensures global stability under reasonable conditions on grid and converter parameters, even when considering LVRT and current saturation constraints. Our approach avoids low-voltage transients and weak grid instability, which is not the case for conventional GFL control. The effectiveness of our proposed control is verified through high-fidelity electromagnetic transient simulations.

Paperid: 556, https://arxiv.org/pdf/2510.26971.pdf

Abstract:
With the development of renewable energy sources, power systems are gradually evolving into a system comprising both grid-forming (GFM) and grid-following (GFL) converters. However, the dynamic interaction between the two types of converters, especially low-inertia GFM converters and GFL converters, remains unclear due to the substantial differences in their synchronization mechanisms. To address this gap, this paper develops a small-signal synchronous stability model for power systems containing GFM and GFL converters, which considers network line dynamics. Based on subspace perturbation theory, we reveal that GFM and GFL subsystems can be effectively decoupled when GFL converters operate near unity power factor or when GFM converters possess sufficiently large inertia or damping, and provide lower bound of control parameters ensuring decoupling. Under the decoupling condition, we propose decentralized and analytical parameter-based stability criteria which have clear physical interpretations: the positive damping of converters compensates for the negative damping of the network. In the case of coupling, we also propose decentralized stability criteria based on the small phase theorem. The effectiveness of the theoretical analysis is validated through simulations in MATLAB/Simulink.

Paperid: 557, https://arxiv.org/pdf/2510.26953.pdf

Abstract:
Grid-forming (GFM) technology is widely regarded as a promising solution for future power systems dominated by power electronics. However, a precise method for quantifying GFM converter behavior and a universally accepted GFM definition remain elusive. Moreover, the impact of GFM on system stability is not precisely quantified, creating a significant disconnect between device and system levels. To address these gaps from a small-signal perspective, at the device level, we introduce a novel metric, the Forming Index (FI) to quantify a converter's response to grid voltage fluctuations. Rather than enumerating various control architectures, the FI provides a metric for the converter's GFM ability by quantifying its sensitivity to grid variations. At the system level, we propose a new quantitative measure of system strength that captures the multi-bus voltage stiffness, which quantifies the voltage and phase angle responses of multiple buses to current or power disturbances. We further extend and define this concept to grid strength and bus strength to identify weak areas within the system. Finally, we bridge the device and system levels by formally proving that GFM converters enhance system strength. Our proposed framework provides a unified benchmark for GFM converter design, optimal placement, and system stability assessment.

Paperid: 558, https://arxiv.org/pdf/2510.22321.pdf

Abstract:
Energy communities (ECs) are emerging as a promising decentralized model for managing cooperative distributed energy resources (DERs). As these communities expand and their operations become increasingly integrated into the grid, ensuring fairness in allocating operating costs among participants becomes a challenge. In distribution networks, DER operations at the community level can influence Distribution Locational Marginal Prices (DLMPs), which in turn affect system's operation cost. This interdependence between local decisions and system-level pricing introduces new challenges for fair and transparent cost allocation. Despite growing interest in fairness-aware methods, most methods do not account for the impact of DLMPs. To fill this gap, we propose a bilevel optimization model in which a Community Energy Aggregator (CEA) schedules DERs across multiple ECs while a Distribution System Operator (DSO) determines DLMPs through network-constrained dispatch. Leveraging the Karush-Kuhn-Tucker (KKT) conditions and strong duality, the bilevel model is reformulated into a tractable single-level problem. We achieve fairness in the cost allocation by applying the Shapley value to quantify each community's marginal contribution to system-wide cost savings. The effectiveness of the proposed method is validated through simulations on several benchmark distribution systems.

Paperid: 559, https://arxiv.org/pdf/2510.17798.pdf

Abstract:
This paper presents probabilistic bounds for the spectrum of the admittance matrix and classical linear power flow models under uncertain network parameters; for example, probabilistic line contingencies. Our proposed approach imports tools from probability theory, such as concentration inequalities for random matrices with independent entries. It yields error bounds for common approximations of the AC power flow equations under parameter uncertainty, including the DC and LinDistFlow approximations.

Paperid: 560, https://arxiv.org/pdf/2510.17071.pdf

Abstract:
The power flow equations relate bus voltage phasors to power injections via the network admittance matrix. These equations are central to the key operational and protection functions of power systems (e.g., optimal power flow scheduling and control, state estimation, protection, and fault location, among others). As control, optimization, and estimation of network admittance parameters are central to multiple avenues of research in electric power systems, we propose a linearization of power flow solutions obtained by implicitly differentiating them with respect to the network admittance parameters. This is achieved by utilizing the implicit function theorem, in which we show that such a differentiation is guaranteed to exist under mild conditions and is applicable to generic power systems (radial or meshed). The proposed theory is applied to derive sensitivities of complex voltages, line currents, and power flows. The developed theory of linearizing the power flow equations around changes in the complex network admittance parameters has numerous applications. We demonstrate several of these applications, such as predicting the nodal voltages when the network topology changes without solving the power flow equations. We showcase the application for continuous admittance control, which is used to increase the hosting capacity of a given distribution network.

Paperid: 561, https://arxiv.org/pdf/2510.15626.pdf

Abstract:
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The residual dynamics can represent modeling errors and external disturbances. We are motivated by the future of autonomy where quadrupeds will autonomously perform complex tasks despite real-world unknown uncertainty, such as unknown payload and uneven terrains. The algorithm uses random Fourier features to approximate the residual dynamics in reproducing kernel Hilbert spaces. Then, it employs MPC based on the current learned model of the residual dynamics. The model is updated online in a self-supervised manner using least squares based on the data collected while controlling the quadruped. The algorithm enjoys sublinear \textit{dynamic regret}, defined as the suboptimality against an optimal clairvoyant controller that knows how the residual dynamics. We validate our algorithm in Gazebo and MuJoCo simulations, where the quadruped aims to track reference trajectories. The Gazebo simulations include constant unknown external forces up to $12\boldsymbol{g}$, where $\boldsymbol{g}$ is the gravity vector, in flat terrain, slope terrain with $20\degree$ inclination, and rough terrain with $0.25m$ height variation. The MuJoCo simulations include time-varying unknown disturbances with payload up to $8~kg$ and time-varying ground friction coefficients in flat terrain.

Paperid: 562, https://arxiv.org/pdf/2510.14947.pdf

Abstract:
Robust humanoid locomotion in unstructured environments requires architectures that balance fast low-level stabilization with slower perceptual decision-making. We show that a simple layered control architecture (LCA), a proprioceptive stabilizer running at high rate, coupled with a compact low-rate perceptual policy, enables substantially more robust performance than monolithic end-to-end designs, even when using minimal perception encoders. Through a two-stage training curriculum (blind stabilizer pretraining followed by perceptual fine-tuning), we demonstrate that layered policies consistently outperform one-stage alternatives in both simulation and hardware. On a Unitree G1 humanoid, our approach succeeds across stair and ledge tasks where one-stage perceptual policies fail. These results highlight that architectural separation of timescales, rather than network scale or complexity, is the key enabler for robust perception-conditioned locomotion.

Paperid: 563, https://arxiv.org/pdf/2510.13000.pdf

Abstract:
Rising electricity demand and the growing integration of renewables are intensifying congestion in transmission grids. Grid topology optimization through busbar splitting (BuS) and optimal transmission switching can alleviate grid congestion and reduce the generation costs in a power system. However, BuS optimization requires a large number of binary variables, and analyzing all the substations for potential new topological actions is computationally intractable, particularly in large grids. To tackle this issue, we propose a set of metrics to identify and rank promising candidates for BuS, focusing on finding buses where topology optimization can reduce generation costs. To assess the effect of BuS on the identified buses, we use a combined mixed-integer convex-quadratic BuS model to compute the optimal topology and test it with the non-linear non-convex AC optimal power flow (OPF) simulation to show its AC feasibility. By testing and validating the proposed metrics on test cases of different sizes, we show that they are able to identify busbars that reduce the total generation costs when their topology is optimized. Thus, the metrics enable effective selection of busbars for BuS, with no need to test every busbar in the grid, one at a time.

Paperid: 564, https://arxiv.org/pdf/2510.12407.pdf

Abstract:
Combinatorial Optimization (CO) problems exhibit exponential complexity, making their resolution challenging. Simulated Adiabatic Bifurcation (aSB) is a quantum-inspired algorithm to obtain approximate solutions to largescale CO problems written in the Ising form. It explores the solution space by emulating the adiabatic evolution of a network of Kerr-nonlinear parametric oscillators (KPOs), where each oscillator represents a variable in the problem. The optimal solution corresponds to the ground state of this system. A key advantage of this approach is the possibility of updating multiple variables simultaneously, making it particularly suited for hardware implementation. To enhance solution quality and convergence speed, variations of the algorithm have been proposed in the literature, including ballistic (bSB), discrete (dSB), and thermal (HbSB) versions. In this work, we have comprehensively analyzed dSB, bSB, and HbSB using dedicated software models, evaluating the feasibility of using a fixed-point representation for hardware implementation. We then present an opensource hardware architecture implementing the dSB algorithm for Field-Programmable Gate Arrays (FPGAs). The design allows users to adjust the degree of algorithmic parallelization based on their specific requirements. A proof-of-concept implementation that solves 256-variable problems was achieved on an AMD Kria KV260 SoM, a low-tier FPGA, validated using well-known max-cut and knapsack problems.

Paperid: 565, https://arxiv.org/pdf/2510.12335.pdf

Abstract:
Electric Vehicles (EVs) offer substantial flexibility for grid services, yet large-scale, uncoordinated charging can threaten voltage stability in distribution networks. Existing Reinforcement Learning (RL) approaches for smart charging often disregard physical grid constraints or have limited performance for complex large-scale tasks, limiting their scalability and real-world applicability. This paper introduces a physics-informed (PI) RL algorithm that integrates a differentiable power flow model and voltage-based reward design into the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm, enabling EVs to deliver real-time voltage support while meeting user demands. The resulting PI-TD3 algorithm achieves faster convergence, improved sample efficiency, and reliable voltage magnitude regulation under uncertain and overloaded conditions. Benchmarks on the IEEE 34-bus and 123-bus networks show that the proposed PI-TD3 outperforms both model-free RL and optimization-based baselines in grid constraint management, user satisfaction, and economic metrics, even as the system scales to hundreds of EVs. These advances enable robust, scalable, and practical EV charging strategies that enhance grid resilience and support distribution networks operation.

Paperid: 566, https://arxiv.org/pdf/2510.11393.pdf

Abstract:
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical systems' operational space, with hard constraints ensuring safety-critical requirements and soft constraints encoding performance or task objectives. Initially, all constraints are consolidated into two separate scalar time-varying hard and soft constraint functions, whose positive level sets define feasible regions. A closed-form control law is developed to enforce these constraints using appropriately designed reciprocal barriers and nonlinear transformation functions. When conflicts between hard and soft constraints arise, the control law prioritizes hard constraints by virtually relaxing soft constraints via a dynamic relaxation law. Notably, the proposed control law maintains low complexity by avoiding approximation schemes for coping with system uncertainties. Simulation results confirm the effectiveness of the proposed method.

Paperid: 567, https://arxiv.org/pdf/2510.10766.pdf

Abstract:
As autonomous vehicles become an essential component of modern transportation, they are increasingly vulnerable to threats such as GPS spoofing attacks. This study presents an adaptive detection approach utilizing a dynamically tuned Density Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm, designed to adjust the detection threshold (ε) in real-time. The threshold is updated based on the recursive mean and standard deviation of displacement errors between GPS and in-vehicle sensors data, but only at instances classified as non-anomalous. Furthermore, an initial threshold, determined from 120,000 clean data samples, ensures the capability to identify even subtle and gradual GPS spoofing attempts from the beginning. To assess the performance of the proposed method, five different subsets from the real-world Honda Research Institute Driving Dataset (HDD) are selected to simulate both large and small magnitude GPS spoofing attacks. The modified algorithm effectively identifies turn-by-turn, stop, overshoot, and multiple small biased spoofing attacks, achieving detection accuracies of 98.621%, 99.960.1%, 99.880.1%, and 98.380.1%, respectively. This work provides a substantial advancement in enhancing the security and safety of AVs against GPS spoofing threats.

Paperid: 568, https://arxiv.org/pdf/2510.10545.pdf

Abstract:
Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators. This is expected to significantly improve the operability of the remote control in contact-rich tasks. Among these, 4-channel bilateral control on the Cartesian coordinate system is advantageous owing to its suitability for manipulators with different structures and because it allows the dynamics in the Cartesian coordinate system to be adjusted by adjusting the control parameters, thus achieving intuitive operability for humans. This paper proposes a 4-channel bilateral control method that achieves the desired dynamics by decoupling each dimension in the Cartesian coordinate system regardless of the scaling factor.

Paperid: 569, https://arxiv.org/pdf/2510.09925.pdf

Abstract:
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their argument require the solution of nonconvex optimization problems to compute safety-preserving control inputs, which inhibits real-time computation of control inputs guaranteeing forward invariance. This paper presents a novel method for computing safety-preserving control inputs for discrete-time systems with nonconvex safety sets, utilizing convex optimization and the recently developed class of matrix control barrier function techniques. The efficacy of our methods is demonstrated through numerical simulations on a bicopter system.

Paperid: 570, https://arxiv.org/pdf/2510.03438.pdf

Abstract:
Effective ground station selection is critical for low Earth orbiting (LEO) satellite constellations to minimize operational costs, maximize data downlink volume, and reduce communication gaps between access windows. Traditional ground station selection typically begins by choosing from a fixed set of locations offered by Ground Station-as-a-Service (GSaaS) providers, which helps reduce the problem scope to optimizing locations over existing infrastructure. However, finding a globally optimal solution for stations using existing mixed-integer programming methods quickly becomes intractable at scale, especially when considering multiple providers and large satellite constellations. To address this issue, we introduce a scalable, hierarchical framework that decomposes the global selection problem into single-satellite, short time-window subproblems. Optimal station choices from each subproblem are clustered to identify consistently high-value locations across all decomposed cases. Cluster-level sets are then matched back to the closest GSaaS candidate sites to produce a globally feasible solution. This approach enables scalable coordination while maintaining near-optimal performance. We evaluate our method's performance on synthetic Walker-Star test cases (1-10 satellites, 1-10 stations), achieving solutions within 95% of the global IP optimum for all test cases. Real-world evaluations on Capella Space (5 satellites), ICEYE (40), and Planet's Flock (96) show that while exact IP solutions fail to scale, our framework continues to deliver high-quality site selections.

Paperid: 571, https://arxiv.org/pdf/2510.02223.pdf

Abstract:
We present a computational framework for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety. We show that the existence of a strictly compatible pair of control barrier and control Lyapunov functions (CBF-CLF) guarantees the existence of such a function on the exact safe set certified by the barrier. To maximize the certifiable safe domain while retaining differentiability, we employ a log-sum-exp (softmax) relaxation of the nonsmooth maximum barrier, together with a counterexample-guided refinement that inserts half-space cuts until a strict barrier condition is verifiable. We then patch the softmax barrier with a CLF via an explicit smooth bump construction, which is always feasible under the strict compatibility condition. All conditions are formally verified using a satisfiability modulo theories (SMT) solver, enabled by a reformulation of Farkas' lemma for encoding strict compatibility. On benchmark systems, including a power converter, we show that the certified safe stabilization regions obtained with the proposed approach are often less conservative than those achieved by state-of-the-art sum-of-squares (SOS) compatible CBF-CLF designs.

Paperid: 572, https://arxiv.org/pdf/2510.01059.pdf

Abstract:
This paper introduces a predictive control barrier function (PCBF) framework for enforcing state constraints in discrete-time systems with unknown relative degree, which can be caused by input delays or unmodeled input dynamics. Existing discrete-time CBF formulations typically require the construction of auxiliary barrier functions when the relative degree is greater than one, which complicates implementation and may yield conservative safe sets. The proposed PCBF framework addresses this challenge by extending the prediction horizon to construct a CBF for an associated system with relative degree one. As a result, the superlevel set of the PCBF coincides with the safe set, simplifying constraint enforcement and eliminating the need for auxiliary functions. The effectiveness of the proposed method is demonstrated on a discrete-time double integrator with input delay and a bicopter system with position constraints.

Paperid: 573, https://arxiv.org/pdf/2510.00942.pdf

Abstract:
This paper presents a task-oriented computational framework to enhance Visual-Inertial Navigation (VIN) in robots, addressing challenges such as limited time and energy resources. The framework strategically selects visual features using a Mean Squared Error (MSE)-based, non-submodular objective function and a simplified dynamic anticipation model. To address the NP-hardness of this problem, we introduce four polynomial-time approximation algorithms: a classic greedy method with constant-factor guarantees; a low-rank greedy variant that significantly reduces computational complexity; a randomized greedy sampler that balances efficiency and solution quality; and a linearization-based selector based on a first-order Taylor expansion for near-constant-time execution. We establish rigorous performance bounds by leveraging submodularity ratios, curvature, and element-wise curvature analyses. Extensive experiments on both standardized benchmarks and a custom control-aware platform validate our theoretical results, demonstrating that these methods achieve strong approximation guarantees while enabling real-time deployment.

Paperid: 574, https://arxiv.org/pdf/2509.26428.pdf

Abstract:
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing methods either support arbitrary acceleration constraints at high computational cost or use conservative box constraints for computational efficiency. We propose FBGA, a new \underline{F}orward-\underline{B}ackward algorithm with \underline{G}eneric \underline{A}cceleration constraints, which achieves both high accuracy and low computation time. FBGA operates forward and backward passes to maximize the velocity profile in short, discretized path segments, while satisfying user-defined performance limits. Tested on five racetracks and two vehicle classes, FBGA handles complex, non-convex acceleration constraints with custom formulations. Its maneuvers and lap times closely match optimal control baselines (within $0.11\%$-$0.36\%$), while being up to three orders of magnitude faster. FBGA maintains high accuracy even with coarse discretization, making it well-suited for online multi-query trajectory planning. Our open-source \texttt{C++} implementation is available at: https://anonymous.4open.science/r/FB_public_RAL.

Paperid: 575, https://arxiv.org/pdf/2509.23214.pdf

Abstract:
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the regions. To achieve this goal, ergodic coverage can be used to assign the number of samples according to the quality of observation, i.e., sampling noise levels. However, the noise levels are unknown to the robots. Although this noise can be estimated from samples, the estimates are unreliable at first and can generate fluctuating values. The main contribution of this paper is to use simulated annealing to generate the target sampling distribution, starting from uniform and gradually shifting to an estimated optimal distribution, by varying the coldness parameter of a Boltzmann distribution with the estimated sampling entropy as energy. Simulation results show a substantial improvement of both transient and asymptotic entropy compared to both uniform and direct-ergodic searches. Finally, a demonstration is performed with a TurtleBot swarm system to validate the physical applicability of the algorithm.

Paperid: 576, https://arxiv.org/pdf/2509.17237.pdf

Abstract:
Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous underwater vehicles (AUVs) under thruster failures. We propose an adaptive Lyapunov-constrained model predictive control (LMPC) that guarantees stable trajectory tracking when the AUV switches between fault and normal modes. Particularly, we model different AUV thruster faults and build online failure identification based on Bayesian approach. This facilitates a soft switch between AUV status, and the identified and updated AUV failure model feeds LMPC controller for the control law derivation. The Lyapunov constrain in LMPC ensures that the trajectory tracking control remains stable during AUV status shifts, thus mitigating severe and fatal fluctuations when an AUV thruster occurs or recovers. We conduct numerical simulations on a four-thruster planar AUV using the proposed approach. The results demonstrate smooth transitions between thruster failure types and low trajectory tracking errors compared with the benchmark adaptive MPC and backstepping control with rapid failure identification and failure accommodation during the trajectory tracking.

Paperid: 577, https://arxiv.org/pdf/2509.17198.pdf

Abstract:
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the Doppler positioning problem is non-convex, local searching methods may produce two types of estimates: a global optimum without notice or a local optimum given an inexact initial estimate. As exact initialization is unavailable in some unknown environments, a guaranteed global optimization method in no need of initialization becomes necessary. To achieve this goal, we propose a certifiably optimal LEO Doppler positioning method by utilizing convex optimization. In this paper, the certifiable positioning method is implemented through a graduated weight approximation (GWA) algorithm and semidefinite programming (SDP) relaxation. To guarantee the optimality, we derive the necessary conditions for optimality in ideal noiseless cases and sufficient noise bounds conditions in noisy cases. Simulation and real tests are conducted to evaluate the effectiveness and robustness of the proposed method. Specially, the real test using Iridium-NEXT satellites shows that the proposed method estimates an certifiably optimal solution with an 3D positioning error of 140 m without initial estimates while Gauss-Newton and Dog-Leg are trapped in local optima when the initial point is equal or larger than 1000 km away from the ground truth. Moreover, the certifiable estimation can also be used as initialization in local searching methods to lower down the 3D positioning error to 130 m.

Paperid: 578, https://arxiv.org/pdf/2509.14832.pdf

Abstract:
Stochastic forecasting is critical for efficient decision-making in uncertain systems, such as energy markets and finance, where estimating the full distribution of future scenarios is essential. We propose Diffusion Scenario Tree (DST), a general framework for constructing scenario trees for multivariate prediction tasks using diffusion-based probabilistic forecasting models. DST recursively samples future trajectories and organizes them into a tree via clustering, ensuring non-anticipativity (decisions depending only on observed history) at each stage. We evaluate the framework on the optimization task of energy arbitrage in New York State's day-ahead electricity market. Experimental results show that our approach consistently outperforms the same optimization algorithms that use scenario trees from more conventional models and Model-Free Reinforcement Learning baselines. Furthermore, using DST for stochastic optimization yields more efficient decision policies, achieving higher performance by better handling uncertainty than deterministic and stochastic MPC variants using the same diffusion-based forecaster.

Paperid: 579, https://arxiv.org/pdf/2509.13994.pdf

Abstract:
The increasing renewable penetration introduces significant uncertainty in power system operations. At the same time, the existing transmission grid is often already congested, and urgently needed reinforcements are frequently delayed due to several constraints. To address these challenges, adjusting the grid topology based on congestion patterns is considered a non-costly remedy to guarantee efficient power transmission. Based on this idea, this paper proposes a grid topology optimization model combining optimal transmission switching and busbar splitting for AC and hybrid AC/DC grids. The methodology incorporates RES forecast uncertainty through a scenario-based stochastic optimization approach, using real offshore wind data and K-means clustering to generate representative forecast error scenarios. The proposed model includes several formulations to be compared with a plain optimal power flow (OPF) model: hourly optimizing the topology, one topology for 24 hours, or a limited number of switching actions over a day. The grid topology optimization model is formulated as a Mixed-Integer Quadratic Convex Problem, optimized based on the day-ahead (D-1) RES forecast and validated for AC-feasibility via an AC-OPF formulation. Based on the generation setpoints of the feasibility check, a redispatch simulation based on the measured (D) RES realization is then computed. The methodology is tested on an AC 30-bus test case and a hybrid AC/DC 50-bus test case, for a 24-hours (30-bus) and a 14-days (both test cases) time series. The results highlight the economic benefits brought by grid topology optimization for congested test cases with high penetration of RES. In addition, the results demonstrate that accounting for RES uncertainty with at least 6 to 8 scenarios leads to lower or comparable total costs to deterministic day-ahead forecasts, even when limiting the frequency of topological actions.

Paperid: 580, https://arxiv.org/pdf/2509.13649.pdf

Abstract:
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt estimation due to the ambiguity between gravitational and inertial accelerations. While auxiliary velocity sensors, such as GNSS, Pitot tubes, Doppler radar, or visual odometry, are often used, they can be unavailable, intermittent, or costly. This work introduces a barometer-aided attitude estimation architecture that leverages barometric altitude measurements to infer vertical velocity and attitude within a nonlinear observer on SO(3). The design cascades a deterministic Riccati observer with a complementary filter, ensuring Almost Global Asymptotic Stability (AGAS) under a uniform observability condition while maintaining geometric consistency. The analysis highlights barometer-aided estimation as a lightweight and effective complementary modality.

Paperid: 581, https://arxiv.org/pdf/2509.12444.pdf

Abstract:
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter. This approach works well when the kinematic configuration is representative of the real operational conditions. However, when dealing with manipulators of larger size subject to gravity, it becomes necessary to solve a static force problem, using tendon force as the input and employing a mapping from the configuration space to retrieve tendon length. Alternatively, measurements of the manipulator posture can be used to iteratively adjust tendon lengths to achieve a desired posture. Hence, either tension measurement or state estimation of the manipulator are required, both of which are not always accurately available. Here, we propose a solution by reconciling cables tension and length as the input for the solution of the system forward statics. We develop a screw-based formulation for a tendon-driven, multi-segment, hyper-redundant manipulator with elastic joints and introduce a forward statics iterative solution method that equivalently makes use of either tendon length or tension as the input. This strategy is experimentally validated using a traditional tension input first, subsequently showing the efficacy of the method when exclusively tendon lengths are used. The results confirm the possibility to perform open-loop control in static conditions using a kinematic input only, thus bypassing some of the practical problems with tension measurement and state estimation of hyper-redundant systems.

Paperid: 582, https://arxiv.org/pdf/2509.12182.pdf

Abstract:
We show that the existence of a strictly compatible pair of control Lyapunov and control barrier functions is equivalent to the existence of a single smooth Lyapunov function that certifies both asymptotic stability and safety. This characterization complements existing literature on converse Lyapunov functions by establishing a partial differential equation (PDE) characterization with prescribed boundary conditions on the safe set, ensuring that the safe set is exactly certified by this Lyapunov function. The result also implies that if a safety and stability specification cannot be certified by a single Lyapunov function, then any pair of control Lyapunov and control barrier functions necessarily leads to a conflict and cannot be satisfied simultaneously in a robust sense.

Paperid: 583, https://arxiv.org/pdf/2509.12169.pdf

Abstract:
Artificial intelligence (AI) models are becoming key components in an autonomous vehicle (AV), especially in handling complicated perception tasks. However, closing the loop through AI-based feedback may pose significant risks on reliability of autonomous driving due to very limited understanding about the mechanism of AI-driven perception processes. To overcome it, this paper aims to develop tools for modeling, analysis, and synthesis for a class of AI-based AV; in particular, their closed-loop properties, e.g., stability, robustness, and performance, are rigorously studied in the statistical sense. First, we provide a novel modeling means for the AI-driven perception processes by looking at their error characteristics. Specifically, three fundamental AI-induced perception uncertainties are recognized and modeled by Markov chains, Gaussian processes, and bounded disturbances, respectively. By means of that, the closed-loop stochastic stability (SS) is established in the sense of mean square, and then, an SS control synthesis method is presented within the framework of linear matrix inequalities (LMIs). Besides the SS properties, the robustness and performance of AI-based AVs are discussed in terms of a stochastic guaranteed cost, and criteria are given to test the robustness level of an AV when in the presence of AI-induced uncertainties. Furthermore, the stochastic optimal guaranteed cost control is investigated, and an efficient design procedure is developed innovatively based on LMI techniques and convex optimization. Finally, to illustrate the effectiveness, the developed results are applied to an example of car following control, along with extensive simulation.

Paperid: 584, https://arxiv.org/pdf/2509.12137.pdf

Abstract:
Safety is a critical concern in autonomous vehicle (AV) systems, especially when AI-based sensing and perception modules are involved. However, due to the black box nature of AI algorithms, it makes closed-loop analysis and synthesis particularly challenging, for example, establishing closed-loop stability and ensuring performance, while they are fundamental to AV safety. To approach this difficulty, this paper aims to develop new modeling, analysis, and synthesis tools for AI-based AVs. Inspired by recent developments in perception error models (PEMs), the focus is shifted from directly modeling AI-based perception processes to characterizing the perception errors they produce. Two key classes of AI-induced perception errors are considered: misdetection and measurement noise. These error patterns are modeled using continuous-time Markov chains and Wiener processes, respectively. By means of that, a PEM-augmented driving model is proposed, with which we are able to establish the closed-loop stability for a class of AI-driven AV systems via stochastic calculus. Furthermore, a performance-guaranteed output feedback control synthesis method is presented, which ensures both stability and satisfactory performance. The method is formulated as a convex optimization problem, allowing for efficient numerical solutions. The results are then applied to an adaptive cruise control (ACC) scenario, demonstrating their effectiveness and robustness despite the corrupted and misleading perception.

Paperid: 585, https://arxiv.org/pdf/2509.11467.pdf

Abstract:
Active object detection, which aims to identify objects of interest through controlled camera movements, plays a pivotal role in real-world visual perception for autonomous robotic applications, such as manufacturing tasks (e.g., assembly operations) performed in unknown environments. A dual control for exploration and exploitation (DCEE) algorithm is presented within goal-oriented control systems to achieve efficient active object detection, leveraging active learning by incorporating variance-based uncertainty estimation in the cost function. This novel method employs an exploration-exploitation balanced cost function to actively guide the selection of the next viewpoint. Specifically, active object detection is achieved through the development of a reward function that encodes knowledge about the confidence variation of objects as a function of viewpoint position within a given domain. By identifying the unknown parameters of this function, the system generates an optimal viewpoint planning strategy. DCEE integrates parameter estimation of the reward function and view planning, ensuring a balanced trade-off between the exploitation of learned knowledge and active exploration during the planning process. Moreover, it demonstrates remarkable adaptability across diverse scenarios, effectively handling LEGO brick detection at varying locations. Importantly, the algorithm maintains consistent configuration settings and a fixed number of parameters across various scenarios, underscoring its efficiency and robustness. To validate the proposed approach, extensive numerical studies, high-fidelity virtual simulations, and real-world experiments under various scenarios were conducted. The results confirm the effectiveness of DCEE in active object detection, showcasing superior performance compared to existing methods, including model predictive control (MPC) and entropy approaches.

Paperid: 586, https://arxiv.org/pdf/2509.09145.pdf

Abstract:
Battery management systems (BMSs) rely on real-time estimation of battery temperature distribution in battery cells to ensure safe and optimal operation of Lithium-ion batteries (LIBs). However, physical BMS often suffers from memory and computational resource limitations required by highfidelity models. Temperature prediction using physics-based models becomes challenging due to their higher computational time. In contrast, machine learning based approaches offer faster predictions but demand larger memory overhead. In this work, we develop a lightweight and efficient Kolmogorov-Arnold networks (KAN) based thermal model, KAN-Therm, to predict the core temperature of a cylindrical battery. We have compared the memory overhead and computation costs of our method with Multi-layer perceptron (MLP), recurrent neural network (RNN), and long shortterm memory (LSTM) network. Our results show that the proposed KAN-Therm model exhibit the best prediction accuracy with the least memory overhead and computation time.

Paperid: 587, https://arxiv.org/pdf/2509.04624.pdf

Abstract:
Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low adaptability, and poor scalability. To address these challenges, this paper introduces an advanced unmanned aerial vehicle (UAV)-based traffic surveillance system capable of accurate vehicle detection, classification, tracking, and behavioral analysis in real-world, unconstrained urban environments. The system leverages multi-scale and multi-angle template matching, Kalman filtering, and homography-based calibration to process aerial video data collected from altitudes of approximately 200 meters. A case study in urban area demonstrates robust performance, achieving a detection precision of 91.8%, an F1-score of 90.5%, and tracking metrics (MOTA/MOTP) of 92.1% and 93.7%, respectively. Beyond precise detection, the system classifies five vehicle types and automatically detects critical traffic violations, including unsafe lane changes, illegal double parking, and crosswalk obstructions, through the fusion of geofencing, motion filtering, and trajectory deviation analysis. The integrated analytics module supports origin-destination tracking, vehicle count visualization, inter-class correlation analysis, and heatmap-based congestion modeling. Additionally, the system enables entry-exit trajectory profiling, vehicle density estimation across road segments, and movement direction logging, supporting comprehensive multi-scale urban mobility analytics. Experimental results confirms the system's scalability, accuracy, and practical relevance, highlighting its potential as an enforcement-aware, infrastructure-independent traffic monitoring solution for next-generation smart cities.

Paperid: 588, https://arxiv.org/pdf/2509.02247.pdf

Abstract:
Ensuring the stability of wireless networked control systems (WNCS) with nonlinear and control-non-affine dynamics, where system behavior is nonlinear with respect to both states and control decisions, poses a significant challenge, particularly under limited resources. However, it is essential in the context of 6G, which is expected to support reliable communication to enable real-time autonomous systems. This paper proposes a joint communication and control solution consisting of: i) a deep Koopman model capable of learning and mapping complex nonlinear dynamics into linear representations in an embedding space, predicting missing states, and planning control actions over a future time horizon; and ii) a scheduling algorithm that schedules sensor-controller communication based on Lyapunov optimization, which dynamically allocates communication resources based on system stability and available resources. Control actions are computed within this embedding space using a linear quadratic regulator (LQR) to ensure system stability. The proposed model is evaluated under varying conditions and its performance is compared against two baseline models; one that assumes systems are control-affine, and another that assumes identical control actions in the embedding and original spaces. The evaluation results demonstrate that the proposed model outperforms both baselines, by achieving stability while requiring fewer transmissions.

Paperid: 589, https://arxiv.org/pdf/2508.21684.pdf

Abstract:
This paper considers the problem of data-driven robust control design for nonlinear systems, for instance, obtained when discretizing nonlinear partial differential equations (PDEs). A robust learning control approach is developed for nonlinear affine in control systems based on Lyapunov redesign technique. The robust control is developed as a sum of an optimal learning control which stabilizes the system in absence of disturbances, and an additive Lyapunov-based robustification term which handles the effects of disturbances. The dual ensemble Kalman filter (dual EnKF) algorithm is utilized in the optimal control design methodology. A simulation study is done on the heat equation and Burgers partial differential equation.

Paperid: 590, https://arxiv.org/pdf/2508.21163.pdf

Abstract:
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity direction simultaneously by fusing velocity direction information from optical flow measurements with gyro and accelerometer data. This fusion is achieved using a globally exponentially stable Riccati observer, which operates under persistently exciting translational motion conditions. The estimated gravity direction in the body frame is then employed, along with an optional magnetometer measurement, to design a complementary observer on $\mathbf{SO}(3)$ for attitude estimation. The resulting interconnected observer architecture is shown to be almost globally asymptotically stable. To extract the velocity direction from sparse optical flow data, a gradient descent algorithm is developed to solve a constrained minimization problem on the unit sphere. The effectiveness of the proposed algorithms is validated through simulation results.

Paperid: 591, https://arxiv.org/pdf/2508.17433.pdf

Abstract:
Efficient mobile jamming against eavesdroppers in wireless networks necessitates accurate coordination between mobility and antenna beamforming. We study the coordinated beamforming and control problem for a UAV that carries two omnidirectional antennas, and which uses them to jam an eavesdropper while leaving a friendly client unaffected. The UAV can shape its jamming beampattern by controlling its position, its antennas' orientation, and the relative phasing for each antenna. We derive a closed-form expression for the antennas' phases that guarantees zero jamming impact on the client. In addition, we determine the antennas' orientation and the UAV's position that maximizes jamming impact on the eavesdropper through an optimal control problem, optimizing the orientation pointwise and the position through the UAV's control input. Simulations show how this coordinated beamforming and control scheme enables directional GPS denial while guaranteeing zero interference towards a friendly direction.

Paperid: 592, https://arxiv.org/pdf/2508.11025.pdf

Abstract:
Conformal prediction is a popular uncertainty quantification method that augments a base predictor with prediction sets with statistically valid coverage guarantees. However, current methods are often computationally expensive and data-intensive, as they require constructing an uncertainty model before calibration. Moreover, existing approaches typically represent the prediction sets with intervals, which limits their ability to capture dependencies in multi-dimensional outputs. We address these limitations by introducing zono-conformal prediction, a novel approach inspired by interval predictor models and reachset-conformant identification that constructs prediction zonotopes with assured coverage. By placing zonotopic uncertainty sets directly into the model of the base predictor, zono-conformal predictors can be identified via a single, data-efficient linear program. While we can apply zono-conformal prediction to arbitrary nonlinear base predictors, we focus on feed-forward neural networks in this work. Aside from regression tasks, we also construct optimal zono-conformal predictors in classification settings where the output of an uncertain predictor is a set of possible classes. We provide probabilistic coverage guarantees and present methods for detecting outliers in the identification data. In extensive numerical experiments, we show that zono-conformal predictors are less conservative than interval predictor models and standard conformal prediction methods, while achieving a similar coverage over the test data.

Paperid: 593, https://arxiv.org/pdf/2508.05466.pdf

Abstract:
This paper studies the finite-horizon robust optimal control of linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS design using output-feedback affine control policy and extend it to a distributionally robust setting to improve system resilience by minimizing the cost function while ensuring constraint satisfaction against the worst-case uncertainty distribution. The scopes of model mismatch and stochastic disturbances are quantified using the 1-norm and a Wasserstein metric-based ambiguity set, respectively. For the closed-loop dynamics, we analyze the distributional shift between the predicted output-input response -- computed using nominal parameters and empirical disturbance samples -- and the actual closed-loop distribution, highlighting its dependence on model mismatch and SLS parameterization. Assuming convex and Lipschitz continuous cost functions and constraints, we derive a tractable reformulation of the distributionally robust SLS (DR-SLS) problem by leveraging tools from robust control and distributionally robust optimization (DRO). Numerical experiments validate the performance and robustness of the proposed approach.

Paperid: 594, https://arxiv.org/pdf/2508.04170.pdf

Abstract:
The increasing vulnerability of electrical distribution systems to extreme weather events and cyber threats necessitates the development of economically viable frameworks for resilience enhancement. While existing approaches focus primarily on technical resilience metrics and enhancement strategies, there remains a significant gap in establishing market-driven mechanisms that can effectively commercialize resilience features while optimizing their deployment through intelligent decision-making. Moreover, traditional optimization approaches for distribution network reconfiguration often fail to dynamically adapt to both normal and emergency conditions. This paper introduces a novel framework integrating dual-agent Proximal Policy Optimization (PPO) with market-based mechanisms, achieving an average resilience score of 0.85 0.08 over 10 test episodes. The proposed architecture leverages a dual-agent PPO scheme, where a strategic agent selects optimal DER-driven switching configurations, while a tactical agent fine-tunes individual switch states and grid preferences under budget and weather constraints. These agents interact within a custom-built dynamic simulation environment that models stochastic calamity events, budget limits, and resilience-cost trade-offs. A comprehensive reward function is designed that balances resilience enhancement objectives with market profitability (with up to 200x reward incentives, resulting in 85% of actions during calamity steps selecting configurations with 4 DERs), incorporating factors such as load recovery speed, system robustness, and customer satisfaction. Over 10 test episodes, the framework achieved a benefit-cost ratio of 0.12 0.01, demonstrating sustainable market incentives for resilience investment. This framework creates sustainable market incentives

Paperid: 595, https://arxiv.org/pdf/2507.23591.pdf

Abstract:
The Linear Parameter-Varying (LPV) framework is a powerful tool for controlling nonlinear and complex systems, but the conversion of nonlinear models into LPV forms often results in high-dimensional and overly conservative LPV models. To be able to apply control strategies, there is often a need for model reduction in order to reduce computational needs. This paper presents the first systematic approach for the joint reduction of state order and scheduling signal dimension of LPV state space models. The existing methods typically address these reductions separately. By formulating a tensorial form of LPV models with an affine dependency on the scheduling variables, we leverage tensor decomposition to find the dominant components of state and scheduling subspaces. We extend the common Petrov-Galerkin projection approach to LPV framework by adding a scheduling projection. This extension enables the joint reduction. To find suitable subspaces for the extended Petrov-Galerkin projection, we have developed two different methods: tensor-based LPV moment matching, and an approach through Proper Orthogonal Decomposition. Advantages of the proposed methods are demonstrated on two different series-interconnected mass-spring-damper systems with nonlinear springs: one primarily used for comparison with other methods and a more elaborate higher-order model designed to assess scalability.

Paperid: 596, https://arxiv.org/pdf/2507.18141.pdf

Abstract:
This work focuses on a compositional data-driven approach to verify incremental global asymptotic stability (delta-GAS) over interconnected homogeneous networks of degree one with unknown mathematical dynamics. Our proposed approach leverages the concept of incremental input-to-state stability (delta-ISS) of subsystems, characterized by delta-ISS Lyapunov functions. To implement our data-driven scheme, we initially reframe the delta-ISS Lyapunov conditions as a robust optimization program (ROP). However, due to the presence of unknown subsystem dynamics in the ROP constraints, we develop a scenario optimization program (SOP) by gathering data from trajectories of each unknown subsystem. We solve the SOP and construct a delta-ISS Lyapunov function for each subsystem with unknown dynamics. We then leverage a small-gain compositional condition to facilitate the construction of an incremental Lyapunov function for an unknown interconnected network with unknown dynamics based on its data-driven delta-ISS Lyapunov functions of individual subsystems, while providing correctness guarantees. We demonstrate that our data-driven compositional approach aligns sample complexity with subsystem granularity, resulting in a linear increase in required data as the number of subsystems rises. In contrast, the existing monolithic approach in the literature exhibits exponential growth in sample complexity with increasing number of subsystems, rendering it impractical for real-world applications. To validate the effectiveness of our compositional data-driven approach, we apply it to an unknown nonlinear homogeneous network of degree one, comprising 10000 subsystems. By gathering data from each unknown subsystem, we demonstrate that the interconnected network is delta-GAS with a correctness guarantee.

Paperid: 597, https://arxiv.org/pdf/2507.16513.pdf

Abstract:
Scaled Relative Graphs (SRGs) provide a novel graphical frequency-domain method for the analysis of nonlinear systems. There have been recent efforts to generalize SRG analysis to Multiple-Input Multiple-Output (MIMO) systems. However, these attempts yielded only results for square systems, and in some cases, only methods applicable for Linear Time-Invariant (LTI) systems. In this paper, we develop a complete SRG framework for the analysis of MIMO systems, which may be nonlinear and non-square. The key element is the embedding of operators to a space of operators acting on a common Hilbert space, while restricting the input space to the original input dimension. We develop interconnection rules that use restricted input spaces and stability theorems to guarantee causality, well-posedness and (incremental) $L_2$-gain bounds for the overall interconnection. We show utilization of the proposed theoretical concepts on the analysis of nonlinear systems in a linear fractional representation form, which is a rather general class of systems with a representation form directly utilizable for control. Moreover, we provide formulas for the computation of MIMO SRGs of stable LTI operators and diagonal static nonlinear operators. Finally, we demonstrate the capabilities of our proposed approach on several examples.

Paperid: 598, https://arxiv.org/pdf/2507.16480.pdf

Abstract:
The development of assistive robots for social collaboration raises critical questions about responsible and inclusive design, especially when interacting with individuals from protected groups such as those with disabilities or advanced age. Currently, research is scarce on how participants assess varying robot behaviors in combination with diverse human needs, likely since participants have limited real-world experience with advanced domestic robots. In the current study, we aim to address this gap while using methods that enable participants to assess robot behavior, as well as methods that support meaningful reflection despite limited experience. In an online study, 112 participants (from both experimental and control groups) evaluated 7 videos from a total of 28 variations of human-robot collaboration types. The experimental group first completed a cognitive-affective mapping (CAM) exercise on human-robot collaboration before providing their ratings. Although CAM reflection did not significantly affect overall ratings, it led to more pronounced assessments for certain combinations of robot behavior and human condition. Most importantly, the type of human-robot collaboration influences the assessment. Antisocial robot behavior was consistently rated as the lowest, while collaboration with aged individuals elicited more sensitive evaluations. Scenarios involving object handovers were viewed more positively than those without them. These findings suggest that both human characteristics and interaction paradigms influence the perceived acceptability of collaborative robots, underscoring the importance of prosocial design. They also highlight the potential of reflective methods, such as CAM, to elicit nuanced feedback, supporting the development of user-centered and socially responsible robotic systems tailored to diverse populations.

Paperid: 599, https://arxiv.org/pdf/2507.16426.pdf

Abstract:
This paper addresses the problem of inferring a hybrid automaton from a set of input-output traces of a hybrid system exhibiting discrete mode switching between continuously evolving dynamics. Existing approaches mainly adopt a derivative-based method where (i) the occurrence of mode switching is determined by a drastic variation in derivatives and (ii) the clustering of trace segments relies on signal similarity -- both subject to user-supplied thresholds. We present a derivative-agnostic approach, named Dainarx, to infer nonlinear hybrid systems where the dynamics are captured by nonlinear autoregressive exogenous (NARX) models. Dainarx employs NARX models as a unified, threshold-free representation through the detection of mode switching and trace-segment clustering. We show that Dainarx suffices to learn models that closely approximate a general class of hybrid systems featuring high-order nonlinear dynamics with exogenous inputs, nonlinear guard conditions, and linear resets. Experimental results on a collection of benchmarks indicate that our approach can effectively and efficiently infer nontrivial hybrid automata with high-order dynamics yielding significantly more accurate approximations than state-of-the-art techniques.

Paperid: 600, https://arxiv.org/pdf/2507.16311.pdf

Abstract:
Polarforming has emerged as a promising technique to enable the antenna to shape its polarization into a desired state for aligning with that of the received electromagnetic (EM) wave or reconfiguring that of the transmitted EM wave. In this letter, we investigate polarforming design for the movable antenna (MA)-enabled communication system. Specifically, we consider a single-input single-output (SISO) system with reconfigurable antenna positions and polarizations to leverage both spatial and polarization degrees of freedom (DoFs). First, we present a polarized channel model and characterize the channel response as a function of antenna positions and polarforming phase shifts. To maximize the achievable rate of the proposed system, we then develop a successive convex approximation (SCA)-based optimization algorithm by iteratively optimizing the antenna positions and phase shifts at both the transmitter and receiver. Furthermore, simulation results demonstrate the performance gains of the proposed system over conventional systems in mitigating channel depolarization and adapting to channel fading.

Paperid: 601, https://arxiv.org/pdf/2507.15601.pdf

Abstract:
Federated learning (FL) has emerged as a popular approach for collaborative machine learning in sixth-generation (6G) networks, primarily due to its privacy-preserving capabilities. The deployment of FL algorithms is expected to empower a wide range of Internet-of-Things (IoT) applications, e.g., autonomous driving, augmented reality, and healthcare. The mission-critical and time-sensitive nature of these applications necessitates the design of low-latency FL frameworks that guarantee high learning performance. In practice, achieving low-latency FL faces two challenges: the overhead of computing and transmitting high-dimensional model updates, and the heterogeneity in communication-and-computation (C$^2$) capabilities across devices. To address these challenges, we propose a novel C$^2$-aware framework for optimal batch-size control that minimizes end-to-end (E2E) learning latency while ensuring convergence. The framework is designed to balance a fundamental C$^2$ tradeoff as revealed through convergence analysis. Specifically, increasing batch sizes improves the accuracy of gradient estimation in FL and thus reduces the number of communication rounds required for convergence, but results in higher per-round latency, and vice versa. The associated problem of latency minimization is intractable; however, we solve it by designing an accurate and tractable surrogate for convergence speed, with parameters fitted to real data. This approach yields two batch-size control strategies tailored to scenarios with slow and fast fading, while also accommodating device heterogeneity. Extensive experiments using real datasets demonstrate that the proposed strategies outperform conventional batch-size adaptation schemes that do not consider the C$^2$ tradeoff or device heterogeneity.

Paperid: 602, https://arxiv.org/pdf/2507.15564.pdf

Abstract:
Scaled Relative Graphs (SRGs) provide a novel graphical frequency-domain method for the analysis of nonlinear systems. However, we show that the current SRG analysis suffers from a pitfall that limits its applicability in analyzing practical nonlinear systems. We overcome this pitfall by introducing a novel reformulation of the SRG of a linear time-invariant operator and combining the SRG with the Nyquist criterion. The result is a theorem that can be used to assess stability and $L_2$-gain performance for general interconnections of nonlinear dynamic systems. We provide practical calculation results for canonical interconnections and apply our result to Lur'e systems to obtain a generalization of the celebrated circle criterion, which deals with broader class of nonlinearities, and we derive (incremental) $L_2$-gain performance bounds. We illustrate the power of the new approach on the analysis of several examples.

Paperid: 603, https://arxiv.org/pdf/2507.14212.pdf

Abstract:
Goal-oriented Communication (GoC) is a new paradigm that plans data transmission to occur only when it is instrumental for the receiver to achieve a certain goal. This leads to the advantage of reducing the frequency of transmissions significantly while maintaining adherence to the receiver's objectives. However, GoC scheduling also opens a timing-based side channel that an eavesdropper can exploit to obtain information about the state of the system. This type of attack sidesteps even information-theoretic security, as it exploits the timing of updates rather than their content. In this work, we study such an eavesdropping attack against pull-based goal-oriented scheduling for remote monitoring and control of Markov processes. We provide a theoretical framework for defining the effectiveness of the attack and propose possible countermeasures, including two practical heuristics that provide a balance between the performance gains offered by GoC and the amount of leaked information. Our results show that, while a naive goal-oriented scheduler allows the eavesdropper to correctly guess the system state about 60% of the time, our heuristic defenses can halve the leakage with a marginal reduction of the benefits of goal-oriented approaches.

Paperid: 604, https://arxiv.org/pdf/2507.13088.pdf

Abstract:
The computational burden of model predictive control (MPC) limits its application on real-time systems, such as robots, and often requires the use of short prediction horizons. This not only affects the control performance, but also increases the difficulty of designing MPC cost functions that reflect the desired long-term objective. This paper proposes ZipMPC, a method that imitates a long-horizon MPC behaviour by learning a compressed and context-dependent cost function for a short-horizon MPC. It improves performance over alternative methods, such as approximate explicit MPC and automatic cost parameter tuning, in particular in terms of i) optimizing the long term objective; ii) maintaining computational costs comparable to a short-horizon MPC; iii) ensuring constraint satisfaction; and iv) generalizing control behaviour to environments not observed during training. For this purpose, ZipMPC leverages the concept of differentiable MPC with neural networks to propagate gradients of the imitation loss through the MPC optimization. We validate our proposed method in simulation and real-world experiments on autonomous racing. ZipMPC consistently completes laps faster than selected baselines, achieving lap times close to the long-horizon MPC baseline. In challenging scenarios where the short-horizon MPC baseline fails to complete a lap, ZipMPC is able to do so. In particular, these performance gains are also observed on tracks unseen during training.

Paperid: 605, https://arxiv.org/pdf/2507.12855.pdf

Abstract:
The integration of large language models (LLMs) with control systems has demonstrated significant potential in various settings, such as task completion with a robotic manipulator. A main reason for this success is the ability of LLMs to perform in-context learning, which, however, strongly relies on the design of task examples, closely related to the target tasks. Consequently, employing LLMs to formulate optimal control problems often requires task examples that contain explicit mathematical expressions, designed by trained engineers. Furthermore, there is often no principled way to evaluate for hallucination before task execution. To address these challenges, we propose DEMONSTRATE, a novel methodology that avoids the use of LLMs for complex optimization problem generations, and instead only relies on the embedding representations of task descriptions. To do this, we leverage tools from inverse optimal control to replace in-context prompt examples with task demonstrations, as well as the concept of multitask learning, which ensures target and example task similarity by construction. Given the fact that hardware demonstrations can easily be collected using teleoperation or guidance of the robot, our approach significantly reduces the reliance on engineering expertise for designing in-context examples. Furthermore, the enforced multitask structure enables learning from few demonstrations and assessment of hallucinations prior to task execution. We demonstrate the effectiveness of our method through simulation and hardware experiments involving a robotic arm tasked with tabletop manipulation.

Paperid: 606, https://arxiv.org/pdf/2507.11621.pdf

Abstract:
Highway on-ramp merging areas are common bottlenecks to traffic congestion and accidents. Currently, a cooperative control strategy based on connected and automated vehicles (CAVs) is a fundamental solution to this problem. While CAVs are not fully widespread, it is necessary to propose a hierarchical cooperative on-ramp merging control (HCOMC) framework for heterogeneous traffic flow on two-lane highways to address this gap. This paper extends longitudinal car-following models based on the intelligent driver model and lateral lane-changing models using the quintic polynomial curve to account for human-driven vehicles (HDVs) and CAVs, comprehensively considering human factors and cooperative adaptive cruise control. Besides, this paper proposes a HCOMC framework, consisting of a hierarchical cooperative planning model based on the modified virtual vehicle model, a discretionary lane-changing model based on game theory, and a multi-objective optimization model using the elitist non-dominated sorting genetic algorithm to ensure the safe, smooth, and efficient merging process. Then, the performance of our HCOMC is analyzed under different traffic densities and CAV penetration rates through simulation. The findings underscore our HCOMC's pronounced comprehensive advantages in enhancing the safety of group vehicles, stabilizing and expediting merging process, optimizing traffic efficiency, and economizing fuel consumption compared with benchmarks.

Paperid: 607, https://arxiv.org/pdf/2507.11392.pdf

Abstract:
Inverse optimal control (IOC) is a promising paradigm for learning and mimicking optimal control strategies from capable demonstrators, or gaining a deeper understanding of their intentions, by estimating an unknown objective function from one or more corresponding optimal control sequences. When computing estimates from demonstrations in environments with safety-preserving inequality constraints, acknowledging their presence in the chosen IOC method is crucial given their strong influence on the final control strategy. However, solution strategies capable of considering inequality constraints, such as the inverse Karush-Kuhn-Tucker approach, rely on their correct activation and fulfillment; a restrictive assumption when dealing with noisy demonstrations. To overcome this problem, we leverage the concept of exact penalty functions for IOC and show preservation of estimation accuracy. Considering noisy demonstrations, we then illustrate how the usage of penalty functions reduces the number of unknown variables and how their approximations enhance the estimation method's capacity to account for wrong constraint activations within a polytopic-constrained environment. The proposed method is evaluated for three systems in simulation, outperforming traditional relaxation approaches for noisy demonstrations.

Paperid: 608, https://arxiv.org/pdf/2507.10979.pdf

Abstract:
Infinite networks are complex interconnected systems comprising a countably infinite number of subsystems, where counting them precisely poses a significant challenge due to the seemingly endless interconnected nature of the network (e.g., counting vehicles on the road). In such scenarios, the presence of infinitely many subsystems within the network renders the existing analysis frameworks tailored for finite networks inapplicable to infinite ones. This paper is concerned with offering a data-driven approach, within a compositional framework, for the safety certification of infinite networks with both unknown mathematical models and interconnection topologies. Given the immense computational complexity stemming from the extensive dimension of infinite networks, our approach capitalizes on the joint dissipativity-type properties of subsystems, characterized by storage certificates. We introduce innovative compositional data-driven conditions to construct a barrier certificate for the infinite network leveraging storage certificates of its unknown subsystems derived from data, while offering correctness guarantees across the network safety. We demonstrate that our compositional data-driven reasoning eliminates the requirement for checking the traditional dissipativity condition, which typically mandates precise knowledge of the interconnection topology. In addition, while existing data-driven literature demonstrates an exponential trend in sample complexity with respect to network size, we showcase that our compositional strategy notably reduces it to a linear scale in terms of the number of subsystems. We illustrate our data-driven results on two physical infinite networks with unknown models and interconnection topologies.

Paperid: 609, https://arxiv.org/pdf/2507.10075.pdf

Abstract:
Automated vehicles (AVs) face a critical need to adopt socially compatible behaviors and cooperate effectively with human-driven vehicles (HVs) in heterogeneous traffic environment. However, most existing lane-changing frameworks overlook HVs' dynamic trust levels, limiting their ability to accurately predict human driver behaviors. To address this gap, this study proposes a trust-aware game-theoretic lane-changing decision (TGLD) framework. First, we formulate a multi-vehicle coalition game, incorporating fully cooperative interactions among AVs and partially cooperative behaviors from HVs informed by real-time trust evaluations. Second, we develop an online trust evaluation method to dynamically estimate HVs' trust levels during lane-changing interactions, guiding AVs to select context-appropriate cooperative maneuvers. Lastly, social compatibility objectives are considered by minimizing disruption to surrounding vehicles and enhancing the predictability of AV behaviors, thereby ensuring human-friendly and context-adaptive lane-changing strategies. A human-in-the-loop experiment conducted in a highway on-ramp merging scenario validates our TGLD approach. Results show that AVs can effectively adjust strategies according to different HVs' trust levels and driving styles. Moreover, incorporating a trust mechanism significantly improves lane-changing efficiency, maintains safety, and contributes to transparent and adaptive AV-HV interactions.

Paperid: 610, https://arxiv.org/pdf/2507.09836.pdf

Abstract:
Autonomous vehicles (AVs) are becoming increasingly popular, with their applications now extending beyond just a mode of transportation to serving as mobile actuators of a traffic flow to control flow dynamics. This contrasts with traditional fixed-location actuators, such as traffic signals, and is referred to as Lagrangian traffic control. However, designing effective Lagrangian traffic control policies for AVs that generalize across traffic scenarios introduces a major challenge. Real-world traffic environments are highly diverse, and developing policies that perform robustly across such diverse traffic scenarios is challenging. It is further compounded by the joint complexity of the multi-agent nature of traffic systems, mixed motives among participants, and conflicting optimization objectives subject to strict physical and external constraints. To address these challenges, we introduce Multi-Residual Mixture of Expert Learning (MRMEL), a novel framework for Lagrangian traffic control that augments a given suboptimal nominal policy with a learned residual while explicitly accounting for the structure of the traffic scenario space. In particular, taking inspiration from residual reinforcement learning, MRMEL augments a suboptimal nominal AV control policy by learning a residual correction, but at the same time dynamically selects the most suitable nominal policy from a pool of nominal policies conditioned on the traffic scenarios and modeled as a mixture of experts. We validate MRMEL using a case study in cooperative eco-driving at signalized intersections in Atlanta, Dallas Fort Worth, and Salt Lake City, with real-world data-driven traffic scenarios. The results show that MRMEL consistently yields superior performance-achieving an additional 4%-9% reduction in aggregate vehicle emissions relative to the strongest baseline in each setting.

Paperid: 611, https://arxiv.org/pdf/2507.09495.pdf

Abstract:
Multi-agent reinforcement learning faces fundamental challenges that conventional approaches have failed to overcome: exponentially growing joint action spaces, non-stationary environments where simultaneous learning creates moving targets, and partial observability that constrains coordination. Current methods remain reactive, employing stimulus-response mechanisms that fail when facing novel scenarios. We argue for a transformative paradigm shift from reactive to proactive multi-agent intelligence through generative AI-based reinforcement learning. This position advocates reconceptualizing agents not as isolated policy optimizers, but as sophisticated generative models capable of synthesizing complex multi-agent dynamics and making anticipatory decisions based on predictive understanding of future interactions. Rather than responding to immediate observations, generative-RL agents can model environment evolution, predict other agents' behaviors, generate coordinated action sequences, and engage in strategic reasoning accounting for long-term dynamics. This approach leverages pattern recognition and generation capabilities of generative AI to enable proactive decision-making, seamless coordination through enhanced communication, and dynamic adaptation to evolving scenarios. We envision this paradigm shift will unlock unprecedented possibilities for distributed intelligence, moving beyond individual optimization toward emergent collective behaviors representing genuine collaborative intelligence. The implications extend across autonomous systems, robotics, and human-AI collaboration, promising solutions to coordination challenges intractable under traditional reactive frameworks.

Paperid: 612, https://arxiv.org/pdf/2507.06174.pdf

Abstract:
In recent years, the advancement of imitation learning has led to increased interest in teleoperating low-cost manipulators to collect demonstration data. However, most existing systems rely on unilateral control, which only transmits target position values. While this approach is easy to implement and suitable for slow, non-contact tasks, it struggles with fast or contact-rich operations due to the absence of force feedback. This work demonstrates that fast teleoperation with force feedback is feasible even with force-sensorless, low-cost manipulators by leveraging 4-channel bilateral control. Based on accurately identified manipulator dynamics, our method integrates nonlinear terms compensation, velocity and external force estimation, and variable gain corresponding to inertial variation. Furthermore, using data collected by 4-channel bilateral control, we show that incorporating force information into both the input and output of learned policies improves performance in imitation learning. These results highlight the practical effectiveness of our system for high-fidelity teleoperation and data collection on affordable hardware.

Paperid: 613, https://arxiv.org/pdf/2507.05635.pdf

Abstract:
Although native speech and music envelope following responses (EFRs) play a crucial role in auditory processing and cognition, their frequency profile, such as the dominating frequency and spectral coherence, is largely unknown. We have assumed that the auditory pathway - which transmits envelope components of speech and music to the scalp through time-varying neurophysiological processes - is a linear time-varying system, with the envelope and the multi-channel EEG responses as excitation and response, respectively. This paper investigates the transfer function of this system through two analytical techniques - time-averaged spectral responses and cross-spectral density - in the frequency domain at four different positions of the human scalp. Our findings suggest that alpha (8-11 Hz), lower gamma (53-56 Hz), and higher gamma (78-81 Hz) bands are the peak responses of the system. These frequently appearing dominant frequency responses may be the key components of familiar speech perception, maintaining attention, binding acoustic features, and memory processing. The cross-spectral density, which reflects the spatial neural coherence of the human brain, shows that 10-13 Hz, 27-29 Hz, and 62-64 Hz are common for all channel pairs. As neural coherences are frequently observed in these frequencies among native participants, we suggest that these distributed neural processes are also dominant in native speech and music perception.

Paperid: 614, https://arxiv.org/pdf/2512.19258.pdf

Abstract:
In this paper, we address the multiconsensus problem in networked systems, where agents are partitioned into disjoint subgroups and the states of agents within a subgroup are driven to consensus. Our objective is to present a distributed control law that leads to multiconsensus in signed digraphs. To this end, we examine the convergence of opinions under the opposing rule-based signed Friedkin-Johnsen (SFJ) model and present conditions that lead to multiconsensus under this model. Interestingly, the proposed conditions depend only on graph topology and signed interactions and not on the edge weights of the network. Consequently, the proposed SFJ-based control law relaxes the in-degree balance and homogeneity of trust-distrust, frequently assumed in the literature. Finally, we add simulation results to demonstrate the proposed conditions for multiconsensus.

Paperid: 615, https://arxiv.org/pdf/2512.11705.pdf

Abstract:
Learning controller parameters from closed-loop data has been shown to improve closed-loop performance. Bayesian optimization, a widely used black-box and sample-efficient learning method, constructs a probabilistic surrogate of the closed-loop performance from few experiments and uses it to select informative controller parameters. However, it typically struggles with dense high-dimensional controller parameterizations, as they may appear, for example, in tuning model predictive controllers, because standard surrogate models fail to capture the structure of such spaces. This work suggests that the use of Bayesian neural networks as surrogate models may help to mitigate this limitation. Through a comparison between Gaussian processes with Matern kernels, finite-width Bayesian neural networks, and infinite-width Bayesian neural networks on a cart-pole task, we find that Bayesian neural network surrogate models achieve faster and more reliable convergence of the closed-loop cost and enable successful optimization of parameterizations with hundreds of dimensions. Infinite-width Bayesian neural networks also maintain performance in settings with more than one thousand parameters, whereas Matern-kernel Gaussian processes rapidly lose effectiveness. These results indicate that Bayesian neural network surrogate models may be suitable for learning dense high-dimensional controller parameterizations and offer practical guidance for selecting surrogate models in learning-based controller design.

Paperid: 616, https://arxiv.org/pdf/2512.07609.pdf

Abstract:
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision avoidance for Unmanned Aerial Vehicles (UAVs) operating in dynamic and cluttered airspace by proposing a novel Direction and Relative Velocity Weighted Artificial Potential Field (APF). In this approach, a bounded weighting function, $ω(θ,v_{e})$, is introduced to dynamically scale the repulsive potential based on the direction and velocity of the obstacle relative to the UAV. This robust APF formulation is integrated within a Model Predictive Control (MPC) framework to generate collision-free trajectories while adhering to kinematic constraints. Simulation results demonstrate that the proposed method effectively resolves local minima and significantly enhances safety by enabling smooth, predictive avoidance maneuvers. The system ensures superior path integrity and reliable performance, confirming its viability for autonomous navigation in complex environments.

Paperid: 617, https://arxiv.org/pdf/2512.06754.pdf

Abstract:
Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confined and obstacle-rich environments. However, their infinite-dimensional backbone deformation, unmodeled internal friction, and configuration-dependent stiffness fundamentally limit the reliability of model-based kinematic formulations, resulting in inaccurate Jacobian predictions, artificial singularities, and unstable actuation behavior. Motivated by these limitations, this work presents a complete model-less control framework that bypasses kinematic modeling by using an empirically initialized Jacobian refined online through differential convex updates. Tip motion is generated via a real-time quadratic program that computes actuator increments while enforcing tendon slack avoidance and geometric limits. A backbone tension optimization term is introduced in this paper to regulate axial loading and suppress co-activation compression. The framework is validated across circular, pentagonal, and square trajectories, demonstrating smooth convergence, stable tension evolution, and sub-millimeter steady-state accuracy without any model calibration or parameter identification. These results establish the proposed controller as a scalable alternative to model-dependent continuum manipulation in a constrained environment.

Paperid: 618, https://arxiv.org/pdf/2512.06315.pdf

Abstract:
We survey classical, machine learning, and data-driven system identification approaches to learn control-relevant and physics-informed models of dynamical systems. Recently, machine learning approaches have enabled system identification from noisy, high-dimensional, and complex data. However, their utility is limited by their ability to provide provable guarantees on control-relevant properties. Meanwhile, control theory has identified several properties that are useful in analysis and control synthesis, such as dissipativity, monotonicity, energy conservation, and symmetry-preserving structures. We posit that merging system identification with such control-relevant or physics-informed properties can provide useful inductive bias, enhance explainability, enable control synthesis with provable guarantees, and improve sample complexity. We formulate system identification as an optimization problem where control-relevant properties can be enforced through direct parameterization (constraining the model structure to satisfy a desired property by construction), soft constraints (encouraging control-relevant properties through regularization or penalty terms), and hard constraints (imposing control-relevant properties as constraints in the optimization problem). Through this lens, we survey methods to learn physics-informed and control-relevant models spanning classical linear and nonlinear system identification, machine learning approaches, and direct identification through data-driven and behavioral representations. We also provide several expository examples that are accompanied by code and brief tutorials on a public Github repository. We also describe challenging directions for future research, including identification in networked, switched, and time-varying systems, experiment design, and bridging the gaps between data-driven, learning-based, and control-oriented approaches.

Paperid: 619, https://arxiv.org/pdf/2512.04472.pdf

Abstract:
The aggregate flexibility region of distributed energy resources (DERs) quantifies the aggregate power shaping capabilities of DERs. It characterizes the distribution network's potential for wholesale market participation and grid service provision at the transmission level. To enhance flexibility and fully exploit the potential of DERs, this paper proposes a method to optimize the aggregate flexibility region through distribution network reconfiguration. First, we formulate the ellipsoidal aggregate flexibility region characterization problem as a two-stage adaptive robust optimization problem and derive an exact convex reformulation with a large number of second-order cone constraints. By exploiting the problem structure, we propose a scalable Benders decomposition algorithm with provable finite convergence to the optimal solution. Finally, we propose an optimal reconfiguration problem for aggregate flexibility region optimization and solve it using the custom Benders decomposition. Numerical simulations on the IEEE 123-bus test feeder demonstrate that, compared to existing approaches, substantial improvements in the aggregate flexibility region can be achieved over multiple scenarios with the optimized topology.

Paperid: 620, https://arxiv.org/pdf/2511.22810.pdf

Abstract:
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation, where multiple underactuated agents collaboratively push or pull an object to a target pose. Unlike existing approaches for multi-channel systems, our method addresses underactuation and the potential loss of controllability by additionally addressing channel assignment of agents. To simultaneously account for channel assignment, input constraints, and stabilization, we formulate the control problem as a Mixed Integer Linear Programming and derive sufficient conditions for its feasibility. To improve real-time computation efficiency, we introduce an event-triggered control scheme that maintains stability even between switching events through a quadratic programming-based stabilizing controller. We theoretically establish the semi-global exponential stability of the proposed method and the asymptotic stability of its extension to nonprehensile cooperative manipulation under noninstantaneous switching. The proposed framework is further validated through numerical simulations on 2D and 3D free-flyer systems and multi-robot nonprehensile pushing tasks.

Paperid: 621, https://arxiv.org/pdf/2511.12892.pdf

Abstract:
In post-disaster space-air-ground integrated networks (SAGINs), terrestrial infrastructure is often impaired, and unmanned aerial vehicles (UAVs) must rapidly restore connectivity for mission-critical ground terminals in cluttered non-line-of-sight (NLoS) urban environments. To enhance coverage, UAVs employ movable antennas (MAs), while reconfigurable intelligent surfaces (RISs) on surviving high-rises redirect signals. The key challenge is communication-limited partial observability, leaving each UAV with a narrow, fast-changing neighborhood view that destabilizes value estimation. Existing multi-agent reinforcement learning (MARL) approaches are inadequate--non-communication methods rely on unavailable global critics, heuristic sharing is brittle and redundant, and learnable protocols (e.g., CommNet, DIAL) lose per-neighbor structure and aggravate non-stationarity under tight bandwidth. To address partial observability, we propose a spatiotemporal A2C where each UAV transmits prior-decision messages with local state, a compact policy fingerprint, and a recurrent belief, encoded per neighbor and concatenated. A spatial discount shapes value targets to emphasize local interactions, while analysis under one-hop-per-slot latency explains stable training with delayed views. Experimental results show our policy outperforms IA2C, ConseNet, FPrint, DIAL, and CommNet--achieving faster convergence, higher asymptotic reward, reduced Temporal-Difference(TD)/advantage errors, and a better communication throughput-energy trade-off.

Paperid: 622, https://arxiv.org/pdf/2511.09106.pdf

Abstract:
This paper presents a unified framework that connects sequential quadratic programming (SQP) and the iterative linear-parameter-varying model predictive control (LPV-MPC) technique. Using the differential formulation of the LPV-MPC, we demonstrate how SQP and LPV-MPC can be unified through a specific choice of scheduling variable and the 2nd Fundamental Theorem of Calculus (FTC) embedding technique and compare their convergence properties. This enables the unification of the zero-order approach of SQP with the LPV-MPC scheduling technique to enhance the computational efficiency of stochastic and robust MPC problems. To demonstrate our findings, we compare the two schemes in a simulation example. Finally, we present real-time feasibility and performance of the zeroorder LPV-MPC approach by applying it to Gaussian process (GP)-based MPC for autonomous racing with real-world experiments.

Paperid: 623, https://arxiv.org/pdf/2510.25787.pdf

Abstract:
The deployment of AI on edge computing devices faces significant challenges related to energy consumption and functionality. These devices could greatly benefit from brain-inspired learning mechanisms, allowing for real-time adaptation while using low-power. In-memory computing with nanoscale resistive memories may play a crucial role in enabling the execution of AI workloads on these edge devices. In this study, we introduce voltage-dependent synaptic plasticity (VDSP) as an efficient approach for unsupervised and local learning in memristive synapses based on Hebbian principles. This method enables online learning without requiring complex pulse-shaping circuits typically necessary for spike-timing-dependent plasticity (STDP). We show how VDSP can be advantageously adapted to three types of memristive devices (TiO$_2$, HfO$_2$-based metal-oxide filamentary synapses, and HfZrO$_4$-based ferroelectric tunnel junctions (FTJ)) with disctinctive switching characteristics. System-level simulations of spiking neural networks incorporating these devices were conducted to validate unsupervised learning on MNIST-based pattern recognition tasks, achieving state-of-the-art performance. The results demonstrated over 83% accuracy across all devices using 200 neurons. Additionally, we assessed the impact of device variability, such as switching thresholds and ratios between high and low resistance state levels, and proposed mitigation strategies to enhance robustness.

Paperid: 624, https://arxiv.org/pdf/2510.25342.pdf

Abstract:
Federated learning enables collaborative machine learning while preserving data privacy, but high communication and computation costs, exacerbated by statistical and device heterogeneity, limit its practicality in mobile edge computing. Existing compression methods like sparsification and pruning reduce per-round costs but may increase training rounds and thus the total training cost, especially under heterogeneous environments. We propose a lightweight personalized FL framework built on parameter decoupling, which separates the model into shared and private subspaces, enabling us to uniquely apply gradient sparsification to the shared component and model pruning to the private one. This structural separation confines communication compression to global knowledge exchange and computation reduction to local personalization, protecting personalization quality while adapting to heterogeneous client resources. We theoretically analyze convergence under the combined effects of sparsification and pruning, revealing a sparsity-pruning trade-off that links to the iteration complexity. Guided by this analysis, we formulate a joint optimization that selects per-client sparsity and pruning rates and wireless bandwidth to reduce end-to-end training time. Simulation results demonstrate faster convergence and substantial reductions in overall communication and computation costs with negligible accuracy loss, validating the benefits of coordinated and resource-aware personalization in resource-constrained heterogeneous environments.

Paperid: 625, https://arxiv.org/pdf/2510.24458.pdf

Abstract:
We present an algorithm that efficiently computes nearly-optimal solutions to a class of combinatorial reconfiguration problems on weighted, undirected graphs. Inspired by societally relevant applications in networked infrastructure systems, these problems consist of simultaneously finding an unreweighted sparsified graph and nodal potentials that satisfy fixed demands, where the objective is to minimize some congestion criterion, e.g., a Laplacian quadratic form. These are mixed-integer nonlinear programming problems that are NP-hard in general. To circumvent these challenges, instead of solving for a single best configuration, the proposed randomized switching algorithm seeks to design a distribution of configurations that, when sampled, ensures that congestion concentrates around its optimum. We show that the proposed congestion metric is a generalized self-concordant function in the space of switching probabilities, which enables the use of efficient and simple conditional gradient methods. We implement our algorithm and show that it outperforms a state-of-the-art commercial mixed-integer second-order cone programming (MISOCP) solver by orders of magnitude over a large range of problem sizes.

Paperid: 626, https://arxiv.org/pdf/2510.15582.pdf

Abstract:
Inverse game theory is utilized to infer the cost functions of all players based on game outcomes. However, existing inverse game theory methods do not consider the learner as an active participant in the game, which could significantly enhance the learning process. In this paper, we extend inverse game theory to active inverse methods. For Stackelberg games with bounded rationality, the leader, acting as a learner, actively chooses actions to better understand the follower's cost functions. First, we develop a method of active learning by leveraging Fisher information to maximize information gain about the unknown parameters and prove the consistency and asymptotic normality. Additionally, when leaders consider its cost, we develop a method of active inverse game to balance exploration and exploitation, and prove the consistency and asymptotic Stackelberg equilibrium with quadratic cost functions. Finally, we verify the properties of these methods through simulations in the quadratic case and demonstrate that the active inverse game method can achieve Stackelberg equilibrium more quickly through active exploration.

Paperid: 627, https://arxiv.org/pdf/2510.15573.pdf

Abstract:
With the practical implementation of connected and autonomous vehicles (CAVs), the traffic system is expected to remain a mix of CAVs and human-driven vehicles (HVs) for the foreseeable future. To enhance safety and traffic efficiency, the trajectory planning strategies of CAVs must account for the influence of HVs, necessitating accurate HV trajectory prediction. Current research often assumes that human drivers have perfect knowledge of all vehicles' objectives, an unrealistic premise. This paper bridges the gap by leveraging hypergame theory to account for cognitive and perception limitations in HVs. We model human bounded rationality without assuming them to be merely passive followers and propose a hierarchical cognition modeling framework that captures cognitive relationships among vehicles. We further analyze the cognitive stability of the system, proving that the strategy profile where all vehicles adopt cognitively equilibrium strategies constitutes a hyper Nash equilibrium when CAVs accurately learn HV parameters. To achieve this, we develop an inverse learning algorithm for distributed intention interpretation via vehicle-to-everything (V2X) communication, which extends the framework to both offline and online scenarios. Additionally, we introduce a distributed trajectory prediction and planning approach for CAVs, leveraging the learned parameters in real time. Simulations in highway lane-changing scenarios demonstrate the proposed method's accuracy in parameter learning, robustness to noisy trajectory observations, and safety in HV trajectory prediction. The results validate the effectiveness of our method in both offline and online implementations.

Paperid: 628, https://arxiv.org/pdf/2510.15190.pdf

Abstract:
As connected and autonomous vehicles become more widespread, platooning has emerged as a key strategy to improve road capacity, reduce fuel consumption, and enhance traffic flow. However, the benefits of platoons strongly depend on their ability to maintain stability. Instability can lead to unsafe spacing and increased energy usage. In this work, we study platoon instability and analyze the root cause of its occurrence, as well as its impacts on the following vehicle. To achieve this, we propose a comparative study between different car-following models such as the Intelligent Driver Model (IDM), the Optimal Velocity Model (OVM), the General Motors Model (GMM), and the Cooperative Adaptive Cruise Control (CACC). In our approach, we introduce a disruption in the model by varying the velocity of the leading vehicle to visualize the behavior of the following vehicles. To evaluate the dynamic response of each model, we introduce controlled perturbations in the velocity of the leading vehicle, specifically, sinusoidal oscillations and discrete velocity changes. The resulting vehicle trajectories and variations in inter-vehicle spacing are analyzed to assess the robustness of each model to disturbance propagation. The findings offer insight into model sensitivity, stability characteristics, and implications for designing resilient platooning control strategies.

Paperid: 629, https://arxiv.org/pdf/2510.12832.pdf

Abstract:
Limited visibility of power distribution network power flows at the low voltage level presents challenges to both distribution network operators from a planning perspective and distribution system operators from a congestion management perspective. Forestalling these challenges through scenario analysis is confounded by the lack of realistic and coherent load data across representative distribution feeders. Load profiling approaches often rely on summarising demand through typical profiles, which oversimplifies the complexity of substation-level operations and limits their applicability in specific power system studies. Sampling methods, and more recently generative models, have attempted to address this through synthesising representative loads from historical exemplars; however, while these approaches can approximate load shapes to a convincing degree of fidelity, the co-behaviour between substations, which ultimately impacts higher voltage level network operation, is often overlooked. This limitation will become even more pronounced with the increasing integration of low-carbon technologies, as estimates of base loads fail to capture load diversity. To address this gap, a Conditional Diffusion model for synthesising daily active and reactive power profiles at the low voltage distribution substation level is proposed. The evaluation of fidelity is demonstrated through conventional metrics capturing temporal and statistical realism, as well as power flow modelling. The results show synthesised load profiles are plausible both independently and as a cohort in a wider power systems context. The Conditional Diffusion model is benchmarked against both naive and state-of-the-art models to demonstrate its effectiveness in producing realistic scenarios on which to base sub-regional power distribution network planning and operations.

Paperid: 630, https://arxiv.org/pdf/2510.12265.pdf

Abstract:
The quality of experience (QoE) delivered by video conferencing systems is significantly influenced by accurately estimating the time-varying available bandwidth between the sender and receiver. Bandwidth estimation for real-time communications remains an open challenge due to rapidly evolving network architectures, increasingly complex protocol stacks, and the difficulty of defining QoE metrics that reliably improve user experience. In this work, we propose a deployed, human-in-the-loop, data-driven framework for bandwidth estimation to address these challenges. Our approach begins with training objective QoE reward models derived from subjective user evaluations to measure audio and video quality in real-time video conferencing systems. Subsequently, we collect roughly $1$M network traces with objective QoE rewards from real-world Microsoft Teams calls to curate a bandwidth estimation training dataset. We then introduce a novel distributional offline reinforcement learning (RL) algorithm to train a neural-network-based bandwidth estimator aimed at improving QoE for users. Our real-world A/B test demonstrates that the proposed approach reduces the subjective poor call ratio by $11.41\%$ compared to the baseline bandwidth estimator. Furthermore, the proposed offline RL algorithm is benchmarked on D4RL tasks to demonstrate its generalization beyond bandwidth estimation.

Paperid: 631, https://arxiv.org/pdf/2510.08184.pdf

Abstract:
Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To plan a safe trajectory in the presence of moving space debris, an integrated approach of artificial potential field and sliding mode controller is proposed and implemented in this paper. The relative 6-DOF kinematics and dynamics of the spacecraft is modelled in the framework of geometric mechanics with the relative configuration expressed through exponential coordinates. Various collision avoidance guidance algorithms have been proposed in the literature but the Artificial Potential Field guidance algorithm is computationally efficient and enables real-time path adjustments to avoid collision with obstacles. However, it is prone to issues such as local minima. In literature, local minima issue is typically avoided by either redefining the potential function such as adding vorticity or by employing search techniques which are computationally expensive. To address these challenges, a physics-informed APF is proposed in this paper where Hamiltonian mechanics is used instead of the traditional Newtonian mechanics-based approach. In this approach, instead of relying on attractive and repulsive forces for path planning, the Hamiltonian approach uses the potential field to define a path of minimum potential. Additionally, to track the desired trajectory planned by the guidance algorithm within a fixed-time frame, a non-singular fixed-time sliding mode controller (FTSMC) is used. The proposed fixed-time sliding surface not only ensures fixed-time convergence of system states but also guarantees the global stability of the closed-loop system without singularity. The simulation results presented support the claims made.

Paperid: 632, https://arxiv.org/pdf/2510.06970.pdf

Abstract:
Compliance with maritime traffic rules is essential for the safe operation of autonomous vessels, yet training reinforcement learning (RL) agents to adhere to them is challenging. The behavior of RL agents is shaped by the training scenarios they encounter, but creating scenarios that capture the complexity of maritime navigation is non-trivial, and real-world data alone is insufficient. To address this, we propose a falsification-driven RL approach that generates adversarial training scenarios in which the vessel under test violates maritime traffic rules, which are expressed as signal temporal logic specifications. Our experiments on open-sea navigation with two vessels demonstrate that the proposed approach provides more relevant training scenarios and achieves more consistent rule compliance.

Paperid: 633, https://arxiv.org/pdf/2510.06547.pdf

Abstract:
Roll-to-roll (R2R) manufacturing is a continuous processing technology essential for scalable production of thin-film materials and printed electronics, but precise control remains challenging due to subsystem interactions, nonlinearities, and process disturbances. This paper proposes a Model Predictive Path Integral (MPPI) control formulation for R2R systems, leveraging a GPU-based Monte-Carlo sampling approach to efficiently approximate optimal controls online. Crucially, MPPI easily handles non-differentiable cost functions, enabling the incorporation of complex performance criteria relevant to advanced manufacturing processes. A case study is presented that demonstrates that MPPI significantly improves tension regulation performance compared to conventional model predictive control (MPC), highlighting its suitability for real-time control in advanced manufacturing.

Paperid: 634, https://arxiv.org/pdf/2510.05713.pdf

Abstract:
Federated split learning (FedSL) has emerged as a promising paradigm for enabling collaborative intelligence in industrial Internet of Things (IoT) systems, particularly in smart factories where data privacy, communication efficiency, and device heterogeneity are critical concerns. In this article, we present a comprehensive study of FedSL frameworks tailored for resource-constrained robots in industrial scenarios. We compare synchronous, asynchronous, hierarchical, and heterogeneous FedSL frameworks in terms of workflow, scalability, adaptability, and limitations under dynamic industrial conditions. Furthermore, we systematically categorize token fusion strategies into three paradigms: input-level (pre-fusion), intermediate-level (intra-fusion), and output-level (post-fusion), and summarize their respective strengths in industrial applications. We also provide adaptive optimization techniques to enhance the efficiency and feasibility of FedSL implementation, including model compression, split layer selection, computing frequency allocation, and wireless resource management. Simulation results validate the performance of these frameworks under industrial detection scenarios. Finally, we outline open issues and research directions of FedSL in future smart manufacturing systems.

Paperid: 635, https://arxiv.org/pdf/2510.04868.pdf

Abstract:
In Europe, profit-seeking balance responsible parties can deviate in real time from their day-ahead nominations to assist transmission system operators in maintaining the supply-demand balance. Model predictive control (MPC) strategies to exploit these implicit balancing strategies capture arbitrage opportunities, but fail to accurately capture the price-formation process in the European imbalance markets and face high computational costs. Model-free reinforcement learning (RL) methods are fast to execute, but require data-intensive training and usually rely on real-time and historical data for decision-making. This paper proposes an MPC-guided RL method that combines the complementary strengths of both MPC and RL. The proposed method can effectively incorporate forecasts into the decision-making process (as in MPC), while maintaining the fast inference capability of RL. The performance of the proposed method is evaluated on the implicit balancing battery control problem using Belgian balancing data from 2023. First, we analyze the performance of the standalone state-of-the-art RL and MPC methods from various angles, to highlight their individual strengths and limitations. Next, we show an arbitrage profit benefit of the proposed MPC-guided RL method of 16.15% and 54.36%, compared to standalone RL and MPC.

Paperid: 636, https://arxiv.org/pdf/2510.01675.pdf

Abstract:
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable operation, particularly during aggressive flight maneuvers or recovery from sudden disturbances. While prior studies have investigated actuator-aware control for conventional and fixed-tilt multirotors, these approaches rely on linear relationships between actuator input and wrench, which cannot capture the nonlinearities induced by variable tilt angles. In this work, we exploit the cascade structure between the rigid-body dynamics of the multirotor and its nonlinear actuator dynamics to design the proposed backstepping controller and establish exponential stability of the overall system. Furthermore, we reveal parametric uncertainty in the actuator model through experiments, and we demonstrate that the proposed controller remains robust against such uncertainty. The controller was compared against a baseline that does not account for actuator dynamics across three experimental scenarios: fast translational tracking, rapid rotational tracking, and recovery from sudden disturbance. The proposed method consistently achieved better tracking performance, and notably, while the baseline diverged and crashed during the fastest translational trajectory tracking and the recovery experiment, the proposed controller maintained stability and successfully completed the tasks, thereby demonstrating its effectiveness.

Paperid: 637, https://arxiv.org/pdf/2509.26363.pdf

Abstract:
Advancing large-scale quantum computing requires superconducting circuits that combine long coherence times with compatibility with semiconductor technology. We investigate niobium nitride (NbN) coplanar waveguide resonators integrated with Si/SiGe quantum wells, creating a hybrid platform designed for CMOS-compatible quantum hardware. Using temperature-dependent microwave spectroscopy in the single-photon regime, we examine resonance frequency and quality factor variations to probe the underlying loss mechanisms. Our analysis identifies the roles of two-level systems, quasiparticles, and scattering processes, and connects these losses to wafer properties and fabrication methods. The devices demonstrate reproducible performance and stable operation maintained for over two years, highlighting their robustness. These results provide design guidelines for developing low-loss, CMOS-compatible superconducting circuits and support progress toward resilient, scalable architectures for quantum information processing.

Paperid: 638, https://arxiv.org/pdf/2509.25476.pdf

Abstract:
The growing complexity of global supply chains has made hardware Trojans a significant threat in sensor-based power electronics. Traditional Trojan designs depend on digital triggers or fixed threshold conditions that can be detected during standard testing. In contrast, we introduce Environmental Rate Manipulation (ERM), a novel Trojan triggering mechanism that activates by monitoring the rate of change in environmental parameters rather than their absolute values. This approach allows the Trojan to remain inactive under normal conditions and evade redundancy and sensor-fusion defenses. We implement a compact 14~$Î¼$m$^2$ circuit that measures capacitor charging rates in standard sensor front-ends and disrupts inverter pulse-width modulation PWM signals when a rapid change is induced. Experiments on a commercial Texas Instruments solar inverter demonstrate that ERM can trigger catastrophic driver chip failure. Furthermore, ETAP simulations indicate that a single compromised 100~kW inverter may initiate cascading grid instabilities. The attack's significance extends beyond individual sensors to entire classes of environmental sensing systems common in power electronics, demonstrating fundamental challenges for hardware security.

Paperid: 639, https://arxiv.org/pdf/2509.23302.pdf

Abstract:
We investigate the beampattern design problem for mono-static multi-user (MU) multi-point-target integrated sensing and communication (ISAC) systems, where a dual-function multiple-input multiple-output (DF-MIMO) base station (BS) performs downlink communication and radar sensing simultaneously. In ISAC systems, sensing and communication inherently compete for resources. As communication demand increases, the beam pattern is reshaped, which might degrade the direction of arrival (DoA) sensing accuracy, measured in terms of mean-squared error (MSE) and lower-bounded by the Cramer-Rao lower bound (CRLB). Since conventional joint formulations of the sensing-based problem often overlook this trade-off, our work addresses it by decomposing the sensing-based problem into two subproblems (SPs). This decomposition enables a more effective exploitation of the beam pattern's physical properties, which we refer to as the Sensing-Guided Communication Dual-Function (SGCDF) beam pattern design. We further develop a low-complexity extension using the Riemannian Manifold Optimization (RMO) and convex closed-set projection. Simulation results confirm that the proposed method improves multi-target estimation accuracy, compared to traditional joint optimization strategies, by preserving the beam pattern, while the low-complexity version offers an excellent performance-complexity tradeoff, maintaining high accuracy with significantly reduced computational cost.

Paperid: 640, https://arxiv.org/pdf/2509.18935.pdf

Abstract:
To address the variability of renewable generation, initiatives have been launched globally to provide faster and more effective frequency responses. In the UK, the National Energy System Operator (NESO) has introduced a suite of three new dynamic services, where aggregation of assets is expected to play a key role. For an Aggregated Response Unit (ARU), the required level of frequency response varies with grid frequency, resulting in a frequency-varying equality constraint that assets should meet collectively. We show that the optimal coordination of an ARU constitutes a Frequency-Varying Optimization (FVO) problem, in which the optimal trajectory for each asset evolves dynamically. To facilitate online optimization, we reformulate the FVO problem into Tracking of the Optimal Trajectory (TOT) problems, with algorithms proposed for two scenarios: one where the asset dynamics are negligible, and another where they must be accounted for. Under reasonable conditions, the ARU converges to the optimal trajectory within a fixed time, and within the maximum delivery time requested by NESO. The proposed framework can be readily distributed to coordinate a large number of assets. Numerical results verify the effectiveness and scalability of the proposed control framework.

Paperid: 641, https://arxiv.org/pdf/2509.18121.pdf

Abstract:
The increasing deployment of wearable sensors and implantable devices is shifting AI processing demands to the extreme edge, necessitating ultra-low power for continuous operation. Inspired by the brain, emerging memristive devices promise to accelerate neural network training by eliminating costly data transfers between compute and memory. Though, balancing performance and energy efficiency remains a challenge. We investigate ferroelectric synaptic devices based on HfO2/ZrO2 superlattices and feed their experimentally measured weight updates into hardware-aware neural network simulations. Across pulse widths from 20 ns to 0.2 ms, shorter pulses lower per-update energy but require more training epochs while still reducing total energy without sacrificing accuracy. Classification accuracy using plain stochastic gradient descent (SGD) is diminished compared to mixed-precision SGD. We analyze the causes and propose a ``symmetry point shifting'' technique, addressing asymmetric updates and restoring accuracy. These results highlight a trade-off among accuracy, convergence speed, and energy use, showing that short-pulse programming with tailored training significantly enhances on-chip learning efficiency.

Paperid: 642, https://arxiv.org/pdf/2509.13943.pdf

Abstract:
Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to autonomously navigate between predefined points without manual intervention. The drone learns navigation policies through trial-and-error interaction, using a custom reward function that encourages goal-reaching efficiency while penalizing collisions and unsafe behavior. The control system integrates ROS with a Gym-compatible training environment, enabling flexible deployment and testing. After training, the learned policy is deployed on a real UAV platform and evaluated under practical conditions. Results show that the UAV can successfully perform autonomous navigation with minimal human oversight, demonstrating the viability of RL-based control for point-to-point drone operations in real-world scenarios.

Paperid: 643, https://arxiv.org/pdf/2509.12378.pdf

Abstract:
With recent advancements in Connected Autonomous Vehicles (CAVs), Green Light Optimal Speed Advisory (GLOSA) emerges as a promising eco-driving strategy to reduce the number of stops and idle time at intersections, thereby reducing energy consumption and emissions. Existing studies typically improve energy and travel efficiency for individual CAVs without considering their impacts on the entire mixed-traffic platoon, leading to inefficient traffic flow. While Reinforcement Learning (RL) has the potential to achieve platoon-level control in a mixed-traffic environment, the training of RL is still challenged by (i) car-following safety, i.e., CAVs should not collide with their immediate preceding vehicles, and (ii) red-light safety, i.e., CAVs should not run red lights. To address these challenges, this paper develops a platoon-centric, safe RL-based GLOSA system that uses a multi-agent controller to optimize CAV speed while achieving a balance between energy consumption and travel efficiency. We further incorporate Control Barrier Functions (CBFs) into the RL-based policy to provide explicit safety guarantees in terms of car-following safety and red-light safety. Our simulation results illustrate that our proposed method outperforms state-of-the-art methods in terms of driving safety and platoon energy consumption.

Paperid: 644, https://arxiv.org/pdf/2509.11045.pdf

Abstract:
The convergence of opinions in the Friedkin-Johnsen (FJ) framework is well studied, but the topological conditions leading to opinion clustering remain less explored. To bridge this gap, we examine the role of topology in the emergence of opinion clusters within the network. The key contribution of the paper lies in the introduction of the notion of topologically prominent agents, referred to as Locally Topologically Persuasive (LTP) agents. Interestingly, each LTP agent is associated with a unique set of (non-influential) agents in its vicinity. Using them, we present conditions to obtain opinion clusters in the FJ framework in any arbitrarily connected digraph. A key advantage of the proposed result is that the resulting opinion clusters are independent of the edge weights and the stubbornness of the agents. Finally, we demonstrate using simulation results that, by suitably placing LTP agents, one can design networks that achieve any desired opinion clustering.

Paperid: 645, https://arxiv.org/pdf/2509.11038.pdf

Abstract:
The paper presents an opposing rule-based signed Friedkin-Johnsen (SFJ) model for the evolution of opinions in arbitrary network topologies with signed interactions and stubborn agents. The primary objective of the paper is to analyse the emergent behaviours of the agents under the proposed rule and to identify the key agents which contribute to the final opinions, characterised as influential agents. We start by presenting some convergence results which show how the opinions of the agents evolve for a signed network with any arbitrary topology. Throughout the paper, we classify the agents as opinion leaders (sinks in the associated condensation graph) and followers (the rest). In general, it has been shown in the literature that opinion leaders and stubborn agents drive the opinions of the group. However, the addition of signed interactions reveals interesting behaviours wherein opinion leaders can now become non-influential or less influential. Further, while the stubborn agents always continue to remain influential, they might become less influential owing to signed interactions. Additionally, the signed interactions can drive the opinions of the agents outside of the convex hull of their initial opinions. Thereafter, we propose the absolute influence centrality measure, which allows us to quantify the overall influence of all the agents in the network and also identify the most influential agents. Unlike most of the existing measures, it is applicable to any network topology and considers the effect of both stubbornness and signed interactions. Finally, simulations are presented for the Bitcoin Alpha dataset to elaborate the proposed results.

Paperid: 646, https://arxiv.org/pdf/2509.10118.pdf

Abstract:
Ensuring string stability is critical for the safety and efficiency of large-scale interconnected systems. Although learning-based controllers (e.g., those based on reinforcement learning) have demonstrated strong performance in complex control scenarios, their black-box nature hinders formal guarantees of string stability. To address this gap, we propose a novel verification and synthesis framework that integrates discrete-time scalable input-to-state stability (sISS) with neural network verification to formally guarantee string stability in interconnected systems. Our contributions are four-fold. First, we establish a formal framework for synthesizing and robustly verifying discrete-time scalable input-to-state stability (sISS) certificates for neural network-based interconnected systems. Specifically, our approach extends the notion of sISS to discrete-time settings, constructs neural sISS certificates, and introduces a verification procedure that ensures string stability while explicitly accounting for discrepancies between the true dynamics and their neural approximations. Second, we establish theoretical foundations and algorithms to scale the training and verification pipeline to large-scale interconnected systems. Third, we extend the framework to handle systems with external control inputs, thereby allowing the joint synthesis and verification of neural certificates and controllers. Fourth, we validate our approach in scenarios of mixed-autonomy platoons, drone formations, and microgrids. Numerical simulations show that the proposed framework not only guarantees sISS with minimal degradation in control performance but also efficiently trains and verifies controllers for large-scale interconnected systems under specific practical conditions.

Paperid: 647, https://arxiv.org/pdf/2509.09594.pdf

Abstract:
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to estimating control from a given pair of current observation and subgoal image. However, image-level representations of the world have limitations because images are strictly tied to the agent's pose and embodiment. In contrast, objects, being a property of the map, offer an embodiment- and trajectory-invariant world representation. In this work, we present a new paradigm of learning "object-relative" control that exhibits several desirable characteristics: a) new routes can be traversed without strictly requiring to imitate prior experience, b) the control prediction problem can be decoupled from solving the image matching problem, and c) high invariance can be achieved in cross-embodiment deployment for variations across both training-testing and mapping-execution settings. We propose a topometric map representation in the form of a "relative" 3D scene graph, which is used to obtain more informative object-level global path planning costs. We train a local controller, dubbed "ObjectReact", conditioned directly on a high-level "WayObject Costmap" representation that eliminates the need for an explicit RGB input. We demonstrate the advantages of learning object-relative control over its image-relative counterpart across sensor height variations and multiple navigation tasks that challenge the underlying spatial understanding capability, e.g., navigating a map trajectory in the reverse direction. We further show that our sim-only policy is able to generalize well to real-world indoor environments. Code and supplementary material are accessible via project page: https://object-react.github.io/

Paperid: 648, https://arxiv.org/pdf/2509.07669.pdf

Abstract:
The performance and scalability of superconducting quantum circuits are fundamentally constrained by non-equilibrium quasiparticles, which induce microwave losses that limit resonator quality factors and qubit coherence times. Understanding and mitigating these excitations is therefore central to advancing scalable quantum technologies. Here, we demonstrate on-chip microwave sensing of quasiparticles in high-Q Î±-tantalum coplanar waveguide resonators on silicon, operated in the single-photon regime. Temperature-dependent measurements reveal persistent non-equilibrium quasiparticles at millikelvin temperatures, producing a measurable suppression of the internal quality factor (Qi) relative to theoretical expectations. By benchmarking across materials, we find that the quasiparticle density in Î±-Ta is approximately one-third that of NbN at equivalent normalised temperatures (T/Tc), directly correlating with reduced microwave loss. Our methodology establishes a scalable platform for probing quasiparticle dynamics and points towards new routes for engineering superconducting circuits with improved coherence, with impact on qubit readout resonators, kinetic-inductance detectors, and emerging quantum processors and sensors.

Paperid: 649, https://arxiv.org/pdf/2509.06953.pdf

Abstract:
Generating collision-free motion in dynamic, partially observable environments is a fundamental challenge for robotic manipulators. Classical motion planners can compute globally optimal trajectories but require full environment knowledge and are typically too slow for dynamic scenes. Neural motion policies offer a promising alternative by operating in closed-loop directly on raw sensory inputs but often struggle to generalize in complex or dynamic settings. We propose Deep Reactive Policy (DRP), a visuo-motor neural motion policy designed for reactive motion generation in diverse dynamic environments, operating directly on point cloud sensory input. At its core is IMPACT, a transformer-based neural motion policy pretrained on 10 million generated expert trajectories across diverse simulation scenarios. We further improve IMPACT's static obstacle avoidance through iterative student-teacher finetuning. We additionally enhance the policy's dynamic obstacle avoidance at inference time using DCP-RMP, a locally reactive goal-proposal module. We evaluate DRP on challenging tasks featuring cluttered scenes, dynamic moving obstacles, and goal obstructions. DRP achieves strong generalization, outperforming prior classical and neural methods in success rate across both simulated and real-world settings. Video results and code available at https://deep-reactive-policy.com

Paperid: 650, https://arxiv.org/pdf/2509.02149.pdf

Abstract:
Large-scale low-Earth-orbit (LEO) constellations demand routing that simultaneously minimizes energy, guarantees delivery under congestion, and meets latency requirements for time-critical flows. We present a segment routing over IPv6 (SRv6) flexible algorithm (Flex-Algo) framework that consists of three logical slices: an energy-efficient slice (Algo 130), a high-reliability slice (Algo 129), and a latency-sensitive slice (Algo 128). The framework provides a unified mixed-integer linear program (MILP) that combines satellite CPU power, packet delivery rate (PDR), and end-to-end latency into a single objective, allowing a lightweight software-defined network (SDN) controller to steer traffic from the source node. Emulation of Telesat's Lightspeed constellation shows that, compared with different routing schemes, the proposed design reduces the average CPU usage by 73%, maintains a PDR above 91% during traffic bursts, and decreases urgent flow delay by 18 ms between Ottawa and Vancouver. The results confirm Flex-Algo's value as a slice-based traffic engineering (TE) tool for resource-constrained satellite networks.

Paperid: 651, https://arxiv.org/pdf/2509.01883.pdf

Abstract:
This paper develops a semi-on-demand transit feeder service using shared autonomous vehicles (SAVs) and zonal dispatching control based on reinforcement learning (RL). This service combines the cost-effectiveness of fixed-route transit with the adaptability of demand-responsive transport to improve accessibility in lower-density areas. Departing from the terminus, SAVs first make scheduled fixed stops, then offer on-demand pick-ups and drop-offs in a pre-determined flexible-route area. Our deep RL model dynamically assigns vehicles to subdivided flexible-route zones in response to real-time demand fluctuations and operations, using a policy gradient algorithm - Proximal Policy Optimization. The methodology is demonstrated through agent-based simulations on a real-world bus route in Munich, Germany. Results show that after efficient training of the RL model, the semi-on-demand service with dynamic zonal control serves 16% more passengers at 13% higher generalized costs on average compared to traditional fixed-route service. The efficiency gain brought by RL control brings 2.4% more passengers at 1.4% higher costs. This study not only showcases the potential of integrating SAV feeders and machine learning techniques into public transit, but also sets the groundwork for further innovations in addressing first-mile-last-mile problems in multimodal transit systems.

Paperid: 652, https://arxiv.org/pdf/2509.00608.pdf

Abstract:
Accurate depth measurement is essential for optimizing oil and gas resource development, as it directly impacts production efficiency. However, achieving precise depth and perforating at the correct location remains a significant challenge due to field operational constraints and equipment limitations. In this work, we propose the Dynamic Threshold and Physical Plausibility Depth Measurement and Perforation Control (DTPPMP) system, a solution integrated into perforating guns that enables real-time, precise depth measurement and perforation at designated perforating intervals. The system autonomously samples, processes and identifies signals from a casing collar locator (CCL) in situ within oil and gas wells. Casing collar identification is achieved using a lightweight dynamic threshold and physical plausibility algorithm deployed on an embedded platform, which serves as the system's processor. Field tests conducted in an actual oil well in Sichuan, China, demonstrated the DTPPMP's ability to accurately identify casing collar signals, measure depths, and effectively perforate at designated perforating intervals in real-time. The system achieved a perforation variation of less than the length of a single perforating interval and a F1 score of 98.6% for casing collar identification. These results provide valuable recommendations for advancing automation and intelligence in future perforation operations.

Paperid: 653, https://arxiv.org/pdf/2509.00489.pdf

Abstract:
Fluctuations in phase angle and frequency under large disturbances can lead to loss of synchronism (LOS) in grid-following (GFL) converters. The power angle and frequency of synchronous generators (SGs) correspond to rotor position and speed, whereas those of converters lack a direct physical counterpart in the real world and can thus be directly adjusted by control methods to prevent loss of synchronization. In this paper, an improved phase-locked loop (PLL) design with reset control for GFL converters is proposed to enhance transient stability. The stability domain (SD) of a GFL converter is first analyzed, and three forms of SD are identified under different short circuit ratios. Secondly, based on the characteristics of the three SD forms, two PLL-reset methods are proposed, including omega reset and omega&delta reset. Thirdly, to provide the triggering conditions for the PLL-reset control, the Lyapunov function of the GFL converter is constructed based on three methods: the approximation-based Lyapunov method, the Zubov method, and the analytical trajectory reversing method. All these methods are immune to the negative damping problem of PLL dynamics, which makes traditional energy-perspective Lyapunov functions invalid. Finally, the estimation accuracy of the three Lyapunov-based methods is analyzed, and the effectiveness of the PLL-reset control is verified in single-machine and multi-machine case studies.

Paperid: 654, https://arxiv.org/pdf/2509.00354.pdf

Abstract:
With the fast-increasing penetration of inverter-based resources (IBRs), the voltage support capability of the grid following (GFL) IBRs under low voltage ride through (LVRT) control significantly influences the transient voltage stability of the power system. The existing LVRT adjusts the q-axis current to regulate reactive power injection. However, under a large disturbance, the phase-locked loop (PLL) error invalidates the proportional relationship between the q-axis current and reactive power, consequently causing deviation in the actual reactive power injection of the IBR. Besides, the variation of IBR current, determined by the PLL phase and LVRT, also directly influences the transient voltage. To address this issue, the specific influence of PLL error on active and reactive power injection is first analyzed under LVRT control. In addition, by combining the LVRT and PLL dynamics, the mechanisms of three voltage problems caused by voltage angle coupling are revealed. overvoltage, low voltage, and DC-side overvoltage. The specific scenarios in which these voltage stability problems occur are also obtained by the voltage-vector-triangle graphic. Furthermore, a power angle decoupled LVRT control is proposed to eliminate the influence of voltage angle coupling. Finally, the mechanism analysis and effectiveness of the decoupled LVRT are verified in the case study.

Paperid: 655, https://arxiv.org/pdf/2508.21199.pdf

Abstract:
An almost periodic piecewise linear system (APPLS) is a type of piecewise linear system where the system cyclically switches between different modes, each with an uncertain but bounded dwell-time. Process regulation, especially disturbance rejection, is critical to the performance of these advanced systems. However, a method to guarantee disturbance rejection has not been developed. The objective of this study is to develop an $H_\infty$ performance analysis method for APPLSs, building on which an algorithm to synthesize practical $H_\infty$ controllers is proposed. As an application, the developed methods are demonstrated with an advanced manufacturing system -- roll-to-roll (R2R) dry transfer of two-dimensional materials and printed flexible electronics. Experimental results show that the proposed method enables a less conservative and much better performing $H_\infty$ controller compared with a baseline $H_\infty$ controller that does not account for the uncertain system switching structure.

Paperid: 656, https://arxiv.org/pdf/2508.20748.pdf

Abstract:
Linear quadratic regulator with unmeasurable states and unknown system matrix parameters better aligns with practical scenarios. However, for this problem, balancing the optimality of the resulting controller and the leniency of the algorithm's feasibility conditions remains a non-trivial challenge, as no well-established general method has yet been developed to address this trade-off. To address this gap, this study first develops a comprehensive theoretical framework for state parameterization that equivalently substitutes for unknown states. By analyzing the controllability of consistent systems satisfied by substitute states, this framework quantifies the capability of substitute state data matrices to parameterize unknown closed-loop systems and output feedback controllers, thereby constructing a modified state parameterization form that meets the complete data parameterization condition of Willems' Fundamental Lemma. Leveraging this framework, this study proposes efficient model-free off-policy policy iteration and value iteration algorithms with theoretical guarantees to solve for the optimal output feedback controller. Compared with existing studies, particularly for multi-output problems where existing model-free reinforcement learning algorithms may fail, the proposed method removes redundant information in substitute states and the additional full row rank condition on regression matrices, thereby ensuring the solution of optimal output feedback controllers equivalent to optimal state feedback controllers for multi-output systems. Furthermore, this study pioneers a comprehensive and highly scalable theoretical analysis of state parameterization from a data-driven viewpoint, and the proposed algorithms exhibit significant advantages in implementation conditions, data demand, unknown handling, and convergence speed.

Paperid: 657, https://arxiv.org/pdf/2508.20552.pdf

Abstract:
The inherent control switching of renewable energy sources (RESs) during intricate transient processes introduces complexity to the dynamic behavior of modern power systems. This paper reveals the dynamic coupling between grid forming (GFM)/grid following (GFL)-based RES and dominant instability modes of the hybrid system. First, six control combinations are systematically investigated by pairing the two GFM-RES modes, normal control (NC) and current saturation (CS), with the three GFL-RES modes: normal control, low voltage ride-through (LVRT), and high voltage ride-through (HVRT). Based on switching system theory, the coupled power flow and dynamic motion models are developed considering multi-mode switching characteristics. It is revealed that the hybrid system exhibits two distinct instability modes when the GFM-RES and GFL-RES exceed their P-f and V-f desynchronization boundaries, respectively. The two-dimensional spatiotemporal damping characteristics of GFL-RES induced by GFM-RES are also uncovered for the first time. A novel criterion is proposed to quantify the impact of GFM-RES on GFL-RES dynamics, capturing both its stabilizing and destabilizing effects under different control combinations. High-fidelity electromagnetic transient simulations validate the correctness of the analysis framework.

Paperid: 658, https://arxiv.org/pdf/2508.16049.pdf

Abstract:
Integrating drones into truck delivery systems can improve customer accessibility, reduce operational costs, and increase delivery efficiency. However, drone deployment incurs costs, including procurement, maintenance, and energy consumption, and its benefits depend on service demand. In low-demand areas, drone-assisted trucks may underutilize resources due to high upfront costs. Accurately predicting demand is challenging due to uncertainties from unforeseen events or infrastructure disruptions. To address this, a market entry and exit real option approach is used to optimize switching between truck-only and drone-assisted delivery under stochastic demand. Results show that deploying multiple drones per truck offers significant cost advantages in high-demand regions. Using the proposed dynamic switching model, deterministic and stochastic approaches reduce costs by 17.4% and 31.3%, respectively, compared to immediate cost-saving switching. Sensitivity analysis reveals asymmetric effects of stochastic parameters on entry and exit timings. A stochastic multiple-options model is further developed to dynamically switch between truck-only and drone-assisted delivery with varying drone numbers. Applying these models to Miami-Dade County, we evaluate dynamic switching costs for three major logistics operators. This study highlights the potential benefits of dynamic delivery switching and provides insights for optimizing logistics operations.

Paperid: 659, https://arxiv.org/pdf/2508.14686.pdf

Abstract:
In this paper, we investigate how to achieve the unpredictability against malicious inferences for linear systems. The key idea is to add stochastic control inputs, named as unpredictable control, to make the outputs irregular. The future outputs thus become unpredictable and the performance of inferences is degraded. The major challenges lie in: i) how to formulate optimization problems to obtain an optimal distribution of stochastic input, under unknown prediction accuracy of the adversary; and ii) how to achieve the trade-off between the unpredictability and control performance. We first utilize both variance and confidence probability of prediction error to quantify unpredictability, then formulate two two-stage stochastic optimization problems, respectively. Under variance metric, the analytic optimal distribution of control input is provided. With probability metric, it is a non-convex optimization problem, thus we present a novel numerical method and convert the problem into a solvable linear optimization problem. Last, we quantify the control performance under unpredictable control, and accordingly design the unpredictable LQR and cooperative control. Simulations demonstrate the unpredictability of our control algorithm. The obtained optimal distribution outperforms Gaussian and Laplace distributions commonly used in differential privacy under proposed metrics.

Paperid: 660, https://arxiv.org/pdf/2508.13641.pdf

Abstract:
With the increased penetration of renewable energy and reduced proportion of synchronous generators, the low-inertia characteristics of todays power system become prominent, and the transient stability issue of grid following converter (GFLC) under low inertia system (LIS) condition becomes critical. There are two prominent problems in the transient stability analysis of GFLC-LIS. The angular dynamic of LIS increases the complexity of transient stability analysis, and the nonlinear, possibly negative damping of GFLC makes it difficult to guarantee the conservative of the traditional methods. These problems make the traditional methods inapplicable. In this paper, the transient stability analysis of GFLC LIS is investigated to provide an accurate estimation of the attraction boundary and critical clearance time (CCT). Firstly, a dynamic model of GFLC-LIS is constructed, considering the phase-locked loop (PLL)-based GFLC dynamics and swing equation-based LIS dynamics. The frequency mutation of PLL at fault occurrence and clearing time is also considered. Secondly, a Zubov based transient stability analysis method is proposed, which can construct the energy function in a way that is different from the traditional conservation of energy perspective and can address the negative damping issue. Moreover, the accuracy of the CCT estimation is analyzed, and the influences of LIS parameters on transient stability are illustrated. Finally, simulation experiments are carried out to verify the effectiveness of the proposed method

Paperid: 661, https://arxiv.org/pdf/2508.13090.pdf

Abstract:
The increasing penetration of distributed energy resources (DERs) brings opportunities and challenges to the operation of distribution systems. To ensure network integrity, dynamic operating envelopes (DOEs) are issued by utilities to DERs as their time-varying export/import power limits. Due to the non-convex nature of power flow equations, the optimization of DOEs faces a dilemma of solution accuracy and computation efficiency. To bridge this gap, in this paper, we facilitate DOE optimization by exploiting the convexity of input convex neural networks (ICNNs). A DOE optimization model is first presented, comprehensively considering multiple operational constraints. We propose a constraint embedding method that allows us to replace the non-convex power flow constraints with trained ICNN models and convexify the problem. To further speed up DOE optimization, we propose a linear relaxation of the ICNN-based DOE optimization problem, for which the tightness is theoretically proven. The effectiveness of the proposed method is validated with numerical case studies. Results show that the proposed ICNN-based method outperforms other benchmark methods in optimizing DOEs in terms of both solution quality and solution time.

Paperid: 662, https://arxiv.org/pdf/2508.12738.pdf

Abstract:
Many control problems require repeated tuning and adaptation of controllers across distinct closed-loop tasks, where data efficiency and adaptability are critical. We propose a hierarchical Bayesian optimization (BO) framework that is tailored to efficient controller parameter learning in sequential decision-making and control scenarios for distinct tasks. Instead of treating the closed-loop cost as a black-box, our method exploits structural knowledge of the underlying problem, consisting of a dynamical system, a control law, and an associated closed-loop cost function. We construct a hierarchical surrogate model using Gaussian processes that capture the closed-loop state evolution under different parameterizations, while the task-specific weighting and accumulation into the closed-loop cost are computed exactly via known closed-form expressions. This allows knowledge transfer and enhanced data efficiency between different closed-loop tasks. The proposed framework retains sublinear regret guarantees on par with standard black-box BO, while enabling multi-task or transfer learning. Simulation experiments with model predictive control demonstrate substantial benefits in both sample efficiency and adaptability when compared to purely black-box BO approaches.

Paperid: 663, https://arxiv.org/pdf/2508.12010.pdf

Abstract:
This paper proposes a novel framework for active fault diagnosis and parameter estimation in linear systems operating in closed-loop, subject to unknown but bounded faults. The approach integrates set-membership identification with a cost function designed to accelerate fault identification. Informative excitation is achieved by minimizing the size of the parameter uncertainty set, which is approximated using ellipsoidal outer bounds. Combining this formulation with a scheduling parameter enables a transition back to nominal control as confidence in the model estimates increases. Unlike many existing methods, the proposed approach does not rely on predefined fault models. Instead, it only requires known bounds on parameter deviations and additive disturbances. Robust constraint satisfaction is guaranteed through a tube-based model predictive control scheme. Simulation results demonstrate that the method achieves faster fault detection and identification compared to passive strategies and adaptive ones based on persistent excitation constraints.

Paperid: 664, https://arxiv.org/pdf/2508.10891.pdf

Abstract:
Platooning has emerged as a promising strategy for improving fuel efficiency in automated vehicle systems, with significant implications for reducing emissions and operational costs. While existing literature on vehicle platooning primarily focuses on individual aspects such as aerodynamic drag reduction or specific control strategies, this work takes a more comprehensive approach by bringing together a wide range of factors and components that contribute to fuel savings in platoons. In this literature review, we examine the impact of platooning on fuel consumption, highlighting the key components of platoon systems, the factors and actors influencing fuel savings, methods for estimating fuel use, and the effect of platoon instability on efficiency. Furthermore, we study the role of reduced aerodynamic drag, vehicle coordination, and the challenges posed by instability in real-world conditions. By compiling insights from recent studies, this work provides a comprehensive overview of the latest advancements in platooning technologies and highlights both the challenges and opportunities for future research to maximize fuel savings in real-world scenarios.

Paperid: 665, https://arxiv.org/pdf/2508.09520.pdf

Abstract:
In this work, we propose a data-driven scheme within a compositional framework with noisy data to design robust safety controllers in a fully decentralized fashion for large-scale interconnected networks with unknown mathematical dynamics. Despite the network's high dimensionality and the inherent complexity of its unknown model, which make it intractable, our approach effectively addresses these challenges by (i) treating the network as a composition of smaller subsystems, and (ii) collecting noisy data from each subsystem's trajectory to design a control sub-barrier certificate (CSBC) and its corresponding local controller. To achieve this, our proposed scheme only requires a noise-corrupted single input-state trajectory from each unknown subsystem up to a specified time horizon, satisfying a certain rank condition. Subsequently, under a small-gain compositional reasoning, we compose those CSBC, derived from noisy data, and formulate a control barrier certificate (CBC) for the unknown network, ensuring its safety over an infinite time horizon, while providing correctness guarantees. We offer a data-dependent sum-of-squares (SOS) optimization program for computing CSBC alongside local controllers of subsystems. We illustrate that while the computational complexity of designing a CBC and its safety controller grows polynomially with network dimension using SOS optimization, our compositional data-driven approach significantly reduces it to a linear scale concerning the number of subsystems. We demonstrate the capability of our data-driven approach on multiple physical networks involving unknown models and a range of interconnection topologies.

Paperid: 666, https://arxiv.org/pdf/2508.07515.pdf

Abstract:
Autonomous systems must solve motion planning problems subject to increasingly complex, time-sensitive, and uncertain missions. These problems often involve high-level task specifications, such as temporal logic or chance constraints, which require solving large-scale Mixed-Integer Linear Programs (MILPs). However, existing MILP-based planning methods suffer from high computational cost and limited scalability, hindering their real-time applicability. We propose to use a neuro-symbolic approach to accelerate MILP-based motion planning by leveraging machine learning techniques to guide the solver's symbolic search. Focusing on two representative classes of planning problems, namely, those with Signal Temporal Logic (STL) specifications and those with chance constraints formulated via Conformal Predictive Programming (CPP). We demonstrate how graph neural network-based learning methods can guide traditional symbolic MILP solvers in solving challenging planning problems, including branching variable selection and solver parameter configuration. Through extensive experiments, we show that neuro-symbolic search techniques yield scalability gains. Our approach yields substantial improvements, achieving an average performance gain of about 20% over state-of-the-art solver across key metrics, including runtime and solution quality.

Paperid: 667, https://arxiv.org/pdf/2508.07323.pdf

Abstract:
Robotic trajectory planning in dynamic and cluttered environments remains a critical challenge, particularly when striving for both time efficiency and motion smoothness under actuation constraints. Traditional path planner, such as Artificial Potential Field (APF), offer computational efficiency but suffer from local minima issue due to position-based potential field functions and oscillatory motion near the obstacles due to Newtonian mechanics. To address this limitation, an Energy-based Artificial Potential Field (APF) framework is proposed in this paper that integrates position and velocity-dependent potential functions. E-APF ensures dynamic adaptability and mitigates local minima, enabling uninterrupted progression toward the goal. The proposed framework integrates E-APF with a hybrid trajectory optimizer that jointly minimizes jerk and execution time under velocity and acceleration constraints, ensuring geometric smoothness and time efficiency. The entire framework is validated in simulation using the 7-degree-of-freedom Kinova Gen3 robotic manipulator. The results demonstrate collision-free, smooth, time-efficient, and oscillation-free trajectory in the presence of obstacles, highlighting the efficacy of the combined trajectory optimization and real-time obstacle avoidance approach. This work lays the foundation for future integration with reactive control strategies and physical hardware deployment in real-world manipulation tasks.

Paperid: 668, https://arxiv.org/pdf/2508.06538.pdf

Abstract:
Reduced-order models are essential for motion planning and control of quadruped robots, as they simplify complex dynamics while preserving critical behaviors. This paper introduces a novel methodology for deriving such interpretable dynamic models, specifically for jumping. We capture the high-dimensional, nonlinear jumping dynamics in a low-dimensional latent space by proposing a learning architecture combining Sparse Identification of Nonlinear Dynamics (SINDy) with physical structural priors on the jump dynamics. Our approach demonstrates superior accuracy to the traditional actuated Spring-loaded Inverted Pendulum (aSLIP) model and is validated through simulation and hardware experiments across different jumping strategies.

Paperid: 669, https://arxiv.org/pdf/2508.05620.pdf

Abstract:
We probabilistically bound the error of a solution to a radial network topology learning problem where both connectivity and line parameters are estimated. In our model, data errors are introduced by the precision of the sensors, i.e., quantization. This produces a nonlinear measurement model that embeds the operation of the sensor communication network into the learning problem, expanding beyond the additive noise models typically seen in power system estimation algorithms. We show that the error of a learned radial network topology is proportional to the quantization bin width and grows sublinearly in the number of nodes, provided that the number of samples per node is logarithmic in the number of nodes.

Paperid: 670, https://arxiv.org/pdf/2508.02357.pdf

Abstract:
This paper offers a data-driven approach for designing adaptive suboptimal second-order sliding mode (ASSOSM) controllers for single-input nonlinear systems, characterized by perturbed strict-feedback structures with unknown dynamics. The proposed approach is recursive, in which the system dynamics are first decomposed into two parts, referred to as the upper and lower dynamics. The control design task is then divided into two stages, that is, designing a virtual controller for the upper dynamics, followed by synthesizing the actual controller for the full-order system. To this end, we start by collecting noisy data from the system through a finite-time experiment, referred to as a single trajectory. We then formulate a data-dependent condition as a semidefinite program, whose feasibility enables the design of a virtual controller that ensures global asymptotic stability of the origin for the upper dynamics. Building upon this virtual controller, we subsequently propose a data-driven sliding variable that facilitates the design of an ASSOSM controller for the unknown full-order system. This controller guarantees semi-global asymptotic stability of the origin in the presence of disturbances. Specifically, for any prescribed bounded set--no matter how large--the controller's design parameters can be chosen to ensure asymptotic stability of the origin. The effectiveness of the proposed method is demonstrated through three case studies, reflecting different aspects of the approach.

Paperid: 671, https://arxiv.org/pdf/2508.01570.pdf

Abstract:
We study a pursuit-evasion game between a double integrator-driven pursuer with bounded velocity and bounded acceleration and a single integrator-driven evader with bounded velocity in a two-dimensional plane. The pursuer's goal is to capture the evader in the shortest time, while the evader attempts to delay the capture. We analyze two scenarios based on whether the capture can happen before the pursuer's speed reaches its maximum. For the case when the pursuer can capture the evader before its speed reaches its maximum, we use geometric methods to obtain the strategies for the pursuer and the evader. For the case when the pursuer cannot capture the evader before its speed reaches its maximum, we use numerical methods to obtain the strategies for the pursuer and the evader. In both cases, we demonstrate that the proposed strategies are optimal in the sense of Nash equilibrium through the Hamilton-Jacobi-Isaacs equation, and the pursuer can capture the evader as long as as its maximum speed is larger than that of the evader. Simulation experiments illustrate the effectiveness of the strategies.

Paperid: 672, https://arxiv.org/pdf/2507.20995.pdf

Abstract:
This paper provides an educational case study regarding our experience in deploying ChatGPT Large Language Models (LLMs) in the Spring 2025 and Fall 2023 offerings of ECE 4320: Power System Analysis and Control at Georgia Tech. As part of course assessments, students were tasked with identifying, explaining, and correcting errors in the ChatGPT outputs corresponding to power factor correction problems. While most students successfully identified the errors in the outputs from the GPT-4 version of ChatGPT used in Fall 2023, students found the errors from the ChatGPT o1 version much more difficult to identify in Spring 2025. As shown in this case study, the role of LLMs in pedagogy, assessment, and learning in power engineering classrooms is an important topic deserving further investigation.

Paperid: 673, https://arxiv.org/pdf/2507.18131.pdf

Abstract:
Model order reduction simplifies high-dimensional dynamical systems by deriving lower-dimensional models that preserve essential system characteristics. These techniques are crucial to controller design for complex systems while significantly reducing computational costs. Nevertheless, constructing effective reduced-order models (ROMs) poses considerable challenges, particularly for dynamical systems characterized by highly nonlinear terms. These challenges are further exacerbated when the actual system model is unavailable, a scenario frequently encountered in real-world applications. In this work, we propose a data-driven framework for the construction of ROMs for both continuous- and discrete-time nonlinear dynamical systems with unknown mathematical models. By leveraging two sets of data collected from the system, referred to as two input-state trajectories, we first construct a data-based closed-loop representation of the system. We then establish a similarity relation between the output trajectories of the original system and those of its data-driven ROM employing the notion of simulation functions (SFs), thereby enabling a formal characterization of their closeness. To achieve this, we propose data-dependent semidefinite programs as sufficient conditions to simultaneously construct both ROMs and SFs, while offering correctness guarantees. We demonstrate that the obtained data-driven ROMs can be employed for synthesizing controllers that ensure the unknown system satisfies high-level logic properties. This is accomplished by first designing controllers for the data-driven ROMs and then translating the results back to the original system through an interface function. We evaluate the efficacy of our data-driven findings through four benchmark case studies involving unknown dynamics with highly nonlinear terms.

Paperid: 674, https://arxiv.org/pdf/2507.17610.pdf

Abstract:
Data-driven predictive control approaches, in general, and Data-enabled Predictive Control (DeePC), in particular, exploit matrices of raw input/output trajectories for control design. These data are typically gathered only from the system to be controlled. Nonetheless, the increasing connectivity and inherent similarity of (mass-produced) systems have the potential to generate a considerable amount of information that can be exploited to undertake a control task. In light of this, we propose a preliminary federated extension of DeePC that leverages a combination of input/output trajectories from multiple similar systems for predictive control. Supported by a suite of numerical examples, our analysis unveils the potential benefits of exploiting information from similar systems and its possible downsides.

Paperid: 675, https://arxiv.org/pdf/2507.16774.pdf

Abstract:
Software-defined networking (SDN) has emerged as a promising approach for managing traditional satellite communication. This enhances opportunities for future services, including integrating satellite and terrestrial networks. In this paper, we have developed an SDN-enabled framework for Low Earth Orbit (LEO) satellite networks, incorporating the OpenFlow protocol, all within an OMNeT++ simulation environment. Dynamic controller assignment is one of the most significant challenges for large LEO constellations. Due to the movement of LEO satellites, satellite-controller assignments must be updated frequently to maintain low propagation delays. To address this issue, we present a dynamic satellite-to-controller assignment (DSCA) optimization problem that continuously adjusts these assignments. Our optimal DSCA (Opt-DSCA) approach minimizes propagation delay and optimizes the number of active controllers. Our preliminary results demonstrate that the DSCA approach significantly outperforms the static satellite-to-controller assignment (SSCA) approach. While SSCA may perform better with more controllers, this scheme fails to adapt to satellite movements. Our DSCA approach consistently improves network efficiency by dynamically reassigning satellites based on propagation delays. Further, we found diminishing returns when the number of controllers is increased beyond a certain point, suggesting optimal performance with a limited number of controllers. Opt-DSCA lowers propagation delays and improves network performance by optimizing satellite assignments and reducing active controllers.

Paperid: 676, https://arxiv.org/pdf/2507.15031.pdf

Abstract:
This paper develops a framework for synthesizing safety controllers for discrete-time stochastic linear control systems (dt-SLS) operating under communication imperfections. The control unit is remote and communicates with the sensor and actuator through an imperfect wireless network. We consider a constant delay in the sensor-to-controller channel (uplink), and data loss in both sensor-to-controller and controller-to-actuator (downlink) channels. In our proposed scheme, data loss in each channel is modeled as an independent Bernoulli-distributed random process. To systematically handle the uplink delay, we first introduce an augmented discrete-time stochastic linear system (dt-ASLS) by concatenating all states and control inputs that sufficiently represent the state-input evolution of the original dt-SLS under the delay and packet loss constraints. We then leverage control barrier certificates for dt-ASLS to synthesize a controller that ensures the stochastic safety of dt-SLS, guaranteeing that all trajectories remain outside unsafe regions with a quantified probabilistic bound. Our approach translates safety constraints into matrix inequalities, leading to an optimization problem that eventually quantifies the probability of satisfying the safety specification in the presence of communication imperfections. We validate our results on an RLC circuit subject to both constant delay and probabilistic data loss.

Paperid: 677, https://arxiv.org/pdf/2507.08715.pdf

Abstract:
For developing innovative systems architectures, modeling and optimization techniques have been central to frame the architecting process and define the optimization and modeling problems. In this context, for system-of-systems the use of efficient dedicated approaches (often physics-based simulations) is highly recommended to reduce the computational complexity of the targeted applications. However, exploring novel architectures using such dedicated approaches might pose challenges for optimization algorithms, including increased evaluation costs and potential failures. To address these challenges, surrogate-based optimization algorithms, such as Bayesian optimization utilizing Gaussian process models have emerged.

Paperid: 678, https://arxiv.org/pdf/2507.07429.pdf

Abstract:
This paper investigates the problem of dynamic event-triggered platoon control for intelligent vehicles (IVs) under denial of service (DoS) attacks and parameter uncertainty. DoS attacks disrupt vehicle-to-vehicle (V2V) communications, leading to the destabilization of vehicle formations. To alleviate the burden of the V2V communication network and enhance the tracking performance in the presence of DoS attacks and parameter uncertainty, a resilient and dynamic event-triggered mechanism is proposed. In contrast to the static event-triggering mechanism (STEM), this approach leverages the internal dynamic variable to further save communication resources. Subsequently, a method is developed for designing the desired triggering mechanism. Following this, a co-design framework is constructed to guarantee robust and resilient control against DoS attacks, with the analysis of eliminating Zeno behavior. Lastly, extensive simulations are presented to show the superiority of the proposed method in terms of enhancing platoon resilience and robustness and improving communication efficiency.

Paperid: 679, https://arxiv.org/pdf/2507.03992.pdf

Abstract:
Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One established technique to implement LfD in robots is to encode demonstrations in a stable Dynamical System (DS). However, finding a stable dynamical system entails solving an optimization problem with bilinear matrix inequality (BMI) constraints, a non-convex problem which, depending on the number of scalar constraints and variables, demands significant computational resources and is susceptible to numerical issues such as floating-point errors. To address these challenges, we propose a novel compositional approach that enhances the applicability and scalability of learning stable DSs with BMIs.

Paperid: 680, https://arxiv.org/pdf/2512.23914.pdf

Abstract:
Neural networks have become a dominant computational workload across cloud and edge platforms, but rapid growth in model size and deployment diversity has exposed hardware bottlenecks increasingly dominated by memory movement, communication, and irregular operators rather than peak arithmetic throughput. This survey reviews the technology landscape for hardware acceleration of deep learning, spanning GPUs and tensor-core architectures; domain-specific accelerators (e.g., TPUs/NPUs); FPGA-based designs; ASIC inference engines; and emerging LLM-serving accelerators such as LPUs (language processing units), alongside in-/near-memory computing and neuromorphic/analog approaches. We organize the space using a unified taxonomy across (i) workloads (CNNs, RNNs, GNNs, and Transformers/LLMs), (ii) execution settings (training vs.\ inference; datacenter vs.\ edge), and (iii) optimization levers (reduced precision, sparsity and pruning, operator fusion, compilation and scheduling, and memory-system/interconnect design). We synthesize key architectural ideas including systolic arrays, vector and SIMD engines, specialized attention and softmax kernels, quantization-aware datapaths, and high-bandwidth memory, and we discuss how software stacks and compilers bridge model semantics to hardware. Finally, we highlight open challenges -- including efficient long-context LLM inference (KV-cache management), robust support for dynamic and sparse workloads, energy- and security-aware deployment, and fair benchmarking -- and point to promising directions for the next generation of neural acceleration.

Paperid: 681, https://arxiv.org/pdf/2512.17899.pdf

Abstract:
Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, IL is sensitive to compounding errors induced by distribution shifts. There are two significant sources of distribution shifts when using IL-based feedback laws on systems: distribution shifts caused by policy error and distribution shifts due to exogenous disturbances and endogenous model errors due to lack of learning. Our previously developed approaches, Taylor Series Imitation Learning (TaSIL) and $\mathcal{L}_1$ -Distributionally Robust Adaptive Control (\ellonedrac), address the challenge of distribution shifts in complementary ways. While TaSIL offers robustness against policy error-induced distribution shifts, \ellonedrac offers robustness against distribution shifts due to aleatoric and epistemic uncertainties. To enable certifiable IL for learned and/or uncertain dynamical systems, we formulate \textit{Distributionally Robust Imitation Policy (DRIP)} architecture, a Layered Control Architecture (LCA) that integrates TaSIL and~\ellonedrac. By judiciously designing individual layer-centric input and output requirements, we show how we can guarantee certificates for the entire control pipeline. Our solution paves the path for designing fully certifiable autonomy pipelines, by integrating learning-based components, such as perception, with certifiable model-based decision-making through the proposed LCA approach.

Paperid: 682, https://arxiv.org/pdf/2512.12758.pdf

Abstract:
Future wireless networks must support real-time, data-driven cyber-physical systems in which communication is tightly coupled with sensing, inference, control, and decision-making. Traditional communication paradigms centered on accuracy, throughput, and latency are increasingly inadequate for these systems, where the value of information depends on its semantic relevance to a specific task. This paper provides a unified exposition of the progression from classical distortion-based frameworks, through information freshness metrics such as the Age of Information (AoI) and its variants, to the emerging paradigm of goal-oriented semantics-aware communication. We organize and systematize existing semantics-aware metrics, including content- and version-aware measures, context-dependent distortion formulations, and history-dependent error persistence metrics that capture lasting impact and urgency. Within this framework, we highlight how these metrics address the limitations of purely accuracy- or freshness-centric designs, and how they collectively enable the selective generation and transmission of only task-relevant information. We further review analytical tools based on Markov decision process (MDP) and Lyapunov optimization methods that have been employed to characterize optimal or near-optimal timing and scheduling policies under semantic performance criteria and communication constraints. By synthesizing these developments into a coherent framework, the paper clarifies the design principles underlying goal-oriented, semantics-aware communication systems. It illustrates how they can significantly improve efficiency, reliability, and task performance. The presented perspective aims to serve as a bridge between information-theoretic, control-theoretic, and networking viewpoints, and to guide the design of semantic communication architectures for 6G and beyond.

Paperid: 683, https://arxiv.org/pdf/2512.09936.pdf

Abstract:
Short-term voltage stability assessment (STVSA) is critical for secure power system operation. While classical machine learning-based methods have demonstrated strong performance, they still face challenges in robustness under adversarial conditions. This paper proposes QSTAformer-a tailored quantum-enhanced Transformer architecture that embeds parameterized quantum circuits (PQCs) into attention mechanisms-for robust and efficient STVSA. A dedicated adversarial training strategy is developed to defend against both white-box and gray-box attacks. Furthermore, diverse PQC architectures are benchmarked to explore trade-offs between expressiveness, convergence, and efficiency. To the best of our knowledge, this is the first work to systematically investigate the adversarial vulnerability of quantum machine learning-based STVSA. Case studies on the IEEE 39-bus system demonstrate that QSTAformer achieves competitive accuracy, reduced complexity, and stronger robustness, underscoring its potential for secure and scalable STVSA under adversarial conditions.

Paperid: 684, https://arxiv.org/pdf/2512.04892.pdf

Abstract:
This study proposes a control strategy to ensure the safe operation of modern power systems with high penetration of inverter-based resources (IBRs) within an optimal operation framework. The objective is to obtain operating points that satisfy the optimality conditions of a predefined problem while guaranteeing small-signal stability. The methodology consists of two stages. First, an offline analysis of a set of operating points is performed to derive a data-driven regression-based expression that captures a damping-based stability index as a function of the operating conditions. Second, an Online Feedback Optimization (OFO) controller is employed to drive the system toward an optimal operating point while maintaining a secure distance from the instability region. The proposed strategy is evaluated on an academic test case based on a modified version of the IEEE 9-bus system, in which synchronous generators are replaced by IBRs operating under both grid-following and grid-forming control modes. The results demonstrate the effectiveness of the method and are discussed in detail.

Paperid: 685, https://arxiv.org/pdf/2512.04561.pdf

Abstract:
The adoption of reinforcement learning for critical infrastructure defense introduces a vulnerability where sophisticated attackers can strategically exploit the defense algorithm's learning dynamics. While prior work addresses this vulnerability in the context of repeated normal-form games, its extension to the stochastic games remains an open research gap. We close this gap by examining stochastic security games between an RL defender and an omniscient attacker, utilizing a tractable linear influence network model. To overcome the structural limitations of prior methods, we propose and apply neuro-dynamic programming. Our experimental results demonstrate that the omniscient attacker can significantly outperform a naive defender, highlighting the critical vulnerability introduced by the learning dynamics and the effectiveness of the proposed strategy.

Paperid: 686, https://arxiv.org/pdf/2511.22993.pdf

Abstract:
This paper addresses the problem of identifying contractive Lur'e-type systems. Specifically, it proposes an identification framework that integrates linear prior knowledge with a kernel representation of the nonlinear feedback while systematically enforcing contractivity via Lipschitz constant design. The resulting algorithms provide models that are accurate in prediction, interpretable, and faithful to the contractive nature of the true system. Numerical experiments demonstrate that enforcing contractivity significantly improves parameter estimation and yields models that are both accurate and physically meaningful.

Paperid: 687, https://arxiv.org/pdf/2511.22957.pdf

Abstract:
This paper presents a critical and practical approach to the evolution of distribution network reconfiguration algorithms, tracing their development from foundational heuristic methods introduced in 1975 to contemporary state-of-the-art techniques. The article systematically reviews seven different methodologies, including classical heuristic algorithms (Merlin, Baran, and others), advanced meta-heuristic methodologies (particle swarm optimization (PSO) and genetic algorithms), and purely mathematical approaches (MILP-based), analyzing their theoretical foundations, implementation strategies, computational complexity, and performance metrics based on extensive literature review and our own empirical testing. Each methodology is assessed through standardized test systems, considering multiple objectives such as power loss minimization and voltage profile improvement. The comparative analysis reveals the strengths and limitations of each approach under various network conditions and operational constraints. Furthermore, this work provides significant value to the research community by offering an open-source repository containing documented implementations of all reviewed algorithms. This resource facilitates accessibility for newcomers to the field, promotes reproducible research, and accelerates the development of next-generation distribution network optimization solutions. The repository includes comprehensive documentation, test cases, and performance benchmarks.

Paperid: 688, https://arxiv.org/pdf/2511.21906.pdf

Abstract:
This paper focuses on the problem of quantized distributed estimation with event-triggered communication and packet loss, aiming to reduce the number of transmitted bits. The main challenge lies in the inability to differentiate between an untriggered event and a packet loss occurrence. This paper proposes an event-triggered distributed estimation algorithm with quantized communication and quantized measurement, in which it introduces a one-bit information reconstruction method to deal with packet loss. The almost sure convergence and convergence rate of the proposed algorithm are established. Besides, it is demonstrated that the global average communication bit-rate decreases to zero over time. Moreover, the trade-off between communication rate and convergence rate is revealed, providing guidance for designing the communication rate required to achieve the algorithm's convergence rate. A numerical example is supplied to validate the findings.

Paperid: 689, https://arxiv.org/pdf/2511.20995.pdf

Abstract:
This paper provides the first finite-dimensional characterization for the complete set of full-block, circle criterion multipliers. We consider the interconnection of a discrete-time, linear time-invariant system in feedback with a non-repeated, sector-bounded nonlinearity. Sufficient conditions for stability and performance can be derived using: (i) dissipation inequalities, and (ii) Quadratic Constraints (QCs) that bound the input/output pairs of the nonlinearity. Larger classes of QCs (or multipliers) reduce the conservatism of the conditions. Full-block, circle criterion multipliers define the complete set of all possible QCs for non-repeated, sector-bounded nonlinearities. These provide the least conservative conditions. However, full-block multipliers are defined by an uncountably infinite number of constraints and hence do not lead to computationally tractable solutions if left in this raw form. This paper provides a new finite-dimensional characterization for the set of full-block, circle criterion multipliers. The key theoretical insight is: the set of all input/output pairs of non-repeated sector-bounded nonlinearities is equal to the set of all incremental pairs for an appropriately constructed piecewise linear function. Our new description for the complete set of multipliers only requires a finite number of matrix copositivity constraints. These conditions have an exact, computationally tractable implementation for problems where the nonlinearity has small input/output dimensions $(\le 4)$. We illustrate the use of our new characterization via a simple example.

Paperid: 690, https://arxiv.org/pdf/2511.18319.pdf

Abstract:
Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected object in its camera view to enable reliable inspection. While large language models provide a natural interface for specifying goals, using them directly for visual control achieves only 58\% success in this task. We envision that equipping agents with a world model as a tool would allow them to roll out candidate actions and perform better in spatially grounded settings, but conventional world models are data and compute intensive. To address this, we propose a task-specific latent dynamics model that learns state-specific action-induced shifts in a shared latent space using only goal-state supervision. The model leverages global action embeddings and complementary training losses to stabilize learning. In experiments, our approach achieves 71\% success and generalizes to unseen images and instructions, highlighting the potential of compact, domain-specific latent dynamics models for spatial alignment in autonomous inspection.

Paperid: 691, https://arxiv.org/pdf/2511.13362.pdf

Abstract:
High communication costs create a major bottleneck for distributed resource allocation over unbalanced directed networks. Conventional dual gradient tracking methods, while effective for problems on unbalanced digraphs, rely on periodic communication that creates significant overhead in resource-constrained networks. This paper introduces a novel event-triggered dual gradient tracking algorithm to mitigate this limitation, wherein agents communicate only when local state deviations surpass a predefined threshold. We establish comprehensive convergence guarantees for this approach. First, we prove sublinear convergence for non-convex dual objectives and linear convergence under the Polyak-Łojasiewicz condition. Building on this, we demonstrate that the proposed algorithm achieves sublinear convergence for general strongly convex cost functions and linear convergence for those that are also Lipschitz-smooth. Numerical experiments confirm that our event-triggered method significantly reduces communication events compared to periodic schemes while preserving comparable convergence performance.

Paperid: 692, https://arxiv.org/pdf/2511.12826.pdf

Abstract:
This paper analyzes internal stability of a discrete-time feedback system with a ReLU nonlinearity. This feedback system is motivated by recurrent neural networks. We first review existing static quadratic constraints (QCs) for slope-restricted nonlinearities. Next, we derive hard integral quadratic constraints (IQCs) for scalar ReLU by using finite impulse filters and structured matrices. These IQCs are combined with a dissipation inequality leading to an LMI condition that certifies internal stability. We show that our new dynamic IQCs for ReLU are a superset of the well-known Zames-Falb IQCs specified for slope-restricted nonlinearities. Numerical results show that the proposed hard IQCs give less conservative stability margins than Zames-Falb multipliers and prior static QC methods, sometimes dramatically so.

Paperid: 693, https://arxiv.org/pdf/2511.10852.pdf

Abstract:
Digital Twin (DT) technologies are transforming manufacturing by enabling real-time prediction, monitoring, and control of complex processes. Yet, applying DT to deformation-based metal forming remains challenging because of the strongly coupled spatial-temporal behavior and the nonlinear relationship between toolpath and material response. For instance, sheet-metal forming by the English wheel, a highly flexible but artisan-dependent process, still lacks digital counterparts that can autonomously plan and adapt forming strategies. This study presents an adaptive DT framework that integrates Proper Orthogonal Decomposition (POD) for physics-aware dimensionality reduction with a Koopman operator for representing nonlinear system in a linear lifted space for the real-time decision-making via model predictive control (MPC). To accommodate evolving process conditions or material states, an online Recursive Least Squares (RLS) algorithm is introduced to update the operator coefficients in real time, enabling continuous adaptation of the DT model as new deformation data become available. The proposed framework is experimentally demonstrated on a robotic English Wheel sheet metal forming system, where deformation fields are measured and modeled under varying toolpaths. Results show that the adaptive DT is capable of controlling the forming process to achieve the given target shape by effectively capturing non-stationary process behaviors. Beyond this case study, the proposed framework establishes a generalizable approach for interpretable, adaptive, and computationally-efficient DT of nonlinear manufacturing systems, bridging reduced-order physics representations with data-driven adaptability to support autonomous process control and optimization.

Paperid: 694, https://arxiv.org/pdf/2511.08629.pdf

Abstract:
This paper studies the problem of online parameter estimation for cyber-physical systems with binary outputs that may be subject to adversarial data tampering. Existing methods are primarily offline and unsuitable for real-time learning. To address this issue, we first develop a first-order gradient-based algorithm that updates parameter estimates recursively using incoming data. Considering that persistent excitation (PE) conditions are difficult to satisfy in feedback control scenarios, a second-order quasi-Newton algorithm is proposed to achieve faster convergence without requiring the PE condition. For both algorithms, corresponding versions are developed to handle known and unknown tampering strategies, and their parameter estimates are proven to converge almost surely over time. In particular, the second-order algorithm ensures convergence under a signal condition that matches the minimal excitation required by classical least-squares estimation in stochastic regression models. The second-order algorithm is also extended to an adaptive control framework, providing an explicit upper bound on the tracking error for binary-output FIR systems under unknown tampering. Three numerical simulations verify the theoretical results and show that the proposed methods are robust against data tampering. Finally, the approach is validated via a vehicle emission control problem, where it effectively improves the detection accuracy of excess-emission events.

Paperid: 695, https://arxiv.org/pdf/2511.06341.pdf

Abstract:
Control barrier functions (CBFs) are a popular tool for safety certification of nonlinear dynamical control systems. Recently, CBFs represented as neural networks have shown great promise due to their expressiveness and applicability to a broad class of dynamics and safety constraints. However, verifying that a trained neural network is indeed a valid CBF is a computational bottleneck that limits the size of the networks that can be used. To overcome this limitation, we present a novel framework for verifying neural CBFs based on piecewise linear upper and lower bounds on the conditions required for a neural network to be a CBF. Our approach is rooted in linear bound propagation (LBP) for neural networks, which we extend to compute bounds on the gradients of the network. Combined with McCormick relaxation, we derive linear upper and lower bounds on the CBF conditions, thereby eliminating the need for computationally expensive verification procedures. Our approach applies to arbitrary control-affine systems and a broad range of nonlinear activation functions. To reduce conservatism, we develop a parallelizable refinement strategy that adaptively refines the regions over which these bounds are computed. Our approach scales to larger neural networks than state-of-the-art verification procedures for CBFs, as demonstrated by our numerical experiments.

Paperid: 696, https://arxiv.org/pdf/2511.05757.pdf

Abstract:
We introduce a differentiable framework for zero-shot adaptive control over parametric families of nonlinear dynamical systems. Our approach integrates a function encoder-based neural ODE (FE-NODE) for modeling system dynamics with a differentiable predictive control (DPC) for offline self-supervised learning of explicit control policies. The FE-NODE captures nonlinear behaviors in state transitions and enables zero-shot adaptation to new systems without retraining, while the DPC efficiently learns control policies across system parameterizations, thus eliminating costly online optimization common in classical model predictive control. We demonstrate the efficiency, accuracy, and online adaptability of the proposed method across a range of nonlinear systems with varying parametric scenarios, highlighting its potential as a general-purpose tool for fast zero-shot adaptive control.

Paperid: 697, https://arxiv.org/pdf/2511.02704.pdf

Abstract:
Opacity, or non-interference, is a property ensuring that an external observer cannot infer confidential information (the "secret") from system observations. We introduce an information-theoretic measure of opacity, which quantifies information leakage using the conditional entropy of the secret given the observer's partial observations in a system modeled as a Markov decision process (MDP). Our objective is to find a control policy that maximizes opacity while satisfying task performance constraints, assuming that an informed observer is aware of the control policy and system dynamics. Specifically, we consider a class of opacity called state-based opacity, where the secret is a propositional formula about the past or current state of the system, and a special case of state-based opacity called language-based opacity, where the secret is defined by a temporal logic formula (LTL) or a regular language recognized by a finite-state automaton. First, we prove that finite-memory policies can outperform Markov policies in optimizing information-theoretic opacity. Second, we develop an algorithm to compute a maximally opaque Markov policy using a primal-dual gradient-based algorithm, and prove its convergence. Since opacity cannot be expressed as a cumulative cost, we develop a novel method to compute the gradient of conditional entropy with respect to policy parameters using observable operators in hidden Markov models. The experimental results validate the effectiveness and optimality of our proposed methods.

Paperid: 698, https://arxiv.org/pdf/2511.00337.pdf

Abstract:
This paper investigates using large language models (LLMs) to generate control actions directly, without requiring control-engineering expertise or hand-tuned algorithms. We implement several variants: (i) prompt-only, (ii) tool-assisted with access to historical data, and (iii) prediction-assisted using learned or simple models to score candidate actions. We compare them on tracking accuracy and actuation effort, with and without a prompt that requests lower actuator usage. Results show prompt-only LLMs already produce viable control, while tool-augmented versions adapt better to changing objectives but can be more sensitive to constraints, supporting LLM-in-the-loop control for evolving cyber-physical systems today and operator and human inputs.

Paperid: 699, https://arxiv.org/pdf/2510.26929.pdf

Abstract:
Multisine excitations are widely used for identifying multi-input multi-output systems due to their periodicity, data compression properties, and control over the input spectrum. Despite their popularity, the finite sample statistical properties of frequency-domain estimators under multisine excitation, for both nonparametric and parametric settings, remain insufficiently understood. This paper develops a finite-sample statistical framework for least-squares estimation of the frequency response function (FRF) and its implications for parametric modeling. First, we derive exact distributional and covariance properties of the FRF estimator, explicitly accounting for aliasing effects under slow sampling regimes, and establish conditions for unbiasedness, uncorrelatedness, and consistency across multiple experiments. Second, we show that the FRF estimate is a sufficient statistic for any parametric model under Gaussian noise, leading to an exact equivalence between optimal two stage frequency-domain methods and time-domain prediction error and maximum likelihood estimation. This equivalence is shown to yield finite-sample concentration bounds for parametric maximum likelihood estimators, enabling rigorous uncertainty quantification, and closed-form prediction error method estimators without iterative optimization. The theoretical results are demonstrated in a representative case study.

Paperid: 700, https://arxiv.org/pdf/2510.25513.pdf

Abstract:
In this paper, we present a computational approach to certify almost sure reachability for discrete-time polynomial stochastic systems by turning drift--variant criteria into sum-of-squares (SOS) programs solved with standard semidefinite solvers. Specifically, we provide an SOS method based on two complementary certificates: (i) a drift certificate that enforces a radially unbounded function to be non-increasing in expectation outside a compact set of states; and (ii) a variant certificate that guarantees a one-step decrease with positive probability and ensures the target contains its nonpositive sublevel set. We transform these conditions to SOS constraints. For the variant condition, we enforce a robust decrease over a parameterized disturbance ball with nonzero probability and encode the constraints via an S-procedure with polynomial multipliers. The resulting bilinearities are handled by an alternating scheme that alternates between optimizing multipliers and updating the variant and radius until a positive slack is obtained. Two case studies illustrate the workflow and certifies almost-sure reachability.

Paperid: 701, https://arxiv.org/pdf/2510.21321.pdf

Abstract:
Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an online finite-horizon optimal control problem that implicitly defines a large safe set. The optimal control problem, also known as the predictive safety filter (PSF), involves predicting the system's flow under a given backup control policy. However, for non-smooth systems and constraints, some key elements, such as CBF gradients and the sensitivity of the flow, are not well-defined, making the current methods inadequate for ensuring safety. Additionally, for control-non-affine systems, the PSF is generally nonlinear and non-convex, posing challenges for real-time computation. This paper considers piecewise affine systems, which are usually control-non-affine, under nonlinear state and polyhedral input constraints. We solve the safety issue by incorporating set-valued generalized Clarke derivatives in the PSF design. We show that enforcing CBF constraints across all elements of the generalized Clarke derivatives suffices to guarantee safety. Moreover, to lighten the computational overhead, we propose an explicit approximation of the PSF. The resulting control methods are demonstrated through numerical examples.

Paperid: 702, https://arxiv.org/pdf/2510.20040.pdf

Abstract:
Efficient energy management is essential for reliable and sustainable microgrid operation amid increasing renewable integration. This paper proposes an imitation learning-based framework to approximate mixed-integer Economic Model Predictive Control (EMPC) for microgrid energy management. The proposed method trains a neural network to imitate expert EMPC control actions from offline trajectories, enabling fast, real-time decision making without solving optimization problems online. To enhance robustness and generalization, the learning process includes noise injection during training to mitigate distribution shift and explicitly incorporates forecast uncertainty in renewable generation and demand. Simulation results demonstrate that the learned policy achieves economic performance comparable to EMPC while only requiring $10\%$ of the computation time of optimization-based EMPC in practice.

Paperid: 703, https://arxiv.org/pdf/2510.19058.pdf

Abstract:
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites in low-Earth orbit (LEO), autonomy is becoming essential for efficiently evaluating and mitigating collisions. In this work, we present an algorithm to design low-thrust collision-avoidance maneuvers for short-term conjunction events. We first formulate the problem as a nonconvex quadratically-constrained quadratic program (QCQP), which we then relax into a convex semidefinite program (SDP) using Shor's relaxation. We demonstrate empirically that the relaxation is tight, which enables the recovery of globally optimal solutions to the original nonconvex problem. Our formulation produces a minimum-energy solution while ensuring a desired probability of collision at the time of closest approach. Finally, if the desired probability of collision cannot be satisfied, we relax this constraint into a penalty, yielding a minimum-risk solution. We validate our algorithm with a high-fidelity simulation of a satellite conjunction in low-Earth orbit with a simulated conjunction data message (CDM), demonstrating its effectiveness in reducing collision risk.

Paperid: 704, https://arxiv.org/pdf/2510.18223.pdf

Abstract:
Thyristor rectifiers (TRs) are cost-effective power supplies for hydrogen electrolyzers (ELZs) but introduce harmonic distortion that may violate grid codes. This letter proposes a self-governing harmonic mitigation strategy through coordinated operation of multiple ELZs in large power-to-hydrogen (P2H) plants. First, the harmonic model of TR-powered ELZs is derived, revealing a natural harmonic cancellation mechanism among them. Based on this, a system-level operation scheme based on phasor modulation is developed and integrated into plant scheduling. Case studies demonstrate that the proposed method reduces harmonic currents by 21.2%-39.7% and ensures grid-code compliance, with only a 0.25% loss in hydrogen output, while increasing total revenue by over 21\% compared to production-oriented strategies.

Paperid: 705, https://arxiv.org/pdf/2510.17276.pdf

Abstract:
Control-flow hijacking attacks manipulate orchestration mechanisms in multi-agent systems into performing unsafe actions that compromise the system and exfiltrate sensitive information. Recently proposed defenses, such as LlamaFirewall, rely on alignment checks of inter-agent communications to ensure that all agent invocations are "related to" and "likely to further" the original objective. We start by demonstrating control-flow hijacking attacks that evade these defenses even if alignment checks are performed by advanced LLMs. We argue that the safety and functionality objectives of multi-agent systems fundamentally conflict with each other. This conflict is exacerbated by the brittle definitions of "alignment" and the checkers' incomplete visibility into the execution context. We then propose, implement, and evaluate ControlValve, a new defense inspired by the principles of control-flow integrity and least privilege. ControlValve (1) generates permitted control-flow graphs for multi-agent systems, and (2) enforces that all executions comply with these graphs, along with contextual rules (generated in a zero-shot manner) for each agent invocation.

Paperid: 706, https://arxiv.org/pdf/2510.14959.pdf

Abstract:
Reinforcement learning (RL), while powerful and expressive, can often prioritize performance at the expense of safety. Yet safety violations can lead to catastrophic outcomes in real-world deployments. Control Barrier Functions (CBFs) offer a principled method to enforce dynamic safety -- traditionally deployed \emph{online} via safety filters. While the result is safe behavior, the fact that the RL policy does not have knowledge of the CBF can lead to conservative behaviors. This paper proposes CBF-RL, a framework for generating safe behaviors with RL by enforcing CBFs \emph{in training}. CBF-RL has two key attributes: (1) minimally modifying a nominal RL policy to encode safety constraints via a CBF term, (2) and safety filtering of the policy rollouts in training. Theoretically, we prove that continuous-time safety filters can be deployed via closed-form expressions on discrete-time roll-outs. Practically, we demonstrate that CBF-RL internalizes the safety constraints in the learned policy -- both enforcing safer actions and biasing towards safer rewards -- enabling safe deployment without the need for an online safety filter. We validate our framework through ablation studies on navigation tasks and on the Unitree G1 humanoid robot, where CBF-RL enables safer exploration, faster convergence, and robust performance under uncertainty, enabling the humanoid robot to avoid obstacles and climb stairs safely in real-world settings without a runtime safety filter.

Paperid: 707, https://arxiv.org/pdf/2510.14787.pdf

Abstract:
We propose an epidemic model for the spread of vector-borne diseases. The model, which is built extending the classical susceptible-infected-susceptible model, accounts for two populations -- humans and vectors -- and for cross-contagion between the two species, whereby humans become infected upon interaction with carrier vectors, and vectors become carriers after interaction with infected humans. We formulate the model as a system of ordinary differential equations and leverage monotone systems theory to rigorously characterize the epidemic dynamics. Specifically, we characterize the global asymptotic behavior of the disease, determining conditions for quick eradication of the disease (i.e., for which all trajectories converge to a disease-free equilibrium), or convergence to a (unique) endemic equilibrium. Then, we incorporate two control actions: namely, vector control and incentives to adopt protection measures. Using the derived mathematical tools, we assess the impact of these two control actions and determine the optimal control policy.

Paperid: 708, https://arxiv.org/pdf/2510.12589.pdf

Abstract:
In the transition toward a sustainable power system, renewable-based Virtual Power Plants (RVPPs) have emerged as a promising solution to the challenges of integrating renewable energy sources into electricity markets. Their viability, however, depends on effective market participation strategies and the ability to manage uncertainties while leveraging flexible resources. This paper analyzes the impact of different flexible resources - such as concentrated solar power plants, hydro plants, biomass plants, and flexible demand - on the participation of RVPPs in energy and reserve markets. Multiple sources of uncertainty in generation, consumption, and electricity prices are addressed using a two-stage robust optimization approach. The contribution of different technologies to RVPP profitability is evaluated through a marginal contribution method, ensuring fair allocation of profits among them according to their actual role in energy and reserve provision across markets. Simulations for an RVPP in southern Spain demonstrate how strategic decisions and the availability of flexible resources influence viability, market participation, and unit scheduling.

Paperid: 709, https://arxiv.org/pdf/2510.11515.pdf

Abstract:
Batteries degrade with usage and continuous cycling. This aging is typically reflected through the resistance growth and the capacity fade of battery cells. Over the years, various charging methods have been presented in the literature that proposed current profiles in order to enable optimal, fast, and/or health-conscious charging. However, very few works have attempted to make the ubiquitous Constant Current Constant Voltage (CCCV) charging protocol adaptive to the changing battery health as it cycles. This work aims to address this gap and proposes a framework that optimizes the constant current part of the CCCV protocol adapting to long-term battery degradation. Specifically, a physics-informed Reinforcement Learning (RL) approach has been used that not only estimates a key battery degradation mechanism, namely, Loss of Active Material (LAM), but also adjusts the current magnitude of CCCV as a result of this particular degradation. The proposed framework has been implemented by combining PyBamm, an open-source battery modeling tool, and Stable-baselines where the RL agent was trained using a Proximal Policy Optimization (PPO) network. Simulation results show the potential of the proposed framework for enhancing the widely used CCCV protocol by embedding physics information in RL algorithm. A comparative study of this proposed agent has also been discussed with 2 other charging protocols generated by a non-physics-based RL agent and a constant CCCV for all the cycles.

Paperid: 710, https://arxiv.org/pdf/2510.10820.pdf

Abstract:
Physically interpretable models are essential for next-generation industrial systems, as these representations enable effective control, support design validation, and provide a foundation for monitoring strategies. The aim of this paper is to develop a system identification framework for estimating modal models of complex multivariable mechanical systems from frequency response data. To achieve this, a two-step structured identification algorithm is presented, where an additive model is first estimated using a refined instrumental variable method and subsequently projected onto a modal form. The developed identification method provides accurate, physically-relevant, minimal-order models, for both generally-damped and proportionally damped modal systems. The effectiveness of the proposed method is demonstrated through experimental validation on a prototype wafer-stage system, which features a large number of spatially distributed actuators and sensors and exhibits complex flexible dynamics.

Paperid: 711, https://arxiv.org/pdf/2510.10455.pdf

Abstract:
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg. This paper presents a unified reinforcement learning framework for generating versatile quadrupedal gaits by leveraging the intrinsic symmetries and velocity-period relationship of dynamic legged systems. We propose a symmetry-guided reward function design that incorporates temporal, morphological, and time-reversal symmetries. By focusing on preserved symmetries and natural dynamics, our approach eliminates the need for predefined trajectories, enabling smooth transitions between diverse locomotion patterns such as trotting, bounding, half-bounding, and galloping. Implemented on the Unitree Go2 robot, our method demonstrates robust performance across a range of speeds in both simulations and hardware tests, significantly improving gait adaptability without extensive reward tuning or explicit foot placement control. This work provides insights into dynamic locomotion strategies and underscores the crucial role of symmetries in robotic gait design.

Paperid: 712, https://arxiv.org/pdf/2510.04203.pdf

Abstract:
Hyperparameter selection is critical for stable and efficient convergence of heterogeneous federated learning, where clients differ in computational capabilities, and data distributions are non-IID. Tuning hyperparameters is a manual and computationally expensive process as the hyperparameter space grows combinatorially with the number of clients. To address this, we introduce an end-to-end adaptive federated learning method in which both clients and central agents adaptively select their local learning rates and momentum parameters. Our approach models federated learning as a dynamical system, allowing us to draw on principles from numerical simulation and physical design. Through this perspective, selecting momentum parameters equates to critically damping the system for fast, stable convergence, while learning rates for clients and central servers are adaptively selected to satisfy accuracy properties from numerical simulation. The result is an adaptive, momentum-based federated learning algorithm in which the learning rates for clients and servers are dynamically adjusted and controlled by a single, global hyperparameter. By designing a fully integrated solution for both adaptive client updates and central agent aggregation, our method is capable of handling key challenges of heterogeneous federated learning, including objective inconsistency and client drift. Importantly, our approach achieves fast convergence while being insensitive to the choice of the global hyperparameter, making it well-suited for rapid prototyping and scalable deployment. Compared to state-of-the-art adaptive methods, our framework is shown to deliver superior convergence for heterogeneous federated learning while eliminating the need for hyperparameter tuning both client and server updates.

Paperid: 713, https://arxiv.org/pdf/2510.00259.pdf

Abstract:
Autonomous inspection systems are essential for ensuring the performance and longevity of industrial assets. Recently, agentic frameworks have demonstrated significant potential for automating inspection workflows but have been limited to digital tasks. Their application to physical assets in real-world environments, however, remains underexplored. In this work, our contributions are two-fold: first, we propose a hierarchical agentic framework for autonomous drone control, and second, a reasoning methodology for individual function executions which we refer to as ReActEval. Our framework focuses on visual inspection tasks in indoor industrial settings, such as interpreting industrial readouts or inspecting equipment. It employs a multi-agent system comprising a head agent and multiple worker agents, each controlling a single drone. The head agent performs high-level planning and evaluates outcomes, while worker agents implement ReActEval to reason over and execute low-level actions. Operating entirely in natural language, ReActEval follows a plan, reason, act, evaluate cycle, enabling drones to handle tasks ranging from simple navigation (e.g., flying forward 10 meters and land) to complex high-level tasks (e.g., locating and reading a pressure gauge). The evaluation phase serves as a feedback and/or replanning stage, ensuring actions align with user objectives while preventing undesirable outcomes. We evaluate the framework in a simulated environment with two worker agents, assessing performance qualitatively and quantitatively based on task completion across varying complexity levels and workflow efficiency. By leveraging natural language processing for agent communication, our approach offers a novel, flexible, and user-accessible alternative to traditional drone-based solutions, enabling autonomous problem-solving for industrial inspection without extensive user intervention.

Paperid: 714, https://arxiv.org/pdf/2509.22733.pdf

Abstract:
A full power flow (PF) model is a complete representation of the physical power network. Traditional model-based methods rely on the full PF model to implement power flow analysis. In practice, however, some PF model parameters can be inaccurate or even unavailable due to the uncertainties or dynamics in the power systems. Moreover, because the power network keeps evolving with possibly changing topology, the generalizability of a PF model to different network sizes and typologies should be considered. In this paper, we propose a PF rebuild model based on graph attention networks (GAT) by constructing a new graph based on the real and imaginary parts of voltage at each bus. By comparing with two state-of-the-art PF rebuild models for different standard IEEE power system cases and their modified topology variants, we demonstrate the feasibility of our method. Experimental results show that our proposed model achieves better accuracy for a changing network and can generalize to different networks with less accuracy discount.

Paperid: 715, https://arxiv.org/pdf/2509.20147.pdf

Abstract:
Consider N players and K games taking place simultaneously. Each of these games is modeled as a Tug-of-War (ToW) game where increasing the action of one player decreases the reward for all other players. Each player participates in only one game at any given time. At each time step, a player decides the game in which they wish to participate in and the action they take in that game. Their reward depends on the actions of all players that are in the same game. This system of K games is termed `Meta Tug-of-War' (Meta-ToW) game. These games can model scenarios such as power control, distributed task allocation, and activation in sensor networks. We propose the Meta Tug-of-Peace algorithm, a distributed algorithm where the action updates are done using a simple stochastic approximation algorithm, and the decision to switch games is made using an infrequent 1-bit communication between the players. We prove that in Meta-ToW games, our algorithm converges to an equilibrium that satisfies a target Quality of Service reward vector for the players. We then demonstrate the efficacy of our algorithm through simulations for the scenarios mentioned above.

Paperid: 716, https://arxiv.org/pdf/2509.18769.pdf

Abstract:
This paper proposes the integration of Concentrated Solar Power Plant (CSP) in the Renewable-only virtual power plant (RVPP) for bidding in the electricity day-ahead and secondary reserve markets, as well as trading thermal energy through a heat purchase agreement. A reformulated two-stage robust optimization approach is introduced to account for multiple uncertainties, including electricity prices, non-dispatchable renewable energy sources electrical production, CSP thermal production, and uncertainties in electrical and thermal demand consumption. The provision of energy and reserve by the thermal storage of CSP is modeled using an adjustable approach, which allocates a share of energy for up and down reserves based on the profitability of the RVPP. Simulations are conducted for several case studies to demonstrate the effectiveness and computational efficiency of the proposed approach under different RVPP operator decisions against uncertain parameters and various trading strategies for electricity and thermal energy. The simulation results show that integrating CSP into RVPP enhances RVPP flexibility for both electrical and thermal trading. Furthermore, the results indicate that the profitability of the RVPP increases when all trading options are considered, across different levels of conservatism adopted by the RVPP operator in response to uncertain parameters.

Paperid: 717, https://arxiv.org/pdf/2509.12458.pdf

Abstract:
Small Unmanned Aerial Vehicles (UAVs) exhibit immense potential for navigating indoor and hard-to-reach areas, yet their significant constraints in payload and autonomy have largely prevented their use for complex tasks like high-quality 3-Dimensional (3D) reconstruction. To overcome this challenge, we introduce a novel system architecture that enables fully autonomous, high-fidelity 3D scanning of static objects using UAVs weighing under 100 grams. Our core innovation lies in a dual-reconstruction pipeline that creates a real-time feedback loop between data capture and flight control. A near-real-time (near-RT) process uses Structure from Motion (SfM) to generate an instantaneous pointcloud of the object. The system analyzes the model quality on the fly and dynamically adapts the UAV's trajectory to intelligently capture new images of poorly covered areas. This ensures comprehensive data acquisition. For the final, detailed output, a non-real-time (non-RT) pipeline employs a Neural Radiance Fields (NeRF)-based Neural 3D Reconstruction (N3DR) approach, fusing SfM-derived camera poses with precise Ultra Wide-Band (UWB) location data to achieve superior accuracy. We implemented and validated this architecture using Crazyflie 2.1 UAVs. Our experiments, conducted in both single- and multi-UAV configurations, conclusively show that dynamic trajectory adaptation consistently improves reconstruction quality over static flight paths. This work demonstrates a scalable and autonomous solution that unlocks the potential of miniaturized UAVs for fine-grained 3D reconstruction in constrained environments, a capability previously limited to much larger platforms.

Paperid: 718, https://arxiv.org/pdf/2509.12226.pdf

Abstract:
This work introduces a physics-informed neural networks (PINNs)-based model predictive control (MPC) framework for susceptible-infected-recovered ($SIR$) spreading models. Existing studies in MPC design for epidemic control often assume either 1) measurable states of the dynamics, where the parameters are learned, or 2) known parameters of the model, where the states are learned. In this work, we address the joint real-time estimation of states and parameters within the MPC framework using only noisy infected states, under the assumption that 1) only the recovery rate is known, or 2) only the basic reproduction number is known. Under the first assumption, we propose MPC-PINNs and two novel PINNs algorithms, all of which are integrated into the MPC framework. First, we introduce MPC-PINNs, which are designed for $SIR$ models with control. We then propose log-scaled PINNs (MPC-LS-PINNs), which incorporate a log-scaled loss function to improve robustness against noise. Next, we present split-integral PINNs (MPC-SI-PINNs), which leverage integral operators and state coupling in the neural network training process to effectively reconstruct the complete epidemic state information. Building upon these methods, we further extend our framework for the second assumption. We establish the necessary conditions and extend our PINNs algorithms, where MPC-SI-PINNs are simplified as split-PINNs (MPC-S-PINNs). By incorporating these algorithms into the MPC framework, we simultaneously estimate the epidemic states and parameters while generating optimal control strategies. Experiment results demonstrate the effectiveness of the proposed methods under different settings.

Paperid: 719, https://arxiv.org/pdf/2509.12085.pdf

Abstract:
Agents controlled by the output of reinforcement learning (RL) algorithms often transition to unsafe states, particularly in uncertain and partially observable environments. Partially observable Markov decision processes (POMDPs) provide a natural setting for studying such scenarios with limited sensing. Shields filter undesirable actions to ensure safe RL by preserving safety requirements in the agents' policy. However, synthesizing holistic shields is computationally expensive in complex deployment scenarios. We propose the compositional synthesis of shields by modeling safety requirements by parts, thereby improving scalability. In particular, problem formulations in the form of POMDPs using RL algorithms illustrate that an RL agent equipped with the resulting compositional shielding, beyond being safe, converges to higher values of expected reward. By using subproblem formulations, we preserve and improve the ability of shielded agents to require fewer training episodes than unshielded agents, especially in sparse-reward settings. Concretely, we find that compositional shield synthesis allows an RL agent to remain safe in environments two orders of magnitude larger than other state-of-the-art model-based approaches.

Paperid: 720, https://arxiv.org/pdf/2509.08656.pdf

Abstract:
This study investigates the mitigation of acoustic emissions from tidal current converters (TCCs) through optimized control strategies to enhance power generation efficiency while minimizing environmental impacts on marine life. A MATLAB/Simulink-based model of a Tidal Current Conversion System (TCCS) was developed to simulate the effects of variable control parameters, including switching frequencies, maximum power point tracking (MPPT) coefficients, and the elimination of the gearbox, on underwater noise levels. Acoustic emissions were quantified in terms of sound pressure levels (SPLs), and their potential impacts on marine mammals and fish were evaluated against species-specific auditory thresholds for temporary and permanent hearing threshold shifts. The results indicate that adjusting control parameters can significantly reduce SPLs, with the removal of the gearbox yielding the greatest noise reduction. The study identifies operational conditions under which marine species are at risk of auditory damage and proposes control strategies to mitigate these risks without compromising energy output. These findings contribute to the understanding of how control system modifications can balance the efficiency of marine energy systems with ecological considerations, offering guidance for the design and operation of environmentally compliant TCCs.

Paperid: 721, https://arxiv.org/pdf/2509.05907.pdf

Abstract:
In this paper, task offloading from vehicles with random velocities is optimized via a novel dynamic programming 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 locations of vehicles versus time, namely trajectories, cannot be determined in advance. Hence, instead of deterministic optimization, the cell association, uplink time, and throughput allocation of multiple vehicles during a period of task offloading are formulated as a finite-horizon Markov decision process. In order to derive a low-complexity solution algorithm, a two-time-scale framework is proposed. The scheduling period is divided into super slots, each super slot is further divided into a number of time slots. At the beginning of each super slot, we first obtain a reference scheduling scheme of cell association, uplink time and throughput allocation via deterministic optimization, yielding an approximation of the optimal value function. Within the super slot, the actual scheduling action of each time slot is determined by making improvement to the approximate value function according to the system state. Due to the successive improvement framework, a non-trivial average cost upper bound could be derived. 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.

Paperid: 722, https://arxiv.org/pdf/2509.05581.pdf

Abstract:
We present a Reinforcement Learning (RL)-based locomotion system for Cosmo, a custom-built humanoid robot designed for entertainment applications. Unlike traditional humanoids, entertainment robots present unique challenges due to aesthetic-driven design choices. Cosmo embodies these with a disproportionately large head (16% of total mass), limited sensing, and protective shells that considerably restrict movement. To address these challenges, we apply Adversarial Motion Priors (AMP) to enable the robot to learn natural-looking movements while maintaining physical stability. We develop tailored domain randomization techniques and specialized reward structures to ensure safe sim-to-real, protecting valuable hardware components during deployment. Our experiments demonstrate that AMP generates stable standing and walking behaviors despite Cosmo's extreme mass distribution and movement constraints. These results establish a promising direction for robots that balance aesthetic appeal with functional performance, suggesting that learning-based methods can effectively adapt to aesthetic-driven design constraints.

Paperid: 723, https://arxiv.org/pdf/2509.05304.pdf

Abstract:
Dynamic targeting (DT) is a spacecraft autonomy concept in which sensor data is acquired and rapidly analyzed and used to drive subsequent observation. We describe the low Earth orbit application of this approach in which lookahead imagery is analyzed to detect clouds, thermal anomalies, or land use cases to drive higher quality near nadir imaging. Use cases for such a capability include: cloud avoidance, storm hunting, search for planetary boundary layer events, plume study, and beyond. The DT concept requires a lookahead sensor or agility to use a primary sensor in such a mode, edge computing to analyze images rapidly onboard, and a primary followup sensor. Additionally, an inter-satellite or low latency communications link can be leveraged for cross platform tasking. We describe implementation in progress to fly DT in early 2025 on the CogniSAT-6 (Ubotica/Open Cosmos) spacecraft that launched in March 2024 on the SpaceX Transporter-10 launch.

Paperid: 724, https://arxiv.org/pdf/2509.04619.pdf

Abstract:
Data-driven machine learning methodologies have attracted considerable attention for the control and estimation of dynamical systems. However, such implementations suffer from a lack of predictability and robustness. Thus, adoption of data-driven tools has been minimal for safety-aware applications despite their impressive empirical results. While classical tools like robust adaptive control can ensure predictable performance, their consolidation with data-driven methods remains a challenge and, when attempted, leads to conservative results. The difficulty of consolidation stems from the inherently different `spaces' that robust control and data-driven methods occupy. Data-driven methods suffer from the distribution-shift problem, which current robust adaptive controllers can only tackle if using over-simplified learning models and unverifiable assumptions. In this paper, we present $\mathcal{L}_1$ distributionally robust adaptive control ($\mathcal{L}_1$-DRAC): a control methodology for uncertain stochastic processes that guarantees robustness certificates in terms of uniform (finite-time) and maximal distributional deviation. We leverage the $\mathcal{L}_1$ adaptive control methodology to ensure the existence of Wasserstein ambiguity set around a nominal distribution, which is guaranteed to contain the true distribution. The uniform ambiguity set produces an ambiguity tube of distributions centered on the nominal temporally-varying nominal distribution. The designed controller generates the ambiguity tube in response to both epistemic (model uncertainties) and aleatoric (inherent randomness and disturbances) uncertainties.

Paperid: 725, https://arxiv.org/pdf/2509.04593.pdf

Abstract:
We present a methodology for predictable and safe covariance steering control of uncertain nonlinear stochastic processes. The systems under consideration are subject to general uncertainties, which include unbounded random disturbances (aleatoric uncertainties) and incomplete model knowledge (state-dependent epistemic uncertainties). These general uncertainties lead to temporally evolving state distributions that are entirely unknown, can have arbitrary shapes, and may diverge unquantifiably from expected behaviors, leading to unpredictable and unsafe behaviors. Our method relies on an $\mathcal{L}_1$-adaptive control architecture that ensures robust control of uncertain stochastic processes while providing Wasserstein metric certificates in the space of probability measures. We show how these distributional certificates can be incorporated into the high-level covariance control steering to guarantee safe control. Unlike existing distributionally robust planning and control methodologies, our approach avoids difficult-to-verify requirements like the availability of finite samples from the true underlying distribution or an a priori knowledge of time-varying ambiguity sets to which the state distributions are assumed to belong.

Paperid: 726, https://arxiv.org/pdf/2509.04388.pdf

Abstract:
Grid-forming voltage source converters (GFM-VSCs) are emerging as a solution for integrating renewable energy resources (RERs) into power systems. GFM-VSCs need a self-synchronisation strategy to ensure that all converters and generators in the power system are in synchronism and they reach the same frequency in steady state. The self-synchronisation strategy in GFM-VSCs that has received most attention in previous research is virtual synchronous machine (VSM) control. However, no systematic study of the effects on transient stability of different variants of this strategy has been carried out in previous work. This paper analyses and compares transient stability of four self-synchronisation strategies for GFM-VSCs: VSM without phase-locked loop (PLL), VSM with PLL, VSM without PLL using wash-out filter and integral-proportional (IP) controller. The paper also analyses two different methods that can \color{black} be applied to GFM-VSC self-synchronisation strategies to improve transient stability: the concept of virtual unsaturated active-power controller (VAPC), proposed in previous work, and an algorithm for frequency limitation in the GFM-VSC (FLC), which is proposed in this paper.

Paperid: 727, https://arxiv.org/pdf/2509.03721.pdf

Abstract:
This communication on collision avoidance with unexpected obstacles is motivated by some critical appraisals on reinforcement learning (RL) which "requires ridiculously large numbers of trials to learn any new task" (Yann LeCun). We use the classic Dubins' car in order to replace RL with flatness-based control, combined with the HEOL feedback setting, and the latest model-free predictive control approach. The two approaches lead to convincing computer experiments where the results with the model-based one are only slightly better. They exhibit a satisfactory robustness with respect to randomly generated mismatches/disturbances, which become excellent in the model-free case. Those properties would have been perhaps difficult to obtain with today's popular machine learning techniques in AI. Finally, we should emphasize that our two methods require a low computational burden.

Paperid: 728, https://arxiv.org/pdf/2508.20016.pdf

Abstract:
Schedulers are critical for optimal resource utilization in high-performance computing. Traditional methods to evaluate schedulers are limited to post-deployment analysis, or simulators, which do not model associated infrastructure. In this work, we present the first-of-its-kind integration of scheduling and digital twins in HPC. This enables what-if studies to understand the impact of parameter configurations and scheduling decisions on the physical assets, even before deployment, or regarching changes not easily realizable in production. We (1) provide the first digital twin framework extended with scheduling capabilities, (2) integrate various top-tier HPC systems given their publicly available datasets, (3) implement extensions to integrate external scheduling simulators. Finally, we show how to (4) implement and evaluate incentive structures, as-well-as (5) evaluate machine learning based scheduling, in such novel digital-twin based meta-framework to prototype scheduling. Our work enables what-if scenarios of HPC systems to evaluate sustainability, and the impact on the simulated system.

Paperid: 729, https://arxiv.org/pdf/2508.18610.pdf

Abstract:
Peer-to-peer (P2P) energy trading is becoming central to modern distribution systems as rooftop PV and home energy management systems become pervasive, yet most existing market and reinforcement learning designs emphasize efficiency or private profit and offer little real-time guidance to ensure equitable outcomes under uncertainty. To address this gap, a fairness-aware multiagent reinforcement learning framework, FairMarket-RL, is proposed in which a large language model (LLM) critic shapes bidding policies within a continuous double auction under partial observability and discrete price-quantity actions. After each trading slot, the LLM returns normalized fairness scores Fairness-to-Grid (FTG), Fairness-Between-Sellers (FBS), and Fairness-of-Pricing (FPP) that are integrated into the reward via ramped coefficients and tunable scaling, so that fairness guidance complements, rather than overwhelms, economic incentives. The environment models realistic residential load and PV profiles and enforce hard constraints on prices, physical feasibility, and policy-update stability. Across a progression of experiments from a small pilot to a larger simulated community and a mixed-asset real-world dataset, the framework shifts exchanges toward local P2P trades, lowers consumer costs relative to grid-only procurement, sustains strong fairness across participants, and preserves utility viability. Sensitivity analyses over solar availability and aggregate demand further indicate robust performance, suggesting a scalable, LLM-guided pathway to decentralized electricity markets that are economically efficient, socially equitable, and technically sound.

Paperid: 730, https://arxiv.org/pdf/2508.18318.pdf

Abstract:
Wind power data often suffers from missing values due to sensor faults and unstable transmission at edge sites. While federated learning enables privacy-preserving collaboration without sharing raw data, it remains vulnerable to anomalous updates and privacy leakage during parameter exchange. These challenges are amplified in open industrial environments, necessitating zero-trust mechanisms where no participant is inherently trusted. To address these challenges, this work proposes ZTFed-MAS2S, a zero-trust federated learning framework that integrates a multi-head attention-based sequence-to-sequence imputation model. ZTFed integrates verifiable differential privacy with non-interactive zero-knowledge proofs and a confidentiality and integrity verification mechanism to ensure verifiable privacy preservation and secure model parameters transmission. A dynamic trust-aware aggregation mechanism is employed, where trust is propagated over similarity graphs to enhance robustness, and communication overhead is reduced via sparsity- and quantization-based compression. MAS2S captures long-term dependencies in wind power data for accurate imputation. Extensive experiments on real-world wind farm datasets validate the superiority of ZTFed-MAS2S in both federated learning performance and missing data imputation, demonstrating its effectiveness as a secure and efficient solution for practical applications in the energy sector.

Paperid: 731, https://arxiv.org/pdf/2508.15543.pdf

Abstract:
We study the automated abstraction-based synthesis of correct-by-construction control policies for stochastic dynamical systems with unknown dynamics. Our approach is to learn an abstraction from sampled data, which is represented in the form of a finite Markov decision process (MDP). In this paper, we present a data-driven technique for constructing finite-state interval MDP (IMDP) abstractions of stochastic systems with unknown nonlinear dynamics. As a distinguishing and novel feature, our technique only requires (1) noisy state-input-state observations and (2) an upper bound on the system's Lipschitz constant. Combined with standard model-checking techniques, our IMDP abstractions enable the synthesis of policies that satisfy probabilistic temporal properties (such as "reach-while-avoid") with a predefined confidence. Our experimental results show the effectiveness and robustness of our approach.

Paperid: 732, https://arxiv.org/pdf/2508.14181.pdf

Abstract:
Precise and comprehensive situational awareness is a critical capability of modern autonomous systems. Deep neural networks that perceive task-critical details from rich sensory signals have become ubiquitous; however, their black-box behavior and sensitivity to environmental uncertainty and distribution shifts make them challenging to verify formally. Abstraction-based verification techniques for vision-based autonomy produce safety guarantees contingent on rigid assumptions, such as bounded errors or known unique distributions. Such overly restrictive and inflexible assumptions limit the validity of the guarantees, especially in diverse and uncertain test-time environments. We propose a methodology that unifies the verification models of perception with their offline validation. Our methodology leverages interval MDPs and provides a flexible end-to-end guarantee that adapts directly to the out-of-distribution test-time conditions. We evaluate our methodology on a synthetic perception Markov chain with well-defined state estimation distributions and a mountain car benchmark. Our findings reveal that we can guarantee tight yet rigorous bounds on overall system safety.

Paperid: 733, https://arxiv.org/pdf/2508.12705.pdf

Abstract:
We study the asymptotic distribution of the output of a stable Linear Time-Invariant (LTI) system driven by a non-Gaussian stochastic input. Motivated by longstanding heuristics in the stochastic describing function method, we rigorously characterize when the output process becomes approximately Gaussian, even when the input is not. Using the Wasserstein-1 distance as a quantitative measure of non-Gaussianity, we derive upper bounds on the distance between the appropriately scaled output and a standard normal distribution. These bounds are obtained via Stein's method and depend explicitly on the system's impulse response and the dependence structure of the input process. We show that when the dominant pole of the system approaches the edge of stability and the input satisfies one of the following conditions: (i) independence, (ii) positive correlation with a real and positive dominant pole, or (iii) sufficient correlation decay, the output converges to a standard normal distribution at rate $O(1/\sqrt{t})$. We also present counterexamples where convergence fails, thereby motivating the stated assumptions. Our results provide a rigorous foundation for the widespread observation that outputs of low-pass LTI systems tend to be approximately Gaussian.

Paperid: 734, https://arxiv.org/pdf/2508.11332.pdf

Abstract:
We consider the problem of estimating missing values in trajectories of linear parameter-varying (LPV) systems. We solve this interpolation problem for the class of shifted-affine LPV systems. Conditions for the existence and uniqueness of solutions are given and a direct data-driven algorithm for its computation is presented, i.e., the data-generating system is not given by a parametric model but is implicitly specified by data. We illustrate the applicability of the proposed solution on illustrative examples of a mass-spring-damper system with exogenous and endogenous parameter variation.

Paperid: 735, https://arxiv.org/pdf/2508.10318.pdf

Abstract:
Post-earthquake recovery of electric power networks (EPNs) is critical to community resilience. Traditional recovery processes often rely on prolonged and imprecise manual inspections for damage diagnosis, leading to suboptimal repair prioritization and extended service disruptions. Seismic Structural Health Monitoring (SSHM) offers the potential to expedite recovery by enabling more accurate and timely damage assessment. However, SSHM deployment incurs costs, and its system-level resilience benefit remains underexplored. This study proposes a probabilistic simulation framework to quantify the value of SSHM for enhancing EPN resilience. The framework includes seismic damage modeling based on network configuration, hazard intensity, fragility functions, and damage-functionality mappings, combined with recovery simulations incorporating resource constraints, repair and transfer durations. System functionality is evaluated using graph-based island detection and optimal power flow analysis. Resilience is quantified via the Lack of Resilience (LoR) metric derived from the functionality restoration curve. SSHM is incorporated by altering the quality of damage information used in repair scheduling. Different monitoring scenarios (e.g., no-SSHM baseline, partial SSHM, full SSHM with various accuracies) are modeled using confusion matrices to simulate damage misclassification. Results show that improved damage awareness via SSHM significantly accelerates recovery and reduces LoR by up to 21%. This work supports evidence-based decisions for SSHM deployment in critical infrastructure.

Paperid: 736, https://arxiv.org/pdf/2508.09003.pdf

Abstract:
Bulk material handling involves the efficient and precise moving of large quantities of materials, a core operation in many industries, including cargo ship unloading, waste sorting, construction, and demolition. These repetitive, labor-intensive, and safety-critical operations are typically performed using large hydraulic material handlers equipped with underactuated grippers. In this work, we present a comprehensive framework for the autonomous execution of large-scale material handling tasks. The system integrates specialized modules for environment perception, pile attack point selection, path planning, and motion control. The main contributions of this work are two reinforcement learning-based modules: an attack point planner that selects optimal grasping locations on the material pile to maximize removal efficiency and minimize the number of scoops, and a robust trajectory following controller that addresses the precision and safety challenges associated with underactuated grippers in movement, while utilizing their free-swinging nature to release material through dynamic throwing. We validate our framework through real-world experiments on a 40 t material handler in a representative worksite, focusing on two key tasks: high-throughput bulk pile management and high-precision truck loading. Comparative evaluations against human operators demonstrate the system's effectiveness in terms of precision, repeatability, and operational safety. To the best of our knowledge, this is the first complete automation of material handling tasks on a full scale.

Paperid: 737, https://arxiv.org/pdf/2508.08153.pdf

Abstract:
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a barrier function certificate in discrete time for general online parameter estimation algorithms. This barrier function certificate guarantees positive invariance of the safe set despite disturbances and parametric uncertainty without access to the true system parameters. In addition, real-time implementation and inherent robustness guarantees are provided. Our approach demonstrates that, using the proposed robust adaptive CBF framework, the parameter estimation module can be designed separately from the CBF-based safety filter, simplifying the development of safe adaptive controllers for discrete-time systems. The resulting safety filter guarantees that the system remains within the safe set while adapting to model uncertainties, making it a promising strategy for real-world applications involving discrete-time safety-critical systems.

Paperid: 738, https://arxiv.org/pdf/2508.07376.pdf

Abstract:
Electric power networks are critical lifelines, and their disruption during earthquakes can lead to severe cascading failures and significantly hinder post-disaster recovery. Enhancing their seismic resilience requires identifying and strengthening vulnerable components in a cost-effective and system-aware manner. However, existing studies often overlook the systemic behavior of power networks under seismic loading. Common limitations include isolated component analyses that neglect network-wide interdependencies, oversimplified damage models assuming binary states or damage independence, and the exclusion of electrical operational constraints. These simplifications can result in inaccurate risk estimates and inefficient retrofit decisions. This study proposes a multi-model probabilistic framework for seismic risk assessment and retrofit planning of electric power systems. The approach integrates: (1) regional seismic hazard characterization with ground motion prediction and spatial correlation models; (2) component-level damage analysis using fragility functions and multi-state damage-functionality mappings; (3) system-level cascading impact evaluation through graph-based island detection and constrained optimal power flow analysis; and (4) retrofit planning via heuristic optimization to minimize expected annual functionality loss (EAFL) under budget constraints. Uncertainty is propagated throughout the framework using Monte Carlo simulation. The methodology is demonstrated on the IEEE 24-bus Reliability Test System, showcasing its ability to capture cascading failures, identify critical components, and generate effective retrofit strategies. Results underscore the potential of the framework as a scalable, data-informed decision-support tool for enhancing the seismic resilience of power infrastructure.

Paperid: 739, https://arxiv.org/pdf/2508.05062.pdf

Abstract:
A classical approach to formal policy synthesis in stochastic dynamical systems is to construct a finite-state abstraction, often represented as a Markov decision process (MDP). The correctness of these approaches hinges on a behavioural relation between the dynamical system and its abstraction, such as a probabilistic simulation relation. However, probabilistic simulation relations do not suffice when the system dynamics are, next to being stochastic, also subject to nondeterministic (i.e., set-valued) disturbances. In this work, we extend probabilistic simulation relations to systems with both stochastic and nondeterministic disturbances. Our relation, which is inspired by a notion of alternating simulation, generalises existing relations used for verification and policy synthesis used in several works. Intuitively, our relation allows reasoning probabilistically over stochastic uncertainty, while reasoning robustly (i.e., adversarially) over nondeterministic disturbances. We experimentally demonstrate the applicability of our relations for policy synthesis in a 4D-state Dubins vehicle.

Paperid: 740, https://arxiv.org/pdf/2507.20194.pdf

Abstract:
Almost sure reachability refers to the property of a stochastic system whereby, from any initial condition, the system state reaches a given target set with probability one. In this paper, we study the problem of certifying almost sure reachability in discrete-time stochastic systems using drift and variant conditions. While these conditions are both necessary and sufficient in theory, computational approaches often rely on restricting the search to fixed templates, such as polynomial or quadratic functions. We show that this restriction compromises completeness: there exists a polynomial system for which a given target set is almost surely reachable but admits no polynomial certificate, and a linear system for which a neighborhood of the origin is almost surely reachable but admits no quadratic certificate. We then provide a complete characterization of reachability certificates for linear systems with additive noise. Our analysis yields conditions on the system matrices under which valid certificates exist, and shows how the structure and dimension of the system determine the need for non-quadratic templates. Our results generalize the classical random walk behavior to a broader class of stochastic dynamical systems.

Paperid: 741, https://arxiv.org/pdf/2507.19620.pdf

Abstract:
This paper demonstrates a novel guidance and control strategy for cislunar near-rectilinear halo orbit formation-keeping applied to high-fidelity dynamics. Bounded relative motion is constructed about long-duration ephemeris trajectories with osculating invariant circles to form quasi-periodic relative orbits. State-of-the-art absolute control strategies are paired with a simple and effective relative control feedback law. Finally, a control barrier function is implemented to ensure recursively passively-safe bounded relative motion under feedback in the presence of possible missed maneuver events for the duration of the formation flight. The strategy is verified in high-fidelity simulation environments through Monte Carlo trials.

Paperid: 742, https://arxiv.org/pdf/2507.19260.pdf

Abstract:
Power-electronics-based converters are being considerably employed through the power system to interconnect multiple heterogeneous electrical layers. Furthermore, the intrinsic versatility to play with the converter network topology is widely exploited to accommodate a certain number of terminals and ports according with the specific application. On this regard, several converter arrangements can be encountered in power applications. Moreover, to properly establish both the operation and the control, the so-called degrees of freedom (DOFs) need to be assessed per each converter topology. On this matter, similarly to the well-known Clarke transformation, which clearly reveals the DOFs for the star-based topology system, further similar transformations can be achieved to depict the independent set of variables characterizing a certain converter structure. Referring to the cell-based class of Voltage Source Converter (VSC) topologies, including Modular Multilevel Converter (MMC); this article proposes a general methodology to determine the change of variable matrix transformation for several converter arrangements which are related to complete bi-partite and multi-partite graphs. The methodology lies in the graph Laplacian spectral analysis, which remarks the structural normal modes at the converter points of connections. Furthermore, for a complete characterization, the instantaneous power patterns formulations, based on the DOFs, are also introduced.

Paperid: 743, https://arxiv.org/pdf/2507.15781.pdf

Abstract:
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower solution, which is aware of energy constraints of mobile agents and is apt to deal with large swarms. Akin to many natural systems, control objectives are formulated for the entire collective, and leaders and followers are allowed to plastically switch their role in time. We frame a density control problem, modeling the agents' population via a system of nonlinear partial differential equations. This approach allows for a compact description that inherently avoids the curse of dimensionality and improves analytical tractability. We derive analytical guarantees for the existence of desired steady-state solutions and their local stability for one-dimensional and higher-dimensional problems. We numerically validate our control methodology, offering support to the effectiveness, robustness, and versatility of our proposed bio-inspired control strategy.

Paperid: 744, https://arxiv.org/pdf/2507.14727.pdf

Abstract:
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly understood. In this study, we present new empirical and modeling insights into the biomechanics of load-pulling quadrupeds, using sprint sled dogs as a model system. High-speed video and force recordings reveal that sled dogs often switch between rotary and transverse galloping gaits within just a few strides and without any observable changes in speed, stride duration, or terrain, providing clear evidence of locomotor multistability during high-speed load-pulling. To investigate the mechanical basis of these transitions, a physics-based quadrupedal Spring-Loaded Inverted Pendulum model with hybrid dynamics and prescribed footfall sequences to reproduce the asymmetric galloping patterns observed in racing sled dogs. Through trajectory optimization, we replicate experimentally observed gait sequences and identify swing-leg stiffness modulation as a key control mechanism for inducing transitions. This work provides a much-needed biomechanical perspective on high-speed animal draft and establishes a modeling framework for studying locomotion in pulling quadrupeds, with implications for both biological understanding and the design of adaptive legged systems.

Paperid: 745, https://arxiv.org/pdf/2507.14117.pdf

Abstract:
Extreme weather variations and the increasing unpredictability of load behavior make it difficult to determine power grid dispatches that are robust to uncertainties. While machine learning (ML) methods have improved the ability to model uncertainty caused by loads and renewables, accurately integrating these forecasts and their sensitivities into steady-state analyses and decision-making strategies remains an open challenge. Toward this goal, we present a generalized methodology that seamlessly embeds ML-based forecasting engines within physics-based power flow and grid optimization tools. By coupling physics-based grid modeling with black-box ML methods, we accurately capture the behavior and sensitivity of loads and weather events by directly integrating the inputs and outputs of trained ML forecasting models into the numerical methods of power flow and grid optimization. Without fitting surrogate load models, our approach obtains the sensitivities directly from data to accurately predict the response of forecasted devices to changes in the grid. Our approach combines the sensitivities of forecasted devices attained via backpropagation and the sensitivities of physics-defined grid devices. We demonstrate the efficacy of our method by showcasing improvements in sensitivity calculations and leveraging them to design a robust power dispatch that improves grid reliability under stochastic weather events. Our approach enables the computation of system sensitivities to exogenous factors which supports broader analyses that improve grid reliability in the presence of load variability and extreme weather conditions.

Paperid: 746, https://arxiv.org/pdf/2507.12987.pdf

Abstract:
This study presents a non-iterative tuning technique for a linear fractional-order (FO) controller, based on the integral of the time-weighted absolute error (ITAE) criterion. Minimizing the ITAE is a traditional approach for tuning FO controllers. This technique reduces the over/undershoot and suppresses the steady-state error. In contrast to conventional approaches of ITAE-based controller tuning, the proposed approach does not require multiple closed-loop experiments or model-based simulations to evaluate the ITAE. The one-shot input/output data is collected from the controlled plant. A fictitious reference signal is defined on the basis of the collected input and output signal, which enables us to evaluate the closed-loop response provided by the arbitrary controller parameters. To avoid repeated experiments that are necessary in the conventional approach, we reformulate the ITAE minimization problem using the fictitious reference signal. The desired FO controller parameters minimizing the ITAE are obtained by solving the optimization problem that is based on the fictitious reference signal. The validity of the proposed approach is demonstrated by a numerical study. The avoidance of repeated experiments significantly reduces the development cost of linear FO controllers, thereby facilitating their practical application.

Paperid: 747, https://arxiv.org/pdf/2507.09755.pdf

Abstract:
Optimal power management of battery energy storage systems (BESS) is crucial for their safe and efficient operation. Numerical optimization techniques are frequently utilized to solve the optimal power management problems. However, these techniques often fall short of delivering real-time solutions for large-scale BESS due to their computational complexity. To address this issue, this paper proposes a computationally efficient approach. We introduce a new set of decision variables called power-sharing ratios corresponding to each cell, indicating their allocated power share from the output power demand. We then formulate an optimal power management problem to minimize the system-wide power losses while ensuring compliance with safety, balancing, and power supply-demand match constraints. To efficiently solve this problem, a parameterized control policy is designed and leveraged to transform the optimal power management problem into a parameter estimation problem. We then implement the ensemble Kalman inversion to estimate the optimal parameter set. The proposed approach significantly reduces computational requirements due to 1) the much lower dimensionality of the decision parameters and 2) the estimation treatment of the optimal power management problem. Finally, we conduct extensive simulations to validate the effectiveness of the proposed approach. The results show promise in accuracy and computation time compared with explored numerical optimization techniques.

Paperid: 748, https://arxiv.org/pdf/2507.09714.pdf

Abstract:
This paper presents a unified planning-control strategy for competing with other racing cars called IteraOptiRacing in autonomous racing environments. This unified strategy is proposed based on Iterative Linear Quadratic Regulator for Iterative Tasks (i2LQR), which can improve lap time performance in the presence of surrounding racing obstacles. By iteratively using the ego car's historical data, both obstacle avoidance for multiple moving cars and time cost optimization are considered in this unified strategy, resulting in collision-free and time-optimal generated trajectories. The algorithm's constant low computation burden and suitability for parallel computing enable real-time operation in competitive racing scenarios. To validate its performance, simulations in a high-fidelity simulator are conducted with multiple randomly generated dynamic agents on the track. Results show that the proposed strategy outperforms existing methods across all randomly generated autonomous racing scenarios, enabling enhanced maneuvering for the ego racing car.

Paperid: 749, https://arxiv.org/pdf/2507.02468.pdf

Abstract:
This paper quantifies and addresses the bias of subspace-based Data-Driven Predictive Control (DDPC) for linear, time-invariant (LTI) systems. The primary focus is the bias that arises when the training data is gathered with a feedback controller in closed-loop with the system. First, the closed-loop bias of Subspace Predictive Control is quantified using the training data innovations. Next, the bias of direct, subspace-based DDPC methods DeePC and $Î³$-DDPC is shown to consist of two parts--the Subspace Bias, which arises from closed-loop data, and an Optimism Bias, which arises from DeePC/$Î³$-DDPC's "optimistic" adjustment of the output trajectory. We show that, unlike subspace-based DDPC methods, Transient Predictive Control does not suffer from Subspace Bias or Optimism Bias. Double integrator experiments demonstrate that Subspace and Optimism Bias are responsible for poor reference tracking by the subspace-based DDPC methods.

Paperid: 750, https://arxiv.org/pdf/2507.02325.pdf

Abstract:
Grid-connected inverter control is challenging to implement due to the difficulty of obtaining and maintaining an accurate grid model. Direct Data-Driven Predictive Control provides a model-free alternative to traditional model-based control methods. This paper describes how the recently-proposed Transient Predictive Control (TPC) can be used for real-world, plug-and-play inverter control. The following hypotheses were tested: 1) The TPC algorithm can be run online using standard hardware, and 2) TPC, which is derived using Linear Time-Invariant assumptions, is effective for grid-connected inverter control, which is a nonlinear and time-varying system. Experiments conducted on a two-converter benchtop setup and at the CoSES Laboratory on a 25 kVA converter connected to the Munich grid support these hypotheses.

Paperid: 751, https://arxiv.org/pdf/2507.02078.pdf

Abstract:
Accurate and scalable surrogate models for AC power flow are essential for real-time grid monitoring, contingency analysis, and decision support in increasingly dynamic and inverter-dominated power systems. However, most existing surrogates fall short of practical deployment due to their limited capacity to capture long-range nonlinear dependencies in meshed transmission networks and their weak enforcement of physical laws. These models often require extensive hyperparameter tuning, exhibit poor generalization under topology changes or large load swings, and typically do not quantify uncertainty or scale well beyond a few hundred buses. To address these challenges, this paper proposes a \textit{gated graph neural network (GGNN)} surrogate for AC power-flow estimation under topological uncertainty. The model is trained across multiple IEEE benchmark networks of varying size and complexity, each incorporating randomized line contingencies and up to 40\% load variation. To improve robustness and generalization, we explore both conventional supervised learning and physics-informed self-supervised training strategies. Comparative evaluations show that the proposed GGNN consistently outperforms prior GNN-based surrogates, achieving predictions closely aligned with Newton--Raphson solutions. By embedding operational constraints directly into the architecture and loss function, the model ensures physical consistency and delivers a lightweight, accurate, and scalable tool for real-time grid operations.

Paperid: 752, https://arxiv.org/pdf/2512.24886.pdf

Abstract:
Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages the framework of cellular sheaves, a mathematical generalization of graph theory, to natively model such heterogeneous systems. While existing coordination sheaf frameworks focus on cooperative problems like consensus, this work extends them to the non-cooperative target-tracking problem. The tracking of multiple, unknown targets is formulated as a harmonic extension problem on a cellular sheaf, accommodating nonlinear dynamics and external disturbances for all agents. A decentralized control law is developed using the sheaf Laplacian, and a corresponding Lyapunov-based stability analysis is provided to guarantee tracking error convergence, with results validated by simulation.

Paperid: 753, https://arxiv.org/pdf/2512.24658.pdf

Abstract:
This paper aims to provide an efficient implementation of encrypted linear dynamic controllers that perform recursive multiplications on a Ring-Learning With Errors (Ring-LWE) based cryptosystem. By adopting a system-theoretical approach, we significantly reduce both time and space complexities, particularly the number of homomorphic operations required for recursive multiplications. Rather than encrypting the entire state matrix of a given controller, the state matrix is transformed into its rational canonical form, whose sparse and circulant structure enables that encryption and computation are required only on its nontrivial columns. Furthermore, we propose a novel method to ``pack'' each of the input and the output matrices into a single polynomial, thereby reducing the number of homomorphic operations. Simulation results demonstrate that the proposed design enables a remarkably fast implementation of encrypted controllers.

Paperid: 754, https://arxiv.org/pdf/2512.20259.pdf

Abstract:
In this work, we introduce a sample- and data-based moving horizon estimation framework for linear systems. We perform state estimation in a sample-based fashion in the sense that we assume to have only few, irregular output measurements available. This setting is encountered in applications where measuring is expensive or time-consuming. Furthermore, the state estimation framework does not rely on a standard mathematical model, but on an implicit system representation based on measured data. We prove sample-based practical robust exponential stability of the proposed estimator under mild assumptions. Furthermore, we apply the proposed scheme to estimate the states of a gastrointestinal tract absorption system.

Paperid: 755, https://arxiv.org/pdf/2512.18340.pdf

Abstract:
This paper presents an operator-theoretic reconstruction of an equivalent continuous-time LTI model from an exact sampled-data (Poincaré-map) baseline of a piecewise-linear switching system. The rebuilding is explicitly expressed via matrix logarithms. By expanding the logarithm of a product of matrix exponentials using the Baker--Campbell--Hausdorff (BCH) formula, we show that the classical state-space averaging (SSA) model can be interpreted as the leading-order truncation of this exact reconstruction when the switching period is small and the ripple is small. The same view explains why SSA critically relies on low-frequency and small-ripple assumptions, and why the method becomes fragile for converters with more than two subintervals per cycle. Finally, we provide a complexity-reduced, SSA-flavoured implementation strategy for obtaining the required spectral quantities and a real-valued logarithm without explicitly calling eigen-decomposition or complex matrix logarithms, by exploiting $2\times 2$ invariants and a minimal real-lift construction.

Paperid: 756, https://arxiv.org/pdf/2512.17656.pdf

Abstract:
In this paper, we investigate an integrated sensing-and-communication (ISAC) network enabled by an unmanned aerial vehicle (UAV). The UAV is supposed to fly along a periodical circular trajectory at a fixed height for ISAC service supply from the sky. We consider on-demand sensing services, where on-demand detection and on-demand localization requests may be activated at any time toward any position within the targeted serving region. While guaranteeing satisfactory accuracy for both on-demand sensing tasks, we aim at maximizing the minimum achievable throughput among all communication users, via joint optimizing the UAV trajectory and communication user scheduling. To address the complicated problem with infinite sensing constraints, we characterize the on-demand detection constraint as a restricted deployment area for UAV and the on-demand localization constraint as Cramer-Rao Bound (CRB) constraints over finite reference target points, based on which the original problem is simplified to more tractable one. Afterwards, particularly aiming to ensure no violations of CRB constraints, we propose a convex approximation for the reformulated problem, where tight approximation is guaranteed at given local solution. The construction strategy for convex problem approximation allows an efficient iterative algorithm with verified convergence to a superior suboptimal solution. At last, with simulations, we verified the applicability of our developed optimization scheme in strictly fulfilling the on-demand sensing constraints and the effectiveness of our proposed solution for simultaneously enhancing the communication throughput in UAV-enabled ISAC.

Paperid: 757, https://arxiv.org/pdf/2512.15379.pdf

Abstract:
The success of machine learning for real-world robotic systems has created a new form of intellectual property: the trained policy. This raises a critical need for novel methods that verify ownership and detect unauthorized, possibly unsafe misuse. While watermarking is established in other domains, physical policies present a unique challenge: remote detection. Existing methods assume access to the robot's internal state, but auditors are often limited to external observations (e.g., video footage). This ``Physical Observation Gap'' means the watermark must be detected from signals that are noisy, asynchronous, and filtered by unknown system dynamics. We formalize this challenge using the concept of a \textit{glimpse sequence}, and introduce Colored Noise Coherency (CoNoCo), the first watermarking strategy designed for remote detection. CoNoCo embeds a spectral signal into the robot's motions by leveraging the policy's inherent stochasticity. To show it does not degrade performance, we prove CoNoCo preserves the marginal action distribution. Our experiments demonstrate strong, robust detection across various remote modalities, including motion capture and side-way/top-down video footage, in both simulated and real-world robot experiments. This work provides a necessary step toward protecting intellectual property in robotics, offering the first method for validating the provenance of physical policies non-invasively, using purely remote observations.

Paperid: 758, https://arxiv.org/pdf/2512.13545.pdf

Abstract:
Ever since R.D.Middlebrook proposed the state space averaging notion. The small signal model has been widely used as a design tool to tune control parameters. As Moore's law is continuing and the AI chip's high demand for power consumption and dynamic response, the control bandwidth needs to be boosted. However, the average model has two basic assumptions: the low-frequency assumption, the small ripple assumption. In high-bandwidth design, these two assumptions are violated. In order to solve this, various methods have been proposed. This paper gives a comprehensive overview of the existing small signal model for PWM converters from the following perspectives: 1. model fidelity, 2. analytical tractability. 3. complexity of the derivation process and result 4.generality.

Paperid: 759, https://arxiv.org/pdf/2512.12046.pdf

Abstract:
Goal-Conditioned Reinforcement Learning (GCRL) mitigates the difficulty of reward design by framing tasks as goal reaching rather than maximizing hand-crafted reward signals. In this setting, the optimal goal-conditioned value function naturally forms a quasimetric, motivating Quasimetric RL (QRL), which constrains value learning to quasimetric mappings and enforces local consistency through discrete, trajectory-based constraints. We propose Eikonal-Constrained Quasimetric RL (Eik-QRL), a continuous-time reformulation of QRL based on the Eikonal Partial Differential Equation (PDE). This PDE-based structure makes Eik-QRL trajectory-free, requiring only sampled states and goals, while improving out-of-distribution generalization. We provide theoretical guarantees for Eik-QRL and identify limitations that arise under complex dynamics. To address these challenges, we introduce Eik-Hierarchical QRL (Eik-HiQRL), which integrates Eik-QRL into a hierarchical decomposition. Empirically, Eik-HiQRL achieves state-of-the-art performance in offline goal-conditioned navigation and yields consistent gains over QRL in manipulation tasks, matching temporal-difference methods.

Paperid: 760, https://arxiv.org/pdf/2512.10657.pdf

Abstract:
Model-based control techniques have recently been investigated for the recommendation of medication dosages to address thyroid diseases. These techniques often rely on knowledge of internal hormone concentrations that cannot be measured from blood samples. Moreover, the measurable concentrations are typically only obtainable at irregular sampling times. In this work, we empirically verify a notion of sample-based detectability that accounts for irregular sampling of the measurable concentrations on two pituitary-thyroid loop models representing patients with hypo- and hyperthyroidism, respectively, and include the internal concentrations as states. We then implement sample-based moving horizon estimation for the models, and test its performance on virtual patients across a range of sampling schemes. Our study shows robust stability of the estimator across all scenarios, and that more frequent sampling leads to less estimation error in the presence of model uncertainty and misreported dosages.

Paperid: 761, https://arxiv.org/pdf/2512.07077.pdf

Abstract:
Flexibility is increasingly gaining importance in modern power system operation. This paper presents a controller framework based on Online Feedback Optimization for real-time coordination of power system flexibility. The proposed approach introduces a momentum-augmented projection-step to accelerate convergence and improve dynamic performance. We derive the controller formulation, and evaluate its performance and stability in two representative case studies. The first examines online congestion management in distribution feeders, and the second addresses multi-layer flexibility dispatch across system interfaces. Numerical results demonstrate that the momentum-based controller achieves faster convergence and maintains constraint satisfaction, highlighting its potential for real-time flexibility control in large-scale power systems.

Paperid: 762, https://arxiv.org/pdf/2512.05915.pdf

Abstract:
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. Simultaneously, controlling the Lipschitz constant in neural networks has emerged as an essential area of research to enhance adversarial robustness and network certifiability. This paper presents a rigorous approach to the general design of $\mathcal{L}$-Lipschitz deep residual networks using a Linear Matrix Inequality (LMI) framework. Initially, the ResNet architecture was reformulated as a cyclic tridiagonal LMI, and closed-form constraints on network parameters were derived to ensure $\mathcal{L}$-Lipschitz continuity; however, using a new $LDL^\top$ decomposition approach for certifying LMI feasibility, we extend the construction of $\mathcal{L}$-Lipchitz networks to any other nonlinear architecture. Our contributions include a provable parameterization methodology for constructing Lipschitz-constrained residual networks and other hierarchical architectures. Cholesky decomposition is also used for efficient parameterization. These findings enable robust network designs applicable to adversarial robustness, certified training, and control systems. The $LDL^\top$ formulation is shown to be a tight relaxation of the SDP-based network, maintaining full expressiveness and achieving 3\%-13\% accuracy gains over SLL Layers on 121 UCI data sets.

Paperid: 763, https://arxiv.org/pdf/2512.05624.pdf

Abstract:
This paper proposes an active learning method for designing experiments to identify quasi-Linear Parameter-Varying (qLPV) models. Since informative experiments are costly, input signals must be selected to maximize information content based on the currently available model. To improve the extrapolation properties of the identified model, we introduce a manifold-regularization strategy that enforces smooth variations in the qLPV dynamics, promoting Linear Time-Varying (LTV) behavior. Using this regularized structure, we propose a new active learning criterion based on path integrals of an inverse-distance variance measure and derive an efficient approximation exploiting the LTV smoothness. Numerical examples show that the proposed regularization enhances qLPV extrapolation and that the resulting active learning scheme accelerates the identification process.

Paperid: 764, https://arxiv.org/pdf/2512.05586.pdf

Abstract:
This paper is concerned with a quantum memory system for storing quantum information in the form of its initial dynamic variables in the presence of environmental noise. In order to compensate for the deviation from the initial conditions, the classical parameters of the system Hamiltonian are affected by the actuator output of a measurement-based classical controller. The latter uses an observation process produced by a measuring apparatus from the quantum output field of the memory system. The underlying system is modelled as an open quantum harmonic oscillator whose Heisenberg evolution is governed by linear Hudson-Parthasarathy quantum stochastic differential equations. The controller is organised as a classical linear time-varying system, so that the resulting closed-loop system has quantum and classical dynamic variables. We apply linear-quadratic-Gaussian control and fixed-point smoothing at the level of the first two moments and consider controllers with a separation structure which involve a continuously updated estimate for the initial quantum variables. The initial-point smoother is used for actuator signal formation so as to minimise the sum of a mean-square deviation of the quantum memory system variables at a given time horizon from their initial values and an integral quadratic penalty on the control signal.

Paperid: 765, https://arxiv.org/pdf/2512.05549.pdf

Abstract:
This paper investigates the problem of safety certification for black-box discrete-time stochastic systems, where both the system dynamics and disturbance distributions are unknown, and only sampled data are available. Under such limited information, ensuring robust or classical quantitative safety over finite or infinite horizons is generally infeasible. To address this challenge, we propose a data-driven framework that provides theoretical one-step safety guarantees in the Probably Approximately Correct (PAC) sense. This one-step guarantee can be applied recursively at each time step, thereby yielding step-by-step safety assurances over extended horizons. Our approach formulates barrier certificate conditions based solely on sampled data and establishes PAC safety guarantees by leveraging the VC dimension, scenario approaches, Markov's inequality, and Hoeffding's inequality. Two sampling procedures are proposed, and three methods are proposed to derive PAC safety guarantees. The properties and comparative advantages of these three methods are thoroughly discussed. Finally, the effectiveness of the proposed methods are demonstrated through several numerical examples.

Paperid: 766, https://arxiv.org/pdf/2512.04239.pdf

Abstract:
Periodic operation often emerges as the economically optimal mode in industrial processes, particularly under varying economic or environmental conditions. This paper proposes a robust model predictive control (MPC) framework for uncertain systems modeled as polytopic linear differential inclusions (LDIs), where the dynamics evolve as convex combinations of finitely many affine control systems with additive disturbances. The robust control problem is reformulated as a convex optimization program by optimizing over configuration-constrained polytopic tubes and tracks a periodic trajectory that is optimal for a given economic criterion. Artificial variables embedded in the formulation ensure recursive feasibility and robust constraint satisfaction when the economic criterion is updated online, while guaranteeing convergence to the corresponding optimal periodic tube when the criterion remains constant. To improve computational efficiency, we introduce a quadratic over-approximation of the periodic cost under a Lipschitz continuity assumption, yielding a Quadratic Program (QP) formulation that preserves the above theoretical guarantees. The effectiveness and scalability of the approach are demonstrated on a benchmark example and a ball-plate system with eight states.

Paperid: 767, https://arxiv.org/pdf/2512.03764.pdf

Abstract:
Policy gradient algorithms are widely used in reinforcement learning and belong to the class of approximate dynamic programming methods. This paper studies two key policy gradient algorithms - the Natural Policy Gradient and the Gauss-Newton Method - for solving the Linear Quadratic Regulator (LQR) problem in unknown stochastic linear systems. The main challenge lies in obtaining an unbiased gradient estimate from noisy data due to errors-in-variables in linear regression. This issue is addressed by employing a primal-dual estimation procedure. Using this novel gradient estimation scheme, the paper establishes convergence guarantees with a sample complexity of order O(1/epsilon). Theoretical results are further supported by numerical experiments, which demonstrate the effectiveness of the proposed algorithms.

Paperid: 768, https://arxiv.org/pdf/2512.00321.pdf

Abstract:
Power consumption has become a critical aspect of modern life due to the consistent reliance on technological advancements. Reducing power consumption or following power usage predictions can lead to lower monthly costs and improved electrical reliability. The proposal of a holistic framework to establish a foundation for IoT systems with a focus on contextual decision making, proactive adaptation, and scalable structure. A structured process for IoT systems with accuracy and interconnected development would support reducing power consumption and support grid stability. This study presents the feasibility of this proposal through the application of each aspect of the framework. This system would have long term forecasting, short term forecasting, anomaly detection, and consideration of qualitative data with any energy management decisions taken. Performance was evaluated on Power Consumption Time Series data to display the direct application of the framework.

Paperid: 769, https://arxiv.org/pdf/2511.21953.pdf

Abstract:
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural network-based safe tracking control framework for nonlinear discrete-time systems with reach-avoid specifications in the presence of disturbances. Our approach begins with generation of a nominal trajectory using standard trajectory synthesis approaches, followed by construction of safe zonotopic backward reachable sets along the nominal trajectory. The states lying within the backward reachable sets are guaranteed to satisfy safe reachability specifications. Then, our key insight is to leverage the computed backward reachable sets to inform the architecture and training of a neural network-based tracking controller such that the neural network drives the system's states through these backward reachable sets, thereby improving the likelihood of safe reachability. We perform formal verification with conformal prediction to achieve statistical safety guarantees on the performance of the learned neural controller. The performance of our approach is illustrated through a numerical example on the discrete-time Dubin's car model.

Paperid: 770, https://arxiv.org/pdf/2511.21248.pdf

Abstract:
This paper derives conditions under which Model Predictive Control (MPC) with terminal conditions, using a data-driven surrogate model as a prediction model, asymptotically stabilizes the plant despite approximation errors. In particular, we prove recursive feasibility and asymptotic stability if a proportional error bound holds, where proportional means that the bound is linear in the norm of the state and the input. For a broad class of nonlinear systems, this condition can be satisfied using data-driven surrogate models generated by kernel Extended Dynamic Mode Decomposition (kEDMD) using the Koopman operator. Last, the applicability of the proposed framework is demonstrated in a numerical case study.

Paperid: 771, https://arxiv.org/pdf/2511.20914.pdf

Abstract:
Ensuring safety in autonomous multi-agent systems during time-critical tasks such as rendezvous is a fundamental challenge, particularly under communication delays and uncertainty in system parameters. In this paper, we develop a theoretical framework to analyze the \emph{distributionally robust risk of cascading failures} in multi-agent rendezvous, where system parameters lie within bounded uncertainty sets around nominal values. Using a time-delayed dynamical network as a benchmark model, we quantify how small deviations in these parameters impact collective safety. We introduce a \emph{conditional distributionally robust functional}, grounded in a bivariate Gaussian model, to characterize risk propagation between agents. This yields a \emph{closed-form risk expression} that captures the complex interaction between time delays, network structure, noise statistics, and failure modes. These expressions expose key sensitivity patterns and provide actionable insight for the design of robust and resilient multi-agent networks. Extensive simulations validate the theoretical results and demonstrate the effectiveness of our framework.

Paperid: 772, https://arxiv.org/pdf/2511.18267.pdf

Abstract:
Residential buildings are increasingly integrating large devices that run natively on direct current (DC), such as solar photovoltaics, electric vehicles, stationary batteries, and DC motors that drive heat pumps and other major appliances. Today, these natively-DC devices typically connect within buildings through alternating current (AC) distribution systems, entailing significant energy losses due to conversions between AC and DC. This paper investigates the alternative of connecting DC devices through DC distribution. Specifically, this paper shows through laboratory and field experiments that an off-the-shelf residential heat pump designed for conventional AC systems can be powered directly on DC with few hardware modifications and little change in performance. Supporting simulations of a DC nanogrid including historical heat pump and rest-of-house load measurements, a solar photovoltaic array, and a stationary battery suggest that connecting these devices through DC distribution could decrease annual electricity bills by 12.5% with an after-market AC-to-DC heat pump retrofit and by 16.7% with a heat pump designed to run on DC.

Paperid: 773, https://arxiv.org/pdf/2511.18148.pdf

Abstract:
Real-time traffic crash detection is critical in intelligent transportation systems because traditional crash notifications often suffer delays and lack specific, lane-level location information, which can lead to safety risks and economic losses. This paper proposes a real-time, lane-level crash detection approach for freeways that only leverages sparse telematics trajectory data. In the offline stage, the historical trajectories are discretized into spatial cells using vector cross-product techniques, and then used to estimate a vehicle intention distribution and select an alert threshold by maximizing the F1-score based on official crash reports. In the online stage, incoming telematics records are mapped to these cells and scored for three modules: transition anomalies, speed deviations, and lateral maneuver risks, with scores accumulated into a cell-specific risk map. When any cell's risk exceeds the alert threshold, the system issues a prompt warning. Relying solely on telematics data, this real-time and low-cost solution is evaluated on a Wisconsin dataset and validated against official crash reports, achieving a 75% crash identification rate with accurate lane-level localization, an overall accuracy of 96%, an F1-score of 0.84, and a non-crash-to-crash misclassification rate of only 0.6%, while also detecting 13% of crashes more than 3 minutes before the recorded crash time.

Paperid: 774, https://arxiv.org/pdf/2511.15238.pdf

Abstract:
Hamilton-Jacobi (HJ) reachability analysis is a fundamental tool for safety verification and control synthesis for nonlinear-control systems. Classical HJ reachability analysis methods discretize the continuous state space and solve the HJ partial differential equation over a grid, but these approaches do not account for discretization errors and can under-approximate backward reachable sets, which represent unsafe sets of states. We present a framework for computing sound upper and lower bounds on the HJ value functions via value iteration over grids. Additionally, we develop a refinement algorithm that splits cells that were not possible to classify as safe or unsafe given the computed bounds. This algorithm enables computing accurate over-approximations of backward reachable sets even when starting from coarse grids. Finally, we validate the effectiveness of our method in two case studies.

Paperid: 775, https://arxiv.org/pdf/2511.10015.pdf

Abstract:
Barrier certificates play an important role in verifying the safety of continuous-time systems, including autonomous driving, robotic manipulators and other critical applications. Recently, ReLU neural barrier certificates -- barrier certificates represented by the ReLU neural networks -- have attracted significant attention in the safe control community due to their promising performance. However, because of the approximate nature of neural networks, rigorous verification methods are required to ensure the correctness of these certificates. This paper presents a necessary and sufficient condition for verifying the correctness of ReLU neural barrier certificates. The proposed condition can be encoded as either an Satisfiability Modulo Theories (SMT) or optimization problem, enabling both verification and falsification. To the best of our knowledge, this is the first approach capable of falsifying ReLU neural barrier certificates. Numerical experiments demonstrate the validity and effectiveness of the proposed method in both verifying and falsifying such certificates.

Paperid: 776, https://arxiv.org/pdf/2511.07899.pdf

Abstract:
Safety assurance is a fundamental requirement for deploying learning-enabled autonomous systems. Hamilton-Jacobi (HJ) reachability analysis is a fundamental method for formally verifying safety and generating safe controllers. However, computing the HJ value function that characterizes the backward reachable set (BRS) of a set of user-defined failure states is computationally expensive, especially for high-dimensional systems, motivating the use of reinforcement learning approaches to approximate the value function. Unfortunately, a learned value function and its corresponding safe policy are not guaranteed to be correct. The learned value function evaluated at a given state may not be equal to the actual safety return achieved by following the learned safe policy. To address this challenge, we introduce a conformal prediction-based (CP) framework that bounds such uncertainty. We leverage CP to provide probabilistic safety guarantees when using learned HJ value functions and policies to prevent control systems from reaching failure states. Specifically, we use CP to calibrate the switching between the unsafe nominal controller and the learned HJ-based safe policy and to derive safety guarantees under this switched policy. We also investigate using an ensemble of independently trained HJ value functions as a safety filter and compare this ensemble approach to using individual value functions alone.

Paperid: 777, https://arxiv.org/pdf/2511.07225.pdf

Abstract:
Mobility-on-demand systems like ride-hailing have transformed urban transportation, but they have also exacerbated socio-economic inequalities in access to these services, also due to surge pricing strategies. Although several fairness-aware frameworks have been proposed in smart mobility, they often overlook the temporal and situational variability of user urgency that shapes real-world transportation demands. This paper introduces a non-monetary, Karma-based mechanism that models endogenous urgency, allowing user time-sensitivity to evolve in response to system conditions as well as external factors. We develop a theoretical framework maintaining the efficiency and fairness guarantees of classical Karma economies, while accommodating this realistic user behavior modeling. Applied to a simulated mobility-on-demand scenario we show that our framework is able to achieve high levels of system efficiency, guaranteeing at the same time equitable resource allocation for the users.

Paperid: 778, https://arxiv.org/pdf/2511.00745.pdf

Abstract:
Several novel methods, including magnetogenetics and magnetoelectric stimulation, use high frequency alternating magnetic fields to precisely manipulate neural activity. To quantify the behavioral effects of such interventions in a freely moving mouse, we developed a dual-channel magnetic chamber, specifically designed for rate-sensitive magnetothermal-genetic stimulation, and adaptable for other uses of alternating magnetic fields. Through an optimized coil design, the system allows independent control of two spatially orthogonal uniform magnetic fields delivered at different frequencies within a 10 cm x 10 cm x 6 cm chamber. The two channels have nominal frequencies of 50 and 550 kHz with peak magnetic field strengths of 88 and 12.5 mT, achieved with resonant coil drives having peak voltages of 1.6 and 1.8 kV and currents of 1.0 and 0.26 kA, respectively. Additionally, a liquid cooling system enables magnetic field generation for second-level duration, and an observation port and camera allow video capture of the animal's behavior within the chamber. The system generates high-amplitude magnetic fields across two widely separated frequency channels with negligible interference (< 1%). Relatively uniform magnetic field distribution (+/-10% across 94% of the chamber volume) is maintained throughout the chamber, and temperature increase of the inner side of the coil enclosure during the operation is limited to < 0.35 °C/s to ensure in vivo safety. Using cobalt-doped and undoped iron oxide nanoparticles, we demonstrate channel-specific heating rates of 3.5 °C/s and 1.5 °C/s, respectively, validating frequency-selectivity. Both channels can run continuously for four seconds stably.

Paperid: 779, https://arxiv.org/pdf/2510.26135.pdf

Abstract:
The imminent emergence of sixth-generation (6G) networks faces critical challenges from spatially heterogeneous traffic and escalating energy consumption, necessitating sustainable scaling strategies for network infrastructure such as base stations (BSs) and reconfigurable intelligent surfaces (RISs). This paper establishes fundamental scaling laws for the Integrated Relative Energy Efficiency (IREE) metric under joint multi-BS and multi-RIS deployment in traffic-mismatched scenarios. Specifically, we propose an Alternating Directional Dual-Radial Basis Function (ADD-RBF) framework that models the channels of BSs and RISs as two type of spatially decoupled RBF neurons to maximize IREE through alternative optimization, with proven universal approximation capability and convergence guarantees. Theoretical analysis reveals a scaling dichotomy: BS proliferation drives logarithmic capacity growth $\mathcal{O}(\log N^{BS})$ but only polynomial mismatch reduction $\mathcal{O}(1/\sqrt{N^{BS}})$, whereas RIS deployment achieves exponential mismatch mitigation $\mathcal{O}(δ_{\text{err}}^{-(N^R+1)})$ despite its sub-logarithmic capacity gains. Simulation results validate that RISs excel in capturing spatial traffic correlations and alleviating hotspots, making them particularly effective when mismatch dominates, while BSs are preferable under capacity shortages. These findings offer practical guidelines for green 6G network design.

Paperid: 780, https://arxiv.org/pdf/2510.24191.pdf

Abstract:
In this paper, we propose a sample-based moving horizon estimation (MHE) scheme for general nonlinear systems to estimate the current system state using irregularly and/or infrequently available measurements. The cost function of the MHE optimization problem is suitably designed to accommodate these irregular output sequences. We also establish that, under a suitable sample-based detectability condition known as sample-based incremental input/output-to-state stability (i-IOSS), the proposed sample-based MHE achieves robust global exponential stability (RGES). Additionally, for the case of linear systems, we draw connections between sample-based observability and sample-based i-IOSS. This demonstrates that previously established conditions for linear systems to be sample-based observable can be utilized to verify or design sampling strategies that satisfy the conditions to guarantee RGES of the sample-based MHE. Finally, the effectiveness of the proposed sample-based MHE is illustrated through a simulation example.

Paperid: 781, https://arxiv.org/pdf/2510.22821.pdf

Abstract:
Swarm robotics has potential for a wide variety of applications, but real-world deployments remain rare due to the difficulty of predicting emergent behaviors arising from simple local interactions. Traditional engineering approaches design controllers to achieve desired macroscopic outcomes under idealized conditions, while agent-based and artificial life studies explore emergent phenomena in a bottom-up, exploratory manner. In this work, we introduce Analytical Swarm Chemistry, a framework that integrates concepts from engineering, agent-based and artificial life research, and chemistry. This framework combines macrostate definitions with phase diagram analysis to systematically explore how swarm parameters influence emergent behavior. Inspired by concepts from chemistry, the framework treats parameters like thermodynamic variables, enabling visualization of regions in parameter space that give rise to specific behaviors. Applying this framework to agents with minimally viable capabilities, we identify sufficient conditions for behaviors such as milling and diffusion and uncover regions of the parameter space that reliably produce these behaviors. Preliminary validation on real robots demonstrates that these regions correspond to observable behaviors in practice. By providing a principled, interpretable approach, this framework lays the groundwork for predictable and reliable emergent behavior in real-world swarm systems.

Paperid: 782, https://arxiv.org/pdf/2510.21006.pdf

Abstract:
Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance safety monitor that collaborates with any planner and uses a Bekker-based cost model with bounded uncertainty. The monitor builds an upper confidence traversal cost from a lightweight pressure sinkage model identified in field tests and checks each planned motion against two limits: maximum sinkage and rollover margin. If the risk of crossing either limit is too high, the monitor switches to a certified fallback that reduces vehicle speed, increases standoff from soft ground, or stops on firmer soil. This separation lets the planner focus on efficiency while the monitor keeps the vehicle within clear safety limits on board. Wheel geometry, wheel load estimate, and a soil raster serve as inputs, which tie safety directly to vehicle design and let the monitor set clear limits on speed, curvature, and stopping at run time. The method carries uncertainty analytically into the upper confidence cost and applies simple intervention rules. Tuning of the sinkage limit, rollover margin, and risk window trades efficiency for caution while keeping the monitor light enough for embedded processors. Results from a simulation environment spanning loam to sand include intervention rates, violation probability, and path efficiency relative to the nominal plan, and a benchtop static loading check provides initial empirical validation.

Paperid: 783, https://arxiv.org/pdf/2510.20056.pdf

Abstract:
The rapid growth of electric vehicles (EVs) has driven the development of roadway wireless charging technology, effectively extending EV driving range. However, wireless charging introduces significant cybersecurity challenges. Any receiver within the magnetic field can potentially extract energy, and previous research demonstrated that a hacker could detect the operating frequency and steal substantial power. However, our approach required time to track new frequencies or precise adjustments of inductance and capacitance, which would be less effective against potential rapid transmitter frequency changes or capacitance drift. As a solution, we enhanced the interceptor and enabled it to intrude as well as steal energy within just three cycles of the high-frequency signal. Moreover, it can work without any circuit parameters or look-up tables. The key innovation is synchronizing the receiver current with the phase of the magnetic sensor voltage. Through MATLAB / Simulink simulations, finite-element analysis, and experimental validation, we demonstrated that our improved method can steal over 76% of the power received by a fully resonant receiver under identical conditions. This attack demonstrates that simple frequency-changing power encryption offers limited protection against such threats.

Paperid: 784, https://arxiv.org/pdf/2510.18371.pdf

Abstract:
Validation of autonomous driving systems requires a trade-off between test fidelity, cost, and scalability. While miniaturized hardware-in-the-loop (HIL) platforms have emerged as a promising solution, a systematic framework supporting rigorous quantitative analysis is generally lacking, limiting their value as scientific evaluation tools. To address this challenge, we propose MMRHP, a miniature mixed-reality HIL platform that elevates miniaturized testing from functional demonstration to rigorous, reproducible quantitative analysis. The core contributions are threefold. First, we propose a systematic three-phase testing process oriented toward the Safety of the Intended Functionality(SOTIF)standard, providing actionable guidance for identifying the performance limits and triggering conditions of otherwise correctly functioning systems. Second, we design and implement a HIL platform centered around a unified spatiotemporal measurement core to support this process, ensuring consistent and traceable quantification of physical motion and system timing. Finally, we demonstrate the effectiveness of this solution through comprehensive experiments. The platform itself was first validated, achieving a spatial accuracy of 10.27 mm RMSE and a stable closed-loop latency baseline of approximately 45 ms. Subsequently, an in-depth Autoware case study leveraged this validated platform to quantify its performance baseline and identify a critical performance cliff at an injected latency of 40 ms. This work shows that a structured process, combined with a platform offering a unified spatio-temporal benchmark, enables reproducible, interpretable, and quantitative closed-loop evaluation of autonomous driving systems.

Paperid: 785, https://arxiv.org/pdf/2510.16208.pdf

Abstract:
We study a nonstationary bandit problem where rewards depend on both actions and latent states, the latter governed by unknown linear dynamics. Crucially, the state dynamics also depend on the actions, resulting in tension between short-term and long-term rewards. We propose an explore-then-commit algorithm for a finite horizon $T$. During the exploration phase, random Rademacher actions enable estimation of the Markov parameters of the linear dynamics, which characterize the action-reward relationship. In the commit phase, the algorithm uses the estimated parameters to design an optimized action sequence for long-term reward. Our proposed algorithm achieves $\tilde{\mathcal{O}}(T^{2/3})$ regret. Our analysis handles two key challenges: learning from temporally correlated rewards, and designing action sequences with optimal long-term reward. We address the first challenge by providing near-optimal sample complexity and error bounds for system identification using bilinear rewards. We address the second challenge by proving an equivalence with indefinite quadratic optimization over a hypercube, a known NP-hard problem. We provide a sub-optimality guarantee for this problem, enabling our regret upper bound. Lastly, we propose a semidefinite relaxation with Goemans-Williamson rounding as a practical approach.

Paperid: 786, https://arxiv.org/pdf/2510.12955.pdf

Abstract:
Electric heat-pump water heaters (HPWHs) could reduce the energy costs, emissions, and power grid impacts associated with water heating, the second-largest energy use in United States housing. However, most HPWHs today require 240 V circuits to power the backup resistance heating elements they use to maintain comfort during large water draws. Installing a 240 V circuit can increase the up-front cost of a HPWH by half or more. This paper develops and field-tests the first control system that enables a 120 V HPWH to efficiently maintain comfort without resistance heating elements. The novel model predictive control (MPC) system enables pre-heating in anticipation of large water draws, which it forecasts using an ensemble of machine learning predictors. By shifting electrical load over time, MPC also reduces energy costs on average by 23% and 28% under time-of-use pricing and hourly pricing, respectively, relative to a 240 V HPWH with standard controls. Compared to the increasingly common practice in 120 V HPWHs of storing water at a constant, high temperature (60 °C) to ensure comfort, MPC saves 37% energy on average. In addition to demonstrating MPC's benefits in a real, occupied house, this paper discusses implementation challenges and costs. A simple payback analysis suggests that a 120 V HPWH, operated by the MPC system developed here, would be economically attractive in most installation scenarios.

Paperid: 787, https://arxiv.org/pdf/2510.12169.pdf

Abstract:
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a continuous state--cost metric that combines a Bekker pressure--sinkage model with elevation-derived slope and attitude penalties. The resulting terrain cost field is analytic, bounded, and monotonic in soil modulus and slope, ensuring well-posed discretization and stable updates under sensor noise. This metric is evaluated on a lattice with exact steering primitives: Dubins and Reeds--Shepp motions for differential drive and time-parameterized bicycle arcs for Ackermann steering. Global exploration is performed using Vehicle-Dynamics RRT$^{*}$, while local repair is managed by Vehicle-Dynamics D$^{*}$ Lite, enabling millisecond-scale replanning without heuristic smoothing. By separating the terrain--vehicle model from the planner, the framework provides a reusable basis for deterministic, sampling-based, or learning-driven planning in deformable terrain. Hardware trials on an off-road platform demonstrate real-time navigation across soft soil and slope transitions, supporting reliable autonomy in unstructured environments.

Paperid: 788, https://arxiv.org/pdf/2510.10450.pdf

Abstract:
Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed trajectory. In this paper, we introduce a related stability notion called incremental input-to-state practical stability (δ-ISpS), ensuring safety guarantees. We also present a feedback linearization based control design scheme that renders a partially unknown system incrementally input-to-state practically stable and safe with formal guarantees. To deal with the unknown dynamics, we utilize Gaussian process regression to approximate the model. Finally, we implement the controller synthesized by the proposed scheme on a manipulator example

Paperid: 789, https://arxiv.org/pdf/2510.10202.pdf

Abstract:
The design of the performance index, also referred to as cost or reward shaping, is central to both optimal control and reinforcement learning, as it directly determines the behaviors, trade-offs, and objectives that the resulting control laws seek to achieve. A commonly used approach for this inference task in recent years is differentiable trajectory optimization, which allows gradients to be computed with respect to cost parameters by differentiating through an optimal control solver. However, this method often requires repeated solving of the underlying optimal control problem at every iteration, making the method computationally expensive. In this work, assuming known dynamics, we propose a novel framework that analytically links the performance index to the resulting closed-loop optimal control law, thereby transforming a typically bi-level inverse problem into a tractable single-level formulation. Our approach is motivated by the question: given a closed-loop control law that solves an infinite-horizon optimal control problem, how does this law change when the performance index is modified with additional terms? This formulation yields closed-form characterizations for broad classes of systems and performance indices, which not only facilitate interpretation and stability analysis, but also provide insight into the robust stability and input-to-state stable behavior of the resulting nonlinear closed-loop system. Moreover, this analytical perspective enables the generalization of our approach to diverse design objectives, yielding a unifying framework for performance index shaping. Given specific design objectives, we propose a systematic methodology to guide the shaping of the performance index and thereby design the resulting optimal control law.

Paperid: 790, https://arxiv.org/pdf/2510.09283.pdf

Abstract:
Electric Vertical Take-Off and Landing (eVTOL) aircraft are expected to be quieter and more cost-effective than helicopters, offering major economic and social benefits through improved connectivity. Their adoption will require new ground infrastructure and airspace redesign, introducing risks involving multiple stakeholders (Regulators, eVTOL operators, Air navigation service providers, Vertiport operators, OEMs, Pilots, etc.). To assess these risks for the UK airspace, systems-thinking based System Theoretic Process Analysis (STPA) was conducted. To manage the large number of Unsafe Control Actions (UCAs) and requirements generated due to the complexity of the analysis, a novel extension to STPA for the prioritization of results was applied. 317 UCAs were identified in total out of which 110 high-priority UCAs were analyzed (Step-4), resulting in 377 causal factors and 432 requirements. These were prioritized to produce a targeted list of 124 distinct high-priority requirements, 56 of which were identified as gaps in existing aviation regulations, policies, or procedures.. These highlight opportunities for regulatory updates in areas such as organizational performance, certification processes, training, collision avoidance, energy management, and automation. The findings provide regulators with safety considerations that could shape new or updated regulations, compliance methods, and guidance materials for the safe deployment of eVTOLs.

Paperid: 791, https://arxiv.org/pdf/2510.08299.pdf

Abstract:
This paper is concerned with open quantum memory systems for approximately retaining quantum information, such as initial dynamic variables or quantum states to be stored over a bounded time interval. In the Heisenberg picture of quantum dynamics, the deviation of the system variables from their initial values lends itself to closed-form computation in terms of tractable moment dynamics for open quantum harmonic oscillators and finite-level quantum systems governed by linear or quasi-linear Hudson-Parthasarathy quantum stochastic differential equations, respectively. This tractability is used in a recently proposed optimality criterion for varying the system parameters so as to maximise the memory decoherence time when the mean-square deviation achieves a given critical threshold. The memory decoherence time maximisation approach is extended beyond the previously considered low-threshold asymptotic approximation and to Schrödinger type mean-square deviation functionals for the reduced system state governed by the Lindblad master equation. We link this approach with the minimisation of the mean-square deviation functionals at a finite time horizon and with their discounted version which quantifies the averaged performance of the quantum system as a temporary memory under a Poisson flow of storage requests.

Paperid: 792, https://arxiv.org/pdf/2510.07675.pdf

Abstract:
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific publications deserves some critical evaluation of their actual role, relevance and pertinence. First, we discuss the procedure followed by most of these designs -- illustrated with examples from the literature. Second, we bring to the readers attention several aspects of the control problem, central in classical designs, which are disregarded in the sliding mode literature. Finally, to illustrate with an specific example our previous considerations, we compare the performance of two adaptive tracking controllers for a simple one degree of freedom mechanical systems with unknown parameters and static and Coulomb friction -- that do not rely on the measurement of velocity.

Paperid: 793, https://arxiv.org/pdf/2510.05359.pdf

Abstract:
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback controller design therefore remains nonconvex in typical formulations, even with approximations via bilinear control-affine terms. We address this gap by introducing the Koopman Control Factorization, a novel parameterization of control-affine dynamical systems combined with a feedback controller defined as a linear combination of nonlinear measurements. With this choice, the Koopman operator of the closed-loop system is a bilinear combination of the coefficients in two matrices: one representing the system, and the other the controller. We propose a set of sufficient conditions such that the factorization holds. Then, we present an algorithm that calculates the feedback matrix via semi-definite programming, producing a Lyapunov-stable closed-loop system with convex optimization. We evaluate the proposed controllers on two canonical examples of control-affine nonlinear systems (inverted pendulums), and show that our factorization and controller successfully stabilize both under properly-chosen basis functions. This manuscript introduces a broadly generalizable control synthesis method for stabilization of nonlinear systems that is quick-to-compute, verifiably stable, data-driven, and does not rely on approximations.

Paperid: 794, https://arxiv.org/pdf/2510.04814.pdf

Abstract:
In this work, we propose an event-triggered moving horizon estimation (ET-MHE) scheme for the remote state estimation of general nonlinear systems. In the presented method, whenever an event is triggered, a single measurement is transmitted and the nonlinear MHE optimization problem is subsequently solved. If no event is triggered, the current state estimate is updated using an open-loop prediction based on the system dynamics. Moreover, we introduce a novel event-triggering rule under which we demonstrate robust global exponential stability of the ET-MHE scheme, assuming a suitable detectability condition is met. In addition, we show that with the adoption of a varying horizon length, a tighter bound on the estimation error can be achieved. Finally, we validate the effectiveness of the proposed method through two illustrative examples.

Paperid: 795, https://arxiv.org/pdf/2510.03423.pdf

Abstract:
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta functions, are typically formulated as an optimization over a normed function space subject to integral equality constraints and can be efficiently solved for linear time-varying systems in their dual formulation. In this dual setting, the problem takes the form of a semi-infinite program which is readily solvable in online scenarios for constructing maneuver plans. This work augments the approach with the inclusion of magnitude constraints on the input over time windows of interest, which is shown to preserve the impulsive nature of the optimal solution and enable efficient solution procedures via semi-infinite programming. The resulting algorithm is demonstrated on the highly relevant problem of relative motion control of spacecraft in Low Earth Orbit (LEO) and compared to several other proposed solutions from the literature.

Paperid: 796, https://arxiv.org/pdf/2510.01475.pdf

Abstract:
Advanced control strategies like Model Predictive Control (MPC) offer significant energy savings for HVAC systems but often require substantial engineering effort, limiting scalability. Reinforcement Learning (RL) promises greater automation and adaptability, yet its practical application in real-world residential settings remains largely undemonstrated, facing challenges related to safety, interpretability, and sample efficiency. To investigate these practical issues, we performed a direct comparison of an MPC and a model-based RL controller, with each controller deployed for a one-month period in an occupied house with a heat pump system in West Lafayette, Indiana. This investigation aimed to explore scalability of the chosen RL and MPC implementations while ensuring safety and comparability. The advanced controllers were evaluated against each other and against the existing controller. RL achieved substantial energy savings (22\% relative to the existing controller), slightly exceeding MPC's savings (20\%), albeit with modestly higher occupant discomfort. However, when energy savings were normalized for the level of comfort provided, MPC demonstrated superior performance. This study's empirical results show that while RL reduces engineering overhead, it introduces practical trade-offs in model accuracy and operational robustness. The key lessons learned concern the difficulties of safe controller initialization, navigating the mismatch between control actions and their practical implementation, and maintaining the integrity of online learning in a live environment. These insights pinpoint the essential research directions needed to advance RL from a promising concept to a truly scalable HVAC control solution.

Paperid: 797, https://arxiv.org/pdf/2510.01425.pdf

Abstract:
In this paper we propose a variation of the widely popular Interconnection-and-Damping-Assigment Passivity-Based Control (IDA-PBC) based on Poincare's Lemma to design output feedback globally stabilizing controllers for two dimensional systems. The procedure is constructive and, in comparison with the classical IDA-PBC, whose application is often stymied by the need to solve the (infamous) matching partial differential equation (PDE), in this new method the PDE is replaced by an ordinary differential equation, whose solution is far simpler. The procedure is then applied for the design of voltage-feedback controllers for the three most typical DC-to-DC power converter topologies: the Buck, Boost and Buck-Boost. It is assumed that these converters feed an uncertain load, which is characterized by a static relation between its voltage and current. In the case when the load consists of the parallel connection of a resistive term and a constant power load we propose an adaptive version of the design, adding an identification scheme for the load parameters. This allows the controller to regulate the converter output when the load varies-that is a typical scenario in these applications. Extensive numerical simulations and experimental results validate the approach.

Paperid: 798, https://arxiv.org/pdf/2510.01402.pdf

Abstract:
Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments remains an open challenge. State-of-the-art methods often rely on collision-cone or velocity-obstacle constraints which, by only considering the angle of the relative velocity, are inherently conservative and can render the CBF-based quadratic program infeasible, particularly in dense scenarios. To address this issue, we propose a Dynamic Parabolic Control Barrier Function (DPCBF) that defines the safe set using a parabolic boundary. The parabola's vertex and curvature dynamically adapt based on both the distance to an obstacle and the magnitude of the relative velocity, creating a less restrictive safety constraint. We prove that the proposed DPCBF is valid for a kinematic bicycle model subject to input constraints. Extensive comparative simulations demonstrate that our DPCBF-based controller significantly enhances navigation success rates and QP feasibility compared to baseline methods. Our approach successfully navigates through dense environments with up to 100 dynamic obstacles, scenarios where collision cone-based methods fail due to infeasibility.

Paperid: 799, https://arxiv.org/pdf/2510.01073.pdf

Abstract:
This work presents two methodologies to enhance vulnerability assessment in power systems using bilevel attacker-defender network interdiction models. First, we introduce a systematic evaluation procedure for comparing different optimal power flow formulations in the lower-level problem. We demonstrate the procedure for a comparison of the widely used DC approximation and a linearized AC optimal power flow model. Second, we propose a novel scoring methodology to identify and prioritize critical attack vectors across diverse load and generation scenarios. Both methodologies go beyond traditional worst-case analysis. Case studies on a SimBench high-voltage test grid show that the DC approach fails to detect a significant portion of critical vulnerabilities. The scoring methodology further demonstrates the dependency of vulnerabilities on the considered load case and time step, highlighting the importance of assessing multiple scenarios and going beyond worst-case solutions. The proposed methodologies enhance power system vulnerability assessment and can support the effective development of robust defense strategies for future power systems.

Paperid: 800, https://arxiv.org/pdf/2510.00943.pdf

Abstract:
Digital control has become increasingly widespread in modern power electronic converters. When acquiring feedback signals such as the inductor current, synchronizing the analog-to-digital converter (ADC) with the digital pulse-width modulator (DPWM) is commonly employed to accurately track their steady-state average. However, the small-signal implications of such synchronization have not been investigated. This paper presents an exact small-signal model for digitally controlled buck converters operating in forced continuous-conduction mode (FCCM) under constant-frequency current-mode control, explicitly accounting for DPWM-ADC synchronization. Using a sampled-data framework, the proposed model captures all sideband effects introduced by the sampling process, yielding precise predictions of both analog and digital loop gains, even at frequencies beyond the switching and sampling frequencies. Both asymmetrical and symmetrical carrier modulations are considered. Furthermore, the digital loop gain is derived in closed form using the modified z-transform, enabling low-complexity compensator design and stability assessment. Within this framework, the analog loop gain can be directly obtained from the digital loop gain, thereby eliminating the need for computationally intensive infinite series evaluations. The validity of the proposed model is confirmed through both simulation and experimental results.

Paperid: 801, https://arxiv.org/pdf/2510.00433.pdf

Abstract:
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent, piecewise dynamics introduced by affordable pneumatic valves and the bidirectional architecture. We present a model-based control framework that couples a physics-grounded switched nonlinear plant model (inflation/deflation modes) with a mixed-integer nonlinear model predictive controller (MI-NMPC). The controller co-optimizes mode scheduling and PWM inputs to realize accurate reference tracking while enforcing input constraints and penalizing energy consumption and excessive switching. To make discrete mode decisions tractable, we employ a Combinatorial Integral Approximation that relaxes binary mode variables to continuous surrogates within the valve-scheduling layer. With parameters identified from the physical system, simulations with step and sinusoidal references validate the proposed MI-NMPC, showing a consistently favorable trade-off among accuracy, control effort, and switching, and outperforming conventional PID and NMPC with heuristic mode selection.

Paperid: 802, https://arxiv.org/pdf/2510.00270.pdf

Abstract:
Cellular sheaves and sheaf Laplacians provide a far-reaching generalization of graphs and graph Laplacians, resulting in a wide array of applications ranging from machine learning to multi-agent control. In the context of multi-agent systems, so called coordination sheaves provide a unifying formalism that models heterogeneous agents and coordination goals over undirected communication topologies, and applying sheaf diffusion drives agents to achieve their coordination goals. Existing literature on sheaf diffusion assumes that agents can communicate and compute updates synchronously, which is an unrealistic assumption in many scenarios where communication delays or heterogeneous agents with different compute capabilities cause disagreement among agents. To address these challenges, we introduce asynchronous nonlinear sheaf diffusion. Specifically, we show that under mild assumptions on the coordination sheaf and bounded delays in communication and computation, nonlinear sheaf diffusion converges to a minimizer of the Dirichlet energy of the coordination sheaf at a linear rate proportional to the delay bound. We further show that this linear convergence is attained from arbitrary initial conditions and the analysis depends on the spectrum of the sheaf Laplacian in a manner that generalizes the standard graph Laplacian case. We provide several numerical simulations to validate our theoretical results.

Paperid: 803, https://arxiv.org/pdf/2509.25394.pdf

Abstract:
With the popularity of wireless charging, energy access protection and cybersecurity are gaining importance, especially in public places. Currently, the most common energy encryption method uses frequency and associated impedance variation. However, we have proven that this method is not reliable, since a hacker can detect the changing frequency and adjust the compensation. However, the previously presented system needed time to follow the updated frequency, while encryption systems may vary the frequency faster to avoid energy theft. Furthermore, the previous system required an additional sensor coil. To solve these problems, we optimized the attack and the associated system, which can intrude and steal energy within 0.2 ms. The key is the elimination of the time-consuming maximum receiver current regulation. Also, we use the main receiving coil rather than any additional sensor antenna to detect the magnetic field. Thus, the new hardware is even simpler. A simulation model and experimental results demonstrate the fast response speed of the attack on encrypted wireless power and steal 65% of the power. Overall, the applicability of the attack is highly improved and leaves less room for hardening the encryption. The results demonstrate that energy access protection needs to be given great attention.

Paperid: 804, https://arxiv.org/pdf/2509.24639.pdf

Abstract:
This paper explores stability properties of periodic solutions of (nonlinear) fractional-order differential equations (FODEs). As classical Caputo-type FODEs do not admit exactly periodic solutions, we propose a framework of Liouville-Weyl-type FODEs, which do admit exactly periodic solutions and are an extension of Caputo-type FODEs. Local linearization around a periodic solution results in perturbation dynamics governed by a linear time-periodic differential equation. In the classical integer-order case, the perturbation dynamics is therefore described by Floquet theory, i.e. the exponential growth or decay of perturbations is expressed by Floquet exponents which can be assessed using the Hill matrix approach. For fractional-order systems, however, a rigorous Floquet theory is lacking. Here, we explore the limitations when trying to extend Floquet theory and the Hill matrix method to linear time-periodic fractional-order differential equations (LTP-FODEs) as local linearization of nonlinear fractional-order systems. A key result of the paper is that such an extended Floquet theory can only assess exponentially growing solutions of LTP-FODEs. Moreover, we provide an analysis of linear time-invariant fractional-order systems (LTI-FODEs) with algebraically decaying solutions and show that the inaccessibility of decaying solutions through Floquet theory is already present in the time-invariant case.

Paperid: 805, https://arxiv.org/pdf/2509.23361.pdf

Abstract:
This paper presents a novel method for the sensitivity analysis of electromagnetic (EM) systems whose transfer function (TF), that is the input-output (I/O) relationship between the input parameters affected by tolerance and the system response (i.e., the arising EM performance of interest), is not available in closed (or explicit) form. The method is a generalized analytic technique based on the Interval Analysis (IA). First, an analytic surrogate model (SM) of the TF is defined by means of a learning-by-example (LBE) approach starting from a set of available I/O examples. Then, the LBE-derived SM is extended to intervals through IA to yield inclusive, yet finite, performance bounds of the output system response when the control parameters are affected by unknown, but bounded, tolerances. A set of representative numerical examples is reported to validate the proposed IA-LBE method as well as to assess its effectiveness and reliability when dealing with realistic EM systems (e.g., antennas) for which the TF is not explicitly known.

Paperid: 806, https://arxiv.org/pdf/2509.20788.pdf

Abstract:
Identifying an optimal set of driver nodes to achieve synchronization via pinning control is a fundamental challenge in complex network science, limited by computational intractability and the lack of general theory. Here, leveraging a degree-based mean-field (annealed) approximation from statistical physics, we analytically reveal how the structural degree distribution systematically governs synchronization performance, and derive an analytic characterization of the globally optimal pinning set and constructive algorithms with linear complexity (dominated by degree sorting, O(N+M). The optimal configuration exhibits a chaotic dependence--a discontinuous sensitivity--on its cardinality, whereby adding a single node can trigger abrupt changes in node composition and control effectiveness. This structural transition fundamentally challenges traditional heuristics that assume monotonic performance gains with budget. Systematic experiments on synthetic and empirical networks confirm that the proposed approach consistently outperforms degree-, betweenness-, and other centrality-based baselines. Furthermore, we quantify how key degree-distribution features--low-degree saturation, high-degree cutoff, and the power-law exponent--govern achievable synchronizability and shape the form of optimal sets. These results offer a systematic understanding of how degree heterogeneity shapes the network controllability. Our work establishes a unified link between degree heterogeneity and spectral controllability, offering both mechanistic insights and practical design rules for optimal driver-node selection in diverse complex systems.

Paperid: 807, https://arxiv.org/pdf/2509.19636.pdf

Abstract:
Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However, developing an autonomous racing stack for a full-scale car is often constrained by limited access to dedicated test tracks, restricting opportunities for real-world validation. While previous work typically requires extended development cycles and significant track time, this paper introduces a minimalistic autonomous racing stack for high-speed time-trial racing that emphasizes rapid deployment and efficient system integration with minimal on-track testing. The proposed stack was validated on real speedways, achieving a top speed of 206 km/h within just 11 hours' practice run on the track with 325 km in total. Additionally, we present the system performance analysis, including tracking accuracy, vehicle dynamics, and safety considerations, offering insights for teams seeking to rapidly develop and deploy an autonomous racing stack with limited track access.

Paperid: 808, https://arxiv.org/pdf/2509.18723.pdf

Abstract:
Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the need for manual parameter tuning, which is especially crucial in complex Multiple-Input Multiple-Output (MIMO) systems. This paper presents MIMO Dual Iterative Learning Control (DILC), a novel data-driven iterative learning scheme for simultaneous tracking control and model learning, without requiring any prior system knowledge or manual parameter tuning. The method is designed for repetitive MIMO systems and integrates seamlessly with established iterative learning control methods. We provide monotonic convergence conditions for both reference tracking error and model error in linear time-invariant systems. The DILC scheme -- rapidly and autonomously -- solves various motion tasks in high-fidelity simulations of an industrial robot and in multiple nonlinear real-world MIMO systems, without requiring model knowledge or manually tuning the algorithm. In our experiments, many reference tracking tasks are solved within 10-20 trials, and even complex motions are learned in less than 100 iterations. We believe that, because of its rapid and autonomous learning capabilities, DILC has the potential to serve as an efficient building block within complex learning frameworks for intelligent real-world systems.

Paperid: 809, https://arxiv.org/pdf/2509.18460.pdf

Abstract:
Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of faults in perception systems is important. Faults in perception systems pose particular challenges: faults are often tied to the perceptual context of the environment, and errors in their multi-stage pipelines can propagate across modules. To address this, we adopt a counterfactual reasoning approach to propose a framework for fault detection and isolation (FDI) in perception systems. As opposed to relying on physical redundancy (i.e., having extra sensors), our approach utilizes analytical redundancy with counterfactual reasoning to construct perception reliability tests as causal outcomes influenced by system states and fault scenarios. Counterfactual reasoning generates reliability test results under hypothesized faults to update the belief over fault hypotheses. We derive both passive and active FDI methods. While the passive FDI can be achieved by belief updates, the active FDI approach is defined as a causal bandit problem, where we utilize Monte Carlo Tree Search (MCTS) with upper confidence bound (UCB) to find control inputs that maximize a detection and isolation metric, designated as Effective Information (EI). The mentioned metric quantifies the informativeness of control inputs for FDI. We demonstrate the approach in a robot exploration scenario, where a space robot performing vision-based navigation actively adjusts its attitude to increase EI and correctly isolate faults caused by sensor damage, dynamic scenes, and perceptual degradation.

Paperid: 810, https://arxiv.org/pdf/2509.17739.pdf

Abstract:
We present a fully automatic framework for synthesising compact, finite-state deterministic abstractions of deterministic, continuous-state autonomous systems under locally specified resolution requirements. Our approach builds on multi-resolution approximate bisimulations, a generalisation of classical $Îµ$-approximate bisimulations, that support state-dependent error bounds and subsumes both variable- and uniform-resolution relations. We show that some systems admit multi-resolution bisimulations but no $Îµ$-approximate bisimulation. We prove the existence of multi-resolution approximately bisimilar abstractions for all incrementally uniformly bounded ($Î´$-UB) systems, thereby broadening the applicability of symbolic verification to a larger class of dynamics; as a trivial special case, this result also covers incrementally globally asymptotically stable ($Î´$-GAS) systems. The Multi-resolution Abstraction Synthesis Problem (MRASP) is solved via a scalable Counterexample-Guided Inductive Synthesis (CEGIS) loop, combining mesh refinement with counterexample-driven refinement. This ensures soundness for all $Î´$-UB systems, and ensures termination in certain special cases. Experiments on linear and nonlinear benchmarks, including non-$Î´$-GAS and non-differentiable cases, demonstrate that our algorithm yields abstractions up to 50\% smaller than Lyapunov-based grids while enforcing tighter, location-dependent error guarantees.

Paperid: 811, https://arxiv.org/pdf/2509.17111.pdf

Abstract:
Cluster synchronization is of great importance for the normal functioning of numerous technological and natural systems. Deviations from normal cluster synchronization patterns are closely associated with various malfunctions, such as neurological disorders in the brain. Therefore, it is crucial to restore normal system functions by stabilizing the appropriate cluster synchronization patterns. Most existing studies focus on designing controllers based on state measurements to achieve system stabilization. However, in many real-world scenarios, measuring system states in real time, such as neuronal activity in the brain, poses significant challenges, rendering the stabilization of such systems difficult. To overcome this challenge, in this paper, we employ an open-loop control strategy, vibrational control, which does not require any state measurements. We establish some sufficient conditions under which vibrational inputs stabilize cluster synchronization. Further, we provide a tractable approach to design vibrational control. Finally, numerical experiments are conducted to demonstrate our theoretical findings.

Paperid: 812, https://arxiv.org/pdf/2509.16837.pdf

Abstract:
This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances. We derive a two-stage framework that combines causal inference with selective online adaptation to achieve an effective learning-based recovery control method. In the offline phase, we develop a causal layer attribution technique based on the average causal effect (ACE) to evaluate the relative importance of each layer in a pretrained deep neural network (DNN) controller compensating for faults. This methodology identifies a subset of high-impact layers responsible for robust fault compensation. In the online phase, we deploy a Lyapunov-based gradient update to adapt only the ACE-selected layer to circumvent the need for full-network or last-layer only updates. The proposed adaptive controller guarantees uniform ultimate boundedness (UUB) with exponential convergence of the closed-loop system in the presence of actuator faults and external disturbances. Compared to conventional adaptive DNN controllers with full-network adaptation, our methodology has a reduced computational overhead. To demonstrate the effectiveness of our proposed methodology, a case study is provided on a 3-axis attitude control system of a spacecraft with four reaction wheels.

Paperid: 813, https://arxiv.org/pdf/2509.15710.pdf

Abstract:
A versatile approach for the synthesis of phased array (PA) antennas able to fit user-defined power pattern masks, while fulfilling additional geometrical and/or electrical constraints on the geometry of the array aperture and/or on the array excitations is presented. Such a synthesis method is based on the inverse source (IS) formulation and exploits the null-space of the radiation operator that causes the non-uniqueness of the IS problem at hand. More in detail, the unknown element excitations of the PA are expressed as the linear combination of a minimum-norm or radiating (RA) term and a suitable non-radiating (NR) component. The former, computed via the truncated singular value decomposition (SVD) of the array radiation operator, is devoted to generate a far-field power pattern that fulfills user-defined pattern masks. The other one belongs to the null-space of the radiation operator and allows one to fit additional geometrical and/or electrical constraints on the geometry of the array aperture and/or on the beam-forming network (BFN) when determined with a customized global optimization strategy. A set of numerical examples, concerned with various array arrangements and additional design targets, is reported to prove the effectiveness of the proposed approach.

Paperid: 814, https://arxiv.org/pdf/2509.14758.pdf

Abstract:
Ensuring safety of vision-based control systems remains a major challenge hindering their deployment in critical settings. Safety filters have gained increased interest as effective tools for ensuring the safety of classical control systems, but their applications in vision-based control settings have so far been limited. Pre-trained vision models (PVRs) have been shown to be effective perception backbones for control in various robotics domains. In this paper, we are interested in examining their effectiveness when used for designing vision-based safety filters. We use them as backbones for classifiers defining failure sets, for Hamilton-Jacobi (HJ) reachability-based safety filters, and for latent world models. We discuss the trade-offs between training from scratch, fine-tuning, and freezing the PVRs when training the models they are backbones for. We also evaluate whether one of the PVRs is superior across all tasks, evaluate whether learned world models or Q-functions are better for switching decisions to safe policies, and discuss practical considerations for deploying these PVRs on resource-constrained devices.

Paperid: 815, https://arxiv.org/pdf/2509.13257.pdf

Abstract:
This paper presents MPC-CDF, a new approach integrating control density functions (CDFs) within a model predictive control (MPC) framework to ensure safety-critical control in nonlinear dynamical systems. By using the dual formulation of the navigation problem, we incorporate CDFs into the MPC framework, ensuring both convergence and safety in a discrete-time setting. These density functions are endowed with a physical interpretation, where the associated measure signifies the occupancy of system trajectories. Leveraging this occupancy-based perspective, we synthesize safety-critical controllers using the proposed MPC-CDF framework. We illustrate the safety properties of this framework using a unicycle model and compare it with a control barrier function-based method. The efficacy of this approach is demonstrated in the autonomous safe navigation of an underwater vehicle, which avoids complex and arbitrary obstacles while achieving the desired level of safety.

Paperid: 816, https://arxiv.org/pdf/2509.11907.pdf

Abstract:
In this work, we consider the problem of identifying an unknown linear dynamical system given a finite hypothesis class. In particular, we analyze the effect of the excitation input on the sample complexity of identifying the true system with high probability. To this end, we present sample complexity lower bounds that capture the choice of the selected excitation input. The sample complexity lower bound gives rise to a system theoretic condition to determine the potential benefit of experiment design. Informed by the analysis of the sample complexity lower bound, we propose a persistent excitation (PE) condition tailored to the considered setting, which we then use to establish sample complexity upper bounds. Notably, the \acs{PE} condition is weaker than in the case of an infinite hypothesis class and allows analyzing different excitation inputs modularly. Crucially, the lower and upper bounds share the same dependency on key problem parameters. Finally, we leverage these insights to propose an active learning algorithm that sequentially excites the system optimally with respect to the current estimate, and provide sample complexity guarantees for the presented algorithm. Concluding simulations showcase the effectiveness of the proposed algorithm.

Paperid: 817, https://arxiv.org/pdf/2509.11584.pdf

Abstract:
We present a model predictive control (MPC) framework for nonlinear stochastic systems that ensures safety guarantee with high probability. Unlike most existing stochastic MPC schemes, our method adopts a set-erosion that converts the probabilistic safety constraint into a tractable deterministic safety constraint on a smaller safe set over deterministic dynamics. As a result, our method is compatible with any off-the-shelf deterministic MPC algorithm. The key to the effectiveness of our method is a tight bound on the stochastic fluctuation of a stochastic trajectory around its nominal version. Our method is scalable and can guarantee safety with high probability level (e.g., 99.99%), making it particularly suitable for safety-critical applications involving complex nonlinear dynamics. Rigorous analysis is conducted to establish a theoretical safety guarantee, and numerical experiments are provided to validate the effectiveness of the proposed MPC method.

Paperid: 818, https://arxiv.org/pdf/2509.11318.pdf

Abstract:
This work investigates the transient and dynamical behavior of hybrid AC/DC systems using dual-port grid-forming (GFM) control. A generalized modeling framework for hybrid AC/DC networks is first introduced that accounts for converter, control, and network circuit dynamics and arbitrary network topologies. This modeling framework is applied to low-voltage networks to analyze the performance of dual-port grid-forming (GFM) control. The results demonstrate that active damping by dual-port GFM control is effective at improving the transient response and mitigating oscillations. In contrast, the steady-state response characteristics can be adjusted independently with minimal impact on damping characteristics. The dynamic model and results are validated through hardware experiments for three prototypical system architectures. Furthermore, we demonstrate that low-voltage DC distribution interfaced by AC/DC converters using dual-port GFM control, can serve both as the sole interconnection between AC distribution systems and in parallel to an AC connection, thereby enhancing the operational flexibility of low- and medium-voltage distribution networks.

Paperid: 819, https://arxiv.org/pdf/2509.11235.pdf

Abstract:
This paper compares the performance of a decentralized proportional-integral-derivative (PID) controller, a linear model predictive controller (LMPC), and a nonlinear model predictive controller (NMPC) applied to a quadruple tank system (QTS). We present experimental data from a physical setup of the QTS as well as simulation results. The QTS is modeled as a stochastic nonlinear continuous-discrete-time system, with parameters estimated using a maximum-likelihood prediction-error-method (ML-PEM). The NMPC applies the stochastic nonlinear continuous-discrete-time model, while the LMPC uses a linearized version of the same model. We tune the decentralized PID controller using the simple internal model control (SIMC) rules. The SIMC rules require transfer functions of the process, and we obtain these from the linearized model. We compare the controller performances based on systematic tests using both the physical setup and the simulated QTS. We measure the performance in terms of tracking errors and rate of movement in the manipulated variables. The LMPC and the NMPC perform better than the decentralized PID control system for tracking pre-announced time-varying setpoints. For disturbance rejection, the MPCs perform only slightly better than the decentralized PID controller. The primary advantage of the MPCs is their ability to use the information of future setpoints. We demonstrate this by providing simulation results of the MPCs with and without such information. Finally, the NMPC achieves slightly improved tracking errors compared to the LMPC but at the expense of having a higher input rate of movement.

Paperid: 820, https://arxiv.org/pdf/2509.11209.pdf

Abstract:
We present a novel dynamic model of an electric flash clay calcination plant. Calcined kaolinite-rich clay has been identified as one of the most effective candidates for supplementary cementitious material (SCM), because of its large availability. Calcination of clay is achieved via the dehydroxylation reaction, which does not release CO2 (unlike limestone), but has a considerable energy requirement. The required high temperature can be met by electric resistive heating of the working gas in the plant, that can be powered by renewable energy. Therefore, CO2-free calcination of clay can be achieved. Up to 50\% of the limestone-based clinker can be substituted by calcined clay (CC), making the cement more sustainable. We consider a plant that consists of gas-material cyclones that pre-heat the clay, a calciner, and a gas-recirculation system with electric heating of the gas. The model is formulated as a system of differential-algebraic equations (DAE). The model consists of thermophysical properties, reaction kinetics and stoichiometry, transport, mass and energy balances, and algebraic constraints. The model can be used to perform dynamic simulations with changing inputs, process design, and optimization. Moreover, it can be used to develop model-based control, which is relevant for flexible operation of a clay calcination plant for green cement production.

Paperid: 821, https://arxiv.org/pdf/2509.10478.pdf

Abstract:
The management of future AI-native Next-Generation (NextG) Radio Access Networks (RANs), including 6G and beyond, presents a challenge of immense complexity that exceeds the capabilities of traditional automation. In response, we introduce the concept of the LLM-RAN Operator. In this paradigm, a Large Language Model (LLM) is embedded into the RAN control loop to translate high-level human intents into optimal network actions. Unlike prior empirical studies, we present a formal framework for an LLM-RAN operator that builds on earlier work by making guarantees checkable through an adapter aligned with the Open RAN (O-RAN) standard, separating strategic LLM-driven guidance in the Non-Real-Time (RT) RAN intelligent controller (RIC) from reactive execution in the Near-RT RIC, including a proposition on policy expressiveness and a theorem on convergence to stable fixed points. By framing the problem with mathematical rigor, our work provides the analytical tools to reason about the feasibility and stability of AI-native RAN control. It identifies critical research challenges in safety, real-time performance, and physical-world grounding. This paper aims to bridge the gap between AI theory and wireless systems engineering in the NextG era, aligning with the AI4NextG vision to develop knowledgeable, intent-driven wireless networks that integrate generative AI into the heart of the RAN.

Paperid: 822, https://arxiv.org/pdf/2509.09777.pdf

Abstract:
A scenario is considered wherein a stationary, turn constrained agent (Turret) and a mobile agent (Defender) cooperate to protect the former from an adversarial mobile agent (Attacker). The Attacker wishes to reach the Turret prior to getting captured by either the Defender or Turret, if possible. Meanwhile, the Defender and Turret seek to capture the Attacker as far from the Turret as possible. This scenario is formulated as a differential game and solved using a geometric approach. Necessary and sufficient conditions for the Turret-Defender team winning and the Attacker winning are given. In the case of the Turret-Defender team winning equilibrium strategies for the min max terminal distance of the Attacker to the Turret are given. Three cases arise corresponding to solo capture by the Defender, solo capture by the Turret, and capture simultaneously by both Turret and Defender.

Paperid: 823, https://arxiv.org/pdf/2509.09269.pdf

Abstract:
We study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial locations. We analyze how delays affect the spatial locality of the optimal feedback gain leveraging the problem decoupling in the spatial frequency domain. For the cases of expensive control and small delay, we provide exact expressions of the optimal controllers in the limit for infinite control weight and vanishing delay, respectively. In the expensive control regime, the optimal feedback control law decomposes into a delay-aware filtering of the delayed state and the optimal controller in the delay-free setting. Under small delays, the optimal controller is a perturbation of the delay-free one which depends linearly on the delay. We illustrate our analytical findings with a reaction-diffusion process over the real line and a multi-agent system coupled through circulant matrices, showing that delays reduce the effectiveness of optimal feedback control and may require each subsystem within a distributed implementation to communicate with farther-away locations.

Paperid: 824, https://arxiv.org/pdf/2509.08776.pdf

Abstract:
Massive MIMO systems rely on accurate Channel State Information (CSI) feedback to enable high-gain beam-forming. However, the feedback overhead scales linearly with the number of antennas, presenting a major bottleneck. While recent deep learning methods have improved CSI compression, most overlook the impact of quantization and entropy coding, limiting their practical deployability. In this work, we propose an end-to-end CSI compression framework that integrates a Spatial Correlation-Guided Attention Mechanism with quantization and entropy-aware training. Our model effectively exploits the spatial correlation among the antennas, thereby learning compact, entropy-optimized latent representations for efficient coding. This reduces the required feedback bitrates without sacrificing reconstruction accuracy, thereby yielding a superior rate-distortion trade-off. Experiments show that our method surpasses existing end-to-end CSI compression schemes, exceeding benchmark performance by an average of 21.5% on indoor datasets and 18.9% on outdoor datasets. The proposed framework results in a practical and efficient CSI feedback scheme.

Paperid: 825, https://arxiv.org/pdf/2509.08672.pdf

Abstract:
This work addresses a fundamental challenge in applying deep learning to power systems: developing neural network models that transfer across significant system changes, including networks with entirely different topologies and dimensionalities, without requiring training data from unseen reconfigurations. Despite extensive research, most ML-based approaches remain system-specific, limiting real-world deployment. This limitation stems from a dual barrier. First, topology changes shift feature distributions and alter input dimensions due to power flow physics. Second, reconfigurations redefine output semantics and dimensionality, requiring models to handle configuration-specific outputs while maintaining transferable feature extraction. To overcome this challenge, we introduce a Universal Graph Convolutional Network (UGCN) that achieves transferability to any reconfiguration or variation of existing power systems without any prior knowledge of new grid topologies or retraining during implementation. Our approach applies to both transmission and distribution networks and demonstrates generalization capability to completely unseen system reconfigurations, such as network restructuring and major grid expansions. Experimental results across power system applications, including false data injection detection and state forecasting, show that UGCN significantly outperforms state-of-the-art methods in cross-system zero-shot transferability of new reconfigurations.

Paperid: 826, https://arxiv.org/pdf/2509.07294.pdf

Abstract:
We address the problem of learning a neural Koopman operator model that provides dissipativity guarantees for an unknown nonlinear dynamical system that is known to be dissipative. We propose a two-stage approach. First, we learn an unconstrained neural Koopman model that closely approximates the system dynamics. Then, we minimally perturb the parameters to enforce strict dissipativity. Crucially, we establish theoretical guarantees that extend the dissipativity properties of the learned model back to the original nonlinear system. We realize this by deriving an exact relationship between the dissipativity of the learned model and the true system through careful characterization of the identification errors from the noisy data, Koopman operator truncation, and generalization to unseen data. We demonstrate our approach through simulation on a Duffing oscillator model.

Paperid: 827, https://arxiv.org/pdf/2509.06687.pdf

Abstract:
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels, higher traffic density, and hydrodynamic disturbances. Existing methods for autonomous vessel navigation often lack the robustness or precision required for such environments. This paper presents a new motion planning approach for Automated Surface Vessels (ASVs) using Robust Model Predictive Control (RMPC) combined with Control Barrier Functions (CBFs). By incorporating channel borders and obstacles as safety constraints within the control design framework, the proposed method ensures both collision avoidance and robust navigation on complex waterways. Simulation results demonstrate the efficacy of the proposed method in safely guiding ASVs under realistic conditions, highlighting its improved safety and adaptability compared to the state-of-the-art.

Paperid: 828, https://arxiv.org/pdf/2509.06682.pdf

Abstract:
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static conditions, making them unsuitable for real-world farming scenarios where obstacles, such as moving machinery and uneven terrains, create continuous challenges. To address this, we propose a real-time path planning framework that integrates Unmanned Aerial Vehicles (UAVs) for obstacle detection and terrain assessment, allowing UGVs to dynamically adjust their coverage paths. The environment is modeled as a weighted directed graph, where the edge weights are continuously updated based on the UAV observations to reflect obstacle motion and terrain variations. The proposed approach incorporates Voronoi-based partitioning, adaptive edge weight assignment, and cost-based path optimization to enhance navigation efficiency. Simulation results demonstrate the effectiveness of the proposed method in improving path planning, reducing traversal costs, and maintaining robust coverage in the presence of dynamic obstacles and muddy terrains.

Paperid: 829, https://arxiv.org/pdf/2509.05930.pdf

Abstract:
We introduce the Smoothed Online Optimization for Target Tracking (SOOTT) problem, a new framework that integrates three key objectives in online decision-making under uncertainty: (1) tracking cost for following a dynamically moving target, (2) adversarial perturbation cost for withstanding unpredictable disturbances, and (3) switching cost for penalizing abrupt changes in decisions. This formulation captures real-world scenarios such as elastic and inelastic workload scheduling in AI clusters, where operators must balance long-term service-level agreements (e.g., LLM training) against sudden demand spikes (e.g., real-time inference). We first present BEST, a robust algorithm with provable competitive guarantees for SOOTT. To enhance practical performance, we introduce CoRT, a learning-augmented variant that incorporates untrusted black-box predictions (e.g., from ML models) into its decision process. Our theoretical analysis shows that CoRT strictly improves over BEST when predictions are accurate, while maintaining robustness under arbitrary prediction errors. We validate our approach through a case study on workload scheduling, demonstrating that both algorithms effectively balance trajectory tracking, decision smoothness, and resilience to external disturbances.

Paperid: 830, https://arxiv.org/pdf/2509.04885.pdf

Abstract:
The pinching-antenna systems (PASS), which activate small dielectric particles along a dielectric waveguide, has recently emerged as a promising paradigm for flexible antenna deployment in next-generation wireless communication networks. While most existing studies assume rectangular indoor layouts with full coverage waveguide, practical deployments may involve geometric constraints, partial coverage, and non-negligible waveguide attenuation. This paper presents the first analytical investigation of PASS in a circular indoor environment, encompassing both full coverage and partial coverage waveguide configurations with/without propagation loss. A unified geometric-propagation framework is developed that jointly captures pinching-antenna placement, Internet of Things (IoT) device location distribution, and waveguide attenuation. Closed-form expressions for the outage probability and average achievable rate are derived for four scenarios, with accuracy validated via extensive Monte-Carlo simulations. The analysis reveals that, under the partial coverage waveguide scenario with propagation loss, the system performance demonstrates a non-monotonic trend with respect to the waveguide length, and the optimal length decreases as the attenuation coefficient increases. Numerical results further quantify the interplay between deployment strategy, waveguide propagation loss, and coverage geometry, offering practical guidelines for performance-oriented PASS design.

Paperid: 831, https://arxiv.org/pdf/2509.04288.pdf

Abstract:
Rechargeable lithium-ion (Li-ion) batteries are a ubiquitous element of modern technology. In the last decades, the production and design of such batteries and their adjacent embedded charging and safety protocols, denoted by Battery Management Systems (BMS), has taken central stage. A fundamental challenge to be addressed is the trade-off between the speed of charging and the ageing behavior, resulting in the loss of capacity in the battery cell. We rely on a high-fidelity physics-based battery model and propose an approach to data-driven charging and safety protocol design. Following a Counterexample-Guided Inductive Synthesis scheme, we combine Reinforcement Learning (RL) with recent developments in data-driven formal methods to obtain a hybrid control strategy: RL is used to synthesise the individual controllers, and a data-driven abstraction guides their partitioning into a switched structure, depending on the initial output measurements of the battery. The resulting discrete selection among RL-based controllers, coupled with the continuous battery dynamics, realises a hybrid system. When a design meets the desired criteria, the abstraction provides probabilistic guarantees on the closed-loop performance of the cell.

Paperid: 832, https://arxiv.org/pdf/2509.03257.pdf

Abstract:
The goal of this work is to accelerate the identification of an unknown ARX system from trajectory data through online input design. Specifically, we present an active learning algorithm that sequentially selects the input to excite the system according to an experiment design criterion using the past measured data. The adopted criterion yields a non-convex optimization problem, but we provide an exact convex reformulation allowing to find the global optimizer in a computationally tractable way. Moreover, we give sample complexity bounds on the estimation error due to the stochastic noise. Numerical studies showcase the effectiveness of our algorithm and the benefits of the convex reformulation.

Paperid: 833, https://arxiv.org/pdf/2509.02493.pdf

Abstract:
Incentive design deals with interaction between a principal and an agent where the former can shape the latter's utility through a policy commitment. It is well known that the principal faces an information rent when dealing with an agent that has informational advantage. In this work, we embark on a systematic study of the effect of information asymmetry in incentive design games. Specifically, we first demonstrate that it is in principal's interest to decrease this information asymmetry. To mitigate this uncertainty, we let the principal gather information either by letting the agent shape her belief (aka Information Design), or by paying to acquire it. Providing solutions to all these cases we show that while introduction of uncertainty increases the principal's cost, letting the agent shape its belief can be advantageous. We study information asymmetry and information acquisition in both matrix games and quadratic Gaussian game setups.

Paperid: 834, https://arxiv.org/pdf/2509.02136.pdf

Abstract:
This paper introduces a novel approach for incorporating frequency dynamics into the unit commitment (UC) problem through a general-order differential equation model, solved using Bernstein polynomial approximation. Traditional frequency-constrained UC (FCUC) models typically rely on simplified first-order assumptions or scalar frequency metrics, such as frequency nadir, to indirectly enforce dynamic behavior. In contrast, our formulation explicitly models time-domain frequency response using second-order dynamics, enabling a more accurate and flexible representation of generator behavior. The resulting differential equations are approximated with high fidelity using Bernstein polynomials, leading to a mixed-integer linear programming (MILP) formulation that remains computationally tractable for small-scale power systems. Additionally, we introduce a new constraint based on the duration of frequency excursions below a critical threshold, motivated by practical concerns such as relay operation and equipment protection. A data-driven method is employed to relate the area under this threshold-computed as the integral of the Bernstein approximation-to the duration of frequency deviation. The proposed framework is validated using real-world data from an island system in Spain, demonstrating enhanced frequency security with a moderate increase in operational cost. These results suggest the method's strong potential for application in low-inertia, small-scale power systems.

Paperid: 835, https://arxiv.org/pdf/2509.01630.pdf

Abstract:
Distributed trajectory optimization via ADMM-DDP is a powerful approach for coordinating multi-agent systems, but it requires extensive tuning of tightly coupled hyperparameters that jointly govern local task performance and global coordination. In this paper, we propose Learning to Coordinate (L2C), a general framework that meta-learns these hyperparameters, modeled by lightweight agent-wise neural networks, to adapt across diverse tasks and agent configurations. L2C differentiates end-to-end through the ADMM-DDP pipeline in a distributed manner. It also enables efficient meta-gradient computation by reusing DDP components such as Riccati recursions and feedback gains. These gradients correspond to the optimal solutions of distributed matrix-valued LQR problems, coordinated across agents via an auxiliary ADMM framework that becomes convex under mild assumptions. Training is further accelerated by truncating iterations and meta-learning ADMM penalty parameters optimized for rapid residual reduction, with provable Lipschitz-bounded gradient errors. On a challenging cooperative aerial transport task, L2C generates dynamically feasible trajectories in high-fidelity simulation using IsaacSIM, reconfigures quadrotor formations for safe 6-DoF load manipulation in tight spaces, and adapts robustly to varying team sizes and task conditions, while achieving up to $88\%$ faster gradient computation than state-of-the-art methods.

Paperid: 836, https://arxiv.org/pdf/2509.00319.pdf

Abstract:
Navigating a flexible robotic endoscope (FRE) through the gastrointestinal tract is critical for surgical diagnosis and treatment. However, navigation in the dynamic stomach is particularly challenging because the FRE must learn to effectively use contact with the deformable stomach walls to reach target locations. To address this, we introduce a deep reinforcement learning (DRL) based Contact-Aided Navigation (CAN) strategy for FREs, leveraging contact force feedback to enhance motion stability and navigation precision. The training environment is established using a physics-based finite element method (FEM) simulation of a deformable stomach. Trained with the Proximal Policy Optimization (PPO) algorithm, our approach achieves high navigation success rates (within 3 mm error between the FRE's end-effector and target) and significantly outperforms baseline policies. In both static and dynamic stomach environments, the CAN agent achieved a 100% success rate with 1.6 mm average error, and it maintained an 85% success rate in challenging unseen scenarios with stronger external disturbances. These results validate that the DRL-based CAN strategy substantially enhances FRE navigation performance over prior methods.

Paperid: 837, https://arxiv.org/pdf/2508.21586.pdf

Abstract:
This paper presents a model reference adaptive control (MRAC) framework for uncertain linear time-invariant (LTI) systems subject to user-defined, time-varying state and input constraints. The proposed design seamlessly integrates a time-varying barrier Lyapunov function (TVBLF) to enforce state constraints with a time-varying saturation function to handle input limits. These time-varying constraints can be designed as performance functions to shape transient and steady-state behaviors for both state and input. A key contribution is the derivation of a verifiable, offline feasibility condition to check the existence of a valid control policy for a given set of constraints. To the best of our knowledge, this is the first adaptive control methodology to simultaneously handle both time-varying state and input constraints without resorting to online optimization. Simulation results validate the efficacy of the proposed constrained MRAC scheme.

Paperid: 838, https://arxiv.org/pdf/2508.21584.pdf

Abstract:
We propose a model reference adaptive controller (MRAC) for uncertain linear time-invariant (LTI) plants with user-defined state and input constraints in the presence of unmatched bounded disturbances. Unlike popular optimization-based approaches for constrained control, such as model predictive control (MPC) and control barrier function (CBF) that solve a constrained optimization problem at each step using the system model, our approach is optimization-free and adaptive; it combines a saturated adaptive controller with a barrier Lyapunov function (BLF)-based design to ensure that the plant state and input always stay within pre-specified bounds despite the presence of unmatched disturbances. To the best of our knowledge, this is the first result that considers both state and input constraints for control of uncertain systems with disturbances and provides sufficient feasibility conditions to check for the existence of an admissible control policy. Simulation results, including a comparison with a robust MRAC, demonstrate the effectiveness of the proposed algorithm.

Paperid: 839, https://arxiv.org/pdf/2508.20140.pdf

Abstract:
Monte Carlo Tree Search is a popular method for solving decision making problems. Faster implementations allow for more simulations within the same wall clock time, directly improving search performance. To this end, we present an alternative array-based implementation of the classic Upper Confidence bounds applied to Trees algorithm. Our method preserves the logic of the original algorithm, but eliminates the need for branch prediction, enabling faster performance on pipelined processors, and up to a factor of 2.8 times better scaling with search depth in our numerical simulations.

Paperid: 840, https://arxiv.org/pdf/2508.19541.pdf

Abstract:
Electrical grids are now much more complex due to the rapid integration of distributed generation and alternative energy sources, which makes forecasting grid stability with optimized control a crucial task for operators. Traditional statistical, physics-based, and ML models can learn the pattern of the grid features, but have limitations in optimal strategy control with instability prediction. This work proposes a hybrid ML-RL framework that leverages ML for rapid stability prediction and RL for dynamic control and optimization. The first stage of this study created a baseline that explored the potential of various ML models for stability prediction. Out of them, the stacking classifiers of several fundamental models show a significant performance in classifying the instability, leading to the second stage, where reinforcement learning algorithms (PPO, A2C, and DQN) optimize power control actions. Experimental results demonstrate that the hybrid ML-RL model effectively stabilizes the grid, achieves rapid convergence, and significantly reduces training time. The integration of ML-based stability classification with RL-based dynamic control enhances decision-making efficiency while lowering computational complexity, making it well-suited for real-time smart grid applications.

Paperid: 841, https://arxiv.org/pdf/2508.18719.pdf

Abstract:
The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the practical applicability of PID-PBC is stymied by two key facts: (i) the vast majority of practical implementations of PIDs is carried-out in discrete time -- discretizing the continuous time dynamical system of the PID; (ii) the well-known problem that passivity is not preserved upon discretization, even with small sampling times. Therefore, two aspects of the PID-PBC must be revisited for its safe practical application. First, we propose a discretization of the PID that ensures its passivity. Second, since the output that is identified as passive for the continuous time system is not necessarily passive for its discrete time version, we construct a new output that ensures the passivity property for the discretization of the system. In this paper, we provide a constructive answer to both issues for the case of power converter models. Instrumental to achieve this objective is the use of the implicit midpoint discretization method -- which is a symplectic integration technique that preserves system invariants. Since the reference value for the output to be regulated in power converters is non-zero, we are henceforth interested in the property of passivity of the incremental model -- currently known as shifted passivity. Therefore, we demonstrate that the resulting discrete-time PID-PBC defines a passive map for the incremental model and establish shifted passivity for the discretized power converter model. Combining these properties, we prove global stability for the feedback interconnection of the power converter with the discretized PID-PBC. The paper also presents simulations and experiments that demonstrate the performance of the proposed discretization.

Paperid: 842, https://arxiv.org/pdf/2508.17124.pdf

Abstract:
We explore natural user interactions using a virtual reality simulation of a robot arm for assembly tasks. Using a Wizard-of-Oz study, participants completed collaborative LEGO and instructive PCB assembly tasks, with the robot responding under experimenter control. We collected voice, hand tracking, and gaze data from users. Statistical analyses revealed that instructive and collaborative scenarios elicit distinct behaviors and adopted strategies, particularly as tasks progress. Users tended to use put-that-there language in spatially ambiguous contexts and more descriptive instructions in spatially clear ones. Our contributions include the identification of natural interaction strategies through analyses of collected data, as well as the supporting dataset, to guide the understanding and design of natural multimodal user interfaces for instructive interaction with systems in virtual reality.

Paperid: 843, https://arxiv.org/pdf/2508.14989.pdf

Abstract:
Thermodynamic principles can be employed to design parameter update laws that address challenges such as the exploration vs. exploitation dilemma. In this paper, inspired by the Langevin equation, an update law is developed for a Lyapunov-based DNN control method, taking the form of a stochastic differential equation. The drift term is designed to minimize the system's generalized internal energy, while the diffusion term is governed by a user-selected generalized temperature law, allowing for more controlled fluctuations. The minimization of generalized internal energy in this design fulfills the exploitation objective, while the temperature-based stochastic noise ensures sufficient exploration. Using a Lyapunov-based stability analysis, the proposed Lyapunov-based Langevin Adaptive Thermodynamic (LyLA-Therm) neural network controller achieves probabilistic convergence of the tracking and parameter estimation errors to an ultimate bound. Simulation results demonstrate the effectiveness of the proposed approach, with the LyLA-Therm architecture achieving up to 20.66% improvement in tracking errors, up to 20.89% improvement in function approximation errors, and up to 11.31% improvement in off-trajectory function approximation errors compared to the baseline deterministic approach.

Paperid: 844, https://arxiv.org/pdf/2508.13298.pdf

Abstract:
Exponential growth in global computing demand is exacerbated due to the higher-energy requirements of conventional architectures, primarily due to energy-intensive data movement. In-memory computing with Resistive Random Access Memory (RRAM) addresses this by co-integrating memory and processing, but faces significant hurdles related to device-level non-idealities and poor scalability for large computing tasks. Here, we introduce MELISO+ (In-Memory Linear Solver), a full-stack, distributed framework for energy-efficient in-memory computing. MELISO+ proposes a novel two-tier error correction mechanism to mitigate device non-idealities and develops a distributed RRAM computing framework to enable matrix computations exceeding dimensions of $65,000\times65,000$. This approach reduces first- and second-order arithmetic errors due to device non-idealities by over $90\%$, enhances energy efficiency by three to five orders of magnitude, and decreases latency 100-fold. Hence, MELISO+ allows lower-precision RRAM devices to outperform high-precision device alternatives in accuracy, energy and latency metrics. By unifying algorithm-hardware co-design with scalable architecture, MELISO+ significantly advances sustainable, high-dimensional computing suitable for applications like large language models and generative AI.

Paperid: 845, https://arxiv.org/pdf/2508.12335.pdf

Abstract:
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none of the points shall collide with the robot can be written in terms of an infinite number of constraints per obstacle point. We show that the resulting semi-infinite programming (SIP) optimal control problem (OCP) can be efficiently tackled through a combination of two methods: local reduction and an external active-set method. Specifically, this involves iteratively identifying the closest point obstacles, determining the lower-level distance minimizer among all feasible robot shape parameters, and solving the upper-level finitely-constrained subproblems. In addition, this paper addresses robust collision avoidance in the presence of ellipsoidal state uncertainties. Enforcing constraint satisfaction over all possible uncertainty realizations extends the dimension of constraint infiniteness. The infinitely many constraints arising from translational uncertainty are handled by local reduction together with the robot shape parameterization, while rotational uncertainty is addressed via a backoff reformulation. A controller implemented based on the proposed method is demonstrated on a real-world robot running at 20Hz, enabling fast and collision-free navigation in tight spaces. An application to 3D collision avoidance is also demonstrated in simulation.

Paperid: 846, https://arxiv.org/pdf/2508.09682.pdf

Abstract:
Due to the growing request from modern wireless applications of cost-affordable and high-gain scanning antenna solutions, the design of large phased arrays (PAs) with radiating elements organized into modular clusters with sub-array-only amplitude and phase control is a key topic. In this paper, an innovative irregular tiling method is proposed where, according to a divide-and-conquer strategy, the antenna aperture is subdivided into sub-areas that are locally domino-tiled by jointly fulfilling the full-coverage condition on the remaining untiled part of the PA support. Selected representative results, including comparisons with competitive state-of-the-art synthesis methods, are reported to prove the effectiveness and the computational efficiency of the proposed tiling approach. Use-cases of current relevance for low Earth orbit (LEO) satellite communications are discussed, as well, to provide the antenna designers useful practical guidelines for handling large PAs.

Paperid: 847, https://arxiv.org/pdf/2508.07684.pdf

Abstract:
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for designing safety filters due to their simplicity, imposing a single linear constraint on the control input at each state. In this work, we focus on the internal dynamics of systems governed by CBF-constrained control laws. Our key observation is that, although CBFs guarantee safety by enforcing state constraints, they can inadvertently be "unsafe" by causing the internal state to diverge. We investigate the conditions under which the full system state, including the internal state, can remain bounded under a CBF-based safety filter. Drawing inspiration from the input-output linearization literature, where boundedness is ensured by minimum phase conditions, we propose a new set of CBF minimum phase conditions tailored to the structure imposed by the CBF constraint. A critical distinction from the original minimum phase conditions is that the internal dynamics in our setting is driven by a nonnegative virtual control input, which reflects the enforcement of the safety constraint. We include a range of numerical examples, including single-input, multi-input, linear, and nonlinear systems, validating both our analysis and the necessity of the proposed CBF minimum phase conditions.

Paperid: 848, https://arxiv.org/pdf/2508.00775.pdf

Abstract:
In high-stakes engineering applications, optimization algorithms must come with provable worst-case guarantees over a mathematically defined class of problems. Designing for the worst case, however, inevitably sacrifices performance on the specific problem instances that often occur in practice. We address the problem of augmenting a given linearly convergent algorithm to improve its average-case performance on a restricted set of target problems - for example, tailoring an off-the-shelf solver for model predictive control (MPC) for an application to a specific dynamical system - while preserving its worst-case guarantees across the entire problem class. Toward this goal, we characterize the class of algorithms that achieve linear convergence for classes of nonsmooth composite optimization problems. In particular, starting from a baseline linearly convergent algorithm, we derive all - and only - the modifications to its update rule that maintain its convergence properties. Our results apply to augmenting legacy algorithms such as gradient descent for nonconvex, gradient-dominated functions; Nesterov's accelerated method for strongly convex functions; and projected methods for optimization over polyhedral feasibility sets. We showcase effectiveness of the approach on solving optimization problems with tight iteration budgets in application to ill-conditioned systems of linear equations and MPC for linear systems.

Paperid: 849, https://arxiv.org/pdf/2508.00175.pdf

Abstract:
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure to compensate for it -- a subject that has been studied by many researchers for many years. The vast majority of friction compensation schemes reported in the literature rely on the availability of velocity measurements, an information that is hard to obtain. A second limitation of the existing procedures is that they rely on mathematical models of friction that contain several unknown parameters, some of them entering nonlinearly in the dynamic equations. In this paper we propose a globally convergent tracking controller for a mechanical system perturbed by static and Coulomb friction, which is a reliable mathematical model of the friction phenomenon, that does not rely one measurement of velocity. The key component is an immersion and invariance-based adaptive speed observer, used for the friction compensation. To the best of our knowledge, this is the first globally convergent solution to this challenging problem. We also present simulation results of the application of our observer for systems affected by friction, which is described by the more advanced LuGre model.

Paperid: 850, https://arxiv.org/pdf/2507.23489.pdf

Abstract:
Achieving safety in autonomous multi-agent systems, particularly in time-critical tasks like rendezvous, is a critical challenge. In this paper, we propose a distributionally robust risk framework for analyzing cascading failures in multi-agent rendezvous. To capture the complex interactions between network connectivity, system dynamics, and communication delays, we use a time-delayed network model as a benchmark. We introduce a conditional distributionally robust functional to quantify cascading effects between agents, utilizing a bi-variate normal distribution. Our approach yields closed-form risk expressions that reveal the impact of time delay, noise statistics, communication topology, and failure modes on rendezvous risk. The insights derived inform the design of resilient networks that mitigate the risk of cascading failures. We validate our theoretical results through extensive simulations, demonstrating the effectiveness of our framework.

Paperid: 851, https://arxiv.org/pdf/2507.22865.pdf

Abstract:
With the dawn of AI factories ushering a new era of computing supremacy, development of strategies to effectively track and utilize the available computing resources is garnering utmost importance. These computing resources are often modeled as Markov sources, which oscillate between free and busy states, depending on their internal load and external utilization, and are commonly referred to as Markov machines (MMs). Most of the prior work solely focuses on the problem of tracking these MMs, while often assuming a rudimentary decision process that governs their utilization. Our key observation is that the ultimate goal of tracking a MM is to properly utilize it. In this work, we consider the problem of maximizing the utility of a MM, where the utility is defined as the average revenue generated by the MM. Assuming a Poisson job arrival process and a query-based sampling procedure to sample the state of the MM, we find the optimal times to submit the available jobs to the MM so as to maximize the average revenue generated per unit job. We show that, depending on the parameters of the MM, the optimal policy is in the form of either a \emph{threshold policy} or a \emph{switching policy} based on the \emph{age of our estimate} of the state of the MM.

Paperid: 852, https://arxiv.org/pdf/2507.20685.pdf

Abstract:
Assuring safety for ``AI-based'' systems is one of the current challenges in safety engineering. For automated driving systems, in particular, further assurance challenges result from the open context that the systems need to operate in after deployment. The current standardization and regulation landscape for ``AI-based'' systems is becoming ever more complex, as standards and regulations are being released at high frequencies. This position paper seeks to provide guidance for making qualified arguments which standards should meaningfully be applied to (``AI-based'') automated driving systems. Furthermore, we argue for clearly differentiating sources of risk between AI-specific and general uncertainties related to the open context. In our view, a clear conceptual separation can help to exploit commonalities that can close the gap between system-level and AI-specific safety analyses, while ensuring the required rigor for engineering safe ``AI-based'' systems.

Paperid: 853, https://arxiv.org/pdf/2507.18630.pdf

Abstract:
In this research, the design and optimization of a novel leaf-shaped antenna inspired by natural leaf structures for radio frequency energy transfer is presented. The objectives of this study are to develop a bio-inspired antenna, optimize its performance through impedance matching for the 915 MHz frequency band, and evaluate its efficiency in capturing RF energy. The design process involves selecting an appropriate leaf shape, modeling the antenna using AutoCAD and HFSS software, and fabricating a printed circuit board (PCB) prototype. Simulations and physical tests are conducted to optimize the antennas performance, achieving an S11 parameter of nearly -20 dB at 915 MHz, indicating effective energy capture. Experimental results demonstrate the antennas ability to power a device at distances up to 200 cm, with charging times reflecting its efficiency. The study concludes that the bio-inspired design of the proposed antenna improves RF energy transfer. Future work should focus on testing the antennas penetration through concrete and developing a feedback system for autonomous alignment.

Paperid: 854, https://arxiv.org/pdf/2507.18628.pdf

Abstract:
This report details the successful construction of an ultrasound imaging platform and the design and fabrication of a novel ultrasound endoscope probe. The projects primary objective was to establish a functional system for acquiring and processing ultrasound signals, specifically targeting minimally invasive endoscopic applications. The ultrasound imaging platform was primarily designed and developed based on Texas Instruments (TI) Evaluation Modules (EVMs). It enables the transmission of 32-channel high-voltage signals and the reception of echo signals, with on-chip signal amplification and acquisition capabilities. Furthermore, the platform integrates a complete Time Gain Control (TGC) imaging path and a ContinuousWave Doppler (CWD) path. In conjunction with host computer software, it supports imaging with linear array, convex array, and phased array probes. Concurrently, a 64-element, 5MHz center frequency, phased array linear ultrasound endoscopic probe was designed, aiming for miniaturization and optimal imaging performance. The fabrication and assembly of its matching layer, backing layer, 2-2 piezoelectric composite material, and electrodes were completed.

Paperid: 855, https://arxiv.org/pdf/2507.18627.pdf

Abstract:
This project presents the development of a gait recognition system using Tiny Machine Learning (Tiny ML) and Inertial Measurement Unit (IMU) sensors. The system leverages the XIAO-nRF52840 Sense microcontroller and the LSM6DS3 IMU sensor to capture motion data, including acceleration and angular velocity, from four distinct activities: walking, stationary, going upstairs, and going downstairs. The data collected is processed through Edge Impulse, an edge AI platform, which enables the training of machine learning models that can be deployed directly onto the microcontroller for real-time activity classification.The data preprocessing step involves extracting relevant features from the raw sensor data using techniques such as sliding windows and data normalization, followed by training a Deep Neural Network (DNN) classifier for activity recognition. The model achieves over 80% accuracy on a test dataset, demonstrating its ability to classify the four activities effectively. Additionally, the platform enables anomaly detection, further enhancing the robustness of the system. The integration of Tiny ML ensures low-power operation, making it suitable for battery-powered or energy-harvesting devices.

Paperid: 856, https://arxiv.org/pdf/2507.17156.pdf

Abstract:
With the rising volume of railroad transportation, the traditional track inspection mainly relies on manual inspection and large-scale inspection equipment, which not only has low inspection frequency and lagging response, but also has the defects of high risk, high cost and easy to miss inspection. To this end, this study designs and realizes a maintenance-free railroad track wireless monitoring system based on LoRa module LM401. Each monitoring node consists of an STM32 microcontroller, an LM401 LoRa transceiver, a low-power ADXL362 triaxial acceleration sensor, a digital temperature sensor (LMT85), and a digital barometric pressure sensor (RSCM17100KP101). The system collects vibration data through the SPI1 interface at the node end, periodically reads the temperature and barometric pressure information, and packages and sends the data to a centralized gateway within a range of 500 m using the LoRa star topology; the gateway then uploads the data in real time to a cloud server through a 4G module, which supports the MQTT protocol. MQTT protocol is supported. Laboratory tests and field deployments show that the system can realize acceleration resolution of 0.01 g, reduce maintenance cost by about 70%, and improve monitoring efficiency by more than 5 times. The system provides a reliable means for intelligent rail health management, and in the future, it is planned to introduce RF energy collection technology to realize automatic wake-up without battery, and expand to urban bridges, tunnels and environmental monitoring and other multi-scenario applications.

Paperid: 857, https://arxiv.org/pdf/2507.17155.pdf

Abstract:
Micro motors can be used in numerous fields like Micro medical testing and treatment. To achieve a smaller size, micro piezoelectric motors in laboratories often omit the outer casing, which can lead to functional defects such as rotation only in one fixed direction or the need for external weights (which are not counted within the motors volume) to increase preload. However, this significantly reduces the practical value of micro piezoelectric motors. This paper proposes a new driving principle for piezoelectric motors to design a micro piezoelectric motor that can rotate at a wide range of angles (e.g. up to 80)without increasing the motors casing and does not require external weights, with a stator thickness of only 0.8 mm. This motor has significant application potential in OCT endoscopes and thrombectomy grinding heads

Paperid: 858, https://arxiv.org/pdf/2507.17154.pdf

Abstract:
The aim of this project is to develop a new wireless powered wearable ECG monitoring device. The main goal of the project is to provide a wireless, small-sized ECG monitoring device that can be worn for a long period of time by the monitored person. Electrocardiogram ECG reflects physiological and pathological information about heart activity and is commonly used to diagnose heart disease. Existing wearable smart ECG solutions suffer from high power consumption in both ECG diagnosis and transmission for high accuracy. Monitoring of ECG devices is mainly done by data extraction and acquisition, pre-processing, feature extraction, processing and analysis, visualisation and auxiliary procedures. During the pre-processing of the information, different kinds of noise generated during the signal collection need to be taken into account. The quality of the signal-to-noise ratio can usually be improved by optimising algorithms and reducing the noise power. The choice of electrodes usually has a direct impact on the signal-to-noise ratio and the user experience, and conventional Ag/AgCl gel electrodes are not suitable for long-term and dynamic monitoring as they are prone to skin irritation, inflammation and allergic reactions. Therefore, a completely new way of combining electrodes and wires will be used in the report. The electrodes and wires are cut in one piece from a silver-plated fabric. The wire portion is cut into a curved structure close to an S shape to ensure that it has good ductility for comfort and signal integrity during daily movement of the garment.

Paperid: 859, https://arxiv.org/pdf/2507.16157.pdf

Abstract:
As wearable electronics become increasingly prevalent, there is a rise in interest and demand for sustainably designed systems that are also energy self-sufficient. The research described in this paper investigated a shoe-worn energy harvesting system designed use the mechanical energy from walking to output electrical energy. A spring is attached to electromagnetic generator embedded in the heel of the shoe to recover the vertical pressure caused by the foot strike. The simulated prototype consisted of a standard EM generator designed in MATLAB demonstrating a maximum voltage of 12V. The initial low fidelity prototype demonstrated testing the relationship between the EM generator and a simple electrical circuit, with energy output observed. Future research will explore enhancing the overall generator design, integrate a power management IC for battery protect and regulation, and combine the system into a final product, wearable footwear. This research lays a foundation for self-powered footwear and energy independent wearable electronic devices.

Paperid: 860, https://arxiv.org/pdf/2507.16156.pdf

Abstract:
BiFeO3 has attracted much attention as a potential candidate for replacing conventional, lead based piezoelectric materials due to its remarkable spontaneous polarization and high Curie temperature. However, its inherent high leakage currents, which lead to low piezoelectric response and poor temperature stability, have severely limited its practical applications. In this study, lead free piezoelectric ceramics of the 0.7BiFeO3-0.3BaTiO3 (BF-BT) system were prepared, and their microstructures along with high-temperature electrical performance were modulated by introducing Nd3+. The results indicate that moderate Nd doping improves lattice symmetry and reduces oxygen vacancy-related defect dipoles, thereby effectively suppressing leakage currents at temperatures above 75Â°C. The Nddoped samples exhibit significantly lower leakage current densities, reduced by over 99% compared to the undoped ceramics, reaching values as low as 10-5Acm-2. They also show higher resistivity under elevated temperatures and electric fields, offering notable improvements in thermal stability over the undoped counterparts. In addition, the Nd-doped samples achieved piezoelectric coefficients as high as 172 pC N -1 at room temperature while still maintaining high dielectric and piezoelectric responses at elevated temperatures. This work not only provides an effective way to solve the leakage current problem of BF-BT ceramics in high temperature applications but also indicates a new design strategy for optimizing the high temperature stability of lead free piezoelectric materials, which shows a broad application prospect in the field of high-temperature sensors and actuators.

Paperid: 861, https://arxiv.org/pdf/2507.16155.pdf

Abstract:
This project aims to develop a system to run the object detection model under low power consumption conditions. The detection scene is set as an outdoor traveling scene, and the detection categories include people and vehicles. In this system, users data does not need to be uploaded to the cloud, which is suitable for use in environments with portable needs and strict requirements for data privacy. The MCU device used in this system is STM32H7, which has better performance among low power devices. The YOLOv5 system is selected to train the object detection model. To overcome the resource limitation of the embedded devices, this project uses several model compression techniques such as pruned, quantization, and distillation, which could improve the performance and efficiency of the detection model. Through these processes, the model s computation and the quantity of model parameters could be reduced, in order to run computer vision models on micro-controller devices for the development of embedded vision applications.

Paperid: 862, https://arxiv.org/pdf/2507.15169.pdf

Abstract:
Despite the growing emphasis on intelligent buildings as a cornerstone of sustainable urban development, significant energy inefficiencies persist due to suboptimal design, material choices, and user behavior. The applicability of integrated Building Information Modeling (BIM) and solarpowered environmental monitoring systems for energy optimization in low-carbon smart buildings remains underexplored. Can BIM-driven design improvements, combined with photovoltaic systems, achieve substantial energy savings while enabling self-powered environmental monitoring? This study conducts a case analysis on a retrofitted primary school building in Guangdong, China, utilizing BIM-based energy simulations, material optimization, and solar technology integration. The outcomes reveal that the proposed approach reduced annual energy consumption by 40.68%, with lighting energy use decreasing by 36.59%. A rooftop photovoltaic system demonstrated a payback period of 7.46 years while powering environmental sensors autonomously. Hardware system integrates sensors and an ARDUINO-based controller to detect environmental factors like rainfall, temperature, and air quality. It is powered by a 6W solar panel and a 2200 mAh/7.4 V lithium battery to ensure stable operation. This study underscores the potential of BIM and solar energy integration to transform traditional buildings into energy-efficient, self-sustaining smart structures. Further research can expand the scalability of these methods across diverse climates and building typologies.

Paperid: 863, https://arxiv.org/pdf/2507.15168.pdf

Abstract:
Ultrasound imaging, as a noninvasive, real-time, and low-cost modality, plays a vital role in clinical diagnosis, catheterization intervention, and portable devices. With the development of transducer hardware and the continuous progress of imaging algorithms, how to realize high-quality image reconstruction in different application scenarios has become a research focus.This project focuses on the systematic research and implementation of three typical ultrasound imaging modalities - line array imaging, endoscopic imaging and plane wave imaging, covering simulation data processing, imaging algorithm implementation and real data validation, etc., aiming to deepen the understanding of the principles and processes of various types of imaging.

Paperid: 864, https://arxiv.org/pdf/2507.15167.pdf

Abstract:
We propose a modular, fast and large-area fabrication of bio-piezoelectric films. The technique is based on the formation of cone-jet mode by applying a high voltage electric field to conductive spiked metal disks. And the self-assembly process of biomolecular materials through nanoconfinement with in-situ poling effect. This job achieved print speeds of up to 9.2 109 um3/s with a combination of only 2 printheads. At the same time, the modular design allows the MLSP to achieve theoretically unlimited print efficiency. It also provides flexible configuration options for different printing needs, such as preparing films of different areas and shapes. In short, MLSP demonstrates the ability of piezoelectric biomaterials to undergo ultra-fast, large-scale assembly. Demonstrates good potential as a universally applicable bio-device for the fabrication of bio-piezoelectric films

Paperid: 865, https://arxiv.org/pdf/2507.11872.pdf

Abstract:
Popular Bayes filters typically rely on linearization techniques such as Taylor series expansion and stochastic linear regression to use the structure of standard Kalman filter. These techniques may introduce large estimation errors in nonlinear and non-Gaussian systems. This paper overviews a recent breakthrough in filtering algorithm design called \textit{N}atural Gr\textit{a}dient Gaussia\textit{n} Appr\textit{o}ximation (NANO) filter and compare its performance over a large class of nonlinear filters. The NANO filter interprets Bayesian filtering as solutions to two distinct optimization problems, which allows to define optimal Gaussian approximation and derive its corresponding extremum conditions. The algorithm design still follows the two-step structure of Bayes filters. In the prediction step, NANO filter calculates the first two moments of the prior distribution, and this process is equivalent to a moment-matching filter. In the update step, natural gradient descent is employed to directly minimize the objective of the update step, thereby avoiding errors caused by model linearization. Comparative tests are conducted on four classic systems, including the damped linear oscillator, sequence forecasting, modified growth model, and robot localization, under Gaussian, Laplace, and Beta noise to evaluate the NANO filter's capability in handling nonlinearity. Additionally, we validate the NANO filter's robustness to data outliers using a satellite attitude estimation example. It is observed that the NANO filter outperforms popular Kalman filters family such as extended Kalman filter (EKF), unscented Kalman filter (UKF), iterated extended Kalman filter (IEKF) and posterior linearization filter (PLF), while having similar computational burden.

Paperid: 866, https://arxiv.org/pdf/2507.09311.pdf

Abstract:
This study introduces a novel multi-objective reinforcement learning (MORL) approach for autonomous intersection management, aiming to balance traffic efficiency and environmental sustainability across electric and internal combustion vehicles. The proposed method utilizes MORL to identify Pareto-optimal policies, with a post-hoc fairness criterion guiding the selection of the final policy. Simulation results in a complex intersection scenario demonstrate the approach's effectiveness in optimizing traffic efficiency and emissions reduction while ensuring fairness across vehicle categories. We believe that this criterion can lay the foundation for ensuring equitable service, while fostering safe, efficient, and sustainable practices in smart urban mobility.

Paperid: 867, https://arxiv.org/pdf/2507.09061.pdf

Abstract:
We study the problem of imitating an expert demonstrator in a continuous state-and-action dynamical system. While imitation learning in discrete settings such as autoregressive language modeling has seen immense success and popularity in recent years, imitation in physical settings such as autonomous driving and robot learning has proven comparably more complex due to the compounding errors problem, often requiring elaborate set-ups to perform stably. Recent work has demonstrated that even in benign settings, exponential compounding errors are unavoidable when learning solely from expert-controlled trajectories, suggesting the need for more advanced policy parameterizations or data augmentation. To this end, we present minimal interventions that provably mitigate compounding errors in continuous state-and-action imitation learning. When the system is open-loop stable, we prescribe "action chunking," i.e., predicting and playing sequences of actions in open-loop; when the system is possibly unstable, we prescribe "noise injection," i.e., adding noise during expert demonstrations. These interventions align with popular choices in modern robot learning, though the benefits we derive are distinct from the effects they were designed to target. Our results draw insights and tools from both control theory and reinforcement learning; however, our analysis reveals novel considerations that do not naturally arise when either literature is considered in isolation.

Paperid: 868, https://arxiv.org/pdf/2507.08299.pdf

Abstract:
Next-generation wireless networks (xG) must provide ubiquitous connectivity while enhancing user experience in both densely populated urban areas and rural regions. To achieve this, a disruptive network architecture is essential, and high altitude platform stations (HAPS) offer a promising solution. By integrating HAPS with terrestrial networks, we can create HAPS-empowered vertical heterogeneous networks (vHetNets), which significantly improve coverage and capacity, as well as support emerging use cases. In HAPS-empowered vHetNets, different tiers can share the same spectrum, forming harmonized spectrum vHetNets that enhance spectral efficiency (SE). However, we face two major challenges: i) co-channel interference in harmonized spectrum vHetNets, and ii) the large-scale nature of the network. To address the first challenge, we adopt a cell-free approach as the underlying network architecture for the HAPS-empowered vHetNet. In this approach, base stations use beamforming to direct high-gain, narrow beams toward users, which helps mitigate interference. However, this creates a nonconvex and high-dimensional optimization problem, which highlights the second challenge of dealing with a large-scale network. Consequently, centralized solutions become impractical due to the computational and communication overhead involved. The standard two-block alternating direction method of multipliers (ADMM) is one option, but nonconvex constraints can hinder its convergence. As an alternative, we have developed a two-level distributed proportional fairness beamforming weight design (PFBWD) algorithm. This algorithm uses a combination of the augmented Lagrangian method (ALM) and a three-block ADMM framework. The proposed method effectively tackles nonconvexity, reduces complexity, and enables scalable, distributed optimization with guaranteed convergence.

Paperid: 869, https://arxiv.org/pdf/2507.05079.pdf

Abstract:
The increasing penetration of renewable energy sources reduces rotating inertia and even frequency control capacity, affecting frequency stability. This challenge is significant in \gls{ips} that already suffer from low inertia and frequency control capacity. This paper presents a comparative study on different \gls{fcuc} formulations applied to \gls{ips}. Then, by considering under-frequency load shedding as a significant measure of frequency stability in \gls{ips}, two indices are presented to fully compare the formulations from system benefits and computational burden perspectives. Simulations conducted on a real Spanish island show that the data-driven corrective \gls{fcuc} formulation has the most advantages among other formulations.

Paperid: 870, https://arxiv.org/pdf/2507.05062.pdf

Abstract:
This paper presents a novel corrective \gls{fcuc} formulation for island power systems by implementing data-driven constraint learning to estimate the optimal \gls{ufls}. The Tobit model is presented to estimate the optimal amount of \gls{ufls} using the initial rate of change of frequency. The proposed formulation enables co-optimizing operation costs and \gls{ufls}. The aim is to account for optimal \gls{ufls} occurrences during operation planning, without increasing them. This would potentially reduce system operation costs by relaxing the reserve requirement constraint. The performance of the proposed formulation has been analyzed for a Spanish island power system through various simulations. Different daily demand profiles are analyzed to demonstrate the effectiveness of the proposed formulation. Additionally, a sensitivity analysis is conducted to demonstrate the effects of changing the cost associated with \gls{ufls}. The corrective \gls{fcuc} is shown to be capable of reducing system operation costs without jeopardizing the quality of the frequency response in terms of \gls{ufls} occurrence.

Paperid: 871, https://arxiv.org/pdf/2507.00695.pdf

Abstract:
This paper presents a novel framework for analyzing Incremental-Input-to-State Stability ($Î´$ISS) based on the idea of using rewards as "test functions." Whereas control theory traditionally deals with Lyapunov functions that satisfy a time-decrease condition, reinforcement learning (RL) value functions are constructed by exponentially decaying a Lipschitz reward function that may be non-smooth and unbounded on both sides. Thus, these RL-style value functions cannot be directly understood as Lyapunov certificates. We develop a new equivalence between a variant of incremental input-to-state stability of a closed-loop system under given a policy, and the regularity of RL-style value functions under adversarial selection of a HÃ¶lder-continuous reward function. This result highlights that the regularity of value functions, and their connection to incremental stability, can be understood in a way that is distinct from the traditional Lyapunov-based approach to certifying stability in control theory.

Paperid: 872, https://arxiv.org/pdf/2512.24700.pdf

Abstract:
This paper proposes a deterministic distributed algorithm, referred to as PP-ACDC, that achieves exact average consensus over possibly unbalanced directed graphs using only a fixed and a priori specified number of quantization bits. The method integrates Push-Pull (surplus) consensus dynamics with a dynamic quantization framing scheme combining zooming and midpoint shifting, enabling agents to preserve the true global average while progressively refining their quantization precision. We establish a rigorous convergence theory showing that PP-ACDC achieves asymptotic (exact) average consensus on any strongly connected digraph under appropriately chosen quantization parameters. Moreover, we develop a fully distributed and synchronized finite-time termination mechanism, and we provide a formal proof on the detection of $ε$-convergence to the average within a finite number of iterations. Numerical simulations corroborate the theoretical results and demonstrate that PP-ACDC achieves reliable, communication-efficient, and precise average consensus even under very tight bit budgets, underscoring its suitability for large-scale and resource-constrained multi-agent systems operating over directed networks.

Paperid: 873, https://arxiv.org/pdf/2512.22639.pdf

Abstract:
Power allocation remains a fundamental challenge in wireless communication networks, particularly under dynamic user loads and large-scale deployments. While Transformerbased models have demonstrated strong performance, their computational cost scales poorly with the number of users. In this work, we propose a novel hybrid Tree-Transformer architecture that achieves scalable per-user power allocation. Our model compresses user features via a binary tree into a global root representation, applies a Transformer encoder solely to this root, and decodes per-user uplink and downlink powers through a shared decoder. This design achieves logarithmic depth and linear total complexity, enabling efficient inference across large and variable user sets without retraining or architectural changes. We evaluate our model on the max-min fairness problem in cellfree massive MIMO systems and demonstrate that it achieves near-optimal performance while significantly reducing inference time compared to full-attention baselines.

Paperid: 874, https://arxiv.org/pdf/2512.20865.pdf

Abstract:
The increasing use of machine learning in safety-critical domains amplifies the risk of adversarial threats, especially data poisoning attacks that corrupt training data to degrade performance or induce unsafe behavior. Most existing defenses lack formal guarantees or rely on restrictive assumptions about the model class, attack type, extent of poisoning, or point-wise certification, limiting their practical reliability. This paper introduces a principled formal robustness certification framework that models gradient-based training as a discrete-time dynamical system (dt-DS) and formulates poisoning robustness as a formal safety verification problem. By adapting the concept of barrier certificates (BCs) from control theory, we introduce sufficient conditions to certify a robust radius ensuring that the terminal model remains safe under worst-case ${\ell}_p$-norm based poisoning. To make this practical, we parameterize BCs as neural networks trained on finite sets of poisoned trajectories. We further derive probably approximately correct (PAC) bounds by solving a scenario convex program (SCP), which yields a confidence lower bound on the certified robustness radius generalizing beyond the training set. Importantly, our framework also extends to certification against test-time attacks, making it the first unified framework to provide formal guarantees in both training and test-time attack settings. Experiments on MNIST, SVHN, and CIFAR-10 show that our approach certifies non-trivial perturbation budgets while being model-agnostic and requiring no prior knowledge of the attack or contamination level.

Paperid: 875, https://arxiv.org/pdf/2512.18356.pdf

Abstract:
Conventional robust $\mathcal H_2/\mathcal H_\infty$ control minimizes the worst-case performance, often leading to a conservative design driven by very rare and somewhat arbitrary parametric configurations. To reduce this conservatism while taking advantage of the stochastic properties of Monte-Carlo sampling and its compatibility with parallel computing, we introduce an alternative paradigm that optimizes the controller with respect to a stochastic criterion, namely the conditional value at risk. We illustrate the potential of this approach on a realistic satellite benchmark, showing that it can significantly improve overall performance by tolerating some degradation in very rare worst-case scenarios.

Paperid: 876, https://arxiv.org/pdf/2512.17466.pdf

Abstract:
Optimal AP clustering and power allocation are critical in user-centric cell-free massive MIMO systems. Existing deep learning models lack flexibility to handle dynamic network configurations. Furthermore, many approaches overlook pilot contamination and suffer from high computational complexity. In this paper, we propose a lightweight transformer model that overcomes these limitations by jointly predicting AP clusters and powers solely from spatial coordinates of user devices and AP. Our model is architecture-agnostic to users load, handles both clustering and power allocation without channel estimation overhead, and eliminates pilot contamination by assigning users to AP within a pilot reuse constraint. We also incorporate a customized linear attention mechanism to capture user-AP interactions efficiently and enable linear scalability with respect to the number of users. Numerical results confirm the model's effectiveness in maximizing the minimum spectral efficiency and providing near-optimal performance while ensuring adaptability and scalability in dynamic scenarios.

Paperid: 877, https://arxiv.org/pdf/2512.15476.pdf

Abstract:
Dynamic programming is a cornerstone of graph-based optimization. While effective, it scales unfavorably with problem size. In this work, we present QuantGraph, a two-stage quantum-enhanced framework that casts local and global graph-optimization problems as quantum searches over discrete trajectory spaces. The solver is designed to operate efficiently by first finding a sequence of locally optimal transitions in the graph (local stage), without considering full trajectories. The accumulated cost of these transitions acts as a threshold that prunes the search space (up to 60% reduction for certain examples). The subsequent global stage, based on this threshold, refines the solution. Both stages utilize variants of the Grover-adaptive-search algorithm. To achieve scalability and robustness, we draw on principles from control theory and embed QuantGraph's global stage within a receding-horizon model-predictive-control scheme. This classical layer stabilizes and guides the quantum search, improving precision and reducing computational burden. In practice, the resulting closed-loop system exhibits robust behavior and lower overall complexity. Notably, for a fixed query budget, QuantGraph attains a 2x increase in control-discretization precision while still benefiting from Grover-search's inherent quadratic speedup compared to classical methods.

Paperid: 878, https://arxiv.org/pdf/2512.14350.pdf

Abstract:
Approximate model-predictive control (AMPC) aims to imitate an MPC's behavior with a neural network, removing the need to solve an expensive optimization problem at runtime. However, during deployment, the parameters of the underlying MPC must usually be fine-tuned. This often renders AMPC impractical as it requires repeatedly generating a new dataset and retraining the neural network. Recent work addresses this problem by adapting AMPC without retraining using approximated sensitivities of the MPC's optimization problem. Currently, this adaption must be done by hand, which is labor-intensive and can be unintuitive for high-dimensional systems. To solve this issue, we propose using Bayesian optimization to tune the parameters of AMPC policies based on experimental data. By combining model-based control with direct and local learning, our approach achieves superior performance to nominal AMPC on hardware, with minimal experimentation. This allows automatic and data-efficient adaptation of AMPC to new system instances and fine-tuning to cost functions that are difficult to directly implement in MPC. We demonstrate the proposed method in hardware experiments for the swing-up maneuver on an inverted cartpole and yaw control of an under-actuated balancing unicycle robot, a challenging control problem.

Paperid: 879, https://arxiv.org/pdf/2512.13393.pdf

Abstract:
Unlicensed spectrum supports diverse traffic with stringent Quality-of-Service (QoS) requirements. In NR-U/Wi-Fi coexistence,the values of MAC parameters critically influence delay, collision behavior, and airtime fairness and efficiency. In this paper, we investigate the impact of (i) cost scaling and violation modeling, (ii) choice of MAC parameters, and (iii) an enhanced collision resolution scheme for the Listen-Before-Talk (LBT) mechanism on the performance of a state-augmented constrained reinforcement learning controller for NR-U/Wi-Fi coexistence. Coexistence control is formulated as a constrained Markov decision process with an explicit delay constraint for high-priority traffic and fairness as the optimization goal. Our simulation results show three key findings: (1) signed, threshold-invariant cost scaling with temporal smoothing stabilizes learning and strengthens long-term constraint adherence; (2) use of the contention window parameter for control provides smoother adaptation and better delay compliance than other MAC parameters; and (3) enhanced LBT significantly reduces collisions and improves airtime efficiency. These findings provide practical insights for achieving robust, QoS-aware coexistence control.

Paperid: 880, https://arxiv.org/pdf/2512.08705.pdf

Abstract:
Preliminary mission design of low-thrust spacecraft trajectories in the Circular Restricted Three-Body Problem is a global search characterized by a complex objective landscape and numerous local minima. Formulating the problem as sampling from an unnormalized distribution supported on neighborhoods of locally optimal solutions, provides the opportunity to deploy Markov chain Monte Carlo methods and generative machine learning. In this work, we extend our previous self-supervised diffusion model fine-tuning framework to employ gradient-informed Markov chain Monte Carlo. We compare two algorithms - the Metropolis-Adjusted Langevin Algorithm and Hamiltonian Monte Carlo - both initialized from a distribution learned by a diffusion model. Derivatives of an objective function that balances fuel consumption, time of flight and constraint violations are computed analytically using state transition matrices. We show that incorporating the gradient drift term accelerates mixing and improves convergence of the Markov chain for a multi-revolution transfer in the Saturn-Titan system. Among the evaluated methods, MALA provides the best trade-off between performance and computational cost. Starting from samples generated by a baseline diffusion model trained on a related transfer, MALA explicitly targets Pareto-optimal solutions. Compared to a random walk Metropolis algorithm, it increases the feasibility rate from 17.34% to 63.01% and produces a denser, more diverse coverage of the Pareto front. By fine-tuning a diffusion model on the generated samples and associated reward values with reward-weighted likelihood maximization, we learn the global solution structure of the problem and eliminate the need for a tedious separate data generation phase.

Paperid: 881, https://arxiv.org/pdf/2512.08013.pdf

Abstract:
Reliable optimal control is challenging when the dynamics of a nonlinear system are unknown and only infrequent, noisy output measurements are available. This work addresses this setting of limited sensing by formulating a Bayesian prior over the continuous-time dynamics and latent state trajectory in state-space form and updating it through a targeted marginal Metropolis-Hastings sampler equipped with a numerical ODE integrator. The resulting posterior samples are used to formulate a scenario-based optimal control problem that accounts for both model and measurement uncertainty and is solved using standard nonlinear programming methods. The approach is validated in a numerical case study on glucose regulation using a Type 1 diabetes model.

Paperid: 882, https://arxiv.org/pdf/2512.07006.pdf

Abstract:
The increasing energy demand of next-generation mobile networks, especially 6G, is becoming a major concern, particularly due to the high power usage of base station components RU, which often remain active even during low traffic periods. To tackle this challenge, our study focuses on improving energy efficiency in O-RAN systems using intelligent control strategies. TD3 leverages a continuous action space to overcome the limitations of traditional discrete-action methods like DQN. By avoiding exponential growth in action space, TD3 enables more precise control of RU sleep modes in dense and large radio environments. Simulation results show that our approach consistently achieves over 50% energy savings compared to the always-on baseline, with TD3 outperforming DQN-based methods by up to 6%, while also offering better stability and faster convergence.

Paperid: 883, https://arxiv.org/pdf/2512.06109.pdf

Abstract:
This paper develops a unified perspective on several stochastic optimal control formulations through the lens of Kullback-Leibler regularization. We propose a central problem that separates the KL penalties on policies and transitions, assigning them independent weights, thereby generalizing the standard trajectory-level KL-regularization commonly used in probabilistic and KL-regularized control. This generalized formulation acts as a generative structure allowing to recover various control problems. These include the classical Stochastic Optimal Control (SOC), Risk-Sensitive Optimal Control (RSOC), and their policy-based KL-regularized counterparts. The latter we refer to as soft-policy SOC and RSOC, facilitating alternative problems with tractable solutions. Beyond serving as regularized variants, we show that these soft-policy formulations majorize the original SOC and RSOC problem. This means that the regularized solution can be iterated to retrieve the original solution. Furthermore, we identify a structurally synchronized case of the risk-seeking soft-policy RSOC formulation, wherein the policy and transition KL-regularization weights coincide. Remarkably, this specific setting gives rise to several powerful properties such as a linear Bellman equation, path integral solution, and, compositionality, thereby extending these computationally favourable properties to a broad class of control problems.

Paperid: 884, https://arxiv.org/pdf/2512.05053.pdf

Abstract:
Privacy has become a critical concern in modern multi-robot systems, driven by both ethical considerations and operational constraints. As a result, growing attention has been directed toward privacy-preserving coordination in dynamical multi-robot systems. This work introduces a randomized scheduling mechanism for privacy-preserving robot rendezvous. The proposed approach achieves improved privacy even at lower communication rates, where privacy is quantified via pointwise maximal leakage. We show that lower transmission rates provide stronger privacy guarantees and prove that rendezvous is still achieved under the randomized scheduling mechanism. Numerical simulations are provided to demonstrate the effectiveness of the method.

Paperid: 885, https://arxiv.org/pdf/2512.03767.pdf

Abstract:
The fundamental design of wireless systems toward AI-native 6G and beyond is driven by the need for ever-increasing demand of mobile data traffic, extreme spectral efficiency, and adaptability across diverse service scenarios. To overcome the limitations posed by feedback-based multiple-input and multiple-output (MIMO) transmission, we propose a novel frequency-domain Correlation-aware Feedback-free MIMO Transmission and Resource Allocation (CaFTRA) framework tailored for fully-decoupled radio access networks (FD-RAN) to meet the emerging requirements of AI-Native 6G and beyond. By leveraging artificial intelligence (AI), CaFTRA effectively eliminates real-time uplink feedback by predicting channel state information (CSI) based solely on user geolocation. We introduce a Learnable Queries-driven Transformer Network for CSI mapping from user geolocation, which utilizes multi-head attention and learnable query embeddings to accurately capture frequency-domain correlations among resource blocks (RBs), thereby significantly improving the precision of CSI prediction. Once base stations (BSs) adopt feedback-free transmission, their downlink transmission coverage can be significantly expanded due to the elimination of frequent uplink feedback. To enable efficient resource scheduling under such extensive-coverage scenarios, we apply a low-complexity many-to-one matching theory-based algorithm for efficient multi-BS association and multi-RB resource allocation, which is proven to converge to a stable matching within limited iterations. Simulation results demonstrate that CaFTRA achieves stable matching convergence and significant gains in spectral efficiency and user fairness compared to 5G, underscoring its potential value for 6G standardization efforts.

Paperid: 886, https://arxiv.org/pdf/2512.01938.pdf

Abstract:
In a recent paper [8], we introduced a data-based approach to design event-triggered controllers for linear systems directly from data. Here, we extend the results in [8] to a class of nonlinear systems. We provide two data-based designs certified by a (classical) Lyapunov function. For these two designs, we devise event-triggered policies that rely on the previously found Lyapunov function, have parameters tuned from data, ensure a positive minimum inter-event time, and act based either on the state error or on the library error. These two different policies, and their respective advantages, are illustrated numerically.

Paperid: 887, https://arxiv.org/pdf/2512.01754.pdf

Abstract:
The popularity of Bayesian Optimization (BO) to automate or support the commissioning of engineering systems is rising. Conventional BO, however, relies on the availability of a scalar objective function. The latter is often difficult to define and rarely captures the nuanced judgement of expert operators in industrial settings. Preferential Bayesian Optimization (PBO) addresses this limitation by relying solely on pairwise preference feedback of a human expert, so-called duels. In this paper, we study PBO's capacity to commission a particular setup where a manipulator needs to push a block towards a target position. We benchmark state-of-the-art algorithms in both simulations and in the real world. Our results confirm that PBO can commission the set-up to the satisfaction of an expert operator whilst relying solely on binary preference feedback. To evaluate to what extend the same result can be achieved using conventional BO we investigate the experts decision consistency against an expert-designed cost function. Our study reveals that the experts fail to define a cost function that is in full agreement with their own decision process as witnessed in the PBO experiments. We then show that the auxiliary cost function that is constructed as a by-product of the PBO algorithms outperforms the expert-designed cost function in terms of decision consistency. Furthermore we demonstrate that this cost function can be used with conventional BO algorithms in an effort to reproduce the optimal design. This proofs the preference based cost function captures the experts' preferences perhaps more effectively than the experts could articulate preference themselves. In conclusion, we discuss downsides and propose directions for future research.

Paperid: 888, https://arxiv.org/pdf/2512.01454.pdf

Abstract:
Emerging cyber-physical systems increasingly operate under stringent communication constraints that preclude the reliable transmission of their extensive machine-type data streams. Since raw measurements often contain correlated or redundant components, effective operation depends not on transmitting all available data but on selecting the information that contributes to achieving the objectives of the system. Beyond accuracy, goal-oriented semantic communication assesses the \emph{value of information} and aims to generate and transmit only what is relevant and at the right time. Motivated by this perspective, this work studies the \emph{value of communication} through the canonical setting of remote estimation of Markov sources, where a value-of-information measure quantifies the relevance of information. We investigate how optimal estimation performance varies with the available communication budget and determine the marginal performance gain attributable to additional communication. Our approach is based on a \emph{Pareto analysis} that characterizes the complete set of policies that achieve optimal trade-offs between estimation performance and communication cost. The value of communication is defined as the absolute slope of the resulting Pareto frontier. Although computing this frontier is non-trivial, we demonstrate that in our setting it admits a notably tractable structure: it is strictly decreasing, convex, and piecewise linear, and its slope is governed by a finite collection of constants. Moreover, each Pareto-optimal operating point is realizable as a convex combination of two stationary deterministic policies, enabling practical implementation. Leveraging these structural insights, we introduce SPLIT, an efficient and provably optimal algorithm for constructing the complete Pareto frontier.

Paperid: 889, https://arxiv.org/pdf/2511.23326.pdf

Abstract:
OWC has been considered as a key enabling technology to unlock unprecedented speeds of communication, supporting high demands of data traffic. In this paper, infrared lasers are used as optical transmitters operating in an indoor environment under eye safety regulations due to their high modulation speed. To provide efficient multiple access service, NOMA-based transmission is implemented to multiplex messages intended to multiple users in the power domain and maximize the spectral efficiency of our laser-based OWC network. In particular, a BIA outer precoder is designed to coordinate the transmission among multiple APs and determine the precoding matrices for groups of users potential formed according to NOMA principles. For effective use of NOMA, an optimization problem is formulated to maximize the sum rate of the network through forming optimum groups under certain joint conditions, efficient power allocation, high quality of service for each weak and strong users, and high overall system performance. Such optimization problems are defined as max-min fractional programs difficult to solve in practice. Therefore, a dynamic application for NOMA is introduced using two algorithms. First, a RF-aided dynamic algorithm is designed to form multiple groups, where users exchange binary variables among them through an RF system to establish distance-based weight edges, which are used as a metric for the grouping process. Second, a dynamic power allocation is proposed to determine the optimum power allocated to each group, while the users belonging to a certain group receive their traffic demands regardless of their classification as weak or strong. The results show the convergence of the proposed dynamic application to the optimum solution, and its high performance in terms of sum rate, fairness, and energy efficiency compared to counterpart schemes.

Paperid: 890, https://arxiv.org/pdf/2511.23046.pdf

Abstract:
This paper puts forward a framework to accelerate Electromagnetic Transient (EMT) simulations by replacing individual components with trained Physics-Informed Neural Networks (PINNs). EMT simulations are considered the cornerstone of transient stability assessment of power systems with high shares of Inverter-Based Resources (IBRs), and, although accurate, they are notorious for their slow simulation speed. Taking a deeper dive into the EMT simulation algorithms, this paper identifies the most computationally expensive components of the simulation and replaces them with fast and accurate PINNs. The proposed novel PINN formulation enables a modular and scalable integration into the simulation algorithm. Using a type-4 wind turbine EMT model, we demonstrate a 4--6x simulation speedup by capturing the Phase-Locked Loop (PLL) with a PINN. We validate all our results with PSCAD software.

Paperid: 891, https://arxiv.org/pdf/2511.22502.pdf

Abstract:
In Model Predictive Control (MPC), the objective function plays a central role in determining the closed-loop behavior of the system, and must therefore be designed to achieve the desired closed-loop performance. However, in real-world scenarios, its design is often challenging, as it requires balancing complex trade-offs and accurately capturing a performance criterion that may not be easily quantifiable in terms of an objective function. This paper explores preference-based learning as a data-driven approach to constructing an objective function from human preferences over trajectory pairs. We formulate the learning problem as a machine learning classification task to learn a surrogate model that estimates the likelihood of a trajectory being preferred over another. The approach provides a surrogate model that can directly be used as an MPC objective function. Numerical results show that we can learn objective functions that provide closed-loop trajectories that align with the expressed human preferences.

Paperid: 892, https://arxiv.org/pdf/2511.20383.pdf

Abstract:
In this paper, we present a learning-based framework that accelerates time- and energy-optimal trajectory planning for connected and automated vehicles (CAVs) using graph neural networks (GNNs). We formulate the multi-agent coordination problem encountered in traffic scenarios as a cooperative trajectory planning problem that minimizes travel time, subject to motion primitives derived from energy-optimal solutions. The effectiveness of this framework can be further improved through replanning at each time step, enabling the system to incorporate newly observed information. To achieve real-time execution of such a multi-agent replanning scheme, we employ a GNN architecture to learn the solutions of the time-optimal trajectory planning problem from offline-generated data. The trained model produces online predictions that serve as warm-start solutions for numerical optimization, thereby enabling rapid computation of minimal exit times and the associated feasible trajectories. This learning-augmented approach substantially reduces computation time while ensuring that all state, input, and safety constraints are satisfied.

Paperid: 893, https://arxiv.org/pdf/2511.17440.pdf

Abstract:
Using Bayesian transfer learning, we develop a particle filter approach for tracking a nonlinear dynamical model in a dual-tracking system where intensities of measurement noise for both sensors are asymmetric. The densities for Bayesian transfer learning are approximated with the sum of weighted particles to improve the tracking performance of the primary sensor, which experiences a higher noise intensity compared to the source sensor. We present simulation results that validate the effectiveness of the proposed approach compared to an isolated particle filter and transfer learning applied to the unscented Kalman filter and the cubature Kalman filter. Furthermore, increasing the number of particles shows an improvement in the performance of transfer learning applied to the particle filter with a higher rate compared to the isolated particle filter. However, increasing the number of particles raises computational time per step. Moreover, the performance gain from incorporating Bayesian transfer learning is approximately linearly proportional to the absolute difference value between the noise intensities of the sensors in the dual-tracking system.

Paperid: 894, https://arxiv.org/pdf/2511.15480.pdf

Abstract:
Standard H-infinity/H2 robust control and analysis tools operate on uncertain parameters assumed to vary independently within prescribed bounds. This paper extends their capabilities in the presence of constraints coupling these parameters and restricting the parametric space. Focusing on the worst-case search, we demonstrate -- based on the theory of upper-C1 functions -- the validity of using standard, readily available smooth optimization algorithms to address this nonsmooth constrained optimization problem. Accordingly, we propose to explore the parametric space with either Monte-Carlo sampling or particle swarm optimization, and to subsequently perform local exploitation with Sequential Quadratic Programming to compute Karush-Kuhn-Tucker points. This worst-case search then enables robust controller synthesis: as in the state-of-art algorithm for standard robust control, identified worst-case configurations are iteratively added to an active set on which a non-smooth multi-models optimization of the controller is performed. The methodology is illustrated on a satellite benchmark with flexible appendages, of order 50 with 43 uncertain parameters. We show that the proposed method largely outperforms Monte-Carlo sampling alone, is able to reliably detect even rare worst-case configurations in minutes on a standard laptop, and that the robust controller optimization converges with less than 10 active configurations. Even in the unconstrained case, the proposed framework complements traditional methods, as it scales to plants with many parameters and states and explores the entire parametric space, albeit without formal guarantees of global optimality.

Paperid: 895, https://arxiv.org/pdf/2511.15412.pdf

Abstract:
We present an approach for spatially-consistent semi-deterministic Air-to-Ground (A2G) channel modeling in Unmanned Aerial Vehicle-assisted networks. We use efficient 3D building shadow projections to determine Line-of-Sight (LOS) regions, enabling fast generation of LOS maps. By integrating LOS-aware deterministic path loss with stochastic shadow fading, the approach produces spatially consistent A2G radio maps suitable for environment- and mobility-aware channel evaluation and performance prediction. Simulation results in ITU-compliant Manhattan grid environments demonstrate the model's ability to reflect key urban propagation characteristics, such as LOS blockage patterns and outage behavior. The proposed approach provides an efficient alternative to ray tracing or fully stochastic models, with particular relevance for user mobility, link planning, and radio map generation in 6G non-terrestrial networks.

Paperid: 896, https://arxiv.org/pdf/2511.14725.pdf

Abstract:
DC Optimal Power Flow (DCOPF) is widely utilized in power system operations due to its simplicity and computational efficiency. However, its lossless, reactive power-agnostic model often yields dispatches that are infeasible under practical operating scenarios such as the nonlinear AC power flow (ACPF) equations. While theoretical analysis demonstrates that DCOPF solutions are inherently AC-infeasible, their widespread industry adoption suggests substantial practical utility. This paper develops a unified DCOPF-ACPF pipeline to recover AC feasible solutions from DCOPF-based dispatches. The pipeline uses four DCOPF variants and applies AC feasibility recovery using both distributed slack allocation and PV/PQ switching. The main objective is to identify the most effective pipeline for restoring AC feasibility. Evaluation across over 10,000 dispatch scenarios on various test cases demonstrates that the structured ACPF model yields solutions that satisfy both the ACPF equations, and all engineering inequality constraints. In a 13,659 bus case, the mean absolute error and cost differences between DCOPF and ACOPF are reduced by 75% and 93%, respectively, compared to conventional single slack bus methods. Under extreme loading conditions, the pipeline reduces inequality constraint violations by a factor of 3 to 5.

Paperid: 897, https://arxiv.org/pdf/2511.13103.pdf

Abstract:
Multi-agent reinforcement learning (MARL) has shown promise for large-scale network control, yet existing methods face two major limitations. First, they typically rely on assumptions leading to decay properties of local agent interactions, limiting their ability to capture long-range dependencies such as cascading power failures or epidemic outbreaks. Second, most approaches lack generalizability across network topologies, requiring retraining when applied to new graphs. We introduce STACCA (Shared Transformer Actor-Critic with Counterfactual Advantage), a unified transformer-based MARL framework that addresses both challenges. STACCA employs a centralized Graph Transformer Critic to model long-range dependencies and provide system-level feedback, while its shared Graph Transformer Actor learns a generalizable policy capable of adapting across diverse network structures. Further, to improve credit assignment during training, STACCA integrates a novel counterfactual advantage estimator that is compatible with state-value critic estimates. We evaluate STACCA on epidemic containment and rumor-spreading network control tasks, demonstrating improved performance, network generalization, and scalability. These results highlight the potential of transformer-based MARL architectures to achieve scalable and generalizable control in large-scale networked systems.

Paperid: 898, https://arxiv.org/pdf/2511.12911.pdf

Abstract:
As renewable energy sources become more prevalent, accurately modeling power grid dynamics is becoming increasingly more complex. Concurrently, data acquisition and realtime system state monitoring are becoming more available for control centers. This motivates shifting from \textit{model- and Lyapunov-based} feedback controller designs toward \textit{model-free} ones. Reinforcement learning (RL) has emerged as a key tool for designing model-free controllers. Various studies have been carried out to study voltage/frequency control strategies via RL. However, usually a simplified system model is used neglecting detailed dynamics of solar, wind, and composite loads -- and damping system-wide oscillations and modeling power flows are all usually ignored. To that end, we pose an optimal feedback control problem for a detailed renewables-heavy power system, defined by a set of nonlinear differential algebraic equations (NDAE). The control problem is solved using a completely model-free design via RL as well as using a model-based approach built upon the Lyapunov stability theory with guarantees. The paper in its essence seeks to explore whether data-driven feedback control should be used in power grids over its model-driven counterpart. Theoretical developments and thorough case studies are presented with an eye on this exploration. Finally, a detailed analysis is provided to delineate the strengths and weaknesses of both approaches for renewables-heavy grids.

Paperid: 899, https://arxiv.org/pdf/2511.10771.pdf

Abstract:
For systems whose states implicate sensitive information, their privacy is of great concern. While notions like differential privacy have been successfully introduced to dynamical systems, it is still unclear how a system's privacy can be properly protected when facing the challenging yet frequently-encountered scenario where an adversary possesses prior knowledge, e.g., the steady state, of the system. This paper presents a new systematic approach to protect the privacy of a discrete-time linear time-invariant system against adversaries knowledgeable of the system's prior information. We employ a tailored \emph{pointwise maximal leakage (PML) privacy} criterion. PML characterizes the worst-case privacy performance, which is sharply different from that of the better-known mutual-information privacy. We derive necessary and sufficient conditions for PML privacy and construct tractable design procedures. Furthermore, our analysis leads to insight into how PML privacy, differential privacy, and mutual-information privacy are related. We then revisit Kalman filters from the perspective of PML privacy and derive a lower bound on the steady-state estimation-error covariance in terms of the PML parameters. Finally, the derived results are illustrated in a case study of privacy protection for distributed sensing in smart buildings.

Paperid: 900, https://arxiv.org/pdf/2511.08451.pdf

Abstract:
Proximal methods such as the Alternating Direction Method of Multipliers (ADMM) are effective at solving constrained quadratic programs (QPs). To tackle infeasible QPs, slack variables are often introduced to ensure feasibility, which changes the structure of the problem, increases its size, and slows down numerical resolution. In this letter, we propose a simple ADMM scheme to tackle QPs with slack variables without increasing the size of the original problem. The only modification is a slightly different projection in the z-update, while the rest of the algorithm remains standard. We prove that the method is equivalent to applying ADMM to the QP with additional slack variables, even though slack variables are not added. Numerical experiments show speedups of the approach.

Paperid: 901, https://arxiv.org/pdf/2511.05900.pdf

Abstract:
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, regardless of the complexity of the underlying graph topology and the explicit time dependence of the objective function. The proposed framework systematically addresses a particularly challenging problem in multi-agent systems, i.e., decentralization of entangled dynamics among different agents, and it naturally supports multi-objective robotics and real-time implementations. To demonstrate its generality and effectiveness, the framework is implemented across three experiments, namely time-varying leader-follower formation control, decentralized coverage control for time-varying density functions without any approximations, which is a long-standing open problem, and safe formation navigation in dense environments.

Paperid: 902, https://arxiv.org/pdf/2511.04246.pdf

Abstract:
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the quasi-static assumption and with negligible contact friction. The quasi-static model applies to generic slider shapes and circular pusher geometries, enabling a differential kinematic representation of the system. From this model, we analyze differential flatness - a property advantageous for control synthesis and planning - and find that slider-pusher systems with polygon sliders and circular pushers exhibit flatness with the centre of mass as a flat output. Leveraging this property, we propose two control strategies for trajectory tracking: a cascaded quasi-static feedback strategy and a dynamic feedback linearization approach. We validate these strategies through closed-loop simulations incorporating perturbed models and input noise, as well as experimental results using a physical setup with a finger-like pusher and vision-based state detection. The real-world experiments confirm the applicability of the simulation gains, highlighting the potential of the proposed methods for

Paperid: 903, https://arxiv.org/pdf/2511.03591.pdf

Abstract:
Safe multi-agent motion planning (MAMP) under task-induced constraints is a critical challenge in robotics. Many real-world scenarios require robots to navigate dynamic environments while adhering to manifold constraints imposed by tasks. For example, service robots must carry cups upright while avoiding collisions with humans or other robots. Despite recent advances in decentralized MAMP for high-dimensional systems, incorporating manifold constraints remains difficult. To address this, we propose a manifold-constrained Hamilton-Jacobi reachability (HJR) learning framework for decentralized MAMP. Our method solves HJR problems under manifold constraints to capture task-aware safety conditions, which are then integrated into a decentralized trajectory optimization planner. This enables robots to generate motion plans that are both safe and task-feasible without requiring assumptions about other agents' policies. Our approach generalizes across diverse manifold-constrained tasks and scales effectively to high-dimensional multi-agent manipulation problems. Experiments show that our method outperforms existing constrained motion planners and operates at speeds suitable for real-world applications. Video demonstrations are available at https://youtu.be/RYcEHMnPTH8 .

Paperid: 904, https://arxiv.org/pdf/2511.01457.pdf

Abstract:
We introduce the notion of descriptor embedding for nonlinear systems and use it for the data-driven design of stabilizing controllers. Specifically, we provide sufficient data-dependent LMI conditions which, if feasible, return a stabilizing nonlinear controller of the form $u=K(x)Z(x)$ where $K(x)$ belongs to a polytope and $Z$ is a user-defined function. The proposed method is then extended to account for the presence of uncertainties and noisy data. Furthermore, a method to estimate the resulting region of attraction is given using only data. Simulation examples are used to illustrate the results and compare them to existing methods from the literature.

Paperid: 905, https://arxiv.org/pdf/2511.00659.pdf

Abstract:
Accurately simulating rare but safety-critical driving behaviors is essential for the evaluation and certification of autonomous vehicles (AVs). However, current models often fail to reproduce realistic collision rates when calibrated on real-world data, largely due to inadequate representation of long-tailed behavioral distributions. Here, we uncover a simple yet unifying shifted power law that robustly characterizes the stochasticity of both human-driven vehicle (HV) and AV behaviors, especially in the long-tail regime. The model adopts a parsimonious analytical form with only one or two parameters, enabling efficient calibration even under data sparsity. Analyzing large-scale, micro-level trajectory data from global HV and AV datasets, the shifted power law achieves an average R2 of 0.97 and a nearly identical tail distribution, uniformly fits both frequent behaviors and rare safety-critical deviations, significantly outperforming existing Gaussian-based baselines. When integrated into an agent-based traffic simulator, it enables forward-rolling simulations that reproduce realistic crash patterns for both HVs and AVs, achieving rates consistent with real-world statistics and improving the fidelity of safety assessment without post hoc correction. This discovery offers a unified and data-efficient foundation for modeling high-risk behavior and improves the fidelity of simulation-based safety assessments for mixed AV/HV traffic. The shifted power law provides a promising path toward simulation-driven validation and global certification of AV technologies.

Paperid: 906, https://arxiv.org/pdf/2510.26708.pdf

Abstract:
Guaranteeing stringent data freshness for low-altitude unmanned aerial vehicles (UAVs) in shared spectrum forces a critical trade-off between two operational costs: the UAV's own energy consumption and the occupation of terrestrial channel resources. The core challenge is to satisfy the aerial data freshness while finding a Pareto-optimal balance between these costs. Leveraging predictive channel models and predictive UAV trajectories, we formulate a bi-objective Pareto optimization problem over a long-term planning horizon to jointly optimize the sampling timing for aerial traffic and the power and spectrum allocation for fair coexistence. However, the problem's non-convex, mixed-integer nature renders classical methods incapable of fully characterizing the complete Pareto frontier. Notably, we show monotonicity properties of the frontier, building on which we transform the bi-objective problem into several single-objective problems. We then propose a new graph-based algorithm and prove that it can find the complete set of Pareto optima with low complexity, linear in the horizon and near-quadratic in the resource block (RB) budget. Numerical comparisons show that our approach meets the stringent timeliness requirement and achieves a six-fold reduction in RB utilization or a 6 dB energy saving compared to benchmarks.

Paperid: 907, https://arxiv.org/pdf/2510.21051.pdf

Abstract:
Deep neural networks (DNNs) are powerful black-box function approximators which have been shown to yield improved performance compared to traditional neural network (NN) architectures. However, black-box algorithms do not incorporate known physics of the system and can yield results which are physically implausible. Physics-informed neural networks (PINNs) have grown in popularity due to their ability to leverage known physical principles in the learning process which has been empirically shown to improve performance compared to traditional black-box methods. This paper introduces the first physics-informed DNN controller for an Euler-Lagrange dynamic system where the adaptation laws are designed using a Lyapunov-based stability analysis to account for the skew-symmetry property of the inertia matrix and centripetal-Coriolis matrix. A Lyapunov-based stability analysis is provided to guarantee asymptotic convergence of the tracking error and the skew-symmetric prediction error. Simulations indicate that the developed update law demonstrates improvement in individual and overall function approximation capabilities when compared to a physics-informed adaptation law which does not incorporate knowledge of system symmetries.

Paperid: 908, https://arxiv.org/pdf/2510.20805.pdf

Abstract:
Data centers are emerging as large, flexible electricity consumers capable of shifting computational workloads across locations in response to economic and environmental signals. While this flexibility has potential for emissions reduction, its impact on power system operations depends critically on how such behavior interacts with network constraints and market signals. We develop a bilevel optimization framework in which a data center minimizes a weighted combination of electricity cost and marginal emissions intensity (LME), while the system operator clears economic dispatch under transmission and generation constraints. Focusing on a stylized three-bus power system, we derive closed-form, piecewise-linear expressions for both the data center and system-wide objectives as functions of the data centers' load shift. These expressions capture threshold-driven regime changes due to congestion and renewable saturation. We identify sufficient conditions under which the data center's decentralized decisions align with or diverge from socially optimal behavior and characterize the resulting externalities. Our results reveal how system topology and generator asymmetry affect incentive alignment and provide insight into when marginal price or emissions signals may fail to guide flexible loads toward socially beneficial outcomes. Our results offer a tractable starting point for analyzing decentralized flexibility under carbon-aware incentives and suggest directions for improving coordination between flexible loads and system operations.

Paperid: 909, https://arxiv.org/pdf/2510.20009.pdf

Abstract:
We study the problem of jointly selecting sensing agents and synthesizing decentralized active perception policies for the chosen subset of agents within a Decentralized Partially Observable Markov Decision Process (Dec-POMDP) framework. Our approach employs a two-layer optimization structure. In the inner layer, we introduce information-theoretic metrics, defined by the mutual information between the unknown trajectories or some hidden property in the environment and the collective partial observations in the multi-agent system, as a unified objective for active perception problems. We employ various optimization methods to obtain optimal sensor policies that maximize mutual information for distinct active perception tasks. In the outer layer, we prove that under certain conditions, the information-theoretic objectives are monotone and submodular with respect to the subset of observations collected from multiple agents. We then exploit this property to design an IMAS$^2$ (Information-theoretic Multi-Agent Selection and Sensing) algorithm for joint sensing agent selection and sensing policy synthesis. However, since the policy search space is infinite, we adapt the classical Nemhauser-Wolsey argument to prove that the proposed IMAS$^2$ algorithm can provide a tight $(1 - 1/e)$-guarantee on the performance. Finally, we demonstrate the effectiveness of our approach in a multi-agent cooperative perception in a grid-world environment.

Paperid: 910, https://arxiv.org/pdf/2510.10392.pdf

Abstract:
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer, microscope, power supplies, and control circuitry into a single, low-cost and fully integrated apparatus. Custom control software developed in Python and Arduino C++ handles live video acquisition, microrobot tracking, and generation of control signals for electromagnetic coils and acoustic transducers. The platform's multi-modal actuation, accessibility, and portability make it suitable not only for specialized research laboratories but also for educational and outreach settings. By lowering the barrier to entry for microrobotic experimentation, this system enables new opportunities for research, education, and translational applications in biomedicine, tissue engineering, and robotics.

Paperid: 911, https://arxiv.org/pdf/2510.09013.pdf

Abstract:
Advances in the control of autonomous systems have accompanied an expansion in the potential applications for autonomous robotic systems. The success of applications involving humans depends on the quality of interaction between the autonomous system and the human supervisor, which is particularly affected by the degree of trust that the supervisor places in the autonomous system. Absent from the literature are models of supervisor trust dynamics that can accommodate asymmetric responses to autonomous system performance and the intermittent nature of supervisor-autonomous system communication. This paper focuses on formulating an estimated model of supervisor trust that incorporates both of these features by employing a switched linear system structure with event-triggered sampling of the model input and output. Trust response data collected in a user study with 51 participants were then used identify parameters for a switched linear model-based observer of supervisor trust.

Paperid: 912, https://arxiv.org/pdf/2510.08980.pdf

Abstract:
Connected and Automated Vehicles (CAVs) offer significant potential for improving energy efficiency and lowering vehicle emissions through eco-driving technologies. Control algorithms in CAVs leverage look-ahead route information and Vehicle-to-Everything (V2X) communication to optimize vehicle performance. However, existing eco-driving strategies often neglect macroscopic traffic effects, such as upstream traffic jams, that occur outside the optimization horizon but significantly impact vehicle energy efficiency. This work presents a novel Neural Network (NN)-based methodology to approximate the terminal cost within a model predictive control (MPC) problem framework, explicitly incorporating upstream traffic dynamics. By incorporating traffic jams into the optimization process, the proposed traffic-aware approach yields more energy-efficient speed trajectories compared to traffic-agnostic methods, with minimal impact on travel time. The framework is scalable for real-time implementation while effectively addressing uncertainties from dynamic traffic conditions and macroscopic traffic events.

Paperid: 913, https://arxiv.org/pdf/2510.08854.pdf

Abstract:
This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem into a finite horizon OCP with a regularized terminal cost, guiding the system towards a terminal set, and an infinite horizon linear regulation phase within this set. This strategy guarantees global asymptotic stability under specific assumptions. Our method maintains the system's fully nonlinear dynamics until it reaches the terminal set, where the system dynamics is linearized. As the terminal set converges to the origin, the difference in optimal cost incurred reduces to zero, guaranteeing an efficient and stable solution. The approach is tested through simulations on three problems: spacecraft attitude control, rendezvous maneuver, and soft landing. In spacecraft attitude control, we focus on achieving precise orientation and stabilization. For rendezvous maneuvers, we address the navigation of a chaser to meet a target spacecraft. For the soft landing problem, we ensure a controlled descent and touchdown on a planetary surface. We provide numerical results confirming the effectiveness of the proposed method in managing these nonlinear dynamics problems, offering robust solutions essential for successful space missions.

Paperid: 914, https://arxiv.org/pdf/2510.07989.pdf

Abstract:
This paper introduces a new boundary element formulation for transient electromagnetic scattering by homogeneous dielectric objects based on the time-domain PMCHWT equation. To address dense-mesh breakdown, a multiplicative Calderon preconditioner utilizing a modified static electric field integral operator is employed. Large-timestep breakdown and late-time instability are simultaneously resolved by rescaling the Helmholtz components leveraging the quasi-Helmholtz projectors and using temporal differentiation and integration as rescaling operators. This rescaling also balances the loop and star components at large timesteps, improving solution accuracy. The resulting discrete system is solved using a marching-on-in-time scheme and iterative solvers. Numerical experiments for simply- and multiply-connected dielectric scatterers, including highly non-smooth geometries, corroborate the accuracy, stability, and efficiency of the proposed approach.

Paperid: 915, https://arxiv.org/pdf/2510.06179.pdf

Abstract:
Differentiable model predictive control (MPC) offers a powerful framework for combining learning and control. However, its adoption has been limited by the inherently sequential nature of traditional optimization algorithms, which are challenging to parallelize on modern computing hardware like GPUs. In this work, we tackle this bottleneck by introducing a GPU-accelerated differentiable optimization tool for MPC. This solver leverages sequential quadratic programming and a custom preconditioned conjugate gradient (PCG) routine with tridiagonal preconditioning to exploit the problem's structure and enable efficient parallelization. We demonstrate substantial speedups over CPU- and GPU-based baselines, significantly improving upon state-of-the-art training times on benchmark reinforcement learning and imitation learning tasks. Finally, we showcase the method on the challenging task of reinforcement learning for driving at the limits of handling, where it enables robust drifting of a Toyota Supra through water puddles.

Paperid: 916, https://arxiv.org/pdf/2510.02889.pdf

Abstract:
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect the convergence of the optimization protocol. This paper addresses the case where the information exchange among the agents (computing nodes) over data-transmission channels (links) might be subject to communication time-delays, which is not well addressed in the existing literature. Our proposed algorithm improves the state-of-the-art by handling heterogeneous and arbitrary but bounded and fixed (time-invariant) delays over general strongly-connected directed networks. Arguments from matrix theory, algebraic graph theory, and augmented consensus formulation are applied to prove the convergence to the optimal value. Simulations are provided to verify the results and compare the performance with some existing delay-free algorithms.

Paperid: 917, https://arxiv.org/pdf/2510.02527.pdf

Abstract:
Global search and optimization of long-duration, low-thrust spacecraft trajectories with the indirect method is challenging due to a complex solution space and the difficulty of generating good initial guesses for the costate variables. This is particularly true in multibody environments. Given data that reveals a partial Pareto optimal front, it is desirable to find a flexible manner in which the Pareto front can be completed and fronts for related trajectory problems can be found. In this work we use conditional diffusion models to represent the distribution of candidate optimal trajectory solutions. We then introduce into this framework the novel approach of using Markov Chain Monte Carlo algorithms with self-supervised fine-tuning to achieve the aforementioned goals. Specifically, a random walk Metropolis algorithm is employed to propose new data that can be used to fine-tune the diffusion model using a reward-weighted training based on efficient evaluations of constraint violations and missions objective functions. The framework removes the need for separate focused and often tedious data generation phases. Numerical experiments are presented for two problems demonstrating the ability to improve sample quality and explicitly target Pareto optimality based on the theory of Markov chains. The first problem does so for a transfer in the Jupiter-Europa circular restricted three-body problem, where the MCMC approach completes a partial Pareto front. The second problem demonstrates how a dense and superior Pareto front can be generated by the MCMC self-supervised fine-tuning method for a Saturn-Titan transfer starting from the Jupiter-Europa case versus a separate dedicated global search.

Paperid: 918, https://arxiv.org/pdf/2510.02503.pdf

Abstract:
Cyberattacks on pipeline operational technology systems pose growing risks to energy infrastructure. This study develops a physics-informed simulation and optimization framework for analyzing cyber-physical threats in petroleum pipeline networks. The model integrates networked hydraulic dynamics, SCADA-based state estimation, model predictive control (MPC), and a bi-level formulation for stealthy false-data injection (FDI) attacks. Pipeline flow and pressure dynamics are modeled on a directed graph using nodal pressure evolution and edge-based Weymouth-type relations, including control-aware equipment such as valves and compressors. An extended Kalman filter estimates the full network state from partial SCADA telemetry. The controller computes pressure-safe control inputs via MPC under actuator constraints and forecasted demands. Adversarial manipulation is formalized as a bi-level optimization problem where an attacker perturbs sensor data to degrade throughput while remaining undetected by bad-data detectors. This attack-control interaction is solved via Karush-Kuhn-Tucker (KKT) reformulation, which results in a tractable mixed-integer quadratic program. Test gas pipeline case studies demonstrate the covert reduction of service delivery under attack. Results show that undetectable attacks can cause sustained throughput loss with minimal instantaneous deviation. This reveals the need for integrated detection and control strategies in cyber-physical infrastructure.

Paperid: 919, https://arxiv.org/pdf/2510.01485.pdf

Abstract:
This work demonstrates pose (position and shape) estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thrusters for control, and a single gyroscope per link, resulting in an underactuated, minimally sensed platform. Through a proof-of-concept hardware experiment and offline Kalman filter analysis, we show that the robot's pose can be reliably estimated. State estimation is performed using an unscented Kalman filter augmented with Gaussian process residual learning to compensate for non-zero-mean, non-Gaussian noise. We further show that a filter trained on a multi-gait dataset (forward, backward, left, right, and turning) performs comparably to one trained on a larger forward-gait-only dataset when both are evaluated on the same forward-gait test trajectory. These results reveal overlap in the gait input space, which can be exploited to reduce training data requirements while enhancing the filter's generalizability across multiple gaits.

Paperid: 920, https://arxiv.org/pdf/2510.01067.pdf

Abstract:
In this article, we employ an input-output approach to expand the study of cooperative multi-agent control and optimization problems characterized by mean-field interactions that admit decentralized and selfish solutions. The setting involves $n$ independent agents that interact solely through a shared cost function, which penalizes deviations of each agent from the group's average collective behavior. Building on our earlier results established for homogeneous agents, we extend the framework to nonidentical agents and show that, under a diagonal dominant interaction of the collective dynamics, with bounded local open-loop dynamics, the optimal controller for $H_\infty$ and $H_2$ norm minimization remains decentralized and selfish in the limit as the number of agents $n$ grows to infinity.

Paperid: 921, https://arxiv.org/pdf/2510.00435.pdf

Abstract:
This paper presents two innovative four-port probe stations developed by FormFactor Incorporated (FFI) and MPI Corporation (MPI), and a four-port calibration standard design up to 125 GHz for the probe stations. True four-port probing at mmWave and beyond does not yet exist, but is anticipated for future multi-band wireless devices using several antennas and RF chains. The four-port probe stations are housed in the THz measurement facility at NYU and allow simultaneous probing from East, West, North, and South orientations, which presents challenges for calibration. An on-chip Short-Open-Load-Reciprocal (SOLR) calibration (cal) standard is designed leveraging UMC's 28 nm CMOS process. S/O/L standard S-parameters are extracted using a virtual multiline Thru-Reflect-Line (mTRL) cal and used to validate SOLR cal performance via simulations up to 125 GHz. The novel probing solutions from MPI and FFI, along with the SOLR cal, open up considerable opportunities for precise RF characterization across wide frequency ranges.

Paperid: 922, https://arxiv.org/pdf/2509.25517.pdf

Abstract:
The proliferation of cell-free Massive MIMO represents a transformative shift in wireless network architecture, addressing critical limitations of conventional distributed Massive MIMO systems. This paper presents an intelligent radio network planning framework that bridges legacy 5G infrastructures with future B5G/6G networks through cell-free architectures. By leveraging operational insights from existing 5G deployments, we systematically address coverage optimization, and capacity enhancement. Our scalable framework enables seamless evolution from legacy designs to next-generation cell-free systems. Through extensive simulations in dense urban environments, we demonstrate substantial improvements: 45% spectral efficiency gains, 30% interference reduction, and significantly enhanced uniform coverage. The proposed framework provides network operators with a practical roadmap for transitioning from traditional cellular architectures to demanding B5G/6G requirements while maximizing existing infrastructure investments.

Paperid: 923, https://arxiv.org/pdf/2509.20722.pdf

Abstract:
Adaptive andcooperative adaptive cruise control (ACC and CACC) and next generation CACC (CACC+) systems usually employ a constant time headway policy (CTHP) for platooning of connected and autonomous vehicles (CAVs). In ACC, the ego vehicle uses onboard sensors to measure the position and velocity of the predecessor vehicle to maintain a desired spacing. The CACC and CACC+systems use additional information, such as acceleration(s) communicated through vehicle-to-vehicle (V2V) communication of the predecessor vehicle(s); these systems have been shown to result in improved spacing performance, throughput, and safety over ACC. Parasitic dynamics are generally difficult to model and the parasitic parameters (delay, lag, etc.) are difficult to obtain. Parasitic actuation delays can have deleterious effects and impose limits on the mobility and safety of CAVs. It is reasonable to assume that the bounds on parasitic actuation delays are known a priori. For CAVs, we need to address both internal stability and string stability in the presence of parasitic actuation delays. This requires robustness of string and internal stability for all values of parasitic actuation delays that are within the specified upper bound. In this paper, we provide the minimum employable time headway for ACC, CACC, and CACC+ (`r' predecessors look-ahead), respectively. The inclusion of the internal stability in the string stability condition is analyzed based on Pontryagin's interlacing theorem for time delay systems. We provide comparative numerical results to corroborate the achieved theoretical results.

Paperid: 924, https://arxiv.org/pdf/2509.18685.pdf

Abstract:
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate DTCBFs and synthesizing DTCBFs for general nonlinear discrete-time systems with input constraints and arbitrary safe sets. In particular, we propose a branch-and-bound method, inspired by the $Î±$BB algorithm, for the verification of candidate DTCBFs in both cases, whether a corresponding control policy is known or unknown. We prove that this method, in a finite number of iterations, either verifies a given candidate function as a valid DTCBF or falsifies it by providing a counterexample (within predefined tolerances). As a second main contribution, we propose a novel bilevel optimization approach to synthesize a DTCBF and a corresponding control policy in finite time. This involves determining the unknown coefficients of a parameterized DTCBF and a parameterized control policy. Furthermore, we introduce various strategies to reduce the computational burden of the bilevel approach. We also demonstrate our methods using numerical case studies.

Paperid: 925, https://arxiv.org/pdf/2509.18100.pdf

Abstract:
With the integration of renewable energy resources in power systems, managing operational flexibility and reliability while minimizing operational costs has become increasingly challenging. Battery energy storage system (BESS) offers a promising solution to address these issues. This paper presents a stochastic dynamic economic dispatch with storage (SDED-S) framework to assess the impact of BESS in managing uncertainty. The temporal correlation between wind and load uncertainties is captured, with scenarios generated using a method inspired by stratified and importance sampling. The proposed approach is demonstrated on a modified IEEE 39-bus system, where selected conventional generators are converted to wind power plants. Case studies show that strategic BESS deployment significantly improves system flexibility by reducing renewable curtailments and dispatch costs. Renewable energy curtailments decrease upon increasing BESS size and approach zero depending on wind penetration level. Higher wind penetrations result in greater curtailments without storage and yield larger cost savings when BESS is deployed, highlighting the growing need for flexibility as renewable energy penetrations increase.

Paperid: 926, https://arxiv.org/pdf/2509.14995.pdf

Abstract:
This paper investigates the late-time instability of marching-on-in-time solution to the time-domain PMCHWT equation. The stability analysis identifies the static solenoidal nullspace of the time-domain electric field integral operator as the primary cause of instability. Furthermore, it reveals that the instability mechanisms of the time-domain PMCHWT equation are fundamentally different from those of the time-domain electric field integral equation. In particular, the PMCHWT's instability is much more sensitive to numerical quadrature errors, and its spectral characteristics are strongly influenced by the topology and smoothness of the scatterer surface.

Paperid: 927, https://arxiv.org/pdf/2509.10979.pdf

Abstract:
Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade over time, requiring periodic reapplication. Uncrewed Aerial Vehicles (UAVs) offer a flexible and autonomous way to apply protective coatings more often and at lower cost compared to traditional manual coating methods. In this letter, we propose a quadcopter-based system, equipped with a liquid dispersion mechanism, designed to automate such tasks. The localization stack only uses onboard sensors, relying on visual-inertial odometry and the relative position of the PV panel detected with respect to the quadcopter. The control relies on a model-based controller that accounts for the ground effect and the mass decrease of the quadcopter during liquid dispersion. We validate the autonomy capabilities of our system through extensive indoor and outdoor experiments.

Paperid: 928, https://arxiv.org/pdf/2509.10948.pdf

Abstract:
Industrial robotic systems are central to automating smart manufacturing operations. Connected and automated factories face growing cybersecurity risks that can potentially cause interruptions and damages to physical operations. Among these attacks, data-integrity attacks often involve sophisticated exploitation of vulnerabilities that enable an attacker to access and manipulate the operational data and are hence difficult to detect with only existing intrusion detection or model-based detection. This paper addresses the challenges in utilizing existing side-channels to detect data-integrity attacks in robotic manufacturing processes by developing an online detection framework, ViSTR-GP, that cross-checks encoder-reported measurements against a vision-based estimate from an overhead camera outside the controller's authority. In this framework, a one-time interactive segmentation initializes SAM-Track to generate per-frame masks. A low-rank tensor-regression surrogate maps each mask to measurements, while a matrix-variate Gaussian process models nominal residuals, capturing temporal structure and cross-joint correlations. A frame-wise test statistic derived from the predictive distribution provides an online detector with interpretable thresholds. We validate the framework on a real-world robotic testbed with synchronized video frame and encoder data, collecting multiple nominal cycles and constructing replay attack scenarios with graded end-effector deviations. Results on the testbed indicate that the proposed framework recovers joint angles accurately and detects data-integrity attacks earlier with more frequent alarms than all baselines. These improvements are most evident in the most subtle attacks. These results show that plants can detect data-integrity attacks by adding an independent physical channel, bypassing the controller's authority, without needing complex instrumentation.

Paperid: 929, https://arxiv.org/pdf/2509.08378.pdf

Abstract:
This paper presents a planning strategy for the deployment of smart electromagnetic entities (SEEs) to enhance the wireless coverage and the Quality-of-Service (QoS) in large urban areas. The integration of different technological solutions such as integrated access-and-backhaul nodes (IABs), smart repeaters (SRs), and electromagnetic skins (EMSs) is here addressed to enable an effective and efficient implementation of the concept of Smart Electromagnetic Environment (SEME). By combining the features of such heterogeneous SEEs and optimizing their number, positions, orientations, and configuration, the electromagnetic (EM) coverage in a set of Regions-of-Interest (RoIs) of outdoor scenarios is recovered and/or enhanced subject to installation costs and energy consumption requirements. Numerical validations from real-world scenarios are reported to assess the effectiveness of the proposed planning scheme as well as to show the potentialities of an heterogeneous deployment of SEMEs.

Paperid: 930, https://arxiv.org/pdf/2509.08117.pdf

Abstract:
This paper proposes a framework for multi-robot systems to perform simultaneous learning and coverage of the domain of interest characterized by an unknown and potentially time-varying density function. To overcome the limitations of Gaussian Process (GP) regression, we employ Random Feature GP (RFGP) and its online variant (O-RFGP) that enables online and incremental inference. By integrating these with Voronoi-based coverage control and Upper Confidence Bound (UCB) sampling strategy, a team of robots can adaptively focus on important regions while refining the learned spatial field for efficient coverage. Under mild assumptions, we provide theoretical guarantees and evaluate the framework through simulations in time-invariant scenarios. Furthermore, its effectiveness in time-varying settings is demonstrated through additional simulations and a physical experiment.

Paperid: 931, https://arxiv.org/pdf/2509.06188.pdf

Abstract:
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the original nonlinear system. First, we construct this approximation using only the effect of the control input at the initial state. Next, we partition the time horizon into successively shorter intervals and show that optimal controllers for the linear driftless system result in a bounded error from a specified target state in the nonlinear system. We also derive conditions under which the input constraint is guaranteed to be satisfied. On applying the optimal control inputs, we show that the error monotonically converges to zero as the intervals become successively shorter, thus achieving arbitrary closeness to the target state with time. Using simulation examples on classical nonlinear systems, we illustrate how the presented technique is used to reach a target state while still satisfying input constraints. In particular, we show that our method completes the task even when assumptions of the underlying theory are violated or when classical linearization-based methods may fail.

Paperid: 932, https://arxiv.org/pdf/2509.02487.pdf

Abstract:
The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows to almost globally steer the state to a desired location while avoiding star-shaped constraints on the n-sphere. Depending on the state's proximity to the unsafe regions, the state is either guided towards the target location along the geodesic connecting the target to the state or steered towards the antipode of a predefined point lying in the interior of the nearest unsafe region. We prove that the target location is almost globally asymptotically stable under the proposed continuous, time-invariant feedback control law. Nontrivial simulation results on the 2-sphere and the 3-sphere demonstrate the effectiveness of the theoretical results.

Paperid: 933, https://arxiv.org/pdf/2508.21797.pdf

Abstract:
Industry 4.0's highly networked Machine Tool Controllers (MTCs) are prime targets for replay attacks that use outdated sensor data to manipulate actuators. Dynamic watermarking can reveal such tampering, but current schemes assume linear-Gaussian dynamics and use constant watermark statistics, making them vulnerable to the time-varying, partly proprietary behavior of MTCs. We close this gap with DynaMark, a reinforcement learning framework that models dynamic watermarking as a Markov decision process (MDP). It learns an adaptive policy online that dynamically adapts the covariance of a zero-mean Gaussian watermark using available measurements and detector feedback, without needing system knowledge. DynaMark maximizes a unique reward function balancing control performance, energy consumption, and detection confidence dynamically. We develop a Bayesian belief updating mechanism for real-time detection confidence in linear systems. This approach, independent of specific system assumptions, underpins the MDP for systems with linear dynamics. On a Siemens Sinumerik 828D controller digital twin, DynaMark achieves a reduction in watermark energy by 70% while preserving the nominal trajectory, compared to constant variance baselines. It also maintains an average detection delay equivalent to one sampling interval. A physical stepper-motor testbed validates these findings, rapidly triggering alarms with less control performance decline and exceeding existing benchmarks.

Paperid: 934, https://arxiv.org/pdf/2508.21364.pdf

Abstract:
This paper proposes a novel approach to motion planning and decision-making for automated vehicles, using a multi-modal Model Predictive Path Integral control algorithm. The method samples with Sobol sequences around the prior input and incorporates analytical solutions for collision avoidance. By leveraging multiple modes, the multi-modal control algorithm explores diverse trajectories, such as manoeuvring around obstacles or stopping safely before them, mitigating the risk of sub-optimal solutions. A non-linear single-track vehicle model with a Fiala tyre serves as the prediction model, and tyre force constraints within the friction circle are enforced to ensure vehicle stability during evasive manoeuvres. The optimised steering angle and longitudinal acceleration are computed to generate a collision-free trajectory and to control the vehicle. In a high-fidelity simulation environment, we demonstrate that the proposed algorithm can successfully avoid obstacles, keeping the vehicle stable while driving a double lane change manoeuvre on high and low-friction road surfaces and occlusion scenarios with moving obstacles, outperforming a standard Model Predictive Path Integral approach.

Paperid: 935, https://arxiv.org/pdf/2508.20715.pdf

Abstract:
In this paper, we tackle the problem of distributed optimization over directed networks in open multi-agent systems (OMAS), where agents may dynamically join or leave, causing persistent changes in network topology and problem dimension. These disruptions not only pose significant challenges to maintaining convergence and stability in distributed optimization algorithms, but could also break the network topology into multiple clusters, each one associated with its own set of objective functions. To address this, we propose a novel Open Distributed Optimization Algorithm with Gradient Tracking (OPEN-GT), which employs: (a) a dynamic mechanism for detecting active out-neighbors through acknowledgement messages, and (b) a fully distributed max-consensus procedure to spread information regarding agent departures, in possibly unbalanced directed networks. We show that when all active agents execute OPEN-GT, the optimization process in each formed cluster remains consistent, while the agents converge to their cluster-wide optimal solution if there exists a time after which the network remains unchanged. Finally, we validate our approach in a simulated environment with dynamically changing agent populations, demonstrating its resilience to network variations and its ability to support distributed optimization under OMAS dynamics.

Paperid: 936, https://arxiv.org/pdf/2508.20564.pdf

Abstract:
Mobile Edge Computing (MEC) leverages computational heterogeneity between mobile devices and edge nodes to enable real-time applications requiring high information freshness. The Age-of-Information (AoI) metric serves as a crucial evaluator of information timeliness in such systems. Addressing AoI minimization in multi-user MEC environments presents significant challenges due to stochastic computing times. In this paper, we consider multiple users offloading tasks to heterogeneous edge servers in an MEC system, focusing on preemptive and non-preemptive task scheduling mechanisms. The problem is first reformulated as a Restless Multi-Arm Bandit (RMAB) problem, with a multi-layer Markov Decision Process (MDP) framework established to characterize AoI dynamics in the MEC system. Based on the multi-layer MDP, we propose a nested index framework and design a nested index policy with provably asymptotic optimality. This establishes a theoretical framework adaptable to various scheduling mechanisms, achieving efficient optimization through state stratification and index design in both preemptive and non-preemptive modes. Finally, the closed-form of the nested index is derived, facilitating performance trade-offs between computational complexity and accuracy while ensuring the universal applicability of the nested index policy across both scheduling modes. The experimental results show that in non-preemptive scheduling, compared with the benchmark method, the optimality gap is reduced by 25.43%, while in preemptive scheduling, the gap has reduced by 61.84%. As the system scale increases, it asymptotically converges in two scheduling modes and especially provides near-optimal performance in non-preemptive structure.

Paperid: 937, https://arxiv.org/pdf/2508.19364.pdf

Abstract:
Dynamic Data Driven Applications Systems (DDDAS) motivate the development of optimization approaches capable of adapting to streaming, heterogeneous, and asynchronous data from sensor networks. Many established optimization solvers, such as branch-and-bound, gradient descent, and Newton-Raphson methods, rely on iterative algorithms whose step-by-step convergence makes them too slow for real-time, multi-sensor environments. In our recent work, we introduced LOOP-PE (Learning to Optimize the Optimization Process, Permutation Equivariance version), a feed-forward neural approximation model with an integrated feasibility recovery function. LOOP-PE processes inputs from a variable number of sensors in arbitrary order, making it robust to sensor dropout, communication delays, and system scaling. Its permutation-equivariant architecture ensures that reordering the input data reorders the corresponding dispatch decisions consistently, without retraining or pre-alignment. Feasibility is enforced via a generalized gauge map, guaranteeing that outputs satisfy physical and operational constraints. We illustrate the approach in a DDDAS-inspired case study of a Virtual Power Plant (VPP) managing multiple distributed generation agents (DERs) to maximize renewable utilization while respecting system limits. Results show that LOOP-PE produces near-optimal, feasible, and highly adaptable decisions under dynamic, unordered, and distributed sensing conditions, significantly outperforming iterative algorithm based solvers in both speed and flexibility. Here, we extend our earlier work by providing additional analysis and explanation of LOOP-PE design and operation, with particular emphasis on its feasibility guarantee and permutation equivariance feature.

Paperid: 938, https://arxiv.org/pdf/2508.12681.pdf

Abstract:
Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of accurate dynamic models. While data-driven approaches like Koopman-operator-based methods have been proposed, they typically lack adaptability and cannot capture the full robot shape, limiting their applicability. This work introduces a real-time-capable nonlinear model-predictive control (MPC) framework for SCRs based on a domain-decoupled physics-informed neural network (DD-PINN) with adaptable bending stiffness. The DD-PINN serves as a surrogate for the dynamic Cosserat rod model with a speed-up factor of 44000. It is also used within an unscented Kalman filter for estimating the model states and bending compliance from end-effector position measurements. We implement a nonlinear evolutionary MPC running at 70 Hz on the GPU. In simulation, it demonstrates accurate tracking of dynamic trajectories and setpoint control with end-effector position errors below 3 mm (2.3% of the actuator's length). In real-world experiments, the controller achieves similar accuracy and accelerations up to 3.55 m/s2.

Paperid: 939, https://arxiv.org/pdf/2508.12428.pdf

Abstract:
The transition of next generation advanced nuclear reactor systems from analog to fully digital instrumentation and control will necessitate robust mechanisms to safeguard against potential data integrity threats. One challenge is the real-time characterization of false data injections, which can mask sensor signals and potentially disrupt reactor control systems. While significant progress has been made in anomaly detection within reactor systems, potential false data injections have been shown to bypass conventional linear time-invariant state estimators and failure detectors based on statistical thresholds. The dynamic, nonlinear, multi-variate nature of sensor signals, combined with inherent noise and limited availability of real-world training data, makes the characterization of such threats and more importantly their differentiation from anticipated process anomalies particularly challenging. In this paper, we present an eXplainable AI (XAI) framework for identifying non-stationary concurrent replay attacks in nuclear reactor signals with minimal training data. The proposed framework leverages progress on recurrent neural networks and residual analysis coupled with a modified SHAP algorithm and rule-based correlations. The recurrent neural networks are trained only on normal operational data while for residual analysis we introduce an adaptive windowing technique to improve detection accuracy. We successfully benchmarked this framework on a real-world dataset from Purdue's nuclear reactor (PUR-1). We were able to detect false data injections with accuracy higher than 0.93 and less than 0.01 false positives, differentiate from expected process anomalies, and to identify the origin of the falsified signals.

Paperid: 940, https://arxiv.org/pdf/2508.09010.pdf

Abstract:
This work studies a class of optimal control problems with scalar inputs and general constraints, whose solutions follow a bang-ride pattern that always activates a constraint and enables efficient numerical computation. As a motivating example, fast battery charging leads to computationally demanding optimal control problems when detailed electrochemical models are used. Recently proposed optimization-free heuristics reduce this computational cost while producing input profiles observed in practice, following a bang-ride pattern and applying the maximum feasible input. We investigate when such heuristics satisfy necessary optimality conditions. By leveraging Pontryagin's maximum principle, we unify and formalize existing insights on the bang-ride structure and on the optimal control attaining the maximum feasible input under monotonicity. We further establish a novel connection between the structured optimal control and the external positivity of the costate dynamics. These results provide a rigorous theoretical foundation for heuristic charging strategies and explain the efficiency of optimization-free algorithms.

Paperid: 941, https://arxiv.org/pdf/2508.08485.pdf

Abstract:
This paper presents novel methods for achieving stable and efficient convergence in multivariable extremum seeking control (ESC) using sliding mode techniques. Drawing inspiration from both classical sliding mode control and more recent developments in finite-time and fixed-time control, we propose a new framework that integrates these concepts into Gradient- and Newton-based ESC schemes based on sinusoidal perturbation signals. The key innovation lies in the use of discontinuous "relay-type" control components, replacing traditional proportional feedback to estimate the gradient of unknown quadratic nonlinear performance maps with Unit Vector Control (UVC). This represents the first attempt to address real-time, model-free optimization using sliding modes within the classical extremum seeking paradigm. In the Gradient-based approach, the convergence rate is influenced by the unknown Hessian of the objective function. In contrast, the Newton-based method overcomes this limitation by employing a dynamic estimator for the inverse of the Hessian, implemented via a Riccati equation filter. We establish finite-time convergence of the closed-loop average system to the extremum point for both methods by leveraging Lyapunov-based analysis and averaging theory tailored to systems with discontinuous right-hand sides. Numerical simulations validate the proposed method, illustrating significantly faster convergence and improved robustness compared to conventional ESC strategies, which typically guarantee only exponential stability. The results also demonstrate that the Gradient-based method exhibits slower convergence and higher transients since the gradient trajectory follows the curved and steepest-descent path, whereas the Newton-based method achieves faster convergence and improved overall performance going straightly to the extremum.

Paperid: 942, https://arxiv.org/pdf/2508.07453.pdf

Abstract:
Accurately modeling individual vehicle behavior in microscopic traffic simulation remains a key challenge in intelligent transportation systems, as it requires vehicles to realistically generate and respond to complex traffic phenomena such as phantom traffic jams. While traditional human driver simulation models offer computational tractability, they do so by abstracting away the very complexity that defines human driving. On the other hand, recent advances in infrastructure-mounted camera-based roadway sensing have enabled the extraction of vehicle trajectory data, presenting an opportunity to shift toward generative, agent-based models. Yet, a major bottleneck remains: most existing datasets are either overly sanitized or lack standardization, failing to reflect the noisy, imperfect nature of real-world sensing. Unlike data from vehicle-mounted sensors-which can mitigate sensing artifacts like occlusion through overlapping fields of view and sensor fusion-infrastructure-based sensors surface a messier, more practical view of challenges that traffic engineers encounter. To this end, we present the I-24 MOTION Scenario Dataset (I24-MSD)-a standardized, curated dataset designed to preserve a realistic level of sensor imperfection, embracing these errors as part of the learning problem rather than an obstacle to overcome purely from preprocessing. Drawing from noise-aware learning strategies in computer vision, we further adapt existing generative models in the autonomous driving community for I24-MSD with noise-aware loss functions. Our results show that such models not only outperform traditional baselines in realism but also benefit from explicitly engaging with, rather than suppressing, data imperfection. We view I24-MSD as a stepping stone toward a new generation of microscopic traffic simulation that embraces the real-world challenges and is better aligned with practical needs.

Paperid: 943, https://arxiv.org/pdf/2508.06893.pdf

Abstract:
In this paper, the average consensus problem has been considered for directed unbalanced networks under finite bit-rate communication. We propose the Push-Pull Average Consensus algorithm with Dynamic Compression (PP-ACDC) algorithm, a distributed consensus algorithm that deploys an adaptive quantization scheme and achieves convergence to the exact average without the need of global information. A preliminary numerical convergence analysis and simulation results corroborate the performance of PP-ACDC.

Paperid: 944, https://arxiv.org/pdf/2508.02969.pdf

Abstract:
Nonlinear programming (NLP) plays a critical role in domains such as power energy systems, chemical engineering, communication networks, and financial engineering. However, solving large-scale, nonconvex NLP problems remains a significant challenge due to the complexity of the solution landscape and the presence of nonlinear nonconvex constraints. In this paper, we develop a Quantum Hamiltonian Descent based Augmented Lagrange Method (QHD-ALM) framework to address largescale, constrained nonconvex NLP problems. The augmented Lagrange method (ALM) can convert a constrained NLP to an unconstrained NLP, which can be solved by using Quantum Hamiltonian Descent (QHD). To run the QHD on a classical machine, we propose to use the Simulated Bifurcation algorithm as the engine to simulate the dynamic process. We apply our algorithm to a Power-to-Hydrogen System, and the simulation results verify the effectiveness of our algorithm.

Paperid: 945, https://arxiv.org/pdf/2507.19844.pdf

Abstract:
This paper introduces a model for coordinating prosumers with heterogeneous distributed energy resources (DERs), participating in the local energy market (LEM) that interacts with the market-clearing entity. The proposed LEM scheme utilizes a data-driven, model-free reinforcement learning approach based on the multi-agent deep deterministic policy gradient (MADDPG) framework, enabling prosumers to make real-time decisions on whether to buy, sell, or refrain from any action while facilitating efficient coordination for optimal energy trading in a dynamic market. In addition, we investigate a price manipulation strategy using a variational auto encoder-generative adversarial network (VAE-GAN) model, which allows utilities to adjust price signals in a way that induces financial losses for the prosumers. Our results show that under adversarial pricing, heterogeneous prosumer groups, particularly those lacking generation capabilities, incur financial losses. The same outcome holds across LEMs of different sizes. As the market size increases, trading stabilizes and fairness improves through emergent cooperation among agents.

Paperid: 946, https://arxiv.org/pdf/2507.18938.pdf

Abstract:
In coverage control problems that involve time-varying density functions, the coverage control law depends on spatial integrals of the time evolution of the density function. The latter is often neglected, replaced with an upper bound or calculated as a numerical approximation of the spatial integrals involved. In this paper, we consider a special case of time-varying density functions modeled as Gaussian Mixture Models (GMMs) that evolve with time via a set of time-varying sources (with known corresponding velocities). By imposing this structure, we obtain an efficient time-varying coverage controller that fully incorporates the time evolution of the density function. We show that the induced trajectories under our control law minimise the overall coverage cost. We elicit the structure of the proposed controller and compare it with a classical time-varying coverage controller, against which we benchmark the coverage performance in simulation. Furthermore, we highlight that the computationally efficient and distributed nature of the proposed control law makes it ideal for multi-vehicle robotic applications involving time-varying coverage control problems. We employ our method in plume monitoring using a swarm of drones. In an experimental field trial we show that drones guided by the proposed controller are able to track a simulated time-varying chemical plume in a distributed manner.

Paperid: 947, https://arxiv.org/pdf/2507.18514.pdf

Abstract:
This paper investigates the semantics-aware remote estimation of a finite-state Markov chain. We employ the maximum a posteriori (MAP) estimator and aim to devise a transmission policy to optimize estimation performance subject to a transmission frequency constraint. We leverage two metrics, namely the Age of Consecutive Error (AoCE) and the Age of Information (AoI), to quantify, respectively, the significance of estimation error at the transmitter and the predictability of outdated information at the receiver. The optimal transmission problem is formulated as a constrained Markov decision process (CMDP) with unbounded costs. We show the existence of an optimal simple mixture policy, which randomly selects between two deterministic switching policies with a fixed probability. Notably, each switching policy triggers a transmission only when the AoCE exceeds a threshold value that depends on both the AoI and the instantaneous estimation error. We further derive sufficient conditions under which the switching policy reduces to a simple threshold policy; that is, it admits identical thresholds for all estimation errors. Leveraging these results, we develop an efficient structure-aware algorithm, Insec-SPI, that computes the optimal policy with reduced computation overhead. Our results demonstrate that incorporating both AoI and AoCE yields significantly improved estimation quality compared to using either metric alone.

Paperid: 948, https://arxiv.org/pdf/2507.18309.pdf

Abstract:
This paper introduces a new approach to solving the thrust allocation problem using the maneuvering problem in the maritime domain for fully actuated vessels. The method uses a control Lyapunov function to create a nonlinear reference filter for the thruster forces. The filter ensures dynamic tracking of the optimal thrust allocation solution with rate limitation in the output thruster references. It further uses control barrier functions to ensure that the thruster force saturation limits are respected. The approach aims for simplicity and effectiveness, as well as smooth and dynamic thruster reference signals, in the implementation of thrust allocation for marine vessels.

Paperid: 949, https://arxiv.org/pdf/2507.18158.pdf

Abstract:
We consider the problem of designing learning-based reactive power controllers that perform voltage regulation in distribution grids while ensuring closed-loop system stability. In contrast to existing methods, where the provably stable controllers are restricted to be decentralized, we propose a unified design framework that enables the controllers to take advantage of an arbitrary communication infrastructure on top of the physical power network. This allows the controllers to incorporate information beyond their local bus, covering existing methods as a special case and leading to less conservative constraints on the controller design. We then provide a design procedure to construct input convex neural network (ICNN) based controllers that satisfy the identified stability constraints by design under arbitrary communication scenarios, and train these controllers using supervised learning. Simulation results on the the University of California, San Diego (UCSD) microgrid testbed illustrate the effectiveness of the framework and highlight the role of communication in improving control performance.

Paperid: 950, https://arxiv.org/pdf/2507.17875.pdf

Abstract:
Multi-agent collaboration enhances situational awareness in intelligence, surveillance, and reconnaissance (ISR) missions. Ad hoc networks of unmanned aerial vehicles (UAVs) allow for real-time data sharing, but they face security challenges due to their decentralized nature, making them vulnerable to cyber-physical attacks. This paper introduces a trust-based framework for assured sensor fusion in distributed multi-agent networks, utilizing a hidden Markov model (HMM)-based approach to estimate the trustworthiness of agents and their provided information in a decentralized fashion. Trust-informed data fusion prioritizes fusing data from reliable sources, enhancing resilience and accuracy in contested environments. To evaluate the assured sensor fusion under attacks on system/mission sensing, we present a novel multi-agent aerial dataset built from the Unreal Engine simulator. We demonstrate through case studies improved ISR performance and an ability to detect malicious actors in adversarial settings.

Paperid: 951, https://arxiv.org/pdf/2507.17552.pdf

Abstract:
Increasing penetration of renewable energy sources (RES) and electrification of energy systems necessitates the engagement of demand-side management (DSM) to help alleviate congestion in electricity grid. Heat pump and thermal energy storage (HPTES) systems, being energy efficient solutions, are becoming popular in modern buildings and are promising to contribute to demand-side management (DSM) due to their significant share in household electricity consumption. For typical HPTES systems, this paper presents a systematic design framework covering a control-oriented modeling process and energy-flexible model predictive control (MPC) design. The proposed MPC-based DSM strategy offers an innovative solution for efficient DSM by following a two-step DSM framework. In the first step, flexibility assessment is performed to quantitatively evaluate the flexibility potential of the HPTES system by solving a mixed-integer economic MPC problem. In the second step, flexibility exploitation is achieved through reacting to feasible demand response (DR) requests while respecting system constraints. Both numerical simulations and real-world experiments are performed based on a real HPTES installation to showcase the viability and effectiveness of the proposed design.

Paperid: 952, https://arxiv.org/pdf/2507.12442.pdf

Abstract:
The demand for machine intelligence capable of processing continuous, long-context inputs on local devices is growing rapidly. However, the quadratic complexity and memory requirements of traditional Transformer architectures make them inefficient and often unusable for these tasks. This has spurred a paradigm shift towards new architectures like State Space Models (SSMs) and hybrids, which promise near-linear scaling. While most current research focuses on the accuracy and theoretical throughput of these models, a systematic performance characterization on practical consumer hardware is critically needed to guide system-level optimization and unlock new applications. To address this gap, we present a comprehensive, comparative benchmarking of carefully selected Transformer, SSM, and hybrid models specifically for long-context inference on consumer and embedded GPUs. Our analysis reveals that SSMs are not only viable but superior for this domain, capable of processing sequences up to 220K tokens on a 24GB consumer GPU-approximately 4x longer than comparable Transformers. While Transformers may be up to 1.8x faster at short sequences, SSMs demonstrate a dramatic performance inversion, becoming up to 4x faster at very long contexts (~57K tokens). Our operator-level analysis reveals that custom, hardware-aware SSM kernels dominate the inference runtime, accounting for over 55% of latency on edge platforms, identifying them as a primary target for future hardware acceleration. We also provide detailed, device-specific characterization results to guide system co-design for the edge. To foster further research, we will open-source our characterization framework.

Paperid: 953, https://arxiv.org/pdf/2507.11170.pdf

Abstract:
In this paper, we propose a novel learning-based robust feedback linearization strategy to ensure precise trajectory tracking for an important family of Lagrangian systems. We assume a nominal knowledge of the dynamics is given but no a-priori bounds on the model mismatch are available. In our approach, the key ingredient is the adoption of a regression framework based on Gaussian Processes (GPR) to estimate the model mismatch. This estimate is added to the outer loop of a classical feedback linearization scheme based on the nominal knowledge available. Then, to compensate for the residual uncertainty, we robustify the controller including an additional term whose size is designed based on the variance provided by the GPR framework. We proved that, with high probability, the proposed scheme is able to guarantee asymptotic tracking of a desired trajectory. We tested numerically our strategy on a 2 degrees of freedom planar robot.

Paperid: 954, https://arxiv.org/pdf/2507.10968.pdf

Abstract:
Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle to merge successfully while minimizing the merge time. We verify the efficiency and effectiveness of the proposed merge planner through high-fidelity CarMaker simulations on hundreds of highway merge scenarios. Our proposed planner achieves the success rate of 100% as well as completes the merge maneuver in the shortest amount of time compared with the baselines, demonstrating our planner's capability to handle complex forced merge tasks and provide a reliable and robust solution for autonomous highway merge. The simulation result videos are available at https://sites.google.com/view/smart-merge-planner/home.

Paperid: 955, https://arxiv.org/pdf/2507.09626.pdf

Abstract:
Artificial intelligence (AI) systems often interact with multiple agents. The regulation of such AI systems often requires that {\em a priori\/} guarantees of fairness and robustness be satisfied. With stochastic models of agents' responses to the outputs of AI systems, such {\em a priori\/} guarantees require non-trivial reasoning about the corresponding stochastic systems. Here, we present an open-source PyTorch-based toolkit for the use of stochastic control techniques in modelling interconnections of AI systems and properties of their repeated uses. It models robustness and fairness desiderata in a closed-loop fashion, and provides {\em a priori\/} guarantees for these interconnections. The PyTorch-based toolkit removes much of the complexity associated with the provision of fairness guarantees for closed-loop models of multi-agent systems.

Paperid: 956, https://arxiv.org/pdf/2507.06946.pdf

Abstract:
Device-to-Device (D2D) communication is a promising solution to meet the growing demands of 5G and future 6G networks by enabling direct communication between user devices. It enhances spectral efficiency (SE) and energy efficiency (EE), reduces latency, and supports proximity-based services. As wireless systems evolve toward 5G and 6G paradigms, the integration of D2D with advanced cellular technologies introduces new opportunities and challenges. This survey paper reviews the architectural foundations of D2D communication and explores its integration with key 5G/6G enabling technologies. We review standardization efforts, analyze core challenges, and highlight future research directions to unlock the full potential of D2D in next-generation wireless networks.

Paperid: 957, https://arxiv.org/pdf/2507.06492.pdf

Abstract:
This paper presents a novel cyber-physical attack paradigm, termed the Dual State-Space Fidelity Blade (D-STAB), which targets the firmware of core cyber-physical components as a new class of attack surfaces. The D-STAB attack exploits the information asymmetry caused by the fidelity gap between high-fidelity and low-fidelity physical models in cyber-physical systems. By designing precise adversarial constraints based on high-fidelity state-space information, the attack induces deviations in high-fidelity states that remain undetected by defenders relying on low-fidelity observations. The effectiveness of D-STAB is demonstrated through a case study in cyber-physical battery systems, specifically in an optimal charging task governed by a Battery Management System (BMS).

Paperid: 958, https://arxiv.org/pdf/2507.06436.pdf

Abstract:
In this paper, we propose a digital agent (DA)-assisted resource management scheme for enhanced user quality of experience (QoE) in integrated sensing and communication (ISAC) networks. Particularly, user QoE is a comprehensive metric that integrates quality of service (QoS), user behavioral dynamics, and environmental complexity. The novel DA module includes a user status prediction model, a QoS factor selection model, and a QoE fitting model, which analyzes historical user status data to construct and update user-specific QoE models. Users are clustered into different groups based on their QoE models. A CramÃ©r-Rao bound (CRB) model is utilized to quantify the impact of allocated communication resources on sensing accuracy. A joint optimization problem of communication and computing resource management is formulated to maximize long-term user QoE while satisfying CRB and resource constraints. A two-layer data-model-driven algorithm is developed to solve the formulated problem, where the top layer utilizes an advanced deep reinforcement learning algorithm to make group-level decisions, and the bottom layer uses convex optimization techniques to make user-level decisions. Simulation results based on a real-world dataset demonstrate that the proposed DA-assisted resource management scheme outperforms benchmark schemes in terms of user QoE.

Paperid: 959, https://arxiv.org/pdf/2507.02313.pdf

Abstract:
Simulators are useful tools for testing automated driving controllers. Vehicle-in-the-loop (ViL) tests and digital twins (DTs) are widely used simulation technologies to facilitate the smooth deployment of controllers to physical vehicles. However, conventional ViL tests rely on full-size vehicles, requiring large space and high expenses. Also, physical-model-based DT suffers from the reality gap caused by modeling imprecision. This paper develops a comprehensive and practical simulator for testing automated driving controllers enhanced by scaled physical cars and AI-powered DT models. The scaled cars allow for saving space and expenses of simulation tests. The AI-powered DT models ensure superior simulation fidelity. Moreover, the simulator integrates well with off-the-shelf software and control algorithms, making it easy to extend. We use a filtered control benchmark with formal safety guarantees to showcase the capability of the simulator in validating automated driving controllers. Experimental studies are performed to showcase the efficacy of the simulator, implying its great potential in validating control solutions for autonomous vehicles and intelligent traffic.

Paperid: 960, https://arxiv.org/pdf/2507.01536.pdf

Abstract:
Local Energy Markets (LEMs), though pivotal to the energy transition, face growing cybersecurity threats due to their reliance on smart grid communication standards and vulnerable Internet-of-Things (IoT)-enabled devices. This is a critical issue because such vulnerabilities can be exploited to manipulate market operations, compromise participants' privacy, and destabilize power distribution networks. This work maps LEM communication flows to existing standards, highlights potential impacts of key identified vulnerabilities, and simulates cyberattack scenarios on a privacy-preserving LEM model to assess their impacts. Findings reveal how attackers could distort pricing and demand patterns. We finally present recommendations for researchers, industry developers, policymakers, and LEM stakeholders to secure future LEM deployments.

Paperid: 961, https://arxiv.org/pdf/2507.00353.pdf

Abstract:
Accurate electrochemical models are essential for the safe and efficient operation of lithium-ion batteries in real-world applications such as electrified vehicles and grid storage. Reduced-order models (ROM) offer a balance between fidelity and computational efficiency but often struggle to capture complex and nonlinear behaviors, such as the dynamics in the cell voltage response under high C-rate conditions. To address these limitations, this study proposes an Adaptive Ensemble Sparse Identification (AESI) framework that enhances the accuracy of reduced-order li-ion battery models by compensating for unpredictable dynamics. The approach integrates an Extended Single Particle Model (ESPM) with an evolutionary ensemble sparse learning strategy to construct a robust hybrid model. In addition, the AESI framework incorporates a conformal prediction method to provide theoretically guaranteed uncertainty quantification for voltage error dynamics, thereby improving the reliability of the model's predictions. Evaluation across diverse operating conditions shows that the hybrid model (ESPM + AESI) improves the voltage prediction accuracy, achieving mean squared error reductions of up to 46% on unseen data. Prediction reliability is further supported by conformal prediction, yielding statistically valid prediction intervals with coverage ratios of 96.85% and 97.41% for the ensemble models based on bagging and stability selection, respectively.

Paperid: 962, https://arxiv.org/pdf/2512.22922.pdf

Abstract:
In this paper, we study scale-free weak synchronization for multi-agent systems (MAS). In other words, we design a protocol for the agents without using any knowledge about the network. We do not even require knowledge about the connectivity of the network. Each protocol contains an adaptive parameter to tune the protocol automatically to the demands of the network.

Paperid: 963, https://arxiv.org/pdf/2512.22757.pdf

Abstract:
We present an iterative active constraint learning (ACL) algorithm, within the learning from demonstrations (LfD) paradigm, which intelligently solicits informative demonstration trajectories for inferring an unknown constraint in the demonstrator's environment. Our approach iteratively trains a Gaussian process (GP) on the available demonstration dataset to represent the unknown constraints, uses the resulting GP posterior to query start/goal states, and generates informative demonstrations which are added to the dataset. Across simulation and hardware experiments using high-dimensional nonlinear dynamics and unknown nonlinear constraints, our method outperforms a baseline, random-sampling based method at accurately performing constraint inference from an iteratively generated set of sparse but informative demonstrations.

Paperid: 964, https://arxiv.org/pdf/2512.20250.pdf

Abstract:
Latent force models, a class of hybrid modeling approaches, integrate physical knowledge of system dynamics with a latent force - an unknown, unmeasurable input modeled as a Gaussian process. In this work, we introduce two optimal state estimation frameworks to reconstruct the latent forces and to estimate the states. In contrast to state-of-the-art approaches, the designed estimators enable the consideration of system-inherent constraints. Finally, the performance of the novel frameworks is investigated in several numerical examples. In particular, we demonstrate the performance of the new framework in a real-world biomedical example - the hypothalamic-pituitary-thyroid axis - using hormone measurements.

Paperid: 965, https://arxiv.org/pdf/2512.20229.pdf

Abstract:
A robust tracking control strategy is designed to empower wheeled mobile robots (WMRs) to track predetermined routes while operating in diverse fields and encountering disturbances like strong winds or uneven path conditions, which affect tracking performance. Ensuring the applicability of this tracking method in real-world scenarios is essential. To accomplish this, the WMR model is initially transformed into a linear canonical form by leveraging the differential flatness of its kinematic model, facilitating controller design. Subsequently, a novel integral nonlinear hyperplane-based sliding mode control (INH-SMC) technique is proposed for WMR under disturbances. The stability of the technique is analyzed and verified. Finally, its practical viability is demonstrated through a comparative real-world indoor experiment on a TurtleBot3 WMR subjected to disturbances, confirming the feasibility and efficacy of the proposed approach.

Paperid: 966, https://arxiv.org/pdf/2512.20226.pdf

Abstract:
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form that enables safe control design. The approach ensures forward invariance of the safety set and also applies to disturbancefree systems. Safety is proven for all cases, and a numerical example illustrates the results.

Paperid: 967, https://arxiv.org/pdf/2512.16379.pdf

Abstract:
Economic model predictive control has been proposed as a means for solving the unit loading and unit allocation problem in multi-chiller cooling plants. The adjective economic stems from the use of financial cost due to electricity consumption in a time horizon, such is the loss function minimized at each sampling period. The energetic approach is rarely encountered. This article presents for the first time a comparison between the energetic optimization objective and the economic one. The comparison is made on a cooling plant using air-cooled water chillers and a cold storage system. Models developed have been integrated into Simscape, and non-convex mixed optimization methods used to achieve optimal control trajectories for both energetic and economic goals considered separately. The results over several scenarios, and in different seasons, support the consideration of the energetic approach despite the current prevalence of the economic one. The results are dependent on the electric season and the available tariffs. In particular, for the high electric season and considering a representative tariff, the results show that an increment of about 2.15% in energy consumption takes place when using the economic approach instead of the energetic one. On the other hand, a reduction in cost of 2.94% is achieved.

Paperid: 968, https://arxiv.org/pdf/2512.16356.pdf

Abstract:
Scheduling and loading of chillers in a multi-chiller plant is considered. A new framework is introduced considering an extended set of independent variables for the optimization problem of energy consumption. In this way the number of decision variables is increased, providing extra degrees of freedom to optimize cooling plant operation. The dynamic effects due to transients arising from switching on and off of units are usually not considered in the literature dealing with Optimal Chiller Loading/Sequencing which is restricted to the static case. In this paper, these effects are treated in a way that results in a manageable optimization problem. A Simultaneous Perturbation Stochastic Approximation solution is deployed for the problem and the proposed method is compared with a similar but static approach showing the benefits in terms of reduced energy consumption.

Paperid: 969, https://arxiv.org/pdf/2512.15691.pdf

Abstract:
Semantic communication aims to transmit information most relevant to a task rather than raw data, offering significant gains in communication efficiency for applications such as telepresence, augmented reality, and remote sensing. Recent transformer-based approaches have used self-attention maps to identify informative regions within images, but they often struggle in complex scenes with multiple objects, where self-attention lacks explicit task guidance. To address this, we propose a novel Multi-Modal Semantic Communication framework that integrates text-based user queries to guide the information extraction process. Our proposed system employs a cross-modal attention mechanism that fuses visual features with language embeddings to produce soft relevance scores over the visual data. Based on these scores and the instantaneous channel bandwidth, we use an algorithm to transmit image patches at adaptive resolutions using independently trained encoder-decoder pairs, with total bitrate matching the channel capacity. At the receiver, the patches are reconstructed and combined to preserve task-critical information. This flexible and goal-driven design enables efficient semantic communication in complex and bandwidth-constrained environments.

Paperid: 970, https://arxiv.org/pdf/2512.12140.pdf

Abstract:
This paper presents a novel framework for implementing space-oriented control systems in smart buildings. In contrast to conventional device-oriented approaches, which often suffer from issues related to development efficiency and portability, our framework adopts a space-oriented paradigm that leverages natural language processing and word embedding techniques. The proposed framework features a chat-based graphical user interface (GUI) that converts natural language inputs into actionable OpenAI API calls, thereby enabling intuitive space level (e.g., room) control within smart environments. To support efficient embedding-based search and metadata retrieval, the framework integrates a vector database powered by Elasticsearch. This ensures the accurate identification and invocation of appropriate smart building APIs. A prototype implementation has been tested in a smart building environment at the University of Tokyo, demonstrating the feasibility of the approach.

Paperid: 971, https://arxiv.org/pdf/2512.08010.pdf

Abstract:
This paper proposes an encrypted state observer that is capable of detecting sensor attacks without decryption. We first design a state observer that operates over a finite field of integers with the modular arithmetic. The observer generates a residue signal that indicates the presence of attacks under sparse attack and sensing redundancy conditions. Then, we develop a homomorphic encryption scheme that enables the observer to operate over encrypted data while automatically disclosing the residue signal. Unlike our previous work restricted to single-input single-output systems, the proposed scheme is applicable to general multi-input multi-output systems. Given that the disclosed residue signal remains below a prescribed threshold, the full state can be recovered as an encrypted message.

Paperid: 972, https://arxiv.org/pdf/2512.06278.pdf

Abstract:
In this paper, we study output synchronization for multi-agent systems. The objective is to design a protocol which only depends on the agent dynamics and does not require any knowledge of the network. If the network has a directed spanning tree then the protocols designed in this paper achieve classical output synchronization. Otherwise, the protocol achieves weak synchronization which is induced by network stability in the sense that the signals exchanged over the network converge to zero. Weak sychronization is explained in detail in this paper. Even though we consider linear agents, it is known that this in general requires nonlinear protocols. In the paper we use adaptive protocols. In the literature, two classes of protocols are considered often called collaborative protocols (with additional communication between the protocols and non-collaborative protocols (sometimes referred to as fully decentralized where the additional communication is not present). This paper considers both of these cases.

Paperid: 973, https://arxiv.org/pdf/2511.20239.pdf

Abstract:
This paper addresses multi-object systems, where objects may occlude one another relative to the sensor. The standard point-object model for detection-based sensors is enhanced so that the probability of detection considers the presence of all objects. A principled tracking method is derived, assigning each object an expected probability of detection, where the expectation is taken over the reduced Palm density, which means conditionally on the object's existence. The assigned probability thus considers the object's visibility relative to the sensor, under the presence of other objects. Unlike existing methods, the proposed method systematically accounts for uncertainties related to all objects in a clear and manageable way. The method is demonstrated through a visual tracking application using the multi-Bernoulli mixture (MBM) filter with marks.

Paperid: 974, https://arxiv.org/pdf/2511.19522.pdf

Abstract:
This paper investigates the problem of resilient control for multi-agent systems in the presence of Byzantine adversaries via an active secure neighbor selection framework. A pre-discriminative graph is first constructed to characterize the admissible set of candidate neighbors for each agent. Based on this graph, a dynamic in-neighbor selection strategy is proposed, wherein each agent actively selects a subset of its pre-discriminative neighbors. The number of selected neighbors is adjustable, allowing for a trade-off between communication overhead and robustness, with the minimal case requiring only a single in-neighbor. The proposed strategy facilitates the reconstruction of a directed spanning tree among normal agents following the detection and isolation of Byzantine agents. It achieves resilient consensus without imposing any assumptions on the initial connectivity among normal agents. Moreover, the approach significantly reduces communication burden while maintaining resilience to adversarial behavior. A numerical example is provided to illustrate the effectiveness of the proposed method.

Paperid: 975, https://arxiv.org/pdf/2511.19204.pdf

Abstract:
We present a sampling-based model predictive control (MPC) framework that enables emergent locomotion without relying on handcrafted gait patterns or predefined contact sequences. Our method discovers diverse motion patterns, ranging from trotting to galloping, robust standing policies, jumping, and handstand balancing, purely through the optimization of high-level objectives. Building on model predictive path integral (MPPI), we propose a dual-space spline parameterization that operates on position and velocity control points. Our approach enables contact-making and contact-breaking strategies that adapt automatically to task requirements, requiring only a limited number of sampled trajectories. This sample efficiency allows us to achieve real-time control on standard CPU hardware, eliminating the need for GPU acceleration typically required by other state-of-the-art MPPI methods. We validate our approach on the Go2 quadrupedal robot, demonstrating various emergent gaits and basic jumping capabilities. In simulation, we further showcase more complex behaviors, such as backflips, dynamic handstand balancing and locomotion on a Humanoid, all without requiring reference tracking or offline pre-training.

Paperid: 976, https://arxiv.org/pdf/2511.17715.pdf

Abstract:
We study capacity accreditation of resource-colocated large loads, defined as large demands such as data center and manufacturing loads colocated with behind-the-meter generation and storage resources, synchronously connected to the bulk power system, and capable of participating in the wholesale electricity market as an integrated unit. Because the qualified capacity of a resource portfolio is not equal to the sum of its individual resources' qualified capacities, we propose a novel risk-based capacity accreditation framework that evaluates the collective contribution to system reliability. Grounded in the effective load carrying capability (ELCC) metric, the proposed capacity accreditation employs a convex optimization engine that jointly dispatches colocated resources to minimize reliability risk. We apply the developed methodology to a hydrogen manufacturing facility with colocated renewable generation, storage, and fuel cell resources.

Paperid: 977, https://arxiv.org/pdf/2511.16579.pdf

Abstract:
Ensuring that agents satisfy safety specifications can be crucial in safety-critical environments. While methods exist for controller synthesis with safe temporal specifications, most existing methods restrict safe temporal specifications to probabilistic-avoidance constraints. Formal methods typically offer more expressive ways to express safety in probabilistic systems, such as Probabilistic Computation Tree Logic (PCTL) formulas. Thus, in this paper, we develop a new approach that supports more general temporal properties expressed in PCTL. Our contribution is twofold. First, we develop a theoretical framework for the Synthesis of safe-PCTL specifications. We show how the reducing global specification satisfaction to local constraints, and define CPCTL, a fragment of safe-PCTL. We demonstrate how the expressiveness of CPCTL makes it a relevant fragment for the Synthesis Problem. Second, we leverage these results and propose a new Value Iteration-based algorithm to solve the synthesis problem for these more general temporal properties, and we prove the soundness and completeness of our method.

Paperid: 978, https://arxiv.org/pdf/2511.13117.pdf

Abstract:
In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining these quantities in practice is often challenging. Adaptive observers address this issue by performing simultaneous state and parameter estimation using only input-output measurements. While many adaptive observer designs exist for continuous-time systems, their discrete-time counterparts remain relatively unexplored. This paper proposes an initial excitation (IE)-based adaptive observer for discrete-time linear time-invariant systems. In contrast to conventional designs that rely on the persistence of excitation condition, which requires continuous excitation and infinite control effort, the proposed method does not require excitation for infinite time, thus making it more practical for stabilization tasks. We employ a two-layer filtering structure and a normalized gradient descent-based update law for learning the unknown parameters. We also propose modifying the regressors to enhance information extraction, leading to faster convergence. Rigorous theoretical analysis guarantees bounded and exponentially converging estimates of both states and parameters under the IE condition, and simulation results validate the efficacy of the proposed design.

Paperid: 979, https://arxiv.org/pdf/2511.12484.pdf

Abstract:
With the integration of massive distributed energy resources and the widespread participation of novel market entities, the operation of active distribution networks (ADNs) is progressively evolving into a complex multi-scenario, multi-objective problem. Although expert engineers have developed numerous domain specific models (DSMs) to address distinct technical problems, mastering, integrating, and orchestrating these heterogeneous DSMs still entail considerable overhead for ADN operators. Therefore, an intelligent approach is urgently required to unify these DSMs and enable efficient coordination. To address this challenge, this paper proposes the ADN-Agent architecture, which leverages a general large language model (LLM) to coordinate multiple DSMs, enabling adaptive intent recognition, task decomposition, and DSM invocation. Within the ADN-Agent, we design a novel communication mechanism that provides a unified and flexible interface for diverse heterogeneous DSMs. Finally, for some language-intensive subtasks, we propose an automated training pipeline for fine-tuning small language models, thereby effectively enhancing the overall problem-solving capability of the system. Comprehensive comparisons and ablation experiments validate the efficacy of the proposed method and demonstrate that the ADN-Agent architecture outperforms existing LLM application paradigms.

Paperid: 980, https://arxiv.org/pdf/2511.12361.pdf

Abstract:
Hybrid dynamical systems result from the interaction of continuous-variable dynamics with discrete events and encompass various systems such as legged robots, vehicles and aircrafts. Challenges arise when the system's modes are characterized by unobservable (latent) parameters and the events that cause system dynamics to switch between different modes are also unobservable. Model-based control approaches typically do not account for such uncertainty in the hybrid dynamics, while standard model-free RL methods fail to account for abrupt mode switches, leading to poor generalization. To overcome this, we propose SAC-MoE which models the actor of the Soft Actor-Critic (SAC) framework as a Mixture-of-Experts (MoE) with a learned router that adaptively selects among learned experts. To further improve robustness, we develop a curriculum-based training algorithm to prioritize data collection in challenging settings, allowing better generalization to unseen modes and switching locations. Simulation studies in hybrid autonomous racing and legged locomotion tasks show that SAC-MoE outperforms baselines (up to 6x) in zero-shot generalization to unseen environments. Our curriculum strategy consistently improves performance across all evaluated policies. Qualitative analysis shows that the interpretable MoE router activates different experts for distinct latent modes.

Paperid: 981, https://arxiv.org/pdf/2511.12053.pdf

Abstract:
Monitoring battery health is essential for ensuring safe and efficient operation. However, there is an inherent trade-off between assessment speed and diagnostic depth-specifically, between rapid overall health estimation and precise identification of internal degradation states. Capturing detailed internal battery information efficiently remains a major challenge, yet such insights are key to understanding the various degradation mechanisms. To address this, we develop a parameterized physics-informed neural network (P-PINNSPM) over the key aging-related parameter space for a single particle model. The model can accurately predict internal battery variables across the parameter space and identifies internal parameters in about 30 seconds-achieving a 47x speedup over the finite volume method-while maintaining high accuracy. These parameters improve the battery state-of-health (SOH) estimation accuracy by at least 60.61%, compared to models without parameter incorporation. Moreover, they enable extrapolation to unseen SOH levels and support robust estimation across diverse charging profiles and operating conditions. Our results demonstrate the strong potential of physics-informed machine learning to advance real-time, data-efficient, and physics-aware battery management systems.

Paperid: 982, https://arxiv.org/pdf/2511.10571.pdf

Abstract:
Hidden Markov Models (HMMs) are fundamental for modeling sequential data, yet learning their parameters from observations remains challenging. Classical methods like the Baum-Welch (EM) algorithm are computationally intensive and prone to local optima, while modern spectral algorithms offer provable guarantees but may produce probability outputs outside valid ranges. This work introduces Belief Net, a novel framework that learns HMM parameters through gradient-based optimization by formulating the HMM's forward filter as a structured neural network. Unlike black-box Transformer models, Belief Net's learnable weights are explicitly the logits of the initial distribution, transition matrix, and emission matrix, ensuring full interpretability. The model processes observation sequences using a decoder-only architecture and is trained end-to-end with standard autoregressive next-observation prediction loss. On synthetic HMM data, Belief Net achieves superior convergence speed compared to Baum-Welch, successfully recovering parameters in both undercomplete and overcomplete settings where spectral methods fail. Comparisons with Transformer-based models are also presented on real-world language data.

Paperid: 983, https://arxiv.org/pdf/2511.09524.pdf

Abstract:
The concept of a security index quantifies the minimum number of components that must be compromised to carry out an undetectable attack. This metric enables system operators to quantify each component's security risk and implement countermeasures. In this paper, we introduce a data-driven security index that can be computed solely from input/output data when the system model is unknown. We show a sufficient condition under which the data-driven security index coincides with the model-based security index, which implies that the exact risk level of each component can be identified solely from the data. We provide an algorithm for computing the data-driven security index. Although computing this index is NP-hard, we derive a polynomial-time computable upper bound. Numerical examples on vehicle platooning illustrate the efficacy and limitations of the proposed index and algorithms.

Paperid: 984, https://arxiv.org/pdf/2511.09094.pdf

Abstract:
With the explosive advancement of unmanned aerial vehicles (UAVs), the security of efficient UAV networks has become increasingly critical. Owing to the open nature of its communication environment, illegitimate malicious UAVs (MUs) can infer the position of the source UAV (SU) by analyzing received signals, thus compromising the SU location privacy. To protect the SU location privacy while ensuring efficient communication with legitimate receiving UAVs (RUs), we propose an Active Reconfigurable Intelligent Surface (ARIS)-assisted covert communication scheme based on virtual partitioning and artificial noise (AN). Specifically, we design a novel ARIS architecture integrated with an AN module. This architecture dynamically partitions its reflecting elements into multiple sub-regions: one subset is optimized to enhance the communication rate between the SU and RUs, while the other subset generates AN to interfere with the localization of the SU by MUs. We first derive the Cramér-Rao Lower Bound (CRLB) for the localization with received signal strength (RSS), based on which, we establish a joint optimization framework for communication enhancement and localization interference. Subsequently, we derive and validate the optimal ARIS partitioning and power allocation under average channel conditions. Finally, tailored optimization methods are proposed for the reflection precoding and AN design of the two partitions. Simulation results validate that, compared to baseline schemes, the proposed scheme significantly increases the localization error of the SU by MUs while maintaining efficient communication between the SU and RUs, thereby effectively protecting the SU location privacy.

Paperid: 985, https://arxiv.org/pdf/2511.08499.pdf

Abstract:
Despite the growing number of automated vehicles on public roads, operating such systems in open contexts will inevitably involve incidents. This results from an inherent risk in road traffic, which arises from multiple sources of complexity and can never be fully eliminated. One central challenge lies in developing a defensible case that the residual risk has been reduced to a reasonable level. While a safety argumentation is a common means to represent this case, there is a need to guide its creation and maintenance by adequate processes. In this paper, we derive requirements for a safety argumentation lifecycle based on examining the current state of the art. In particular, the requirement-driven process design accounts for both identified limitations of current process specifications and implicit knowledge contained in related work. Subsequently, we reflect on interdependencies between the resulting safety argumentation lifecycle and the system lifecycle. Moreover, we discuss a gap in literature regarding transparent ex ante risk communication. Correspondingly, we introduce the concept of representation-supported communication that is based on deriving representations from the argumentation with respect to target stakeholders and communication purposes. Finally, we demonstrate how this approach can be integrated into the system lifecycle to facilitate stakeholder communication.

Paperid: 986, https://arxiv.org/pdf/2511.06368.pdf

Abstract:
With the widespread adoption of AI, machine-to-machine communications are rapidly increasing, reshaping the requirements for optical networks. Recent advances in Gaussian noise modeling for digital coherent transmission have raised expectations for digital-twin-based operation. However, unlike digital twins in wireless communication, which are already well established, significant barriers remain for commercialization in optical networks. This paper discusses the evolving requirements of optical networks in the AI era and proposes an Optical Network Digital Twin architecture that enables flexible end-to-end light path operation beyond conventional management. The value propositions of the proposed architecture, its evolutionary steps toward commercialization, and key research challenges for practical deployment are presented.

Paperid: 987, https://arxiv.org/pdf/2511.02282.pdf

Abstract:
This paper studies the performance of optical orthogonal frequency-division multiplexing (OFDM)-based multi-user integrated sensing and communication (ISAC) systems employing non-orthogonal multiple access (NOMA). Due to their inherent high peak-to-average power ratio (PAPR), OFDM waveforms are clipped to fit the limited dynamic range of the optical transmitters (e.g., light-emitting diodes (LEDs)), resulting in clipping distortion. To alleviate the impact of the distortion, we propose a novel transmitter architecture where the clipping processes are performed before NOMA superposition coding. We then analyze the performance of the proposed optical ISAC systems considering the effects of power allocation and clipping distortion. For the communication subsystem, we analyze the effect of NOMA on the achievable sum rate and bit error rate (BER). For the sensing subsystem, the root mean square error (RMSE) and Cramér-Rao bound (CRB) of estimating the transmission distance accuracy are obtained. Simulation results reveal that allocating more power to the strong user yields a higher sum rate, lower BER, and better sensing performance, whereas a more balanced power allocation among users results in degraded BER and sensing performance.

Paperid: 988, https://arxiv.org/pdf/2511.02114.pdf

Abstract:
In this work we propose a Model Predictive Control (MPC) formulation that splits constraints in two different types. Motivated by safety considerations, the first type of constraint enforces a control-invariant set, while the second type could represent a less restrictive constraint on the system state. This distinction enables closed-loop sub- optimality results for nonlinear MPC with heterogeneous state constraints (distinct constraints across open loop predicted states), and no terminal elements. Removing the non-invariant constraint recovers the partially constrained case. Beyond its theoretical interest, heterogeneous constrained MPC shows how constraint choices shape the system's closed loop. In the partially constrained case, adjusting the constraint horizon (how many predicted- state constraints are enforced) trades estimation accuracy for computational cost. Our analysis yields first, a sub- optimality upper-bound accounting for distinct constraint sets, their horizons and decay rates, that is tighter for short horizons than prior work. Second, to our knowledge, we give the first lower bound (beyond open-loop cost) on closed-loop sub-optimality. Together these bounds provide a powerful analysis framework, allowing designers to evaluate the effect of horizons in MPC sub-optimality. We demonstrate our results via simulations on nonlinear and linear safety-critical systems.

Paperid: 989, https://arxiv.org/pdf/2511.00639.pdf

Abstract:
This paper compares the impact of different conventional and emerging technologies and control strategies on frequency quality. We study, in particular, the long-term dynamic performance of grid-forming (GFM) and grid-following (GFL) inverter-based resources (IBRs) as well as conventional synchronous machines. Extensive simulations and several realistic scenarios consider both short-term and long-term aspects of frequency quality. It is shown that, while overall GFM IBRs significantly improve frequency quality, a combination of GFL IBRs providing frequency support such as wind and batteries, and synchronous condensers, might be enough to meet similar frequency quality standards. Another result of the paper is that the need for automatic generation control (AGC) becomes less clear in GFM IBR-dominated grids from a frequency quality perspective.

Paperid: 990, https://arxiv.org/pdf/2510.25118.pdf

Abstract:
With the rapid growth of artificial intelligence (AI) and cloud services, data centers have become critical infrastructures driving digital economies, with increasing energy demand heightening concerns over electricity use and carbon emissions, emphasizing the need for carbon-aware infrastructure planning. Most studies assume static power systems, focus only on operational emissions, and overlook co-optimization. This paper proposes a dynamic joint planning framework that co-optimizes long-term data center and power system development over 15 years. The model determines siting, capacity, and type of data centers alongside power generation expansion, storage deployment, and retirements, accounting for both operational and embodied emissions. To handle multi-scale uncertainty, a large-scale two-stage stochastic program is formulated and solved via an enhanced Benders decomposition. Applied to the PJM Interconnection, with curated datasets released on GitHub, results show the system can support up to 55 GW peak data center demand, with Virginia (DOM) and Northern Illinois (ComEd) as optimal hosts. Compared to non-joint planning, the framework cuts investment cost by 12.6%, operational cost by 8.25%, and emissions by 5.63%. Including lifecycle emissions further raises renewable deployment by 25.5%, highlighting embodied carbon's role in deeper decarbonization.

Paperid: 991, https://arxiv.org/pdf/2510.23877.pdf

Abstract:
Quantifying locational carbon emissions in power grids is crucial for implementing effective carbon reduction strategies for customers relying on electricity. This paper presents a carbon-aware optimal power flow (OPF) framework that incorporates data-driven carbon tracing, enabling rapid estimation of nodal carbon emissions from electric loads. By developing generator-to-load carbon emission distribution factors through data-driven technique, the analytical formulas for both average and marginal carbon emissions can be derived and integrated seamlessly into DC OPF models as linear constraints. The proposed carbon-aware OPF model enables market operators to optimize energy dispatch while reducing greenhouse gas emissions. Simulations on IEEE test systems confirm the accuracy and computational efficiency of the proposed approach, highlighting its applicability for real-time carbon-aware system operations.

Paperid: 992, https://arxiv.org/pdf/2510.23873.pdf

Abstract:
The integration of distributed energy resources (DERs) into wholesale electricity markets, as mandated by FERC Order 2222, imposes new challenges on system operations. To remain consistent with existing market structures, regional transmission organizations (RTOs) have advanced the aggregation of transmission-node-level DERs (T-DERs), where a nodal virtual power plant (VPP) represents the mapping of all distribution-level DERs to their respective transmission nodes. This paper develops a real-time economic dispatch (RTED) framework that enables multi-transmission-node DER aggregation while addressing computational efficiency. To this end, we introduce a spatio-temporal graph convolutional network (ST-GCN) for adaptive prediction of distribution factors (DFs), thereby capturing the dynamic influence of individual T-DERs across the transmission system. Furthermore, an iterative constraint identification strategy is incorporated to alleviate transmission security constraints without compromising system reliability. Together, these innovations accelerate the market clearing process and support the effective participation of T-DER aggregators under current market paradigms. The proposed approach is validated on large-scale test systems, including modified 118-, 2383-, and 3012-bus networks under a rolling RTED setting with real demand data. Numerical results demonstrate significant improvements in reducing operational costs and maintaining transmission network feasibility, underscoring the scalability and practicality of the proposed framework.

Paperid: 993, https://arxiv.org/pdf/2510.23867.pdf

Abstract:
The increasing integration of intermittent distributed energy resources (DERs) has introduced significant variability in distribution networks, posing challenges to voltage regulation and reactive power management. This paper presents a novel neural two-stage stochastic Volt-VAR optimization (2S-VVO) method for three-phase unbalanced distribution systems considering network reconfiguration under uncertainty. To address the computational intractability associated with solving large-scale scenario-based 2S-VVO problems, a learning-based acceleration strategy is introduced, wherein the second-stage recourse model is approximated by a neural network. This neural approximation is embedded into the optimization model as a mixed-integer linear program (MILP), enabling effective enforcement of operational constraints related to the first-stage decisions. Numerical simulations on a 123-bus unbalanced distribution system demonstrate that the proposed approach achieves over 50 times speedup compared to conventional solvers and decomposition methods, while maintaining a typical optimality gap below 0.30%. These results underscore the method's efficacy and scalability in addressing large-scale stochastic VVO problems under practical operating conditions.

Paperid: 994, https://arxiv.org/pdf/2510.21546.pdf

Abstract:
This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocation. While decentralized HOCBF formulations ensure pairwise safety under input bounds, they face feasibility and scalability challenges as the number of agents grows. Each agent must evaluate an increasing number of pairwise constraints, raising the risk of infeasibility and making it difficult to meet real-time requirements. To address this, we introduce an auction-based allocation scheme that distributes constraint enforcement asymmetrically among neighbors based on local control effort estimates. The resulting directed responsibility graph guarantees full safety coverage while reducing redundant constraints and per-agent computational load. Simulation results confirm safe and efficient coordination across a range of network sizes and interaction densities.

Paperid: 995, https://arxiv.org/pdf/2510.20777.pdf

Abstract:
Training learning parameterizations to solve optimal power flow (OPF) with pointwise constraints is proposed. In this novel training approach, a learning parameterization is substituted directly into an OPF problem with constraints required to hold over all problem instances. This is different from existing supervised learning methods in which constraints are required to hold across the average of problem instances. Training with pointwise constraints is undertaken in the dual domain with the use of augmented Lagrangian and dual gradient ascent algorithm. Numerical experiments demonstrate that training with pointwise constraints produces solutions with smaller constraint violations. Experiments further demonstrated that pointwise constraints are most effective at reducing constraint violations in corner cases - defined as those realizations in which constraints are most difficult to satisfy. Gains are most pronounced in power systems with large numbers of buses.

Paperid: 996, https://arxiv.org/pdf/2510.20384.pdf

Abstract:
This paper presents a critical review of methods commonly employed in the literature for small signal stability analysis of inverter based resources (IBRs). It discusses the intended purposes of these methods and outlines both their proper and improper implementations. The paper provides insights into the applicability of these techniques, clarifies their inherent limitations, and discusses and illustrates common sources of misinterpretation.

Paperid: 997, https://arxiv.org/pdf/2510.18845.pdf

Abstract:
Hamilton-Jacobi (HJ) Reachability offers a framework for generating safe value functions and policies in the face of adversarial disturbance, but is limited by the curse of dimensionality. Physics-informed deep learning is able to overcome this infeasibility, but itself suffers from slow and inaccurate convergence, primarily due to weak PDE gradients and the complexity of self-supervised learning. A few works, recently, have demonstrated that enriching the self-supervision process with regular supervision (based on the nature of the optimal control problem), greatly accelerates convergence and solution quality, however, these have been limited to single player problems and simple games. In this work, we introduce MADR: MPC-guided Adversarial DeepReach, a general framework to robustly approximate the two-player, zero-sum differential game value function. In doing so, MADR yields the corresponding optimal strategies for both players in zero-sum games as well as safe policies for worst-case robustness. We test MADR on a multitude of high-dimensional simulated and real robotic agents with varying dynamics and games, finding that our approach significantly out-performs state-of-the-art baselines in simulation and produces impressive results in hardware.

Paperid: 998, https://arxiv.org/pdf/2510.18645.pdf

Abstract:
Networked Control Systems (NCSs) are integral in critical infrastructures such as power grids, transportation networks, and production systems. Ensuring the resilient operation of these large-scale NCSs against cyber-attacks is crucial for societal well-being. Over the past two decades, extensive research has been focused on developing metrics to quantify the vulnerabilities of NCSs against attacks. Once the vulnerabilities are quantified, mitigation strategies can be employed to enhance system resilience. This article provides a comprehensive overview of methods developed for assessing NCS vulnerabilities and the corresponding mitigation strategies. Furthermore, we emphasize the importance of probabilistic risk metrics to model vulnerabilities under adversaries with imperfect process knowledge. The article concludes by outlining promising directions for future research.

Paperid: 999, https://arxiv.org/pdf/2510.17456.pdf

Abstract:
Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive linear combination of basis objective functions, associated with the gait of two post-stroke males, one high-functioning (subject S1) and one low-functioning (subject S2). It was found that the "best" objective function is subject- and leg-specific. No single function works universally well, yet the best options are usually differently weighted combinations of muscle activation- and power-minimization. Subject-specific inverse optimal control models performed best on their respective limbs (\textbf{RMSE 178/213 N, CC 0.71/0.61} for non-paretic and paretic legs of S1; \textbf{RMSE 205/165 N, CC 0.88/0.85} for respective legs of S2), but cross-subject generalization was poor, particularly for paretic legs. Moreover, minimizing the root mean square of muscle power emerged as important for paretic limbs, while minimizing activation-based functions dominated for non-paretic limbs. This may suggest different neural control strategies between affected and unaffected sides, possibly altered by the presence of spasticity. Among the 15 considered objective functions commonly used in inverse dynamics-based computations, the root mean square of muscle power was the only one explicitly incorporating muscle velocity, leading to a possible model for spasticity in the paretic limbs. Although this objective function has been rarely used, it may be relevant for modeling pathological gait, such as post-stroke gait.

Paperid: 1000, https://arxiv.org/pdf/2510.17339.pdf

Abstract:
Inverse optimization (Inverse optimal control) is the task of imputing a cost function such that given test points (trajectories) are (nearly) optimal with respect to the discovered cost. Prior methods in inverse optimization assume that the true cost is a convex combination of a set of convex basis functions and that this basis is consistent with the test points. However, the consistency assumption is not always justified, as in many applications the principles by which the data is generated are not well understood. This work proposes using the distance between a test point and the set of global optima generated by the convex combinations of the convex basis functions as a measurement for the expressive quality of the basis with respect to the test point. A large minimal distance invalidates the set of basis functions. The concept of a set of global optima is introduced and its properties are explored in unconstrained and constrained settings. Upper and lower bounds for the minimum distance in the convex quadratic setting are implemented by bi-level gradient descent and an enriched linear matrix inequality respectively. Extensions to this framework include max-representable basis functions, nonconvex basis functions (local minima), and applying polynomial optimization techniques.

Paperid: 1001, https://arxiv.org/pdf/2510.17129.pdf

Abstract:
Recent advancements in Large Language Models (LLMs) have greatly enhanced natural language understanding and content generation. However, these models primarily operate in disembodied digital environments and lack interaction with the physical world. To address this limitation, Embodied Artificial Intelligence (EAI) has emerged, focusing on agents that can perceive and interact with their surroundings. Despite progress, current embodied agents face challenges in unstructured real-world environments due to insufficient semantic intelligence, which is critical for understanding and reasoning about complex tasks. This paper introduces the Semantic Intelligence-Driven Embodied (SIDE) agent framework, which integrates a hierarchical semantic cognition architecture with a semantic-driven decision-making process. This enables agents to reason about and interact with the physical world in a contextually adaptive manner. The framework is inspired by biological cognitive mechanisms and utilizes bio-inspired principles to design a semantic cognitive architecture that mimics how humans and animals integrate and process sensory information. We present this framework as a step toward developing more intelligent and versatile embodied agents.

Paperid: 1002, https://arxiv.org/pdf/2510.16663.pdf

Abstract:
We consider a natural dynamic staffing problem in which a decision-maker sequentially hires workers over a finite horizon to meet an unknown demand revealed at the end. Predictions about demand arrive over time and become increasingly accurate, while worker availability decreases. This creates a fundamental trade-off between hiring early to avoid understaffing (when workers are more available but forecasts are less reliable) and hiring late to avoid overstaffing (when forecasts are more accurate but availability is lower). This problem is motivated by last-mile delivery operations, where companies such as Amazon rely on gig-economy workers whose availability declines closer to the operating day. To address practical limitations of Bayesian models (in particular, to remain agnostic to the underlying forecasting method), we study this problem under adversarial predictions. In this model, sequential predictions are adversarially chosen uncertainty intervals that (approximately) contain the true demand. The objective is to minimize worst-case staffing imbalance cost. Our main result is a simple and computationally efficient online algorithm that is minimax optimal. We first characterize the minimax cost against a restricted adversary via a polynomial-size linear program, then show how to emulate this solution in the general case. While our base model focuses on a single demand, we extend the framework to multiple demands (with egalitarian/utilitarian objectives), to settings with costly reversals of hiring decisions, and to inconsistent prediction intervals. We also introduce a practical "re-solving" variant of our algorithm, which we prove is also minimax optimal. Finally we conduct numerical experiments showing that our algorithms outperform Bayesian heuristics in both cost and speed, and are competitive with (approximate or exact) Bayesian-optimal policies when those can be computed.

Paperid: 1003, https://arxiv.org/pdf/2510.15547.pdf

Abstract:
Reliable induction motor (IM) fault diagnosis is vital for industrial safety and operational continuity, mitigating costly unplanned downtime. Conventional approaches often struggle to capture complex multimodal signal relationships, are constrained to unimodal data or single fault types, and exhibit performance degradation under noisy or cross-domain conditions. This paper proposes the Multimodal Hypergraph Contrastive Attention Network (MM-HCAN), a unified framework for robust fault diagnosis. To the best of our knowledge, MM-HCAN is the first to integrate contrastive learning within a hypergraph topology specifically designed for multimodal sensor fusion, enabling the joint modelling of intra- and inter-modal dependencies and enhancing generalisation beyond Euclidean embedding spaces. The model facilitates simultaneous diagnosis of bearing, stator, and rotor faults, addressing the engineering need for consolidated di- agnostic capabilities. Evaluated on three real-world benchmarks, MM-HCAN achieves up to 99.82% accuracy with strong cross-domain generalisation and resilience to noise, demonstrating its suitability for real-world deployment. An ablation study validates the contribution of each component. MM-HCAN provides a scalable and robust solution for comprehensive multi-fault diagnosis, supporting predictive maintenance and extended asset longevity in industrial environments.

Paperid: 1004, https://arxiv.org/pdf/2510.15336.pdf

Abstract:
Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present an adaptive, LiDAR and odometry-based path-planning framework that embeds this capability into the ROS2 Nav2 stack. A new Movable Obstacles Layer labels all LiDAR returns missing from a prior static map as tentatively movable and assigns a reduced traversal cost. A companion Slow-Pose Progress Checker monitors the ratio of commanded to actual velocity; when the robot slows appreciably, the local cost is raised from light to heavy, and on a stall to lethal, prompting the global planner to back out and re-route. Gazebo evaluations on a Scout Mini, spanning isolated objects and cluttered corridors, show higher goal-reach rates and fewer deadlocks than a no-layer baseline, with traversal times broadly comparable. Because the method relies only on planar scans and CPU-level computation, it suits resource-constrained search and rescue robots and integrates into heterogeneous platforms with minimal engineering. Overall, the results indicate that interaction-aware cost maps are a lightweight, ROS2-native extension for navigating among potentially movable obstacles in unstructured settings. The full implementation will be released as open source athttps://costmap-namo.github.io.

Paperid: 1005, https://arxiv.org/pdf/2510.15250.pdf

Abstract:
In this paper, a predictive constraint-aware control scheme is formulated within the Command Governor (CG) framework for localized hydration management of a proton exchange membrane (PEM) fuel cell system. First, a comprehensive nonlinear dynamic model of the fuel cell system is presented which includes a pseudo 2-dimensional (P2D) model of the stack, reactant supply and cooling subsystems. The model captures the couplings among the various subsystems and serves as the basis for designing output feedback controllers to track the optimal set-points of the air supply and cooling systems for power optimization. The closed-loop nonlinear model is then used to analyze the dynamic behavior of membrane hydration near the anode inlet, the driest region of the membrane in a counter-flow configuration, under various operating conditions. A reduced-order linearized model is then derived to approximate hydration behavior with sufficient fidelity for constraint enforcement. This model is used within the CG framework to adjust the air supply set-points when necessary to prevent membrane dry-out. The effectiveness of the proposed approach in maintaining local membrane hydration while closely tracking the requested net power is demonstrated through realistic drive-cycle simulations.

Paperid: 1006, https://arxiv.org/pdf/2510.11476.pdf

Abstract:
This paper investigates the role of flexible connection in accelerating the interconnection of large loads amid rising electricity demand from data centers and electrification. Flexible connection allows new loads to defer or curtail consumption during rare, grid-constrained periods, enabling faster access without major infrastructure upgrades. To quantify how flexible connection unlocks load hosting capacity, we formulate a flexibility-aware hosting capacity analysis problem that explicitly limits the number of utility-controlled interventions per year, ensuring infrequent disruption. Efficient solution methods are developed for this nonconvex problem and applied to real load data and test feeders. Empirical results reveal that modest flexibility, i.e., few interventions with small curtailments or delays, can unlock substantial hosting capacity. Theoretical analysis further explains and generalizes these findings, highlighting the broad potential of flexible connection.

Paperid: 1007, https://arxiv.org/pdf/2510.11448.pdf

Abstract:
Ensuring safety in high-speed autonomous vehicles requires rapid control loops and tightly bounded delays from perception to actuation. Many open-source autonomy systems rely on ROS 2 middleware; when multiple sensor and control nodes share one compute unit, ROS 2 and its DDS transports add significant (de)serialization, copying, and discovery overheads, shrinking the available time budget. We present Sensor-in-Memory (SIM), a shared-memory transport designed for intra-host pipelines in autonomous vehicles. SIM keeps sensor data in native memory layouts (e.g., cv::Mat, PCL), uses lock-free bounded double buffers that overwrite old data to prioritize freshness, and integrates into ROS 2 nodes with four lines of code. Unlike traditional middleware, SIM operates beside ROS 2 and is optimized for applications where data freshness and minimal latency outweigh guaranteed completeness. SIM provides sequence numbers, a writer heartbeat, and optional checksums to ensure ordering, liveness, and basic integrity. On an NVIDIA Jetson Orin Nano, SIM reduces data-transport latency by up to 98% compared to ROS 2 zero-copy transports such as FastRTPS and Zenoh, lowers mean latency by about 95%, and narrows 95th/99th-percentile tail latencies by around 96%. In tests on a production-ready Level 4 vehicle running Autoware.Universe, SIM increased localization frequency from 7.5 Hz to 9.5 Hz. Applied across all latency-critical modules, SIM cut average perception-to-decision latency from 521.91 ms to 290.26 ms, reducing emergency braking distance at 40 mph (64 km/h) on dry concrete by 13.6 ft (4.14 m).

Paperid: 1008, https://arxiv.org/pdf/2510.11334.pdf

Abstract:
Finding conditions ensuring consensus, i.e. convergence to a common value, for a networked system is of crucial interest, both for theoretical reasons and applications. This goal is harder to achieve when connections between agents are temporarily lost. Here, we prove that known conditions (introduced by Moreau) ensure an exponential convergence to consensus, with explicit rate of convergence. The key result is related to the length of the graph (i.e. the number of connections to reach a common agent): if this is large, then convergence is slow. This general result also provides conditions for convergence of second-order cooperative systems with lack of connections.

Paperid: 1009, https://arxiv.org/pdf/2510.10468.pdf

Abstract:
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in robotics, there appears to be no comparable treatment of Galilean symmetry for a robotics audience. In this paper, we present a robotics-tailored exposition of Galilean symmetry that leverages the community's familiarity with and understanding of rigid-body transformations and pose representations. Our approach contrasts with common treatments in the physics literature that introduce Galilean symmetry as a stepping stone to Einstein's relativity. A key insight is that the Galilean matrix Lie group can be used to describe two different pose representations, Galilean frames, that use inertial velocity in the state definition, and extended poses, that use coordinate velocity. We provide three examples where applying the Galilean matrix Lie-group algebra to robotics problems is straightforward and yields significant insights: inertial navigation above the rotating Earth, manipulator kinematics, and sensor data fusion under temporal uncertainty. We believe that the time is right for the robotics community to benefit from rediscovering and extending this classical material and applying it to modern problems.

Paperid: 1010, https://arxiv.org/pdf/2510.09409.pdf

Abstract:
Low-Earth-orbit (LEO) satellites assist observation satellites (OSs) to compress and backhaul more time-determined images (TDI) has become a new paradigm, which is used to enhance the timeout caused by the limited computing resources of OSs. However, how to capture the time-varying and dynamic characteristics of multi-dimensional resources is challenging for efficient collaborative scheduling. Motivated by this factor, we design a highly succinct multi-dimensional resource time-expanded graph (MDR-TEG) modell. Specifically, by employing a slots division mechanism and introducing an external virtual node, the time-varying communication, caching, and computing (3C) resources are depicted in low complexity by the link weights within, between, and outside the slots. Based on the MDR-TEG, the maximizing successful transmission ratio of TDI (MSTR-TDI) is modeled as a mixed integer linear programming (MILP) problem. Which further relaxed decomposed into two tractable sub-problems: maximizing the successful transmission rate of images (MSTRI) and ensuring the timeliness problem (ETP). Subsequently, an efficient subgradient of relaxation computing constraint (SRCC) algorithm is proposed. The upper and lower bounds of MSTR-TDI are obtained by solving the two subproblems and the dual problem (DP), and the direction of the next iteration is obtained by feedback. Furthermore, arranging the sending sequences of images to improve the quality of the solution. The approximate optimal solution of MSTR-TDI is eventually obtained through repeated iterations. The simulation results verify the superiority of the proposed MDR-TEG model and the effectiveness of the SRCC.

Paperid: 1011, https://arxiv.org/pdf/2510.09290.pdf

Abstract:
Predictive Stator Current Control (PSCC) has been proposed for control of multi-phase drives. The flexibility offered by the use of a Cost Function has been used to deal with the increased number of phases. However, tuning of the Weighting Factors constitutes a problem. Intensive trial and error tests are usual in this context. Existing on-line selection methods, on the other hand, require large amounts of data and/or complex optimization procedures. The proposal of this paper is a closed-loop scheme that links Weighting Factors to performance indicators. In this way, optimal Weighting Factors are determined for each operating point. Also, changes in reference values for performance indicators are easily tackled. Unlike previous methods, the proposal carries very little computational burden. A case study is developed for a five-phase induction motor and assessed with real experimentation on a laboratory set-up.

Paperid: 1012, https://arxiv.org/pdf/2510.09281.pdf

Abstract:
The field of Finite State Model Predictive Control for multiphase drives has produced many contributions. Many variants of FSMPC exist, each aiming at some aspect such as complexity of the cost function, switching frequency, etc. Despite past efforts to compare different techniques, the field is still out of consensus regarding the relative merits of each one. This paper presents a new method to compare FSMPC variants. The method is based on analyzing the modulation, implicit or explicit, used by each variant. In the paper the method is used to compare single-vector state-of-the-art FSMPC with a multi-vector variant designed to cancel xy currents and simplify the cost function. The results show the strengths and weaknesses of each technique. Also, it is found that the trade-offs between figures, previously thought to concern just individual regimes, extend to the whole operating space and also can be pinpoint to each FSMPC variant. Finally, it is shown that the flexibility of the single-vector approach and its better DC-link usage makes it, arguably, superior over the multi-vector variant.

Paperid: 1013, https://arxiv.org/pdf/2510.08406.pdf

Abstract:
Inverse optimal control (IOC) allows the retrieval of optimal cost function weights, or behavioral parameters, from human motion. The literature on IOC uses methods that are either based on a slow bilevel process or a fast but noise-sensitive minimization of optimality condition violation. Assuming equality-constrained optimal control models of human motion, this article presents a faster but robust approach to solving IOC using a single-level reformulation of the bilevel method and yields equivalent results. Through numerical experiments in simulation, we analyze the robustness to noise of the proposed single-level reformulation to the bilevel IOC formulation with a human-like planar reaching task that is used across recent studies. The approach shows resilience to very large levels of noise and reduces the computation time of the IOC on this task by a factor of 15 when compared to a classical bilevel implementation.

Paperid: 1014, https://arxiv.org/pdf/2510.07113.pdf

Abstract:
Splitting a Bose--Einstein condensate (BEC) is a key operation in fundamental physics experiments and emerging quantum technologies, where precise preparation of well--defined initial states requires fast yet coherent control of the condensate's nonlinear dynamics. This work formulates the BEC splitting process as an optimal feedforward control problem based on a physically interpretable, reduced--order model identified from limited experimental data. We introduce a systematic calibration strategy that combines optimal experiment selection and constrained nonlinear parameter estimation, enabling accurate system identification with minimal experimental overhead. Using this calibrated model, we compute energy--optimal trajectories via indirect optimal control to realize shortcuts to adiabaticity (STAs), achieving rapid transitions to the ground state of a double--well potential while suppressing excitations. Experiments confirm that the proposed control framework yields high--fidelity state transfers across multiple configurations, demonstrating its robustness and scalability for quantum control applications.

Paperid: 1015, https://arxiv.org/pdf/2510.06846.pdf

Abstract:
This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under bounded inputs and high-relative-degree dynamics. Each effector executes its nominal cooperative guidance command, while a local quadratic program (QP) modifies the input only when necessary. Event-triggered activation based on range and zero-effort miss (ZEM) criteria ensures scalability by restricting active constraints to relevant neighbors. To resolve feasibility issues from simultaneous constraints, a slack-variable relaxation scheme is introduced that prioritizes critical agents in a Pareto-optimal manner. Simulation results in many-on-many interception scenarios demonstrate that the proposed framework maintains collision-free operation with minimal deviation from nominal guidance, providing a computationally efficient and scalable solution for safety-critical multi-agent aerospace systems.

Paperid: 1016, https://arxiv.org/pdf/2510.06583.pdf

Abstract:
In this paper, we utilize a variant of the scaled relative graph (SRG), referred to as the $θ$-symmetric SRG, to develop a graphical stability criterion for the feedback interconnection of a cascade of systems. A crucial submultiplicative property of $θ$-symmetric SRG is established, enabling it to handle cyclic interconnections for which conventional graph separation methods are not applicable. By integrating both gain and refined phase information, the $θ$-symmetric SRG provides a unified graphical characterization of the system, which better captures system properties and yields less conservative results. In the scalar case, the $θ$-symmetric SRG can be reduced exactly to the scalar itself, whereas the standard SRG appears to be a conjugate pair. Consequently, the frequency-wise $θ$-symmetric SRG is more suitable than the standard SRG as a multi-input multi-output extension of the classical Nyquist plot. Illustrative examples are included to demonstrate the effectiveness of the $θ$-symmetric SRG.

Paperid: 1017, https://arxiv.org/pdf/2510.05780.pdf

Abstract:
Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. However, due to significant interpersonal and intrapersonal variability in walking patterns, it is important to design robot controllers that can adapt to the unique characteristics of each individual. This paper investigates the potential of human-in-the-loop optimisation (HILO) to deliver personalised assistance in gait training. The Covariance Matrix Adaptation Evolution Strategy (CMA-ES) was employed to continuously optimise an assist-as-needed controller of a lower-limb exoskeleton. Six healthy individuals participated over a two-day experiment. Our results suggest that while the CMA-ES appears to converge to a unique set of stiffnesses for each individual, no measurable impact on the subjects' performance was observed during the validation trials. These findings highlight the impact of human-robot co-adaptation and human behaviour variability, whose effect may be greater than potential benefits of personalising rule-based assistive controllers. Our work contributes to understanding the limitations of current personalisation approaches in exoskeleton-assisted gait rehabilitation and identifies key challenges for effective implementation of human-in-the-loop optimisation in this domain.

Paperid: 1018, https://arxiv.org/pdf/2510.05455.pdf

Abstract:
Optimization plays a central role in intelligent systems and cyber-physical technologies, where the speed and reliability of convergence directly impact performance. In control theory, optimization-centric methods are standard: controllers are designed by repeatedly solving optimization problems, as in linear quadratic regulation, $H_\infty$ control, and model predictive control. In contrast, this paper develops a control-centric framework for optimization itself, where algorithms are constructed directly from Lyapunov stability principles rather than being proposed first and analyzed afterward. A key element is the stationarity vector, which encodes first-order optimality conditions and enables Lyapunov-based convergence analysis. By pairing a Lyapunov function with a selectable decay law, we obtain continuous-time dynamics with guaranteed exponential, finite-time, fixed-time, or prescribed-time convergence. Within this framework, we introduce three feedback realizations of increasing restrictiveness: the Hessian-gradient, Newton, and gradient dynamics. Each realization shapes the decay of the stationarity vector to achieve the desired rate. These constructions unify unconstrained optimization, extend naturally to constrained problems via Lyapunov-consistent primal-dual dynamics, and broaden the results for minimax and generalized Nash equilibrium seeking problems beyond exponential stability. The framework provides systematic design tools for optimization algorithms in control and game-theoretic problems.

Paperid: 1019, https://arxiv.org/pdf/2510.05437.pdf

Abstract:
This paper investigates the dynamic interactions between large-scale data centers and the power grid, focusing on reliability challenges arising from sudden fluctuations in demand. With the rapid growth of AI-driven workloads, such fluctuations, along with fast ramp patterns, are expected to exacerbate stressed grid conditions and system instabilities. We consider a few open-source AI data center consumption profiles from the MIT supercloud datasets, along with generating a few experimental HPC job-distribution-based inference profiles. Subsequently, we develop analytical methodologies for real-time assessment of grid stability, focusing on both transient and small-signal stability assessments. Energy-flow-like metrics for nonlinear transient stability, formulated by computing localized data center bus kinetic-like flows and coupling interactions with neighboring buses over varying time windows, help provide operators a real-time assessments of the regional grid stress in the data center hubs. On the other hand, small-signal stability metrics, constructed from analytical state matrices under variable operating conditions during a fast ramping period, enable snapshot-based assessments of data center load fluctuations, provide enhanced observability into evolving grid conditions. By quantifying the stability impacts of large data center clusters, studies conducted in the modified IEEE benchmark $68-$bus model support improved operator situational awareness to capture risks in reliable integration of large data center loads.

Paperid: 1020, https://arxiv.org/pdf/2510.04354.pdf

Abstract:
Rapid progress in imitation learning, foundation models, and large-scale datasets has led to robot manipulation policies that generalize to a wide-range of tasks and environments. However, rigorous evaluation of these policies remains a challenge. Typically in practice, robot policies are often evaluated on a small number of hardware trials without any statistical assurances. We present SureSim, a framework to augment large-scale simulation with relatively small-scale real-world testing to provide reliable inferences on the real-world performance of a policy. Our key idea is to formalize the problem of combining real and simulation evaluations as a prediction-powered inference problem, in which a small number of paired real and simulation evaluations are used to rectify bias in large-scale simulation. We then leverage non-asymptotic mean estimation algorithms to provide confidence intervals on mean policy performance. Using physics-based simulation, we evaluate both diffusion policy and multi-task fine-tuned $π_0$ on a joint distribution of objects and initial conditions, and find that our approach saves over $20-25\%$ of hardware evaluation effort to achieve similar bounds on policy performance.

Paperid: 1021, https://arxiv.org/pdf/2510.04076.pdf

Abstract:
One of the main challenges in modern control applications, particularly in robot and vehicle motion control, is achieving accurate, fast, and safe movement. To address this, optimal control policies have been developed to enforce safety while ensuring high performance. Since basic first-principles models of real systems are often available, model-based controllers are widely used. Model predictive control (MPC) is a leading approach that optimizes performance while explicitly handling safety constraints. However, obtaining accurate models for complex systems is difficult, which motivates data-driven alternatives. ML-based MPC leverages learned models to reduce reliance on hand-crafted dynamics, while reinforcement learning (RL) can learn near-optimal policies directly from interaction data. Data-enabled predictive control (DeePC) goes further by bypassing modeling altogether, directly learning safe policies from raw input-output data. Recently, large language model (LLM) agents have also emerged, translating natural language instructions into structured formulations of optimal control problems. Despite these advances, data-driven policies face significant limitations. They often suffer from slow response times, high computational demands, and large memory needs, making them less practical for real-world systems with fast dynamics, limited onboard computing, or strict memory constraints. To address this, various technique, such as reduced-order modeling, function-approximated policy learning, and convex relaxations, have been proposed to reduce computational complexity. In this paper, we present eight such approaches and demonstrate their effectiveness across real-world applications, including robotic arms, soft robots, and vehicle motion control.

Paperid: 1022, https://arxiv.org/pdf/2510.04053.pdf

Abstract:
The rapid growth of AI applications is dramatically increasing data center energy demand, exacerbating carbon emissions, and necessitating a shift towards 24/7 carbon-free energy (CFE). Unlike traditional annual energy matching, 24/7 CFE requires matching real-time electricity consumption with clean energy generation every hour, presenting significant challenges due to the inherent variability and forecasting errors of renewable energy sources. Traditional robust and data-driven optimization methods often fail to leverage the features of the prediction model (also known as contextual or covariate information) when constructing the uncertainty set, leading to overly conservative operational decisions. This paper proposes a comprehensive approach for 24/7 CFE data center operation scheduling, focusing on robust decision-making under renewable generation uncertainty. This framework leverages covariate information through a multi-variable conformal prediction (CP) technique to construct statistically valid and adaptive uncertainty sets for renewable forecasts. The uncertainty sets directly inform the chance-constrained programming (CCP) problem, ensuring that chance constraints are met with a specified probability. We further establish theoretical underpinnings connecting the CP-generated uncertainty sets to the statistical feasibility guarantees of the CCP. Numerical results highlight the benefits of this covariate-aware approach, demonstrating up to 6.65% cost reduction and 6.96% decrease in carbon-based energy usage compared to conventional covariate-independent methods, thereby enabling data centers to progress toward 24/7 CEF.

Paperid: 1023, https://arxiv.org/pdf/2510.03448.pdf

Abstract:
Industrial refrigeration systems have substantial energy needs, but optimizing their operation remains challenging due to the tension between minimizing energy costs and meeting strict cooling requirements. Load shifting--strategic overcooling in anticipation of future demands--offers substantial efficiency gains. This work seeks to rigorously quantify these potential savings through the derivation of optimal load shifting policies. Our first contribution establishes a novel connection between industrial refrigeration and inventory control problems with convex ordering costs, where the convexity arises from the relationship between energy consumption and cooling capacity. Leveraging this formulation, we derive three main theoretical results: (1) an optimal algorithm for deterministic demand scenarios, along with proof that optimal trajectories are non-increasing (a valuable structural insight for practical control); (2) performance bounds that quantify the value of load shifting as a function of cost convexity, demand variability, and temporal patterns; (3) a computationally tractable load shifting heuristic with provable near-optimal performance under uncertainty. Numerical simulations validate our theoretical findings, and a case study using real industrial refrigeration data demonstrates an opportunity for improved load shifting.

Paperid: 1024, https://arxiv.org/pdf/2510.03070.pdf

Abstract:
The paper focuses on tracking eigenvalue trajectories in power system models with time delays. We formulate a continuation-based approach that employs numerical integration to follow eigenvalues as system parameters vary, in the presence of one or multiple delayed variables. The formulation preserves the sparsity of the delay differential-algebraic equation (DDAE) system model and allows treating the delay magnitude itself as a varying parameter with implementation aspects discussed in detail. Accuracy is demonstrated on a modified IEEE 39-bus system with distributed energy resources. Scalability is discussed using a realistic dynamic model of the Irish transmission network.

Paperid: 1025, https://arxiv.org/pdf/2510.02808.pdf

Abstract:
Foot drop is commonly managed using Functional Electrical Stimulation (FES), typically delivered via open-loop controllers with fixed stimulation intensities. While users may manually adjust the intensity through external controls, this approach risks overstimulation, leading to muscle fatigue and discomfort, or understimulation, which compromises dorsiflexion and increases fall risk. In this study, we propose a novel closed-loop FES controller that dynamically adjusts the stimulation intensity based on real-time toe clearance, providing "assistance as needed". We evaluate this system by inducing foot drop in healthy participants and comparing the effects of the closed-loop controller with a traditional open-loop controller across various walking conditions, including different speeds and surface inclinations. Kinematic data reveal that our closed-loop controller maintains adequate toe clearance without significantly affecting the joint angles of the hips, the knees, and the ankles, and while using significantly lower stimulation intensities compared to the open-loop controller. These findings suggest that the proposed method not only matches the effectiveness of existing systems but also offers the potential for reduced muscle fatigue and improved long-term user comfort and adherence.

Paperid: 1026, https://arxiv.org/pdf/2510.02183.pdf

Abstract:
In this paper, we investigate data-driven attack detection and identification in a model-free setting. Unlike existing studies, we consider the case where the available output data include malicious false-data injections. We aim to detect and identify such attacks solely from the compromised data. We address this problem in two scenarios: (1) when the system operator is aware of the system's sparse observability condition, and (2) when the data are partially clean (i.e., attack-free). In both scenarios, we derive conditions and algorithms for detecting and identifying attacks using only the compromised data. Finally, we demonstrate the effectiveness of the proposed framework via numerical simulations on a three-inertia system.

Paperid: 1027, https://arxiv.org/pdf/2510.01452.pdf

Abstract:
Purpose: Delineating tumor boundaries during breast-conserving surgery is challenging as tumors are often highly mobile, non-palpable, and have irregularly shaped borders. To address these challenges, we introduce a cooperative robotic guidance system that applies haptic feedback for tumor localization. In this pilot study, we aim to assess if and how this system can be successfully integrated into breast cancer care. Methods: A small haptic robot is retrofitted with an electrocautery blade to operate as a cooperatively controlled surgical tool. Ultrasound and electromagnetic navigation are used to identify the tumor boundaries and position. A forbidden region virtual fixture is imposed when the surgical tool collides with the tumor boundary. We conducted a study where users were asked to resect tumors from breast simulants both with and without the haptic guidance. We then assess the results of these simulated resections both qualitatively and quantitatively. Results: Virtual fixture guidance is shown to improve resection margins. On average, users find the task to be less mentally demanding, frustrating, and effort intensive when haptic feedback is available. We also discovered some unanticipated impacts on surgical workflow that will guide design adjustments and training protocol moving forward. Conclusion: Our results suggest that virtual fixtures can help localize tumor boundaries in simulated breast-conserving surgery. Future work will include an extensive user study to further validate these results and fine-tune our guidance system.

Paperid: 1028, https://arxiv.org/pdf/2510.00963.pdf

Abstract:
Vehicle data is essential for advancing data-driven development throughout the automotive lifecycle, including requirements engineering, design, verification, and validation, and post-deployment optimization. Developers currently collect data in a decentralized and fragmented manner across simulations, test benches, and real-world driving, resulting in data silos, inconsistent formats, and limited interoperability. This leads to redundant efforts, inefficient integration, and suboptimal use of data. This fragmentation results in data silos, inconsistent storage structures, and limited interoperability, leading to redundant data collection, inefficient integration, and suboptimal application. To address these challenges, this article presents a structured literature review and develops an inductive taxonomy for automotive data. This taxonomy categorizes data according to its sources and applications, improving data accessibility and utilization. The analysis reveals a growing emphasis on real-world driving and machine learning applications while highlighting a critical gap in data availability for requirements engineering. By providing a systematic framework for structuring automotive data, this research contributes to more efficient data management and improved decision-making in the automotive industry.

Paperid: 1029, https://arxiv.org/pdf/2510.00906.pdf

Abstract:
Interactive Imitation Learning deals with training a novice policy from expert demonstrations in an online fashion. The established DAgger algorithm trains a robust novice policy by alternating between interacting with the environment and retraining of the network. Many variants thereof exist, that differ in the method of discerning whether to allow the novice to act or return control to the expert. We propose the use of stochastic reachtubes - common in verification of dynamical systems - as a novel method for estimating the necessity of expert intervention. Our approach does not require fine-tuning of decision thresholds per environment and effectively reduces the number of expert interventions, especially when compared with related approaches that make use of a doubt classification model.

Paperid: 1030, https://arxiv.org/pdf/2510.00682.pdf

Abstract:
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments.

Paperid: 1031, https://arxiv.org/pdf/2510.00373.pdf

Abstract:
Large Language models (LLMs) have shown promise as generators of symbolic control policies, producing interpretable program-like representations through iterative search. However, these models are not capable of separating the functional structure of a policy from the numerical values it is parametrized by, thus making the search process slow and inefficient. We propose a hybrid approach that decouples structural synthesis from parameter optimization by introducing an additional optimization layer for local parameter search. In our method, the numerical parameters of LLM-generated programs are extracted and optimized numerically to maximize task performance. With this integration, an LLM iterates over the functional structure of programs, while a separate optimization loop is used to find a locally optimal set of parameters accompanying candidate programs. We evaluate our method on a set of control tasks, showing that it achieves higher returns and improved sample efficiency compared to purely LLM-guided search. We show that combining symbolic program synthesis with numerical optimization yields interpretable yet high-performing policies, bridging the gap between language-model-guided design and classical control tuning. Our code is available at https://sites.google.com/berkeley.edu/colmo.

Paperid: 1032, https://arxiv.org/pdf/2509.26629.pdf

Abstract:
In this paper, we propose a novel safety-critical control framework for a chain of integrators subject to both matched and mismatched perturbations. The core of our approach is a linear, time-varying state-feedback design that simultaneously enforces stability and safety constraints. By integrating backstepping techniques with a quadratic programming (QP) formulation, we develop a systematic procedure to guarantee safety under time-varying gains. We provide rigorous theoretical guarantees for the double integrator case, both in the presence and absence of perturbations, and outline general proofs for extending the methodology to higher-order chains of integrators. This proposed framework thus bridges robustness and safety-critical performance, while overcoming the limitations of existing prescribed-time approaches.

Paperid: 1033, https://arxiv.org/pdf/2509.25064.pdf

Abstract:
We present a data-driven framework for assessing the attack resilience of linear time-invariant systems against malicious false data injection sensor attacks. Based on the concept of sparse observability, data-driven resilience metrics are proposed. First, we derive a data-driven necessary and sufficient condition for assessing the system's resilience against sensor attacks, using data collected without any attacks. If we obtain attack-free data that satisfy a specific rank condition, we can exactly evaluate the attack resilience level even in a model-free setting. We then extend this analysis to a scenario where only poisoned data are available. Given the poisoned data, we can only conservatively assess the system's resilience. In both scenarios, we also provide polynomial-time algorithms to assess the system resilience under specific conditions. Finally, numerical examples illustrate the efficacy and limitations of the proposed framework.

Paperid: 1034, https://arxiv.org/pdf/2509.24995.pdf

Abstract:
Simulating diverse and realistic traffic scenarios is critical for developing and testing autonomous planning. Traditional rule-based planners lack diversity and realism, while learning-based simulators often replay, forecast, or edit scenarios using historical agent trajectories. However, they struggle to generate new scenarios, limiting scalability and diversity due to their reliance on fully annotated logs and historical data. Thus, a key challenge for a learning-based simulator's performance is that it requires agents' past trajectories and pose information in addition to map data, which might not be available for all agents on the road.Without which, generated scenarios often produce unrealistic trajectories that deviate from drivable areas, particularly under out-of-distribution (OOD) map scenes (e.g., curved roads). To address this, we propose Path Diffuser (PD): a two-stage, diffusion model for generating agent pose initializations and their corresponding trajectories conditioned on the map, free of any historical context of agents' trajectories. Furthermore, PD incorporates a motion primitive-based prior, leveraging Frenet frame candidate trajectories to enhance diversity while ensuring road-compliant trajectory generation. We also explore various design choices for modeling complex multi-agent interactions. We demonstrate the effectiveness of our method through extensive experiments on the Argoverse2 Dataset and additionally evaluate the generalizability of the approach on OOD map variants. Notably, Path Diffuser outperforms the baseline methods by 1.92x on distribution metrics, 1.14x on common-sense metrics, and 1.62x on road compliance from adversarial benchmarks.

Paperid: 1035, https://arxiv.org/pdf/2509.22422.pdf

Abstract:
This paper establishes relationships between continuous-time, receding horizon, nonlinear model predictive control (MPC) and control Lyapunov and control barrier functions (CLF/CBF). We show that, if the cost function "behaves well" for points in the terminal set, then the optimal value function and the feasible set, respectively, define a compatible CLF/CBF pair on the MPC's region of attraction. We then proceed to prove that any approximation of the value function and the feasible set also define a CLF/CBF pair, as long as those approximations satisfy the same "well behavedness" condition; and that a feasible state feedback can be computed by solving an infinitesimal version of the MPC problem. This methodology permits the formulation of continuous-time small-sized quadratic programs for feedback and enables approximate solutions of the nonlinear model predictive controller with theoretical safety and convergence guarantee. Finally, we demonstrate the effectiveness of the proposed approach when compared to other constrained control techniques through numerical experiments for nonlinear constrained spacecraft control.

Paperid: 1036, https://arxiv.org/pdf/2509.19612.pdf

Abstract:
This paper proposes a federated framework for demand flexibility aggregation to support grid operations. Unlike existing geometric methods that rely on a static, pre-defined base set as the geometric template for aggregation, our framework establishes a true federated process by enabling the collaborative optimization of this base set without requiring the participants sharing sensitive data with the aggregator. Specifically, we first formulate the base set optimization problem as a bilevel program. Using optimal solution functions, we then reformulate the bilevel program into a single-level, unconstrained learning task. By exploiting the decomposable structure of the overall gradient, we further design a decentralized gradient-based algorithm to solve this learning task. The entire framework, encompassing base set optimization, aggregation, and disaggregation, operates by design without exchanging raw user data. Numerical results demonstrate that our proposed framework unlocks substantially more flexibility than the approaches with static base sets, thus providing a promising framework for efficient and privacy-enhanced approaches to coordinate demand flexibility at scale.

Paperid: 1037, https://arxiv.org/pdf/2509.18666.pdf

Abstract:
We present a distributionally robust approach for collision avoidance by incorporating contextual information. Specifically, we embed the conditional distribution of future trajectory of the obstacle conditioned on the motion of the ego agent in a reproducing kernel Hilbert space (RKHS) via the conditional kernel mean embedding operator. Then, we define an ambiguity set containing all distributions whose embedding in the RKHS is within a certain distance from the empirical estimate of conditional mean embedding learnt from past data. Consequently, a distributionally robust collision avoidance constraint is formulated, and included in the receding horizon based motion planning formulation of the ego agent. Simulation results show that the proposed approach is more successful in avoiding collision compared to approaches that do not include contextual information and/or distributional robustness in their formulation in several challenging scenarios.

Paperid: 1038, https://arxiv.org/pdf/2509.18371.pdf

Abstract:
Multi-agent games in dynamic nonlinear settings are challenging due to the time-varying interactions among the agents and the non-stationarity of the (potential) Nash equilibria. In this paper we consider model-free games, where agent transitions and costs are observed without knowledge of the transition and cost functions that generate them. We propose a policy gradient approach to learn distributed policies that follow the communication structure in multi-team games, with multiple agents per team. Our formulation is inspired by the structure of distributed policies in linear quadratic games, which take the form of time-varying linear feedback gains. In the nonlinear case, we model the policies as nonlinear feedback gains, parameterized by self-attention layers to account for the time-varying multi-agent communication topology. We demonstrate that our distributed policy gradient approach achieves strong performance in several settings, including distributed linear and nonlinear regulation, and simulated and real multi-robot pursuit-and-evasion games.

Paperid: 1039, https://arxiv.org/pdf/2509.17607.pdf

Abstract:
The uptake of battery electric vehicles (BEVs) is increasing to reduce greenhouse gas emissions in the transport sector. The rapid adoption of BEVs depends significantly on the coordinated charging/discharging infrastructure. Without it, uncontrolled and erratic charging patterns could lead to increased power losses and voltage fluctuations beyond acceptable thresholds. BEV charge scheduling presents a multi-objective optimization (MOO) challenge, demanding a balance between minimizing network impact and maximizing the benefits for electric vehicle charging station (EVCS) operators and BEV owners. In this paper, we develop an MOO framework incorporating a carbon emission program and a dynamic economic dispatch problem, allowing BEV users to respond by charging and discharging through grid-to-vehicle (G2V) and vehicle-to-grid (V2G) technologies according to the optimal electricity price and compensation. Furthermore, we integrate dynamic economic dispatch with time-of-use tariffs to obtain optimal market electricity prices and reduce total costs over 24 hours. Our experimental results on a sample network show that the proposed scheduling increases participation in V2G services by over 10%, increases EVCS benefits by over 20%, and reduces network losses. Furthermore, increased rates of charging/discharging, coupled with more significant carbon revenue benefits for BEV users and EVCS, contribute to better offsetting battery degradation costs.

Paperid: 1040, https://arxiv.org/pdf/2509.17058.pdf

Abstract:
Reachability analysis is a key formal verification technique for ensuring the safety of modern cyber physical systems subject to uncertainties in measurements, system models (parameters), and inputs. Classical model-based approaches rely on accurate prior knowledge of system dynamics, which may not always be available or reliable. To address this, we present a data-driven reachability analysis framework that computes over-approximations of reachable sets directly from online state measurements. The method estimates time-varying unknown models using an Exponentially Forgetting Zonotopic Recursive Least Squares (EF ZRLS) method, which processes data corrupted by bounded noise. Specifically, a time-varying set of models that contains the true model of the system is estimated recursively, and then used to compute the forward reachable sets under process noise and uncertain inputs. Our approach applies to both discrete-time Linear Time Varying (LTV) and nonlinear Lipschitz systems. Compared to existing techniques, it produces less conservative reachable set over approximations, remains robust under slowly varying dynamics, and operates solely on real-time data without requiring any pre-recorded offline experiments. Numerical simulations and real-world experiments validate the effectiveness and practical applicability of the proposed algorithms.

Paperid: 1041, https://arxiv.org/pdf/2509.16826.pdf

Abstract:
We propose a novel framework for robust dynamic games with nonlinear dynamics corrupted by state-dependent additive noise, and nonlinear agent-specific and shared constraints. Leveraging system-level synthesis (SLS), each agent designs a nominal trajectory and a causal affine error feedback law to minimize their own cost while ensuring that its own constraints and the shared constraints are satisfied, even under worst-case noise realizations. Building on these nonlinear safety certificates, we define the novel notion of a robustly constrained Nash equilibrium (RCNE). We then present an Iterative Best Response (IBR)-based algorithm that iteratively refines the optimal trajectory and controller for each agent until approximate convergence to the RCNE. We evaluated our method on simulations and hardware experiments involving large numbers of robots with high-dimensional nonlinear dynamics, as well as state-dependent dynamics noise. Across all experiment settings, our method generated trajectory rollouts which robustly avoid collisions, while a baseline game-theoretic algorithm for producing open-loop motion plans failed to generate trajectories that satisfy constraints.

Paperid: 1042, https://arxiv.org/pdf/2509.15737.pdf

Abstract:
Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight interactions are essential for real-time, large-scale coordination. This paper introduces SMART, Scalable Multi-Agent Reasoning and Trajectory Planning, a hierarchical framework that combines priority-based search with distributed optimization to achieve efficient and feasible multi-vehicle planning. The upper layer explores diverse interaction modes using reinforcement learning-based priority estimation and large-step hybrid A* search, while the lower layer refines solutions via parallelizable convex optimization. By partitioning space among neighboring vehicles and constructing robust feasible corridors, the method decouples the joint non-convex problem into convex subproblems solved efficiently in parallel. This design alleviates the step-size trade-off while ensuring kinematic feasibility and collision avoidance. Experiments show that SMART consistently outperforms baselines. On 50 m x 50 m maps, it sustains over 90% success within 1 s up to 25 vehicles, while baselines often drop below 50%. On 100 m x 100 m maps, SMART achieves above 95% success up to 50 vehicles and remains feasible up to 90 vehicles, with runtimes more than an order of magnitude faster than optimization-only approaches. Built on vehicle-to-everything communication, SMART incorporates vehicle-infrastructure cooperation through roadside sensing and agent coordination, improving scalability and safety. Real-world experiments further validate this design, achieving planning times as low as 0.014 s while preserving cooperative behaviors.

Paperid: 1043, https://arxiv.org/pdf/2509.15109.pdf

Abstract:
We present an algorithm for learning unknown parametric constraints from locally-optimal input-output trajectory data. We assume that the given data is generated by demonstrators with stochastic nonlinear dynamics who execute a state or output feedback law to robustly satisfy the constraints despite worst-case dynamics and output noise. We encode the Karush-Kuhn-Tucker (KKT) conditions of this robust optimal output feedback control problem within a feasibility problem to recover constraints consistent with the local optimality of the demonstrations. We prove that our constraint learning method (i) accurately recovers the demonstrator's state or output feedback policy, and (ii) conservatively estimates the set of all state or output feedback policies that ensure constraint satisfaction despite worst-case noise realizations. Moreover, we perform sensitivity analysis, proving that when demonstrations are corrupted by transmission error, the inaccuracy in the learned state or output feedback law scales linearly in the error magnitude. Our method accurately recovers unknown constraints from simulated noisy, closed-loop demonstrations generated using dynamics, both linear and nonlinear, (e.g., unicycle and quadrotor) and a range of state and output feedback mechanisms.

Paperid: 1044, https://arxiv.org/pdf/2509.14705.pdf

Abstract:
Advancements toward 6G have intensified demands for ultra-reliable low-latency communication, positioning shortpacket communications as a critical technology for autonomous aerial vehicle (AAV) networks. However, the open broadcast nature introduces significant security vulnerabilities. Although physical-layer security offers a low-complexity solution by exploiting wireless channel randomness, the AAV communication performance severely degrades in weak-coverage or non-line-of sight scenarios. To overcome these limitations, this paper proposes a short-packet communications framework for AAV networks that leverages reconfigurable intelligent surfaces (RIS) with the aim of extending coverage and enhancing secrecy capabilities. Analytical frameworks are developed to evaluate the average secrecy throughput (AST) in finite blocklength constraints for both external and internal avesdropping scenarios, which incorporates non-orthogonal multiple access with imperfect successive interference cancellation. Asymptotic approximations of AST are derived as transmit power approaches infinity. Furthermore, we formulate a blocklength optimization problem to maximize the AST, effectively resolving the trade-offs among delay, reliability, and secrecy. Extensive simulations validate the analytical frameworks, which reveal that large-scale RIS deployment significantly boosts AST, and the power allocation coefficient exhibits dual effects in the internal eavesdropping scenario. These observations provide useful insights for designing reliable and secure lowlatency AAV communications systems.

Paperid: 1045, https://arxiv.org/pdf/2509.14521.pdf

Abstract:
Distributed systems require fusing heterogeneous local probability distributions into a global summary over sparse and unreliable communication networks. Traditional consensus algorithms, which average distributions in Euclidean space, ignore their inherent geometric structure, leading to misleading results. Wasserstein barycenters offer a geometry-aware alternative by minimizing optimal transport costs, but their entropic approximations via the Sinkhorn algorithm typically require centralized coordination. This paper proposes a fully decentralized Sinkhorn algorithm that reformulates the centralized geometric mean as an arithmetic average in the log-domain, enabling approximation through local gossip protocols. Agents exchange log-messages with neighbors, interleaving consensus phases with local updates to mimic centralized iterations without a coordinator. To optimize bandwidth, we integrate event-triggered transmissions and b-bit quantization, providing tunable trade-offs between accuracy and communication while accommodating asynchrony and packet loss. Under mild assumptions, we prove convergence to a neighborhood of the centralized entropic barycenter, with bias linearly dependent on consensus tolerance, trigger threshold, and quantization error. Complexity scales near-linearly with network size. Simulations confirm near-centralized accuracy with significantly fewer messages, across various topologies and conditions.

Paperid: 1046, https://arxiv.org/pdf/2509.14376.pdf

Abstract:
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises linear abstract systems subject to matched perturbations, while the second class encompasses fully nonlinear abstract systems. Our main objective is to synthesize state-feedback controllers that guarantee finite- or fixed-time stability of the closed-loop system, along with possible estimation of the settling time. For the first class, the presence of persistent perturbations introduces significant challenges in the well-posedness analysis, particularly due to the discontinuous nature of the control law. To address this, we employ maximal monotone operator theory to rigorously establish the existence and uniqueness of solutions, extending classical results from continuous abstract systems. For the second class, which includes nonlinearities, we further show that the proposed feedback law ensures fixed-time stability and well-posedness of the closed-loop system, again using maximal monotone theory. The results provide a unified framework for robust, finite /fixed-time stabilization in the presence of discontinuities and nonlinearities in infinite-dimensional settings.

Paperid: 1047, https://arxiv.org/pdf/2509.13567.pdf

Abstract:
Load redistribution (LR) attacks represent a practical and sophisticated form of false data injection (FDI) attacks, where the attacker manipulates grid data to influence economic operations of the grid through misleading security constrained economic dispatch (SCED) decisions. Traditionally, LR attack models operate under the assumption that generator measurements are secure and immune to tampering. However, the increasing integration of solar generation into power grids challenges this assumption, exposing new vulnerabilities. This paper proposes an enhanced load redistribution attack model, addressing new vulnerabilities introduced by the increasing integration of solar generation in power grids. The study demonstrates that manipulating solar generation data significantly disrupts grid economics, with peak impacts during periods of high solar generation.

Paperid: 1048, https://arxiv.org/pdf/2509.13545.pdf

Abstract:
This work develops a control framework for the autonomous overtaking of connected and automated vehicles (CAVs) in a mixed traffic environment, where the overtaken vehicle is an unconnected but interactive human-driven vehicle. The proposed method, termed the Game-Theoretic, PRedictive Overtaking (GT-PRO) strategy, successfully decouples the longitudinal and lateral vehicle dynamics of the CAV and comprehensively coordinates these decoupled dynamics via innovative longitudinal and lateral model predictive (MPC) based controllers, respectively. To address the real-time interactive behavior of the human-driven overtaken vehicle, a dynamic Stackelberg game-based bilevel optimization is solved by the lateral controller to directly control the CAV lateral motion and predict the overtaken vehicle longitudinal responses that are subsequently shared with a stochastic MPC that governs the CAV longitudinal motion. The proposed strategy exploits a comprehensive real-world dataset, which captures human driver responses when being overtaken, to tune the game-theoretic lateral controller according to the most common human responses, and to statistically characterize human uncertainties and hence implement a collision avoidance chance constraint for the stochastic longitudinal controller. The simulation results for both polite and aggressive human response case studies of the overtaken vehicle demonstrate that the proposed GT-PRO can achieve for this range of human driver responsiveness, safer, more efficient, and more comfortable autonomous overtaking, as compared to existing autonomous overtaking approaches in the literature. Furthermore, the results suggest that the GT-PRO method is capable of real-time implementation.

Paperid: 1049, https://arxiv.org/pdf/2509.13396.pdf

Abstract:
This paper presents a novel three-stage framework for real-time foreign object intrusion (FOI) detection and tracking in power transmission systems. The framework integrates: (1) a YOLOv7 segmentation model for fast and robust object localization, (2) a ConvNeXt-based feature extractor trained with triplet loss to generate discriminative embeddings, and (3) a feature-assisted IoU tracker that ensures resilient multi-object tracking under occlusion and motion. To enable scalable field deployment, the pipeline is optimized for deployment on low-cost edge hardware using mixed-precision inference. The system supports incremental updates by adding embeddings from previously unseen objects into a reference database without requiring model retraining. Extensive experiments on real-world surveillance and drone video datasets demonstrate the framework's high accuracy and robustness across diverse FOI scenarios. In addition, hardware benchmarks on NVIDIA Jetson devices confirm the framework's practicality and scalability for real-world edge applications.

Paperid: 1050, https://arxiv.org/pdf/2509.11869.pdf

Abstract:
This note presents a novel, efficient economic model predictive control (EMPC) scheme for non-dissipative systems subject to state and input constraints. A new conception of convergence filters is defined to address the stability issue of EMPC for constrained non-dissipative systems. Three convergence filters are designed accordingly to be imposed into the receding horizon optimization problem of EMPC. To improve online computational efficiency, the variable horizon idea without terminal constraints is adopted to compromise the convergence speed, economic performance, and computational burden of EMPC. Moreover, sufficient conditions are derived to guarantee the recursive feasibility and stability of the EMPC. The advantages of the proposed EMPC are validated by a classical non-dissipative continuous stirred-tank reactor.

Paperid: 1051, https://arxiv.org/pdf/2509.11823.pdf

Abstract:
This paper proposes a novel varying horizon economic model predictive control (EMPC) scheme without terminal constraints for constrained nonlinear systems with additive disturbances and unknown economic costs. The general regression learning framework with mixed kernels is first used to reconstruct the unknown cost. Then an online iterative procedure is developed to adjust the horizon adaptively. Again, an elegant horizon-dependent contraction constraint is designed to ensure the convergence of the closed-loop system to a neighborhood of the desired steady state. Moreover, sufficient conditions ensuring recursive feasibility and input-to-state stability are established for the system in closed-loop with the EMPC. The merits of the proposed scheme are verified by the simulations of a continuous stirred tank reactor and a four-tank system in terms of robustness, economic performance and online computational burden.

Paperid: 1052, https://arxiv.org/pdf/2509.11194.pdf

Abstract:
This study establishes a connection between the output-to-output gain (OOG), a sensitivity metric quantifying the impact of stealthy attacks, and a novel input-to-input gain (IIG) introduced to evaluate fault sensitivity under disturbances, and investigates their fundamental performance limitations arising from the transmission zeros of the underlying dynamical system. Inspired by the OOG, which characterizes the maximum performance loss caused by stealthy attacks, the IIG is proposed as a new measure of robust fault sensitivity, and is defined as the maximum energy of undetectable faults for a given disturbance intensity. Then, using right (for OOG) and left (for IIG) co-prime factorizations, both metrics are expressed as the~$\mathcal{H}_{\infty}$ norm of a ratio of the numerator factors. This unified representation facilitates a systematic analysis of their fundamental limitations. Subsequently, by utilizing the Poisson integral relation, theoretical bounds for the IIG and OOG are derived, explicitly characterizing their fundamental limitations imposed by system \mbox{non-minimum} phase (NMP) zeros. Finally, a numerical example is employed to validate the results.

Paperid: 1053, https://arxiv.org/pdf/2509.10826.pdf

Abstract:
This article presents a highly efficient optimal control algorithm and policies for lyophilization (also known as freeze drying). The optimal solutions and control policies are derived using an extended version of the simulation-based algorithm, which reformulates the optimal control problem as a hybrid discrete/continuous system of mixed-index differential-algebraic equations and subsequently calculates the optimal control vector via simulation of the resulting DAEs. Our algorithm and control policies are demonstrated via a number of case studies that encompass various lyophilization and optimal control strategies. All the case studies can be solved within less than a second on a normal laptop, regardless of their complexity. The method is several orders of magnitude faster than the traditional optimization-based techniques while giving similar/better accuracy. The proposed algorithm offers an efficient and reliable framework for optimal control of lyophilization, which can also be extended to other similar systems with phase transitions.

Paperid: 1054, https://arxiv.org/pdf/2509.10568.pdf

Abstract:
This work provides a detailed specification of the Smart Grid Modelling Language (SG-ML), which is designed for the automated generation of smart grid cyber ranges. SG-ML is defined as a set of XML schemas that describe a smart grid's configuration in both machine-readable and human-friendly ways, thereby bridging the gap between system modelling and automated deployment. Unlike prior ad-hoc approaches to cyber range design, SG-ML provides a unified methodology that integrates both power system and cyber network representations. The SG-ML model can be customized by users to meet specific requirements, such as emulating physical or cyber topologies and configuring network devices. An SG-ML Processor then parses this configured model to instantiate the cyber range environment. The modelling language leverages established standards like the IEC 61850 Substation Configuration Language (SCL) and IEC 61131 PLCopen XML to define power system topology, cyber network topology, and device configurations. This approach allows for the reuse of existing assets, reducing the effort needed to create the SG-ML model. To address gaps not covered by these standards such as attack injection parameters, scenario-specific metadata, and additional network constraints, SG-ML introduces proprietary schemas that complement standard models. Overall, SG-ML enables reproducible, scalable, and automated generation of realistic smart grid cyber ranges for research, training, and security assessment.

Paperid: 1055, https://arxiv.org/pdf/2509.10356.pdf

Abstract:
We propose a control barrier function (CBF) formulation for enforcing equality and inequality constraints in variational inference. The key idea is to define a barrier functional on the space of probability density functions that encode the desired constraints imposed on the variational density. By leveraging the Liouville equation, we establish a connection between the time derivative of the variational density and the particle drift, which enables the systematic construction of corresponding CBFs associated to the particle drift. Enforcing these CBFs gives rise to the safe particle flow and ensures that the variational density satisfies the original constraints imposed by the barrier functional. This formulation provides a principled and computationally tractable solution to constrained variational inference, with theoretical guarantees of constraint satisfaction. The effectiveness of the method is demonstrated through numerical simulations.

Paperid: 1056, https://arxiv.org/pdf/2509.09937.pdf

Abstract:
High variability of solar PV and sudden changes in load (e.g., electric vehicles and storage) can lead to large voltage fluctuations in the distribution system. In recent years, a number of controllers have been designed to optimize voltage control. These controllers, however, almost always assume that the net load in the system remains constant over a sufficiently long time, such that the control actions converge before the load changes again. Given the intermittent and uncertain nature of renewable resources, it is becoming important to explicitly consider net load that is time-varying. This paper proposes an adaptive approach to voltage control in power systems with significant time-varying net load. We leverage advances in short-term load forecasting, where the net load in the system can be partially predicted using local measurements. We integrate these predictions into the design of adaptive controllers, and prove that the overall control architecture achieves input-to-state stability in a decentralized manner. We optimize the control policy through reinforcement learning. Case studies are conducted using time-varying load data from a real-world distribution system.

Paperid: 1057, https://arxiv.org/pdf/2509.08968.pdf

Abstract:
Participation factors (PFs) quantify the interaction between system modes and state variables, and they play a crucial role in various applications such as modal analysis, model reduction, and control design. With increasing system complexity, especially due to power electronic devices and renewable integration, the need for scalable and high-order nonlinear PF (NPF) computation has become more critical. This paper presents an efficient tensor-based method for calculating NPFs up to an arbitrary order. Traditional computation of PFs directly from normal form theory is computationally expensive -- even for second-order PFs -- and becomes infeasible for higher orders due to memory constraints. To address this, a tensor contraction-based approach is introduced that enables the calculation of high-order PFs using a batching strategy. The batch sizes are dynamically determined based on the available computational resources, allowing scalable and memory-efficient computation.

Paperid: 1058, https://arxiv.org/pdf/2509.08242.pdf

Abstract:
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) or frontiers that are the most informative to explore next. The robots assess the utility of going to a frontier using Behavioral Entropy (BE) and then determine which frontier to go to via a distributed task assignment scheme. We convert the task assignment problem into a non-cooperative game and use a distributed algorithm (d-PBRAG) to converge to the Nash equilibrium (which we show is the optimal task allocation solution). For unknown utility cases, we provide robust bounds using approximate rewards. We test our algorithm (which has less communication cost and fast convergence) in simulation, where we explore the effect of sensing radii, sensing accuracy, and heterogeneity among robotic teams with respect to the time taken to complete exploration and path traveled. We observe that having a team of agents with heterogeneous behaviors is beneficial.

Paperid: 1059, https://arxiv.org/pdf/2509.07218.pdf

Abstract:
The rapid growth of artificial intelligence (AI) is driving an unprecedented increase in the electricity demand of AI data centers, raising emerging challenges for electric power grids. Understanding the characteristics of AI data center loads and their interactions with the grid is therefore critical for ensuring both reliable power system operation and sustainable AI development. This paper provides a comprehensive review and vision of this evolving landscape. Specifically, this paper (i) presents an overview of AI data center infrastructure and its key components, (ii) examines the key characteristics and patterns of electricity demand across the stages of model preparation, training, fine-tuning, and inference, (iii) analyzes the critical challenges that AI data center loads pose to power systems across three interrelated timescales, including long-term planning and interconnection, short-term operation and electricity markets, and real-time dynamics and stability, and (iv) discusses potential solutions from the perspectives of the grid, AI data centers, and AI end-users to address these challenges. By synthesizing current knowledge and outlining future directions, this review aims to guide research and development in support of the joint advancement of AI data centers and power systems toward reliable, efficient, and sustainable operation.

Paperid: 1060, https://arxiv.org/pdf/2509.04712.pdf

Abstract:
Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample efficiency and effective exploration, making it difficult to discover an optimal driving strategy. To address these issues, we propose guiding the RL driving agent with a demonstration policy that need not be a highly optimized or expert-level controller. Specifically, we integrate a rule-based lane change controller with the Soft Actor Critic (SAC) algorithm to enhance exploration and learning efficiency. Our approach demonstrates improved driving performance and can be extended to other driving scenarios that can similarly benefit from demonstration-based guidance.

Paperid: 1061, https://arxiv.org/pdf/2509.02212.pdf

Abstract:
This paper deals with the finite-time stabilization of a class of nonlinear infinite-dimensional systems. First, we consider a bounded matched perturbation in its linear form. It is shown that by using a set-valued function, both the convergence objective (finite-time) and the rejection of perturbations are achieved. Second, we consider a class of nonlinear systems and design a feedback control that ensures the closed-loop system is finite-time stable. All proofs presented in this paper regarding convergence are based on Lyapunov theory. The existence of solutions to the closed-loop system and its well-posedness are established using maximal monotone theory. To illustrate the applicability of the theoretical results, a heat equation is considered as an application of the main results.

Paperid: 1062, https://arxiv.org/pdf/2509.02184.pdf

Abstract:
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single executed trajectory. In this work, we consider the planning problem for hyperproperties evaluated over a set of possible trajectories, which naturally arise in information-flow control problems. Specifically, we study discrete-time dynamical systems and employ the recently developed temporal logic HyperSTL as the new objective for planning. To solve this problem, we propose a novel recursive counterexample-guided synthesis approach capable of effectively handling HyperSTL specifications with multiple alternating quantifiers. The proposed method is not only applicable to planning but also extends to HyperSTL model checking for discrete-time dynamical systems. Finally, we present case studies on security-preserving planning and ambiguity-free planning to demonstrate the effectiveness of the proposed HyperSTL planning framework.

Paperid: 1063, https://arxiv.org/pdf/2509.02147.pdf

Abstract:
In reactor-grade tokamaks, pellet injection is the best candidate for core plasma fuelling. However, density control schemes that can handle the hybrid nature of this type of fuelling, i.e., the discrete impact of the pellets on the continuously evolving plasma density, are lacking. This paper proposes a neuromorphic controller, inspired by the integrate-and-fire neuronal model, to address this problem. The overall system is modelled as a hybrid system, and we analyse the proposed controller in closed loop with a single-input single-output linear time-invariant plasma model. The controller generates spikes, representing pellet launches, when the neuron variable reaches a certain threshold. Between the control actions, or spikes, the system evolves in open loop. We establish conditions on the controller variables and minimum actuator speed, depending on the reference value for the desired density, the pellet size and the time-constant of the plasma density, that guarantee a practical stability property for the closed-loop system. The results are illustrated in a numerical example.

Paperid: 1064, https://arxiv.org/pdf/2509.01300.pdf

Abstract:
In biology, homeostasis is the process of maintaining a stable internal environment, which is crucial for optimal functioning of organisms. One of the key homeostatic mechanisms is thermoregulation that allows the organism to maintain its core temperature within tight bounds despite being exposed to a wide range of varying external temperatures. Instrumental in thermoregulation is the presence of thermosensitive neurons at multiple places throughout the body, including muscles, the spinal cord, and the brain, which provide spiking sensory signals for the core temperature. In response to these signals, thermoeffectors are activated, creating a negative spiking feedback loop. Additionally, a feedforward signal is provided by warmth and cold-sensitive neurons in the skin, offering a measure for the external temperature. This paper presents an electronic circuit-based architecture design to replicate the biological process of thermoregulation, combined with a formal mathematical analysis. The considered architecture consists of four temperature sensitive neurons and a single actuator, configured in a negative feedback loop with feedforward control. To model the overall system mathematically, hybrid dynamical system descriptions are proposed that are used to analyze and simulate the performance of the design. The analysis and numerical case study illustrate the crucial role of feedforward control in reducing the dependency on the external temperature.

Paperid: 1065, https://arxiv.org/pdf/2509.00548.pdf

Abstract:
This paper introduces the concept of "frequency control strength" as a novel approach to understand how different real-world power systems compare to each other in terms of effectiveness and performance of system-wide frequency control. It presents a comprehensive comparison, based on measurement data, of the frequency control strength of four real-world, renewable-based, synchronous islands power systems, namely Great Britain (GB), All-Island power system (AIPS) of Ireland, and Australia (AUS) mainland and Tasmania (TAS). The strength is evaluated by means of different frequency quality metrics. The common understanding is that the bigger the capacity of a power system, the bigger its robustness with respect to events and contingencies. Here we show that this is not always the case in the context of frequency control. In fact, our study shows that mainland AUS shows the highest frequency control strength during normal operating conditions, whereas the AIPS shows the highest relative frequency control strength for abnormal system conditions. The strength is, in particular, greatly influenced by different regulatory requirements and different system/ancillary services arrangements in each jurisdiction. The paper also provides possible mitigations to improve frequency control strength through grid codes and market rules.

Paperid: 1066, https://arxiv.org/pdf/2509.00136.pdf

Abstract:
Amid global interest in resilient energy systems, green hydrogen is considered vital to the net-zero transition, yet its deployment remains limited by high production cost. The cost is determined by the its production pathway, system configuration, asset location, and interplay with electricity markets and regulatory frameworks. To compare different deployment strategies in the UK, we develop a comprehensive techno-economic framework based on the Levelised Cost of Hydrogen (LCOH) assessment. We apply this framework to 5 configurations of wind-electrolyser systems, identify the most cost-effective business cases, and conduct a sensitivity analysis of key economic parameters. Our results reveal that electricity cost is the dominant contributor to LCOH, followed by the electrolyser cost. Our work highlights the crucial role that location, market arrangements and control strategies among RES and hydrogen investors play in the economic feasibility of deploying green hydrogen systems. Policies that subsidise low-cost electricity access and optimise deployment can lower LCOH, enhancing the economic competitiveness of green hydrogen.

Paperid: 1067, https://arxiv.org/pdf/2508.20888.pdf

Abstract:
Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, energy efficiency remains a critical constraint: quadrotors must reconcile the high power demands of agility with the minimal consumption required for extended endurance. Meeting this trade-off calls for mode-specific optimization frameworks that adapt to diverse mission profiles. At their core lie optimal control policies defining error functions whose minimization yields robust, mission-tailored performance. While solutions are straightforward for fixed weight matrices, selecting those weights is a far greater challenge-lacking analytical guidance and thus relying on exhaustive or stochastic search. This interdependence can be framed as a bi-level optimization problem, with the outer loop determining weights a priori. This work introduces an aerial-enabled robust optimization for LQG tuning (AERO-LQG), a framework employing evolutionary strategy to fine-tune LQG weighting parameters. Applied to the linearized hovering mode of quadrotor flight, AERO-LQG achieves performance gains of several tens of percent, underscoring its potential for enabling high-performance, energy-efficient quadrotor control. The project is available at GitHub.

Paperid: 1068, https://arxiv.org/pdf/2508.20553.pdf

Abstract:
Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged as a promising approach for the safe management of these swarms by combining the scalability of distributed computation with dynamic swarm motion control. In this DMPC method, multiple agents solve local optimization problems with coupled anti-collision constraints, periodically exchanging their solutions. Despite its potential, existing methodologies using this DMPC variant have yet to be deployed on distributed hardware that fully utilize true distributed computation and wireless communication. This is primarily due to the lack of a communication system tailored to meet the unique requirements of mobile swarms and an architecture that supports distributed computation while adhering to the payload constraints of UAVs. We present DMPC-SWARM, a new swarm control methodology that integrates an efficient, stateless low-power wireless communication protocol with a novel DMPC algorithm that provably avoids UAV collisions even under message loss. By utilizing event-triggered and distributed off-board computing, DMPC-SWARM supports nano UAVs, allowing them to benefit from additional computational resources while retaining scalability and fault tolerance. In a detailed theoretical analysis, we prove that DMPC-SWARM guarantees collision avoidance under realistic conditions, including communication delays and message loss. Finally, we present DMPC-SWARM's implementation on a swarm of up to 16 nano-quadcopters, demonstrating the first realization of these DMPC variants with computation distributed on multiple physical devices interconnected by a real wireless mesh networks. A video showcasing DMPC-SWARM is available at http://tiny.cc/DMPCSwarm.

Paperid: 1069, https://arxiv.org/pdf/2508.20211.pdf

Abstract:
In the 1940s, Wiener introduced a linear predictor, where the future prediction is computed by linearly combining the past data. A transformer generalizes this idea: it is a nonlinear predictor where the next-token prediction is computed by nonlinearly combining the past tokens. In this essay, we present a probabilistic model that interprets transformer signals as surrogates of conditional measures, and layer operations as fixed-point updates. An explicit form of the fixed-point update is described for the special case when the probabilistic model is a hidden Markov model (HMM). In part, this paper is in an attempt to bridge the classical nonlinear filtering theory with modern inference architectures.

Paperid: 1070, https://arxiv.org/pdf/2508.19945.pdf

Abstract:
We present an inverse dynamic game-based algorithm to learn parametric constraints from a given dataset of local generalized Nash equilibrium interactions between multiple agents. Specifically, we introduce mixed-integer linear programs (MILP) encoding the Karush-Kuhn-Tucker (KKT) conditions of the interacting agents, which recover constraints consistent with the Nash stationarity of the interaction demonstrations. We establish theoretical guarantees that our method learns inner approximations of the true safe and unsafe sets, as well as limitations of constraint learnability from demonstrations of Nash equilibrium interactions. We also use the interaction constraints recovered by our method to design motion plans that robustly satisfy the underlying constraints. Across simulations and hardware experiments, our methods proved capable of inferring constraints and designing interactive motion plans for various classes of constraints, both convex and non-convex, from interaction demonstrations of agents with nonlinear dynamics.

Paperid: 1071, https://arxiv.org/pdf/2508.19075.pdf

Abstract:
Analog quantum simulators with global control fields have emerged as powerful platforms for exploring complex quantum phenomena. Recent breakthroughs, such as the coherent control of thousands of atoms, highlight the growing potential for quantum applications at scale. Despite these advances, a fundamental theoretical question remains unresolved: to what extent can such systems realize universal quantum dynamics under global control? Here we establish a necessary and sufficient condition for universal quantum computation using only global pulse control, proving that a broad class of analog quantum simulators is, in fact, universal. We further extend this framework to fermionic and bosonic systems, including modern platforms such as ultracold atoms in optical superlattices. Crucially, to connect the theoretical possibility with experimental reality, we introduce a new control technique into the experiment - direct quantum optimal control. This method enables the synthesis of complex effective Hamiltonians and allows us to incorporate realistic hardware constraints. To show its practical power, we experimentally engineer three-body interactions outside the blockade regime and demonstrate topological dynamics on a Rydberg atom array. Using the new control framework, we overcome key experimental challenges, including hardware limitations and atom position fluctuations in the non-blockade regime, by identifying smooth, short-duration pulses that achieve high-fidelity dynamics. Experimental measurements reveal dynamical signatures of symmetry-protected-topological edge modes, confirming both the expressivity and feasibility of our approach. Our work opens a new avenue for quantum simulation beyond native hardware Hamiltonians, enabling the engineering of effective multi-body interactions and advancing the frontier of quantum information processing with globally-controlled analog platforms.

Paperid: 1072, https://arxiv.org/pdf/2508.17374.pdf

Abstract:
Solar photovoltaic systems are increasing in size and number on the grid. In regions with high penetration, such as California, PV systems serve multiple functions, including peak shaving and demand response. Therefore, the criticality of PV systems to grid operations calls for accurate models. The current practice is to represent the PV array, composed of multiple PV panels, with an aggregated single-diode model (SDM). The highly abstract model has a limited ability to capture real-world behaviors, such as partial shading and hotspots. Thus, we develop a circuit-based per-panel PV array model that uses a single diode model for each panel and interconnects them to form an array. This approach bridges the tradeoff between cell-level physics and control-dependent system-level behavior. We establish conditions for mathematical equivalence between the proposed per-panel array circuit model and the aggregated single-diode array model. We generate empirical evidence by running simulations using parameters derived from real-world PV panels. Results indicate that the proposed per-panel array model can represent the electrical behavior of the array under non-ideal conditions, such as partial shading, more accurately. With maximum power point tracking control, the proposed model is 21.2% more accurate when estimating the real power output of an array under a partial shading scenario and 8.1% more accurate under a hot spot scenario.

Paperid: 1073, https://arxiv.org/pdf/2508.17094.pdf

Abstract:
Due to the rapid pace of electrification and decarbonization, distribution grid (DG) operation and planning are becoming more complex, necessitating advanced computational analyses to ensure grid reliability and resilience. State-of-the-art DG analyses rely on disparate workflows of complex models, functions, and data pipelines, which require expert knowledge and are challenging to automate. Many small-scale utilities and cooperatives lack a large R&D workforce and therefore cannot use advanced analysis at scale. To address this gap, we develop a novel agentic AI system, PowerChain, to solve unseen DG analysis tasks via automated agentic orchestration and large language models (LLMs) function-calling. Given a natural language query, PowerChain dynamically generates and executes an ordered sequence of domain-aware functions guided by the semantics of an expert-built power systems function pool and a select reference set of known, expert-generated workflow-query pairs. Our results show that PowerChain can produce expert-level workflows with both GPT-5 and open-source Qwen models on complex, unseen DG analysis tasks operating on real utility data.

Paperid: 1074, https://arxiv.org/pdf/2508.16819.pdf

Abstract:
In several European countries, regulatory frameworks now allow households to form energy communities and trade energy locally via local energy markets (LEMs). While multiple mechanisms exist to allocate locally produced energy among members, their fairness remains insufficiently understood despite energy justice being a key concern for communities. This paper first provides a thorough description of the collective self-consumption process in France, offering a real world framework for researchers. We then review the main types of fairness relevant to LEMs and identify appropriate indicators for each, including a new scalable indicator to evaluate meritocratic fairness. Using simulations across 250 randomly generated residential communities of 20 households, we assess and compare fairness across different LEM distribution mechanisms. Results show that average financial savings reach 12% with 40% PV uptake. Among the four widely used LEM mechanisms assessed, glass-filling with prioritization yields the highest egalitarian and min max fairness. Double auction and pro rata schemes promote meritocracy, while standard glass filling offers a strong balance across fairness objectives.

Paperid: 1075, https://arxiv.org/pdf/2508.16814.pdf

Abstract:
The integration of renewable energy sources (RES) and the convergence of transport electrification, creates a significant challenge for distribution network management e.g. voltage and frequency violations, particularly in rural and remote areas. This paper investigates how smart charging of electric vehicles (EVs) can help reduce renewable energy curtailment and alleviate stress on local distribution networks. We implement a customised AC Optimal Power Flow (AC OPF) formulation which integrates into the optimisation an indicator reflecting the social impact of flexibility from EV users, based on the analysis of historical EV charging behaviours. The contribution of EV owners to reducing wind curtailment is optimised to enhance the acceptability of flexibility procurement, as the method targets EV users whose charging habits are most likely to align with flexibility requirements. Our method integrates social, technological, and economic perspectives with optimal flexibility coordination, and utilises clustering of EVs through a kmeans algorithm. To ensure scalability, we introduce a polar coordinate-based dimension reduction technique. The flexibility optimisation approach is demonstrated on the Orkney grid model, incorporating demand and wind farm generation data, as well as multi year charging data from 106 EVs. Results indicate that, by building upon the existing habits of EV users, curtailment can be reduced by 99.5% during a typical summer week the period when curtailment is most prevalent. This research demonstrates a foundational and transferable approach which is cognisant of socio techno economic factors towards accelerating decarbonisation and tackling the stochastic challenges of new demand and generation patterns on local distribution networks.

Paperid: 1076, https://arxiv.org/pdf/2508.16296.pdf

Abstract:
This paper deals with the quantized control problem for switched systems under denial-of-service (DoS) attack. Considering the system's defensive capability and the computational resources of quantizers and controllers, four control strategies are proposed. These strategies incorporate different combinations of controllers (active and passive), quantizers (centered on the origin or custom-designed), and network configurations (with or without ACK signals). For each strategy, specific update laws for the encoder and decoder are designed to avoid quantization saturation. Furthermore, the uniformity of encoder and decoder operations is maintained by transmitting additional information to the decoder. To achieve asymptotic stability, sufficient conditions concerning the switching signal and DoS attack constraints are derived by taking into account the asynchronous behaviors. The proposed active quantization strategy with the ACK signal leverages the system model information to compute the control signal in real-time, allowing for possible convergence of the system state despite DoS attack. Additionally, a well-designed switching signal is suggested to further mitigate the impact of DoS attack. A passive quantization strategy with ACK signal is also developed as a simplified version of the active quantized control strategy, providing the foundation for a strategy without ACK signal. Inspired by time-triggered and event-triggered mechanisms, the passive quantization strategy without ACK signal is investigated, with two feasible update laws for the quantizer. Finally, two simulations are conducted to validate the effectiveness of the proposed strategies.

Paperid: 1077, https://arxiv.org/pdf/2508.15025.pdf

Abstract:
We consider federated learning of linearly-parameterized nonlinear systems. We establish theoretical guarantees on the effectiveness of federated nonlinear system identification compared to centralized approaches, demonstrating that the convergence rate improves as the number of clients increases. Although the convergence rates in the linear and nonlinear cases differ only by a constant, this constant depends on the feature map $Ï$, which can be carefully chosen in the nonlinear setting to increase excitation and improve performance. We experimentally validate our theory in physical settings where client devices are driven by i.i.d. control inputs and control policies exhibiting i.i.d. random perturbations, ensuring non-active exploration. Experiments use trajectories from nonlinear dynamical systems characterized by real-analytic feature functions, including polynomial and trigonometric components, representative of physical systems including pendulum and quadrotor dynamics. We analyze the convergence behavior of the proposed method under varying noise levels and data distributions. Results show that federated learning consistently improves convergence of any individual client as the number of participating clients increases.

Paperid: 1078, https://arxiv.org/pdf/2508.14519.pdf

Abstract:
Security has always been a priority, for researchers, service providers and network operators when it comes to radio access networks (RAN). One wireless access approach that has captured attention is blockchain enabled RAN (B-RAN) due to its secure nature. This research introduces a framework that integrates blockchain technology into RAN while also addressing the limitations of state-of-the-art models. The proposed framework utilizes queuing and Markov chain theory to model the aspects of B-RAN. An extensive evaluation of the models performance is provided, including an analysis of timing factors and a focused assessment of its security aspects. The results demonstrate reduced latency and comparable security making the presented framework suitable for diverse application scenarios.

Paperid: 1079, https://arxiv.org/pdf/2508.13647.pdf

Abstract:
This paper uses multi-object tracking methods known from the radar tracking community to address the problem of pedestrian tracking using 2D bounding box detections. The standard point-object (SPO) model is adopted, and the posterior density is computed using the Poisson multi-Bernoulli mixture (PMBM) filter. The selection of the model parameters rooted in continuous time is discussed, including the birth and survival probabilities. Some parameters are selected from the first principles, while others are identified from the data, which is, in this case, the publicly available MOT-17 dataset. Although the resulting PMBM algorithm yields promising results, a mismatch between the SPO model and the data is revealed. The model-based approach assumes that modifying the problematic components causing the SPO model-data mismatch will lead to better model-based algorithms in future developments.

Paperid: 1080, https://arxiv.org/pdf/2508.11834.pdf

Abstract:
The rapid advancement of Transformer-based models has reshaped the landscape of uncrewed aerial vehicle (UAV) systems by enhancing perception, decision-making, and autonomy. This review paper systematically categorizes and evaluates recent developments in Transformer architectures applied to UAVs, including attention mechanisms, CNN-Transformer hybrids, reinforcement learning Transformers, and large language models (LLMs). Unlike previous surveys, this work presents a unified taxonomy of Transformer-based UAV models, highlights emerging applications such as precision agriculture and autonomous navigation, and provides comparative analyses through structured tables and performance benchmarks. The paper also reviews key datasets, simulators, and evaluation metrics used in the field. Furthermore, it identifies existing gaps in the literature, outlines critical challenges in computational efficiency and real-time deployment, and offers future research directions. This comprehensive synthesis aims to guide researchers and practitioners in understanding and advancing Transformer-driven UAV technologies.

Paperid: 1081, https://arxiv.org/pdf/2508.11071.pdf

Abstract:
Two-stage stochastic unit commitment (2S-SUC) problems have been widely adopted to manage the uncertainties introduced by high penetrations of intermittent renewable energy resources. While decomposition-based algorithms such as column-and-constraint generation has been proposed to solve these problems, they remain computationally prohibitive for large-scale, real-time applications. In this paper, we introduce a Neural Column-and-Constraint Generation (Neural CCG) method to significantly accelerate the solution of 2S-SUC problems. The proposed approach integrates a neural network that approximates the second-stage recourse problem by learning from high-level features of operational scenarios and the first-stage commitment decisions. This neural estimator is embedded within the CCG framework, replacing repeated subproblem solving with rapid neural evaluations. We validate the effectiveness of the proposed method on the IEEE 118-bus system. Compared to the original CCG and a state-of-the-art commercial solver, Neural CCG achieves up to 130.1$\times$ speedup while maintaining a mean optimality gap below 0.096\%, demonstrating its strong potential for scalable stochastic optimization in power system.

Paperid: 1082, https://arxiv.org/pdf/2508.10730.pdf

Abstract:
An innovative multi-functional static-passive electromagnetic skin (SP-EMS) solution is proposed to simultaneously support, in reflection, two independent wave-manipulation functionalities with a single meta-atoms arrangement on the EMS aperture when illuminated by two EM sources operating at the same frequency, but working in different polarization states. Towards this end, a simple reference meta-atom is designed first to enable an accurate and independent control of each polarization component of the local reflection tensor. Successively, the macro-scale synthesis of multi-polarization (MP) SP-EMSs (MP-SP-EMSs) is carried out by solving a global optimization problem where a cost function, which mathematically codes separate requirements for each polarization, is minimized with a customized version of the system-by-design (SbD) technique. Representative results from a set of numerical and experimental tests are reported to assess the feasibility of a multi-function EMS based on polarization diversity as well as the effectiveness and the robustness of the proposed method for the synthesis of MP-SP-EMSs.

Paperid: 1083, https://arxiv.org/pdf/2508.10601.pdf

Abstract:
In this work, we develop and analyze adaptive feedback control strategies to stabilize and confine a nanoparticle at the unstable intensity minimum of an optical double-well potential. The resulting stochastic optimal control problem for a noise-driven mechanical particle in a nonlinear optical potential must account for unavoidable experimental imperfections such as measurement nonlinearities and slow drifts of the optical setup. To address these issues, we simplify the model in the vicinity of the unstable equilibrium and employ indirect adaptive control techniques to dynamically follow changes in the potential landscape. Our approach leads to a simple and efficient Linear Quadratic Gaussian (LQG) controller that can be implemented on fast and cost-effective FPGAs, ensuring accessibility and reproducibility. We demonstrate that this strategy successfully tracks the intensity minimum and significantly reduces the nanoparticle's residual state variance, effectively lowering its center-of-mass temperature. While conventional optical traps rely on confining optical forces in the light field at the intensity maxima, trapping at intensity minima mitigates absorption heating, which is crucial for advanced quantum experiments. Since LQG control naturally extends into the quantum regime, our results provide a promising pathway for future experiments on quantum state preparation beyond the current absorption heating limitation, like matter-wave interference and tests of the quantum-gravity interface.

Paperid: 1084, https://arxiv.org/pdf/2508.09731.pdf

Abstract:
The development of automated vehicles and automated driving functions is an exceptionally complex task that requires the integration of numerous, sometimes conflicting interests and various constraints already in the early stages of system design. This chapter explains important challenges in concept specifications for automated driving and presents a systematic process model that contributes to overcoming the special requirements in this field. In addition, it describes the successful implementation of a structured concept specification for an automated vehicle guidance system. -- Die Entwicklung automatisierter Fahrzeuge und Fahrfunktionen stellt eine ausgesprochen komplexe Aufgabe dar, die bereits im Zuge des Systementwurfs die Einbeziehung einer Vielzahl teilweise konfliktÃ¤rer Interessen und diverser Randbedingungen erfordert. Dieses Kapitel erlÃ¤utert wichtige Herausforderungen bei Konzeptspezifikationen im Themenfeld des automatisierten Fahrens und stellt ein systematisches Prozessmodell vor, das einen Beitrag zur ErfÃ¼llung der besonderen Anforderungen des automatisierten Fahrens an den Entwurf leistet. DarÃ¼ber hinaus wird die erfolgreiche DurchfÃ¼hrung einer strukturierten Konzeptspezifikation fÃ¼r ein automatisiertes FahrzeugfÃ¼hrungssystem beschrieben.

Paperid: 1085, https://arxiv.org/pdf/2508.06985.pdf

Abstract:
Fast and reliable validation of novel designs in complex physical systems such as batteries is critical to accelerating technological innovation. However, battery research and development remain bottlenecked by the prohibitively high time and energy costs required to evaluate numerous new design candidates, particularly in battery prototyping and life testing. Despite recent progress in data-driven battery lifetime prediction, existing methods require labeled data of target designs to improve accuracy and cannot make reliable predictions until after prototyping, thus falling far short of the efficiency needed to enable rapid feedback for battery design. Here, we introduce Discovery Learning (DL), a scientific machine-learning paradigm that integrates active learning, physics-guided learning, and zero-shot learning into a human-like reasoning loop, drawing inspiration from learning theories in educational psychology. DL can learn from historical battery designs and actively reduce the need for prototyping, thus enabling rapid lifetime evaluation for unobserved material-design combinations without requiring additional data labeling. To test DL, we present 123 industrial-grade large-format lithium-ion pouch cells, spanning eight material-design combinations and diverse cycling protocols. Trained solely on public datasets of small-capacity cylindrical cells, DL achieves 7.2% test error in predicting the average cycle life under unknown device variability. This results in savings of 98% in time and 95% in energy compared to industrial practices. This work highlights the potential of uncovering insights from historical designs to inform and accelerate the development of next-generation battery technologies. DL represents a key advance toward efficient data-driven modeling and helps realize the promise of machine learning for accelerating scientific discovery and engineering innovation.

Paperid: 1086, https://arxiv.org/pdf/2508.04380.pdf

Abstract:
This paper proposes an adaptive hybrid non-orthogonal multiple access (NOMA)-time division multiple access (TDMA) scheme for multi-user visible light communication (VLC) networks, aiming to enhance users' sum-rate performance while maintaining low complexity. In the proposed scheme, users are divided into groups where each group is served in a different time slot using TDMA. Within each group, up to two users can be served simultaneously using NOMA. A central challenge lies in determining which users should be paired together for NOMA, as the effectiveness of successive interference cancellation (SIC) employed by NOMA depends on the difference between users' channel gains. To address this, for a pair of users, we determine the range of their channel gain ratio within which the pair benefits more from NOMA or TDMA. Identifying the lower and upper bounds of this range is formulated as two optimization problems which are solved efficiently using the Successive Convex Approximation (SCA) method. Simulation results demonstrate that the proposed scheme outperforms the conventional hybrid NOMA-TDMA method under different numbers of users and transmit LED powers.

Paperid: 1087, https://arxiv.org/pdf/2508.01315.pdf

Abstract:
This work addresses the critical challenge of guaranteeing safety for complex dynamical systems where precise mathematical models are uncertain and data measurements are corrupted by noise. We develop a physics-informed, direct data-driven framework for synthesizing robust safety controllers (R-SCs) for both discrete- and continuous-time nonlinear polynomial systems that are subject to unknown-but-bounded disturbances. To do so, we introduce a notion of safety through robust control barrier certificates (R-CBCs), which ensure avoidance of (potentially multiple) unsafe regions, offering a less conservative alternative to existing methods based on robust invariant sets. Our core innovation lies in integrating the fundamental physical principles with observed noisy data which drastically reduces data requirements, enabling robust safety analysis with significantly shorter trajectories, compared to purely data-driven methods. To achieve this, the proposed synthesis procedure is formulated as a sum-of-squares (SOS) optimization program that systematically designs the R-CBC and its associated R-SC by leveraging both collected data and underlying physical laws. The efficacy of our framework is demonstrated on four benchmark systems, three discrete-time and one continuous-time nonlinear polynomial systems, confirming its ability to offer robust safety guarantees with reduced data demands.

Paperid: 1088, https://arxiv.org/pdf/2508.00804.pdf

Abstract:
This paper introduces a new approach for fine-tuning the predictions of structured state space models (SSMs) at inference time using real-time recurrent learning. While SSMs are known for their efficiency and long-range modeling capabilities, they are typically trained offline and remain static during deployment. Our method enables online adaptation by continuously updating model parameters in response to incoming data. We evaluate our approach for linear-recurrent-unit SSMs using a small carbon emission dataset collected from embedded automotive hardware. Experimental results show that our method consistently reduces prediction error online during inference, demonstrating its potential for dynamic, resource-constrained environments.

Paperid: 1089, https://arxiv.org/pdf/2507.23147.pdf

Abstract:
As global energy systems transit to clean energy, accurate renewable generation and renewable demand forecasting is imperative for effective grid management. Foundation Models (FMs) can help improve forecasting of renewable generation and demand because FMs can rapidly process complex, high-dimensional time-series data. This review paper focuses on FMs in the realm of renewable energy forecasting, primarily focusing on wind and solar. We present an overview of the architectures, pretraining strategies, finetuning methods, and types of data used in the context of renewable energy forecasting. We emphasize the role of models that are trained at a large scale, domain specific Transformer architectures, where attention is paid to spatial temporal correlations, the embedding of domain knowledge, and also the brief and intermittent nature of renewable generation. We assess recent FM based advancements in forecast accuracy such as reconciling predictions over multiple time scales and quantifying uncertainty in renewable energy forecasting. We also review existing challenges and areas of improvement in long-term and multivariate time series forecasting. In this survey, a distinction between theory and practice is established regarding the use of FMs in the clean energy forecasting domain. Additionally, it critically assesses the strengths and weaknesses of FMs while advancing future research direction in this new and exciting area of forecasting.

Paperid: 1090, https://arxiv.org/pdf/2507.21162.pdf

Abstract:
The increasing penetration of distributed energy resources into active distribution networks (ADNs) has made effective ADN dispatch imperative. However, the numerous newly-integrated ADN operators, such as distribution system aggregators, virtual power plant managers, and end prosumers, often lack specialized expertise in power system operation, modeling, optimization, and programming. This knowledge gap renders reliance on human experts both costly and time-intensive. To address this challenge and enable intelligent, flexible ADN dispatch, this paper proposes a large language model (LLM) powered automated modeling and optimization approach. First, the ADN dispatch problems are decomposed into sequential stages, and a multi-LLM coordination architecture is designed. This framework comprises an Information Extractor, a Problem Formulator, and a Code Programmer, tasked with information retrieval, optimization problem formulation, and code implementation, respectively. Afterwards, tailored refinement techniques are developed for each LLM agent, greatly improving the accuracy and reliability of generated content. The proposed approach features a user-centric interface that enables ADN operators to derive dispatch strategies via simple natural language queries, eliminating technical barriers and increasing efficiency. Comprehensive comparisons and end-to-end demonstrations on various test cases validate the effectiveness of the proposed architecture and methods.

Paperid: 1091, https://arxiv.org/pdf/2507.19675.pdf

Abstract:
Connected and Autonomous Vehicles (CAVs) open the possibility for centralised routing with full compliance, making System Optimal traffic assignment attainable. However, as System Optimum makes some drivers better off than others, voluntary acceptance seems dubious. To overcome this issue, we propose a new concept of Wardropian cycles, which, in contrast to previous utopian visions, makes the assignment fair on top of being optimal, which amounts to satisfaction of both Wardrop's principles. Such cycles, represented as sequences of permutations to the daily assignment matrices, always exist and equalise, after a limited number of days, average travel times among travellers (like in User Equilibrium) while preserving everyday optimality of path flows (like in System Optimum). We propose exact methods to compute such cycles and reduce their length and within-cycle inconvenience to the users. As identification of optimal cycles turns out to be NP-hard in many aspects, we introduce a greedy heuristic efficiently approximating the optimal solution. Finally, we introduce and discuss a new paradigm of Cyclical User Equilibrium, which ensures stability of optimal Wardropian Cycles under unilateral deviations. We complement our theoretical study with large-scale simulations. In Barcelona, 670 vehicle-hours of Price-of-Anarchy are eliminated using cycles with a median length of 11 days-though 5% of cycles exceed 90 days. However, in Berlin, just five days of applying the greedy assignment rule significantly reduces initial inequity. In Barcelona, Anaheim, and Sioux Falls, less than 7% of the initial inequity remains after 10 days, demonstrating the effectiveness of this approach in improving traffic performance with more ubiquitous social acceptability.

Paperid: 1092, https://arxiv.org/pdf/2507.19631.pdf

Abstract:
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear common oscillatory modes. In a distributed control architecture, scalability is ensured by designing a small number of distinguished controllers, significantly fewer than the number of agents, even when agent diversity is high. Our findings indicate that the number of controllers required can be effectively determined by the number of strongly connected components of the underlying graph. The study in this paper builds on the recently developed phase theory of matrices and systems. First, we employ the concept of matrix phase, specifically the phase alignability of a collection of matrices, to quantify agent diversity. Next, we use matrix phase, particularly the essential phase of the graph Laplacian, to evaluate the interaction quality among the agents. Based on these insights, we derive a sufficient condition for the solvability of the synchronization problem, framed as a trade-off between the agent diversity and the interaction quality. In the process, a controller design procedure based on Lyapunov analysis is provided, which produces low gain, component-wise synchronizing controllers when the solvability condition is satisfied. Numerical examples are given to illustrate the effectiveness of the proposed design procedure. Furthermore, we consider cases where the component-wise controller design problem is unsolvable. We propose alternative strategies involving the design of a small inventory of controllers, which can still achieve synchronization effectively by employing certain clustering methods to manage heterogeneity.

Paperid: 1093, https://arxiv.org/pdf/2507.19545.pdf

Abstract:
This paper presents a simulation for traffic evacuation during railway disruptions to enhance urban resilience. The research focuses on large-scale railway networks and provides flexible simulation settings to accommodate multiple node or line failures. The evacuation optimization model is mathematically formulated using matrix computation and nonlinear programming. The simulation integrates railway lines operated by various companies, along with external geographical features of the network. Furthermore, to address computational complexity in large-scale graph networks, a subgraph partitioning solution is employed for computation acceleration. The model is evaluated using the extensive railway network of Greater Tokyo. Data collection included both railway network structure and real-world GPS footfall data to estimate the number of station-area visitors for simulation input and evaluation purposes. Several evacuation scenarios were simulated for major stations including Tokyo, Shinjuku, Shibuya and so on. The results demonstrate that both evacuation passenger flow (EPF) and average travel time (ATT) during emergencies were successfully optimized, while remaining within the capacity constraints of neighboring stations and the targeted disruption recovery times.

Paperid: 1094, https://arxiv.org/pdf/2507.18249.pdf

Abstract:
Digitalization of power grids have made them increasingly susceptible to cyber-attacks in the past decade. Iterative cybersecurity testing is indispensable to counter emerging attack vectors and to ensure dependability of critical infrastructure. Furthermore, these can be used to evaluate cybersecurity configuration, effectiveness of the cybersecurity measures against various attack vectors, as well as to train smart grid cybersecurity experts defending the system. Enabling extensive experiments narrows the gap between academic research and production environment. A high-fidelity cyber range is vital as it is often infeasible to conduct such experiments and training using production environment. However, the design and implementation of cyber range requires extensive domain knowledge of physical and cyber aspect of the infrastructure. Furthermore, costs incurred for setup and maintenance of cyber range are significant. Moreover, most existing smart grid cyber ranges are designed as a one-off, proprietary system, and are limited in terms of configurability, accessibility, portability, and reproducibility. To address these challenges, an automated Smart grid Cyber Range generation framework is presented in this paper. Initially a human-/machine-friendly, XML-based modeling language called Smart Grid Modeling Language was defined, which incorporates IEC 61850 System Configuration Language files. Subsequently, a toolchain to parse SG-ML model files and automatically instantiate a functional smart grid cyber range was developed. The developed SG-ML models can be easily shared and/or modified to reproduce or customize for any cyber range. The application of Auto-SGCR is demonstrated through case studies with large-scale substation models. The toolchain along with example SG-ML models have been open-sourced.

Paperid: 1095, https://arxiv.org/pdf/2507.17115.pdf

Abstract:
This paper introduces a methodology for identifying and simulating financial and economic systems using stochastically structured reservoir computers (SSRCs). The proposed framework leverages structure-preserving embeddings and graph-informed coupling matrices to model inter-agent dynamics with enhanced interpretability. A constrained optimization scheme ensures that the learned models satisfy both stochastic and structural constraints. Two empirical case studies, a dynamic behavioral model of resource competition among agents, and regional inflation network dynamics, illustrate the effectiveness of the approach in capturing and anticipating complex nonlinear patterns and enabling interpretable predictive analysis under uncertainty.

Paperid: 1096, https://arxiv.org/pdf/2507.15259.pdf

Abstract:
This letter develops a novel physics-informed neural ordinary differential equations-based framework to emulate the proprietary dynamics of the inverters -- essential for improved accuracy in grid dynamic simulations. In current industry practice, the original equipment manufacturers (OEMs) often do not disclose the exact internal controls and parameters of the inverters, posing significant challenges in performing accurate dynamic simulations and other relevant studies, such as gain tunings for stability analysis and controls. To address this, we propose a Physics-Informed Latent Neural ODE Model (PI-LNM) that integrates system physics with neural learning layers to capture the unmodeled behaviors of proprietary units. The proposed method is validated using a grid-forming inverter (GFM) case study, demonstrating improved dynamic simulation accuracy over approaches that rely solely on data-driven learning without physics-based guidance.

Paperid: 1097, https://arxiv.org/pdf/2507.15163.pdf

Abstract:
Evolving security vulnerabilities and shifting operational conditions require frequent updates to network security policies. These updates include adjustments to incident response procedures and modifications to access controls, among others. Reinforcement learning methods have been proposed for automating such policy adaptations, but most of the methods in the research literature lack performance guarantees and adapt slowly to changes. In this paper, we address these limitations and present a method for computing security policies that is scalable, offers theoretical guarantees, and adapts quickly to changes. It assumes a model or simulator of the system and comprises three components: belief estimation through particle filtering, offline policy computation through aggregation, and online policy adaptation through rollout. Central to our method is a new feature-based aggregation technique, which improves scalability and flexibility. We analyze the approximation error of aggregation and show that rollout efficiently adapts policies to changes under certain conditions. Simulations and testbed results demonstrate that our method outperforms state-of-the-art methods on several benchmarks, including CAGE-2.

Paperid: 1098, https://arxiv.org/pdf/2507.14800.pdf

Abstract:
With the advanced reasoning and information analysis capabilities, large language models (LLMs) can offer a novel approach for the autonomous generation of dispatch strategies in power systems. This letter proposes an LLM-based experience-driven voltage control solution for distribution networks, which enables the self-evolution of LLM-based voltage control strategies through the collaboration and interaction of multiple modules-specifically, experience storage, experience retrieval, experience generation, and experience modification. Comprehensive experimental results validate the effectiveness of the proposed method and highlight the applicability of LLM in addressing power system dispatch challenges.

Paperid: 1099, https://arxiv.org/pdf/2507.14601.pdf

Abstract:
The implementation of simple, inexpensive, and mass-production-oriented solutions for smart electromagnetic environments (SEMEs) is dealt with by introducing the concept of "one-time programmable" electromagnetic skins (OTP-EMSs). The simultaneous achievement of modular fabrication, (one-time) configurable reflection properties, passive-static operation, and zero maintenance is yielded by integrating expendable components at the atomic level of EMSs. Towards this end, an OTP meta-atom structure is properly defined and optimized to build EMSs featuring the desired scenario-dependent EM wave manipulation functionalities. In order to illustrate the features as well as to point out the potentialities of OTP-EMSs, a representative set of analytical, numerical, and experimental results is reported by considering different apertures, illuminations, and EM wave manipulation requirements.

Paperid: 1100, https://arxiv.org/pdf/2507.14347.pdf

Abstract:
High level Automated Driving Systems (ADS) can handle many situations, but they still encounter situations where human intervention is required. In systems where a physical driver is present in the vehicle, typically SAE Level 3 systems, this intervention is relatively straightforward and is handled by the in-vehicle driver. However, the complexity increases for Level 4 systems, where, in most cases, no physical driver remains in the vehicle. The two common industry solutions for this challenge are the integration of a remote support system, such as a Remote Driving System (RDS) or Remote Assistance System (RAS). While it is clear that ADS will require one of these systems, it is less clear how the suitability of either system for a particular ADS application should be evaluated. Currently, the selection process often focuses on system architecture as well as its design and integration challenges. Furthermore, since many ADS developers choose to develop remote system solutions in-house, it is advantageous to select the simpler approach to streamline development and integration efforts. While these decision points are certainly relevant, this approach overlooks the most critical factors: the use cases and the complementarity of the ADS and the remote support system within the context of the Operational Design Design Domain (ODD). This paper proposes a structured approach for selecting between RDS and RAS as an ADS support system, based on the defined ODD and use case analysis. To achieve this, the paper applies the PEGASUS framework to systematically describe and analyze the ODD. A structured framework is introduced to evaluate and select the most suitable remote support system for an ADS based on clearly defined criteria.

Paperid: 1101, https://arxiv.org/pdf/2507.12615.pdf

Abstract:
This paper investigates the stabilization of a coupled system comprising a parabolic PDE and an elliptic PDE with nonlinear terms. A rigorous backstepping design provides an explicit boundary control law and exponentially convergent observers from partial boundary measurements. Several theorems ensure exponential stability and well-posedness of the nonlinear closed-loop system.

Paperid: 1102, https://arxiv.org/pdf/2507.12339.pdf

Abstract:
This paper addresses the challenge of ensuring robustness in the presence of system perturbations for symbolic control techniques. Given a discrete-time control system that is related to its symbolic model by an alternating simulation relation. In this paper, we focus on computing the maximum robustness margin under which the symbolic model remains valid for a perturbed-version of the discrete-time control system. We first show that symbolic models are inherently equipped with a certain free robustness margins. We then provide constructive procedures to compute uniform and non-uniform (state and input dependent) robustness margins. We also show that the tightness of the robustness margin depends on the tightness of the reachability technique used to compute the symbolic model. We then explain how the computed robustness margin can be used for the sake of controller synthesis. Finally, we present two illustrative examples to demonstrate the effectiveness of our approach.

Paperid: 1103, https://arxiv.org/pdf/2507.12052.pdf

Abstract:
This paper addresses the problem of distributed resilient state estimation and control for linear time-invariant systems in the presence of malicious false data injection sensor attacks and bounded noise. We consider a system operator (defender) capable of deploying cybersecurity measures to counteract the sensor compromises. Although such measures enhance resilience against adversarial attacks, they may incur substantial costs; hence, it is crucial to select countermeasures to balance resilience gains and cost efficiency strategically. We first demonstrate that the system's resilience against attacks is maximized through the appropriate implementation of security measures, implying that no attacker can execute undetectable sensor attacks. Building on this analysis, we propose an algorithm that identifies the optimal security measure. While determining this measure is NP-hard in general, we also derive sufficient conditions under which efficient computation is feasible. Furthermore, we develop a distributed resilient state estimation and control scheme informed by the optimal security measure and establish conditions that guarantee bounded estimation and control errors. Finally, we validate the efficacy of our approach via numerical simulations of a vehicle platooning scenario.

Paperid: 1104, https://arxiv.org/pdf/2507.09503.pdf

Abstract:
This paper proposes a neural stochastic optimization method for efficiently solving the two-stage stochastic unit commitment (2S-SUC) problem under high-dimensional uncertainty scenarios. The proposed method approximates the second-stage recourse problem using a deep neural network trained to map commitment decisions and uncertainty features to recourse costs. The trained network is subsequently embedded into the first-stage UC problem as a mixed-integer linear program (MILP), allowing for explicit enforcement of operational constraints while preserving the key uncertainty characteristics. A scenario-embedding network is employed to enable dimensionality reduction and feature aggregation across arbitrary scenario sets, serving as a data-driven scenario reduction mechanism. Numerical experiments on IEEE 5-bus, 30-bus, and 118-bus systems demonstrate that the proposed neural two-stage stochastic optimization method achieves solutions with an optimality gap of less than 1%, while enabling orders-of-magnitude speedup compared to conventional MILP solvers and decomposition-based methods. Moreover, the model's size remains constant regardless of the number of scenarios, offering significant scalability for large-scale stochastic unit commitment problems.

Paperid: 1105, https://arxiv.org/pdf/2507.09344.pdf

Abstract:
Autonomous systems across diverse domains have underscored the need for drift-resilient state estimation. Although satellite-based positioning and cameras are widely used, they often suffer from limited availability in many environments. As a result, positioning must rely solely on inertial sensors, leading to rapid accuracy degradation over time due to sensor biases and noise. To counteract this, alternative update sources-referred to as information aiding-serve as anchors of certainty. Among these, the zero-velocity update (ZUPT) is particularly effective in providing accurate corrections during stationary intervals, though it is restricted to surface-bound platforms. This work introduces a controlled ZUPT (C-ZUPT) approach for aerial navigation and control, independent of surface contact. By defining an uncertainty threshold, C-ZUPT identifies quasi-static equilibria to deliver precise velocity updates to the estimation filter. Extensive validation confirms that these opportunistic, high-quality updates significantly reduce inertial drift and control effort. As a result, C-ZUPT mitigates filter divergence and enhances navigation stability, enabling more energy-efficient hovering and substantially extending sustained flight-key advantages for resource-constrained aerial systems.

Paperid: 1106, https://arxiv.org/pdf/2507.09041.pdf

Abstract:
Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often acquiring new information and skills in only a handful of interactions, existing algorithmic approaches tend to rely on random exploration and slow, gradient-based behavior updates. How can we endow autonomous agents with such capabilities on par with humans? Taking inspiration from recent progress on both in-context learning and large-scale behavioral cloning, in this work we propose behavioral exploration: training agents to internalize what it means to explore and adapt in-context over the space of ``expert'' behaviors. To achieve this, given access to a dataset of expert demonstrations, we train a long-context generative model to predict expert actions conditioned on a context of past observations and a measure of how ``exploratory'' the expert's behaviors are relative to this context. This enables the model to not only mimic the behavior of an expert, but also, by feeding its past history of interactions into its context, to select different expert behaviors than what have been previously selected, thereby allowing for fast online adaptation and targeted, ``expert-like'' exploration. We demonstrate the effectiveness of our method in both simulated locomotion and manipulation settings, as well as on real-world robotic manipulation tasks, illustrating its ability to learn adaptive, exploratory behavior.

Paperid: 1107, https://arxiv.org/pdf/2507.08011.pdf

Abstract:
We develop an energy management system (EMS) for artificial intelligence (AI) data centers with colocated renewable generation. Under a cost-minimizing framework, the EMS of renewable-colocated data center (RCDC) co-optimizes AI workload scheduling, on-site renewable utilization, and electricity market participation. Within both wholesale and retail market participation models, the economic benefit of the RCDC operation is maximized. Empirical evaluations using real-world traces of electricity prices, data center power consumption, and renewable generation demonstrate significant electricity cost reduction from renewable and AI data center colocations.

Paperid: 1108, https://arxiv.org/pdf/2507.06617.pdf

Abstract:
In this paper, we show that the small phase condition is both sufficient and necessary to ensure the feedback stability when the interconnected systems are symmetric. Such symmetric systems arise in diverse applications. The key lies in that, for a complex symmetric and semi-sectorial matrix, the transformation matrix in its generalized sectorial decomposition can be taken to be real. Such a result fills the gap of phase based necessary condition for the feedback stability of symmetric systems, and serves as a counterpart of the necessity result for small gain condition. Moreover, we explore the necessity of small phase condition for general asymmetric systems. Some insightful results are presented, which help to clarify the main challenge in the general case.

Paperid: 1109, https://arxiv.org/pdf/2507.05910.pdf

Abstract:
Considerable levels of phase imbalance in low voltage (LV) distribution networks imply that grid assets are suboptimally utilized and can cause additional losses, equipment failure and degradation. With the ongoing energy transition, the installation of additional single-phase distributed energy resources may further increase the phase imbalance if no countermeasures are taken. Phase reconfiguration is a cost-effective solution to reduce imbalance. However, dynamic reconfiguration, through real-time phase swapping of loads using remotely controlled switches, is often impractical because these switches are too costly for widespread installation at LV users. Approaching phase reconfiguration as a planning problem, i.e. static reconfiguration, is an underaddressed but promising alternative. Effective static approaches that allow appropriate imbalance objectives are currently lacking. This paper presents reliable and expressive static phase reconfiguration methods that grid operators can easily integrate into routine maintenance for effective phase balancing. We present and compare three static methods, an exact mixed-integer nonlinear formulation (MINLP), a mixed-integer quadratic approximation (MIQP), and a genetic algorithm (GA), each supporting different imbalance objectives. The MIQP approach, despite using proxy objectives, efficiently mitigates the different types of imbalance considered, and outperforms both MINLP and GA in scalability and consistency.

Paperid: 1110, https://arxiv.org/pdf/2507.05227.pdf

Abstract:
Autonomous driving systems have made significant advances in Q&A, perception, prediction, and planning based on local visual information, yet they struggle to incorporate broader navigational context that human drivers routinely utilize. We address this critical gap between local sensor data and global navigation information by proposing NavigScene, an auxiliary navigation-guided natural language dataset that simulates a human-like driving environment within autonomous driving systems. Moreover, we develop three complementary paradigms to leverage NavigScene: (1) Navigation-guided Reasoning, which enhances vision-language models by incorporating navigation context into the prompting approach; (2) Navigation-guided Preference Optimization, a reinforcement learning method that extends Direct Preference Optimization to improve vision-language model responses by establishing preferences for navigation-relevant summarized information; and (3) Navigation-guided Vision-Language-Action model, which integrates navigation guidance and vision-language models with conventional driving models through feature fusion. Extensive experiments demonstrate that our approaches significantly improve performance across perception, prediction, planning, and question-answering tasks by enabling reasoning capabilities beyond visual range and improving generalization to diverse driving scenarios. This work represents a significant step toward more comprehensive autonomous driving systems capable of navigating complex, unfamiliar environments with greater reliability and safety.

Paperid: 1111, https://arxiv.org/pdf/2507.04646.pdf

Abstract:
We consider a finite-state partially observable Markov decision problem (POMDP) with an infinite horizon and a discounted cost, and we propose a new method for computing a cost function approximation that is based on features and aggregation. In particular, using the classical belief-space formulation, we construct a related Markov decision problem (MDP) by first aggregating the unobservable states into feature states, and then introducing representative beliefs over these feature states. This two-stage aggregation approach facilitates the use of dynamic programming methods for solving the aggregate problem and provides additional design flexibility. The optimal cost function of the aggregate problem can in turn be used within an on-line approximation in value space scheme for the original POMDP. We derive a new bound on the approximation error of our scheme. In addition, we establish conditions under which the cost function approximation provides a lower bound for the optimal cost. Finally, we present a biased aggregation approach, which leverages an optimal cost function estimate to improve the quality of the approximation error of the aggregate problem.

Paperid: 1112, https://arxiv.org/pdf/2507.04343.pdf

Abstract:
Recent years have seen rapid increases in intermittent renewable generation, requiring novel battery energy storage systems (BESS) solutions. One recent trend is the emergence of large grid-connected batteries, that can be controlled to provide multiple storage and flexibility services, using a stacked revenue model. Another emerging development is renewable energy communities (REC), in which prosumers invest in their own renewable generation capacity, but also requiring battery storage for flexibility. In this paper, we study settings in which energy communities rent battery capacity from a battery operator through a battery-as-a-service (BaaS) model. We present a methodology for determining the sizing and pricing of battery capacity that can be rented, such that it provides economic benefits to both the community and the battery operator that participates in the energy market. We examine how sizes and prices vary across a number of different scenarios for different types of tariffs (flat, dynamic) and competing energy market uses. Second, we conduct a systematic study of linear optimization models for battery control when deployed to provide flexibility to energy communities. We show that existing approaches for battery control with daily time windows have a number of important limitations in practical deployments, and we propose a number of regularization functions in the optimization to address them. Finally, we investigate the proposed method using real generation, demand, tariffs, and battery data, based on a practical case study from a large battery operator in the Netherlands. For the settings in our case study, we find that a community of 200 houses with a 330 kW wind turbine can save up to 12,874 euros per year by renting just 280 kWh of battery capacity (after subtracting battery rental costs), with the methodology applicable to a wide variety of settings and tariff types.

Paperid: 1113, https://arxiv.org/pdf/2507.03293.pdf

Abstract:
Large language models (LLMs) have shown promise in zero-shot and single step reasoning and decision making problems, but in long horizon sequential planning tasks, their errors compound, often leading to unreliable or inefficient behavior. We introduce LogicGuard, a modular actor-critic architecture in which an LLM actor is guided by a trajectory level LLM critic that communicates through Linear Temporal Logic (LTL). Our setup combines the reasoning strengths of language models with the guarantees of formal logic. The actor selects high-level actions from natural language observations, while the critic analyzes full trajectories and proposes new LTL constraints that shield the actor from future unsafe or inefficient behavior. LogicGuard supports both fixed safety rules and adaptive, learned constraints, and is model-agnostic: any LLM-based planner can serve as the actor, with LogicGuard acting as a logic-generating wrapper. We formalize planning as graph traversal under symbolic constraints, allowing LogicGuard to analyze failed or suboptimal trajectories and generate new temporal logic rules that improve future behavior. To demonstrate generality, we evaluate LogicGuard across two distinct settings: short-horizon general tasks and long-horizon specialist tasks. On the Behavior benchmark of 100 household tasks, LogicGuard increases task completion rates by 25% over a baseline InnerMonologue planner. On the Minecraft diamond-mining task, which is long-horizon and requires multiple interdependent subgoals, LogicGuard improves both efficiency and safety compared to SayCan and InnerMonologue. These results show that enabling LLMs to supervise each other through temporal logic yields more reliable, efficient and safe decision-making for both embodied agents.

Paperid: 1114, https://arxiv.org/pdf/2507.02599.pdf

Abstract:
Purpose: The primary aim of this study is to enhance fault diagnosis in induction machines by leveraging the PadÃ© Approximant Neuron (PAON) model. While accelerometers and microphones are standard in motor condition monitoring, deep learning models with nonlinear neuron architectures offer promising improvements in diagnostic performance. This research addresses the question: Can PadÃ© Approximant Neural Networks (PadÃ©Nets) outperform conventional Convolutional Neural Networks (CNNs) and Self-Organized Operational Neural Networks (Self-ONNs) in diagnosing electrical and mechanical faults using vibration and acoustic data? Methods: We evaluate and compare the diagnostic capabilities of three deep learning architectures: one-dimensional CNNs, Self-ONNs, and PadÃ©Nets. These models are tested on the University of Ottawa's publicly available constant-speed induction motor datasets, which include both vibration and acoustic sensor data. The PadÃ©Net model is designed to introduce enhanced nonlinearity and is compatible with unbounded activation functions such as Leaky ReLU. Results and Conclusion: PadÃ©Nets consistently outperformed the baseline models, achieving diagnostic accuracies of 99.96%, 98.26%, 97.61%, and 98.33% for accelerometers 1, 2, 3, and the acoustic sensor, respectively. The enhanced nonlinearity of PadÃ©Nets, together with their compatibility with unbounded activation functions, significantly improves fault diagnosis performance in induction motor condition monitoring.

Paperid: 1115, https://arxiv.org/pdf/2507.01324.pdf

Abstract:
We consider a general aggregation framework for discounted finite-state infinite horizon dynamic programming (DP) problems. It defines an aggregate problem whose optimal cost function can be obtained off-line by exact DP and then used as a terminal cost approximation for an on-line reinforcement learning (RL) scheme. We derive a bound on the error between the optimal cost functions of the aggregate problem and the original problem. This bound was first derived by Tsitsiklis and van Roy [TvR96] for the special case of hard aggregation. Our bound is similar but applies far more broadly, including to soft aggregation and feature-based aggregation schemes.

Paperid: 1116, https://arxiv.org/pdf/2512.24493.pdf

Abstract:
We study safe control for dynamical systems whose continuous-time dynamics are learned with Gaussian processes (GPs), focusing on mechanical and port-Hamiltonian systems where safety is naturally expressed via energy constraints. The availability of a GP Hamiltonian posterior naturally raises the question of how to systematically exploit this structure to design an energy-aware control barrier function with high-probability safety guarantees. We address this problem by developing a Bayesian-CBF framework and instantiating it with energy-aware Bayesian-CBFs (EB-CBFs) that construct conservative energy-based barriers directly from the Hamiltonian and vector-field posteriors, yielding safety filters that minimally modify a nominal controller while providing probabilistic energy safety guarantees. Numerical simulations on a mass-spring system demonstrate that the proposed EB-CBFs achieve high-probability safety under noisy sampled GP-learned dynamics.

Paperid: 1117, https://arxiv.org/pdf/2512.22901.pdf

Abstract:
Accurate downhole positioning is critical in oil and gas operations but is often compromised by signal degradation in traditional surface-based Casing Collar Locator (CCL) monitoring. To address this, we present an in-situ, real-time collar recognition system using embedded neural network. We introduce lightweight "Collar Recognition Nets" (CRNs) optimized for resource-constrained ARM Cortex-M7 microprocessors. By leveraging temporal and depthwise separable convolutions, our most compact model reduces computational complexity to just 8,208 MACs while maintaining an F1 score of 0.972. Hardware validation confirms an average inference latency of 343.2 μs, demonstrating that robust, autonomous signal processing is feasible within the severe power and space limitations of downhole instrumentation.

Paperid: 1118, https://arxiv.org/pdf/2512.21360.pdf

Abstract:
Background: The House-Tree-Person (HTP) drawing test, introduced by John Buck in 1948, remains a widely used projective technique in clinical psychology. However, it has long faced challenges such as heterogeneous scoring standards, reliance on examiners subjective experience, and a lack of a unified quantitative coding system. Results: Quantitative experiments showed that the mean semantic similarity between Multimodal Large Language Model (MLLM) interpretations and human expert interpretations was approximately 0.75 (standard deviation about 0.05). In structurally oriented expert data sets, this similarity rose to 0.85, indicating expert-level baseline comprehension. Qualitative analyses demonstrated that the multi-agent system, by integrating social-psychological perspectives and destigmatizing narratives, effectively corrected visual hallucinations and produced psychological reports with high ecological validity and internal coherence. Conclusions: The findings confirm the potential of multimodal large models as standardized tools for projective assessment. The proposed multi-agent framework, by dividing roles, decouples feature recognition from psychological inference and offers a new paradigm for digital mental-health services. Keywords: House-Tree-Person test; multimodal large language model; multi-agent collaboration; cosine similarity; computational psychology; artificial intelligence

Paperid: 1119, https://arxiv.org/pdf/2512.21198.pdf

Abstract:
This paper presents an elastic tube-based model predictive control (MPC) framework for unknown discrete-time linear systems subject to disturbances. Unlike most existing elastic tube-based MPC methods, we do not assume perfect knowledge of the system model or disturbance realizations bounds. Instead, a conservative zonotopic disturbance set is initialized and iteratively refined using data and prior knowledge: data are used to identify matrix zonotope model sets for the system dynamics, while prior physical knowledge is employed to discard models and disturbances inconsistent with known constraints. This process yields constrained matrix zonotopes representing disturbance realizations and dynamics that enable a principled fusion of offline information with limited online data, improving MPC feasibility and performance. The proposed design leverages closed-loop system characterization to learn and refine control gains that maintain a small tube size. By separating open-loop model mismatch from closed-loop effects in the error dynamics, the method avoids dependence on the size of the state and input operating regions, thereby reducing conservatism. An adaptive co-design of the tube and ancillary feedback ensures $λ$-contractive zonotopic tubes, guaranteeing robust positive invariance, improved feasibility margins, and enhanced disturbance tolerance. We establish recursive feasibility conditions and introduce a polyhedral Lyapunov candidate for the error tube, proving exponential stability of the closed-loop error dynamics under the adaptive tube-gain updates. Simulations demonstrate improved robustness, enlarged feasibility regions, and safe closed-loop performance using only a small amount of online data.

Paperid: 1120, https://arxiv.org/pdf/2512.17516.pdf

Abstract:
Optimal transmission switching (OTS) improves optimal power flow (OPF) by selectively opening transmission lines, but its mixed-integer formulation increases computational complexity, especially on large grids. To deal with this, we propose a dispatch-aware deep neural network (DA-DNN) that accelerates DC-OTS without relying on pre-solved labels. DA-DNN predicts line states and passes them through an embedded differentiable DC-OPF layer, using the resulting generation cost as the loss function so that all physical network constraints are enforced throughout training and inference. In addition, we adopt a customized weight-bias initialization that keeps every forward pass feasible from the first iteration, which allows stable learning. Once trained, the proposed DA-DNN successfully produces a feasible topology and dispatch pair in the same time as solving the DCOPF, whereas conventional mixed-integer solvers become intractable. Moreover, the embedded OPF layer enables DA-DNN to generalize to untrained system configurations, such as changes in line flow limits. As a result, the proposed method successfully captures the economic advantages of OTS while maintaining scalability and generalization ability.

Paperid: 1121, https://arxiv.org/pdf/2512.15734.pdf

Abstract:
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme for electromechanical systems in which measuring or estimating the output to be controlled -- typically the position -- is not feasible. It employs an identifiable-model-based controller and predictor, coupled with an iterative loop that updates model parameters using the error between a measurable output and its prediction. Simulations on electromechanical switching devices show effective tracking of the desired position trajectory using only coil current measurements.

Paperid: 1122, https://arxiv.org/pdf/2512.13715.pdf

Abstract:
The increasing complexity of modern applications demands wireless networks capable of real time adaptability and efficient resource management. The Open Radio Access Network (O-RAN) architecture, with its RAN Intelligent Controller (RIC) modules, has emerged as a pivotal solution for dynamic resource management and network slicing. While artificial intelligence (AI) driven methods have shown promise, most approaches struggle to maintain performance under unpredictable and highly dynamic conditions. This paper proposes an adaptive Meta Hierarchical Reinforcement Learning (Meta-HRL) framework, inspired by Model Agnostic Meta Learning (MAML), to jointly optimize resource allocation and network slicing in O-RAN. The framework integrates hierarchical control with meta learning to enable both global and local adaptation: the high-level controller allocates resources across slices, while low level agents perform intra slice scheduling. The adaptive meta-update mechanism weights tasks by temporal difference error variance, improving stability and prioritizing complex network scenarios. Theoretical analysis establishes sublinear convergence and regret guarantees for the two-level learning process. Simulation results demonstrate a 19.8% improvement in network management efficiency compared with baseline RL and meta-RL approaches, along with faster adaptation and higher QoS satisfaction across eMBB, URLLC, and mMTC slices. Additional ablation and scalability studies confirm the method's robustness, achieving up to 40% faster adaptation and consistent fairness, latency, and throughput performance as network scale increases.

Paperid: 1123, https://arxiv.org/pdf/2512.11750.pdf

Abstract:
Ensuring the safety of AI-enabled systems, particularly in high-stakes domains such as autonomous driving and healthcare, has become increasingly critical. Traditional formal verification tools fall short when faced with systems that embed both opaque, black-box AI components and complex stochastic dynamics. To address these challenges, we introduce LUCID (Learning-enabled Uncertainty-aware Certification of stochastIc Dynamical systems), a verification engine for certifying safety of black-box stochastic dynamical systems from a finite dataset of random state transitions. As such, LUCID is the first known tool capable of establishing quantified safety guarantees for such systems. Thanks to its modular architecture and extensive documentation, LUCID is designed for easy extensibility. LUCID employs a data-driven methodology rooted in control barrier certificates, which are learned directly from system transition data, to ensure formal safety guarantees. We use conditional mean embeddings to embed data into a reproducing kernel Hilbert space (RKHS), where an RKHS ambiguity set is constructed that can be inflated to robustify the result to out-of-distribution behavior. A key innovation within LUCID is its use of a finite Fourier kernel expansion to reformulate a semi-infinite non-convex optimization problem into a tractable linear program. The resulting spectral barrier allows us to leverage the fast Fourier transform to generate the relaxed problem efficiently, offering a scalable yet distributionally robust framework for verifying safety. LUCID thus offers a robust and efficient verification framework, able to handle the complexities of modern black-box systems while providing formal guarantees of safety. These unique capabilities are demonstrated on challenging benchmarks.

Paperid: 1124, https://arxiv.org/pdf/2512.10738.pdf

Abstract:
This work presents a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike existing stochastic MPC formulations that rely on parametric or Gaussian assumptions or require expensive offline computations, the proposed method leverages conformal prediction (CP) as a streamlined tool to construct finite-sample confidence regions for the system's stochastic error trajectories with minimal computational effort. These regions enable the relaxation of probabilistic constraints while providing formal guarantees. By employing an indirect feedback mechanism and a probabilistic set-based formulation, we prove recursive feasibility of the relaxed optimization problem and establish chance constraint satisfaction in closed-loop. Furthermore, we extend the approach to the more general output feedback setting with unknown measurement noise distributions. Given available noise samples, we establish satisfaction of the joint chance constraints and recursive feasibility via output measurements alone. Numerical examples demonstrate the effectiveness and advantages of the proposed method compared to existing approaches.

Paperid: 1125, https://arxiv.org/pdf/2512.10641.pdf

Abstract:
Linear time-invariant control systems can be considered as finitely generated modules over the commutative principal ideal ring $\mathbb{R}[\frac{d}{dt}]$ of linear differential operators with respect to the time derivative. The Kalman controllability in this algebraic language is translated as the freeness of the system module. Linear quadratic regulators rely on quadratic Lagrangians, or cost functions. Any flat output, i.e., any basis of the corresponding free module leads to an open-loop control strategy via an Euler-Lagrange equation, which becomes here a linear ordinary differential equation with constant coefficients. In this approach, the two-point boundary value problem, including the control variables, becomes tractable. It yields notions of optimal time horizon, optimal parameter design and optimal rest-to-rest trajectories. The loop is closed via an intelligent controller derived from model-free control, which is known to exhibit excellent performance concerning model mismatches and disturbances.

Paperid: 1126, https://arxiv.org/pdf/2512.09667.pdf

Abstract:
A control-theoretic framework for autonomous avatar-guided rehabilitation in virtual reality, based on interpretable, adaptive motor guidance through optimal control, is presented. The framework faces critical challenges in motor rehabilitation due to accessibility, cost, and continuity of care, with over 50% of patients inability to attend regular clinic sessions. The system enables post-stroke patients to undergo personalized therapy in immersive virtual reality at home, while being monitored by clinicians. The core is a nonlinear, human-in-the-loop control strategy, where the avatar adapts in real time to the patient's performance. Balance between following the patient's movements and guiding them to ideal kinematic profiles based on the Hogan minimum-jerk model is achieved through multi-objective optimal control. A data-driven "ability index" uses smoothness metrics to dynamically adjust control gains according to the patient's progress. The system was validated through simulations and preliminary trials, and shows potential for delivering adaptive, engaging and scalable remote physiotherapy guided by interpretable control-theoretic principles.

Paperid: 1127, https://arxiv.org/pdf/2512.06614.pdf

Abstract:
The internal state of a dynamical system, a set of variables that defines its evolving configuration, is often hidden and cannot be fully measured, posing a central challenge for real-time monitoring and control. While observers are designed to estimate these latent states from sensor outputs, their classical designs rely on precise system models, which are often unattainable for complex network systems. Here, we introduce a data-driven framework for estimating a targeted set of state variables, known as functional observers, without identifying the model parameters. We establish a fundamental functional observability criterion based on historical trajectories that guarantees the existence of such observers. We then develop methods to construct observers using either input-output data or partial state data. These observers match or exceed the performance of model-based counterparts while remaining applicable even to unobservable systems. The framework incorporates noise mitigation and can be easily extended to nonlinear networks via Koopman embeddings. We demonstrate its broad utility through applications including sensor fault detection in water networks, load-frequency control in power grids, and target estimation in nonlinear neuronal systems. Our work provides a practical route for real-time target state inference in complex systems where models are unavailable.

Paperid: 1128, https://arxiv.org/pdf/2512.05823.pdf

Abstract:
The increasing power densities and intricate heat dissipation paths in advanced 2.5D/3D chiplet systems necessitate thermal modeling frameworks that deliver detailed thermal maps with high computational efficiency. Traditional compact thermal models (CTMs) often struggle to scale with the complexity and heterogeneity of modern architectures. This work introduces 3D-ICE 4.0, designed for heterogeneous chip-based systems. Key innovations include: (i) preservation of material heterogeneity and anisotropy directly from industrial layouts, integrated with OpenMP and SuperLU MT-based parallel solvers for scalable performance, (ii) adaptive vertical layer partitioning to accurately model vertical heat conduction, and (iii) temperature-aware non-uniform grid generation. The results with different benchmarks demonstrate that 3D-ICE 4.0 achieves speedups ranging from 3.61x-6.46x over state-of-the-art tools, while reducing grid complexity by more than 23.3% without compromising accuracy. Compared to the commercial software COMSOL, 3D-ICE 4.0 effectively captures both lateral and vertical heat flows, validating its precision and robustness. These advances demonstrate that 3D-ICE 4.0 is an efficient solution for thermal modeling in emerging heterogeneous 2.5D/3D integrated systems.

Paperid: 1129, https://arxiv.org/pdf/2512.05348.pdf

Abstract:
In this paper, we compare several representative barrier-like conditions from the literature for infinite-horizon reach-avoid verification of stochastic discrete-time systems. Our comparison examines both their theoretical properties and computational tractability, highlighting each condition's strengths and limitations that affect applicability and conservativeness. Finally, we illustrate their practical performance through computational experiments using semidefinite programming (SDP) and counterexample-guided inductive synthesis (CEGIS).

Paperid: 1130, https://arxiv.org/pdf/2512.04369.pdf

Abstract:
Dynamic line rating (DLR) is an effective approach to enhancing the utilization of existing transmission line infrastructure by adapting line ratings according to real-time weather conditions. Accurate DLR forecasts are essential for grid operators to effectively schedule generation, manage transmission congestion, and lower operating costs. As renewable generation becomes increasingly variable and weather-dependent, accurate DLR forecasts are also crucial for improving renewable utilization and reducing curtailment during congested periods. Deterministic forecasts, however, often inadequately represent actual line capacities under uncertain weather conditions, leading to operational risks and costly real-time adjustments. To overcome these limitations, we propose a novel network-wide probabilistic DLR forecasting model that leverages both spatial and temporal information, significantly reducing the operational risks and inefficiencies inherent in deterministic methods. Case studies on a synthetic Texas 123-bus system demonstrate that the proposed method not only enhances grid reliability by effectively capturing true DLR values, but also substantially reduces operational costs.

Paperid: 1131, https://arxiv.org/pdf/2511.19452.pdf

Abstract:
This paper presents a closed-loop framework for conflict-free routing and scheduling of multi-aircraft in Terminal Manoeuvring Areas (TMA), aimed at reducing congestion and enhancing landing efficiency. Leveraging data-driven arrival inputs (either historical or predicted), we formulate a mixed-integer optimization model for real-time control, incorporating an extended TMA network spanning a 50-nautical-mile radius around Changi Airport. The model enforces safety separation, speed adjustments, and holding time constraints while maximizing runway throughput. A rolling-horizon Model Predictive Control (MPC) strategy enables closed-loop integration with a traffic simulator, dynamically updating commands based on real-time system states and predictions. Computational efficiency is validated across diverse traffic scenarios, demonstrating a 7-fold reduction in computation time during peak congestion compared to onetime optimization, using Singapore ADS-B dataset. Monte Carlo simulations under travel time disturbances further confirm the framework's robustness. Results highlight the approach's operational resilience and computational scalability, offering actionable decision support for Air Traffic Controller Officers (ATCOs) through real-time optimization and adaptive replanning.

Paperid: 1132, https://arxiv.org/pdf/2511.19451.pdf

Abstract:
The paper addresses a continuous-time continuous-space chance-constrained stochastic optimal control (SOC) problem where the probability of failure to satisfy given state constraints is explicitly bounded. We leverage the notion of exit time from continuous-time stochastic calculus to formulate a chance-constrained SOC problem. Without any conservative approximation, the chance constraint is transformed into an expectation of an indicator function which can be incorporated into the cost function by considering a dual formulation. We then express the dual function in terms of the solution to a Hamilton-Jacobi-Bellman partial differential equation parameterized by the dual variable. Under a certain assumption on the system dynamics and cost function, it is shown that a strong duality holds between the primal chance-constrained problem and its dual. The Path integral approach is utilized to numerically solve the dual problem via gradient ascent using open-loop samples of system trajectories. We present simulation studies on chance-constrained motion planning for spatial navigation of mobile robots and the solution of the path integral approach is compared with that of the finite difference method.

Paperid: 1133, https://arxiv.org/pdf/2511.17730.pdf

Abstract:
Generative multiagent systems are rapidly emerging as transformative tools for scalable automation and adaptive decisionmaking in telecommunications. Despite their promise, these systems introduce novel risks that remain underexplored, particularly when agents operate asynchronously across layered architectures. This paper investigates key safety pathways in telecomfocused Generative MultiAgent Systems (GMAS), emphasizing risks of miscoordination and semantic drift shaped by persona diversity. We propose a modular safety evaluation framework that integrates agentlevel checks on code quality and compliance with systemlevel safety metrics. Using controlled simulations across 32 persona sets, five questions, and multiple iterative runs, we demonstrate progressive improvements in analyzer penalties and AllocatorCoder consistency, alongside persistent vulnerabilities such as policy drift and variability under specific persona combinations. Our findings provide the first domaingrounded evidence that persona design, coding style, and planning orientation directly influence the stability and safety of telecom GMAS, highlighting both promising mitigation strategies and open risks for future deployment.

Paperid: 1134, https://arxiv.org/pdf/2511.17297.pdf

Abstract:
Scaled Relative Graphs (SRGs) provide a novel graphical frequency-domain method for the analysis of nonlinear systems, where Linear Time-Invariant (LTI) systems are the fundamental building block. To analyze feedback loops with unstable LTI components, the hard SRG is required, since it aptly captures the input/output behavior on the extended $L_2$ space. In this paper, we develop a systematic computational method to exactly compute the hard SRG of LTI systems, which may be unstable and contain integrators. We also study its connection to the Nyquist criterion, including the multivariable case, and demonstrate our method on several examples.

Paperid: 1135, https://arxiv.org/pdf/2511.13510.pdf

Abstract:
This paper presents Naga, a deep State Space Model (SSM) encoding approach inspired by structural concepts from Vedic mathematics. The proposed method introduces a bidirectional representation for time series by jointly processing forward and time-reversed input sequences. These representations are then combined through an element-wise (Hadamard) interaction, resulting in a Vedic-inspired encoding that enhances the model's ability to capture temporal dependencies across distant time steps. We evaluate Naga on multiple long-term time series forecasting (LTSF) benchmarks, including ETTh1, ETTh2, ETTm1, ETTm2, Weather, Traffic, and ILI. The experimental results show that Naga outperforms 28 current state of the art models and demonstrates improved efficiency compared to existing deep SSM-based approaches. The findings suggest that incorporating structured, Vedic-inspired decomposition can provide an interpretable and computationally efficient alternative for long-range sequence modeling.

Paperid: 1136, https://arxiv.org/pdf/2511.13206.pdf

Abstract:
Modeling and congestion mitigation of mixed-autonomy traffic systems consisting of human-driven vehicles (HVs) and autonomous vehicles (AVs) have become increasingly critical with the rapid development of autonomous driving technology. This paper develops an event-triggered control (ETC) framework for mitigating congestion in such systems, which are modeled using an extended Aw-Rascle-Zhang (ARZ) formulation consisting of coupled 4 x 4 hyperbolic partial differential equations (PDEs). Ramp metering is employed as the boundary actuation mechanism. To reduce computational and communication burdens while avoiding excessive ramp signal changes, we design the ETC strategy based on the backstepping method, together with an observer-based ETC formulation for practical implementation under limited sensing. Rigorous Lyapunov analysis ensures exponential convergence and avoidance of Zeno behavior. Extensive simulations validate the proposed approach under diverse traffic scenarios, including varying AV penetration rates, different spacing policies, multiple demand levels, and non-recurrent congestion patterns. Results show that ETC not only stabilizes mixed traffic flows but also significantly reduces control updates, improving driver comfort, and roadway safety. Higher AV penetration rates lead to longer release time and fewer triggering events, indicating the positive impact of AVs in mitigating traffic congestion while reducing computational resource usage. Compared to continuous backstepping controllers, the proposed ETC achieves near-equivalent stabilization performance with far fewer controller updates, resulting in longer signal release time that reduces driver distraction, which demonstrates great potential for ETC applications in traffic management.

Paperid: 1137, https://arxiv.org/pdf/2511.13134.pdf

Abstract:
Partially observable Markov decision processes (POMDPs) are a central model for uncertainty in sequential decision making. The most basic objective is the reachability objective, where a target set must be eventually visited, and the more general parity objectives can model all omega-regular specifications. For such objectives, the computational analysis problems are the following: (a) qualitative analysis that asks whether the objective can be satisfied with probability 1 (almost-sure winning) or probability arbitrarily close to 1 (limit-sure winning); and (b) quantitative analysis that asks for the approximation of the optimal probability of satisfying the objective. For general POMDPs, almost-sure analysis for reachability objectives is EXPTIME-complete, but limit-sure and quantitative analyses for reachability objectives are undecidable; almost-sure, limit-sure, and quantitative analyses for parity objectives are all undecidable. A special class of POMDPs, called revealing POMDPs, has been studied recently in several works, and for this subclass the almost-sure analysis for parity objectives was shown to be EXPTIME-complete. In this work, we show that for revealing POMDPs the limit-sure analysis for parity objectives is EXPTIME-complete, and even the quantitative analysis for parity objectives can be achieved in EXPTIME.

Paperid: 1138, https://arxiv.org/pdf/2511.09509.pdf

Abstract:
In this paper, we propose a second-order deterministic actor-critic framework in reinforcement learning that extends the classical deterministic policy gradient method to exploit curvature information of the performance function. Building on the concept of compatible function approximation for the critic, we introduce a quadratic critic that simultaneously preserves the true policy gradient and an approximation of the performance Hessian. A least-squares temporal difference learning scheme is then developed to estimate the quadratic critic parameters efficiently. This construction enables a quasi-Newton actor update using information learned by the critic, yielding faster convergence compared to first-order methods. The proposed approach is general and applicable to any differentiable policy class. Numerical examples demonstrate that the method achieves improved convergence and performance over standard deterministic actor-critic baselines.

Paperid: 1139, https://arxiv.org/pdf/2511.09269.pdf

Abstract:
We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed input/state observer, each agent estimates the state and input of agents located two or more hops away using only local information exchanged with 1-hop neighbors, while guaranteeing that transient estimation errors satisfy predefined performance bounds. Conditions are established under which the input observer can be omitted, allowing the state observer convergence to be independent of the input estimates. Theoretical analysis demonstrates that if a closed-loop controller with full state knowledge achieves the control objective and the estimation-based closed-loop system is set-Input to State Stable (set-ISS) with respect to the goal set, then the estimated states can be used to achieve the system objective with an arbitrarily small worst-case error governed by the accuracy of the states estimates. Simulation results are provided to validate the proposed approach.

Paperid: 1140, https://arxiv.org/pdf/2511.09192.pdf

Abstract:
Stochastic dynamical systems have emerged as fundamental models across numerous application domains, providing powerful mathematical representations for capturing uncertain system behavior. In this paper, we address the problem of runtime safety and reach-avoid probability prediction for discrete-time stochastic systems with online observations, i.e., estimating the probability that the system satisfies a given safety or reach-avoid specification. Unlike traditional approaches that rely solely on offline models, we propose a framework that incorporates real-time observations to dynamically refine probability estimates for safety and reach-avoid events. By introducing observation-aware barrier functions, our method adaptively updates probability bounds as new observations are collected, combining efficient offline computation with online backward iteration. This approach enables rigorous and responsive prediction of safety and reach-avoid probabilities under uncertainty. In addition to the theoretical guarantees, experimental results on benchmark systems demonstrate the practical effectiveness of the proposed method.

Paperid: 1141, https://arxiv.org/pdf/2511.08554.pdf

Abstract:
Microbial consortia offer significant biotechnological advantages over monocultures for bioproduction. However, industrial deployment is hampered by the lack of scalable architectures to ensure stable coexistence between populations. Existing strategies rely on genetic modifications, which impose metabolic load, or environmental changes, which can reduce production. We present a versatile control architecture to regulate density and composition of a two-strain consortium without genetic engineering or drastic environmental changes. Our bioreactor-based control architecture comprises a mixing chamber where both strains are co-cultured and a reservoir sustaining the slower-growing strain. For both chambers we develop model-based and sim-to-real learning controllers. The control architecture is then validated in vivo on a two-strain Escherichia coli consortium, achieving precise and robust regulation of consortium density and composition, including tracking of time-varying references and recovery from perturbations.

Paperid: 1142, https://arxiv.org/pdf/2511.06989.pdf

Abstract:
Lithium-ion (Li-ion) batteries are ubiquitous in electric vehicles (EVs) as efficient energy storage devices. The reliable operation of Li-ion batteries depends critically on the accurate estimation of battery capacity. However, conventional estimation methods require extensive training datasets from costly battery tests for modeling, and a full cycle of charge and discharge is often needed to estimate the capacity. To overcome these limitations, we propose a novel capacity estimation method that leverages only one cycle of the open-circuit voltage (OCV) test in modeling and allows for estimating the capacity from partial charge or discharge data. Moreover, by applying it with OCV identification algorithms, we can estimate the capacity from dynamic discharge data without requiring dedicated data collection tests. We observed an invariance property in the OCV versus state of charge relationship across aging cycles. Leveraging this invariance, the proposed method estimates the capacity by solving an OCV alignment problem using only the OCV and the discharge capacity data from the battery. Simulation results demonstrate the method's efficacy, achieving a mean absolute relative error of 0.85\% in capacity estimation across 12 samples from 344 aging cycles.

Paperid: 1143, https://arxiv.org/pdf/2511.06873.pdf

Abstract:
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-based framework with robust dynamic programming mappings that deliver control strategies with provable lower bounds on temporal-logic satisfaction, quantified via approximate stochastic simulation relations. Exploiting decoupled dynamics, we reveal a Canonical Polyadic Decomposition tensor structure in value functions that makes dynamic programming scalable. The proposed method provides correct-by-design probabilistic guarantees for temporal logic specifications. We validate our results on continuous-state linear stochastic systems.

Paperid: 1144, https://arxiv.org/pdf/2511.05822.pdf

Abstract:
This paper explores the development of learning-based tunable control gains using EMT-in-the-loop simulation framework (e.g., PSCAD interfaced with Python-based learning modules) to address critical sub-synchronous oscillations. Since sub-synchronous control interactions (SSCI) arise from the mis-tuning of control gains under specific grid configurations, effective mitigation strategies require adaptive re-tuning of these gains. Such adaptiveness can be achieved by employing a closed-loop, learning-based framework that considers the grid conditions responsible for such sub-synchronous oscillations. This paper addresses this need by adopting methodologies inspired by Markov decision process (MDP) based reinforcement learning (RL), with a particular emphasis on simpler deep policy gradient methods with additional SSCI-specific signal processing modules such as down-sampling, bandpass filtering, and oscillation energy dependent reward computations. Our experimentation in a real-world event setting demonstrates that the deep policy gradient based trained policy can adaptively compute gain settings in response to varying grid conditions and optimally suppress control interaction-induced oscillations.

Paperid: 1145, https://arxiv.org/pdf/2511.05330.pdf

Abstract:
Embedding non-restrictive prior knowledge, such as energy conservation laws, in learning-based approaches is a key motive to construct physically consistent models from limited data, relevant for, e.g., model-based control. Recent work incorporates Hamiltonian dynamics into Gaussian Process (GP) regression to obtain uncertainty-quantifying models that adhere to the underlying physical principles. However, these works rely on velocity or momentum data, which is rarely available in practice. In this paper, we consider dynamics learning with non-conservative Hamiltonian GPs, and address the more realistic problem setting of learning from input-output data. We provide a fully Bayesian scheme for estimating probability densities of unknown hidden states, of GP hyperparameters, as well as of structural hyperparameters, such as damping coefficients. Considering the computational complexity of GPs, we take advantage of a reduced-rank GP approximation and leverage its properties for computationally efficient prediction and training. The proposed method is evaluated in a nonlinear simulation case study and compared to a state-of-the-art approach that relies on momentum measurements.

Paperid: 1146, https://arxiv.org/pdf/2511.05307.pdf

Abstract:
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods do not consider limits on the forces that manipulators may exert upon contact with delicate obstacles. This work introduces a framework that maps force safety criteria from task space (i.e. positions along the robot's body) to configuration space (i.e. the robot's joint angles) and enables real-time force safety detection. We incorporate limits on allowable environmental contact forces for given task-space obstacles, and map them into configuration space (C-space) through the manipulator's forward kinematics. This formulation ensures that configurations classified as safe are provably below the maximum force thresholds, thereby allowing us to determine force-safe configurations of the soft robot manipulator in real-time. We validate our approach in simulation and hardware experiments on a two-segment pneumatic soft robot manipulator. Results demonstrate that the proposed method accurately detects force safety during interactions with deformable obstacles, thereby laying the foundation for real-time safe planning of soft manipulators in delicate, cluttered environments.

Paperid: 1147, https://arxiv.org/pdf/2511.04630.pdf

Abstract:
We consider a time-slotted job-assignment system with a central server, N users and a machine which changes its state according to a Markov chain (hence called a Markov machine). The users submit their jobs to the central server according to a stochastic job arrival process. For each user, the server has a dedicated job queue. Upon receiving a job from a user, the server stores that job in the corresponding queue. When the machine is not working on a job assigned by the server, the machine can be either in internally busy or in free state, and the dynamics of these states follow a binary symmetric Markov chain. Upon sampling the state information of the machine, if the server identifies that the machine is in the free state, it schedules a user and submits a job to the machine from the job queue of the scheduled user. To maximize the number of jobs completed per unit time, we introduce a new metric, referred to as the age of job completion. To minimize the age of job completion and the sampling cost, we propose two policies and numerically evaluate their performance. For both of these policies, we find sufficient conditions under which the job queues will remain stable.

Paperid: 1148, https://arxiv.org/pdf/2511.03515.pdf

Abstract:
The increasing penetration of renewable generation introduces uncertainty into power systems, challenging traditional deterministic optimization methods. Chance-constrained optimization offers an approach to balancing cost and risk; however, incorporating joint chance constraints introduces computational challenges. This paper presents an ensemble support vector machine surrogate for joint chance constraint optimal power flow, where multiple linear classifiers are trained on simulated optimal power flow data and embedded as tractable hyperplane constraints via Big--M reformulations. The surrogate yields a polyhedral approximation of probabilistic line flow limits that preserves interpretability and scalability. Numerical experiments on the IEEE 118-bus system show that the proposed method achieves near-optimal costs with a negligible average error of $0.03\%$. These results demonstrate the promise of ensemble surrogates as efficient and transparent tools for risk-aware optimization of power systems.

Paperid: 1149, https://arxiv.org/pdf/2511.02095.pdf

Abstract:
Policy gradient methods are a powerful family of reinforcement learning algorithms for continuous control that optimize a policy directly. However, standard first-order methods often converge slowly. Second-order methods can accelerate learning by using curvature information, but they are typically expensive to compute. The linear quadratic regulator (LQR) is a practical setting in which key quantities, such as the policy gradient, admit closed-form expressions. In this work, we develop second-order policy gradient algorithms for LQR by deriving explicit formulas for both the approximate and exact Hessians used in Gauss--Newton and Newton methods, respectively. Numerical experiments show a faster convergence rate for the proposed second-order approach over the standard first-order policy gradient baseline.

Paperid: 1150, https://arxiv.org/pdf/2511.01067.pdf

Abstract:
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We introduce the Universal Barrier Function (UBF), a single continuously differentiable scalar-valued function that encodes both stability and safety criteria while accounting for input constraints. Using the UBF, we formulate a Quadratic Program (UBF-QP) to generate control inputs that are both safe and stabilizing under input constraints. We demonstrate that the UBF-QP is feasible if a UBF exists. Furthermore, under mild conditions, we prove that a UBF always exists. The proposed framework is then extended to systems with higher relative degrees. Finally, numerical simulations illustrate the effectiveness of our proposed approach.

Paperid: 1151, https://arxiv.org/pdf/2511.00963.pdf

Abstract:
This article investigates the security issue caused by false data injection attacks in distributed estimation, wherein each sensor can construct two types of residues based on local estimates and neighbor information, respectively. The resource-constrained attacker can select partial channels from the sensor network and arbitrarily manipulate the transmitted data. We derive necessary and sufficient conditions to reveal system vulnerabilities, under which the attacker is able to diverge the estimation error while preserving the stealthiness of all residues. We propose two defense strategies with mechanisms of exploiting the Euclidean distance between local estimates to detect attacks, and adopting the coding scheme to protect the transmitted data, respectively. It is proven that the former has the capability to address the majority of security loopholes, while the latter can serve as an additional enhancement to the former. By employing the time-varying coding matrix to mitigate the risk of being cracked, we demonstrate that the latter can safeguard against adversaries injecting stealthy sequences into the encoded channels. Hence, drawing upon the security analysis, we further provide a procedure to select security-critical channels that need to be encoded, thereby achieving a trade-off between security and coding costs. Finally, some numerical simulations are conducted to demonstrate the theoretical results.

Paperid: 1152, https://arxiv.org/pdf/2511.00479.pdf

Abstract:
Symbol decoding in multiple-input multiple-output (MIMO) wireless communication systems requires the deployment of fast, energy-efficient computing hardware deployable at the edge. The brute-force, exact maximum likelihood (ML) decoder, solved on conventional classical digital hardware, has exponential time complexity. Approximate classical solvers implemented on the same hardware have polynomial time complexity at the best. In this article, we design an alternative ring-oscillator-based coupled oscillator array to act as an oscillator Ising machine (OIM) and heuristically solve the ML-based MIMO detection problem. Complementary metal oxide semiconductor (CMOS) technology is used to design the ring oscillators, and ferroelectric field effect transistor (FeFET) technology is chosen as the coupling element (X) between the oscillators in this CMOS + X OIM design. For this purpose, we experimentally report high linear range of conductance variation (1 micro-S to 60 micro-S) in a FeFET device fabricated at 28 nm high-K/ metal gate (HKMG) CMOS technology node. We incorporate the conductance modulation characteristic in SPICE simulation of the ring oscillators connected in an all-to-all fashion through a crossbar array of these FeFET devices. We show that the above range of conductance variation of the FeFET device is suitable to obtain optimum OIM performance with no significant performance drop up to a MIMO size of 100 transmitting and 100 receiving antennas, thereby making FeFET a suitable device for this application. Our simulations and associated analysis using the Kuramoto model of oscillators also predict that this designed classical analog OIM, if implemented experimentally, will offer logarithmic scaling of computation time with MIMO size, thereby offering a huge improvement (in terms of computation speed) over aforementioned MIMO decoders run on conventional digital hardware.

Paperid: 1153, https://arxiv.org/pdf/2510.26950.pdf

Abstract:
Ferrohydrodynamic microfluidics relies on magnetic field gradients to manipulate diamagnetic particles in ferrofluid-filled microenvironments. It has emerged as a promising tool for label-free manipulation of bioparticles, including their separation and phenotyping. This perspective reviews recent progress in the development and applications of ferrofluid-based microfluidic platforms for multiscale bioparticle separation, ranging from micron-scale cells to submicron extracellular vesicles. We highlight the fundamental physical principles for ferrohydrodynamic manipulation, including the dominant magnetic buoyancy force resulting from the interaction of ferrofluids and particles. We then describe how these principles enable high-resolution size-based bioparticle separation, subcellular bioparticle enrichment, and phenotypic screening based on physical traits. We also discuss key challenges in ferrohydrodynamic microfluidics from the aspects of ferrofluid biocompatibility, system throughput, and nanoparticle depletion. Finally, we outline future research directions involving machine learning, 3D printing, and multiplexed detection. These insights chart a path for advancing ferrofluid-based technologies in precision biomedicine, diagnostics, and cellular engineering.

Paperid: 1154, https://arxiv.org/pdf/2510.25284.pdf

Abstract:
Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to the stochastic nature of human behavior and its variability under different task demands. Such uncertainties may significantly degrade traffic string stability, which is critical for suppressing disturbance propagation and ensuring smooth merging of the lane-changing vehicles. This paper presents a human-automation shared lane-changing control framework that preserves driver authority while allowing automated assistance to achieve stable maneuvers in the presence of driver's behavioral uncertainty. Human driving behavior is modeled as a Markov jump process with transitions driven by task difficulty, providing a tractable representation of stochastic state switching. Based on this model, we first design a nominal stabilizing controller that guarantees stochastic ${L}_2$ string stability under imperfect mode estimation. To further balance performance and automated effort, we then develop a Minimal Intervention Controller (MIC) that retains acceptable stability while limiting automation. Simulations using lane-changing data from the NGSIM dataset verify that the nominal controller reduces speed perturbations and shorten lane-changing time, while the MIC further reduces automated effort and enhances comfort but with moderate stability and efficiency loss. Validations on the TGSIM dataset with SAE Level 2 vehicles show that the MIC enables earlier lane changes than Level 2 control while preserving driver authority with a slight stability compromise. These findings highlight the potential of shared control strategies to balance stability, efficiency, and driver acceptance.

Paperid: 1155, https://arxiv.org/pdf/2510.24228.pdf

Abstract:
The sustainability of modern cities highly depends on efficient water distribution management, including effective pressure control and leak detection and localization. Accurate information about the network hydraulic state is therefore essential. This article presents a comparison between two data-driven state estimation methods based on the Unscented Kalman Filter (UKF), fusing pressure, demand and flow data for head and flow estimation. One approach uses a joint state vector with a single estimator, while the other uses a dual-estimator scheme. We analyse their main characteristics, discussing differences, advantages and limitations, and compare them theoretically in terms of accuracy and complexity. Finally, we show several estimation results for the L-TOWN benchmark, allowing to discuss their properties in a real implementation.

Paperid: 1156, https://arxiv.org/pdf/2510.22015.pdf

Abstract:
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle free space that encodes connectivity among convex free space sets, key sets, and door sets. We then construct an augmented graph of convex sets that exactly encodes the key-door precedence specifications. By solving a shortest path problem in this augmented graph of convex sets, our pipeline provides an exact solution up to a finite parameterization of the trajectory. To illustrate the effectiveness of our approach, we present a method to generate key-door mazes that provide challenging problem instances, and we perform numerical experiments to evaluate the proposed pipeline. Our pipeline is faster by several orders of magnitude than recent state-of-the art methods that use general purpose temporal logic tools.

Paperid: 1157, https://arxiv.org/pdf/2510.19097.pdf

Abstract:
Ensuring the safety of vulnerable road users (VRUs), including pedestrians, cyclists, electric scooter riders, and motorcyclists, remains a major challenge for advanced driver assistance systems (ADAS) and connected and automated vehicles (CAV) technologies. Real-world VRU tests are expensive and sometimes cannot capture or repeat rare and hazardous events. In this paper, we present a lightweight, configurable simulation framework that follows European New Car Assessment Program (Euro NCAP) VRU testing protocols. A rule-based finite-state machine (FSM) is developed as a motion planner to provide vehicle automation during the VRU interaction. We also integrate ego-vehicle perception and idealized Vehicle-to-Everything (V2X) awareness to demonstrate safety margins in different scenarios. This work provides an extensible platform for rapid and repeatable VRU safety validation, paving the way for broader case-study deployment in diverse, user-defined settings, which will be essential for building a more VRU-friendly and sustainable intelligent transportation system.

Paperid: 1158, https://arxiv.org/pdf/2510.17860.pdf

Abstract:
Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further exacerbated by abrupt UAV movements, leading to unreliable trajectory estimation and identity switches. Conventional motion models, such as Kalman filters or static sequence encoders, often fall short in capturing both linear and non-linear dynamics under such conditions. To tackle these limitations, we propose DMTrack, a deformable motion tracking framework tailored for UAV-based MOT. Our DMTrack introduces three key components: DeformMamba, a deformable state-space predictor that dynamically aggregates historical motion states for adaptive trajectory modeling; MotionGate, a lightweight gating module that fuses Kalman and Mamba predictions based on motion context and uncertainty; and an uncertainty-aware association strategy that enhances identity preservation by aligning motion trends with prediction confidence. Extensive experiments on the VisDrone-MOT and UAVDT benchmarks demonstrate that our DMTrack achieves state-of-the-art performance in identity consistency and tracking accuracy, particularly under high-speed and non-linear motion. Importantly, our method operates without appearance models and maintains competitive efficiency, highlighting its practicality for robust UAV-based tracking.

Paperid: 1159, https://arxiv.org/pdf/2510.17294.pdf

Abstract:
In this paper, we present a novel method for solving a class of quadratically constrained quadratic optimization problems using only additions and multiplications. This approach enables solving constrained optimization problems on private data since the operations involved are compatible with the capabilities of homomorphic encryption schemes. To solve the constrained optimization problem, a sequence of polynomial penalty functions of increasing degree is introduced, which are sufficiently steep at the boundary of the feasible set. Adding the penalty function to the original cost function creates a sequence of unconstrained optimization problems whose minimizer always lies in the admissible set and converges to the minimizer of the constrained problem. A gradient descent method is used to generate a sequence of iterates associated with these problems. For the algorithm, it is shown that the iterate converges to a minimizer of the original problem, and the feasible set is positively invariant under the iteration. Finally, the method is demonstrated on an illustrative cryptographic problem, finding the smaller value of two numbers, and the encrypted implementability is discussed.

Paperid: 1160, https://arxiv.org/pdf/2510.17176.pdf

Abstract:
Reconfigurable intelligent surface (RIS) is a cutting-edge communication technology that has been proposed as aviable option for beyond fifth-generation wireless communication networks. This paper investigates various group selection strategies in the context of grouping-based self-sustainable RIS-aided device-to-device (D2D) communication with spatially correlated wireless channels. Specifically, we consider both power splitting (PS) and time switching (TS) configurations, of the self-sustainable RIS to analyze the system performance and propose appropriate bounds on the choice of system parameters. The analysis takes into account a simplified linear energy harvesting (EH) model as well as a practical non-linear EH model. Based on the application requirements, we propose various group selection strategies at the RIS. Notably, each strategy schedules the k-th best available group at the RIS based on the end-to-end signal-to-noise ratio (SNR) and also the energy harvested at a particular group of the RIS. Accordingly, by using tools from high order statistics, we derive analytical expressions for the outage probability of each selection strategy. Moreover, by applying the tools from extreme value theory, we also investigate an asymptotic scenario, where the number of groups available for selection at an RIS approaches infinity. The nontrivial insights obtained from this approach is especially beneficial in applications like large intelligent surface-aided wireless communication. Finally, the numerical results demonstrate the importance and benefits of the proposed approaches in terms of metrics such as the data throughput and the outage (both data and energy) performance.

Paperid: 1161, https://arxiv.org/pdf/2510.16550.pdf

Abstract:
In post--layout circuit simulation, efficient model order reduction (MOR) for many--port resistor--capacitor (RC) circuits remains a crucial issue. The current mainstream MOR methods for such circuits include high--order moment matching methods and elimination methods. High-order moment matching methods--characterized by high accuracy, such as PRIMA and TurboMOR--tend to generate large dense reduced-order systems when the number of ports is large, which impairs the efficiency of MOR. Another common type of MOR method for many--port circuits is based on Gaussian elimination, with the SIP method as a representative. The main limitation of this method lies in the inadequate matching of high--order moments. In this paper, we propose a sparse multipoint moment matching method and present comprehensive theoretical analysis results regarding the multi--frequency high--order moment matching property. Meanwhile, to enhance the algorithm's efficiency, sparse control and deflation techniques are introduced to further optimize the algorithm. Numerical experiments demonstrated that, compared to SIP, the accuracy is improved by more than two orders of magnitude at high frequency points without adding many extra linear components. Compared to TurboMOR methods, our method achieves a speed improvement of more than twice while maintaining the same level of precision.

Paperid: 1162, https://arxiv.org/pdf/2510.16312.pdf

Abstract:
The study of complex systems has attracted widespread attention from researchers in the fields of natural sciences, social sciences, and engineering. Prediction is one of the central issues in this field. Although most related studies have focused on prediction methods, research on the predictability of complex systems has received increasing attention across disciplines--aiming to provide theories and tools to address a key question: What are the limits of prediction accuracy? Predictability itself can serve as an important feature for characterizing complex systems, and accurate estimation of predictability can provide a benchmark for the study of prediction algorithms. This allows researchers to clearly identify the gap between current prediction accuracy and theoretical limits, thereby helping them determine whether there is still significant room to improve existing algorithms. More importantly, investigating predictability often requires the development of new theories and methods, which can further inspire the design of more effective algorithms. Over the past few decades, this field has undergone significant evolution. In particular, the rapid development of data science has introduced a wealth of data-driven approaches for understanding and quantifying predictability. This review summarizes representative achievements, integrating both data-driven and mechanistic perspectives. After a brief introduction to the significance of the topic in focus, we will explore three core aspects: the predictability of time series, the predictability of network structures, and the predictability of dynamical processes. Finally, we will provide extensive application examples across various fields and outline open challenges for future research.

Paperid: 1163, https://arxiv.org/pdf/2510.14137.pdf

Abstract:
The p-persistent CSMA protocol is central to random-access MAC analysis, but predicting saturation throughput in heterogeneous multi-hop wireless networks remains a hard problem. Simplified models that assume a single, shared interference domain can underestimate throughput by 48--62\% in sparse topologies. Exact Markov-chain analyses are accurate but scale exponentially in computation time, making them impractical for large networks. These computational barriers motivate structural machine learning approaches like GNNs for scalable throughput prediction in general network topologies. Yet off-the-shelf GNNs struggle here: a standard GCN yields 63.94\% normalized mean absolute error (NMAE) on heterogeneous networks because symmetric normalization conflates a node's direct interference with higher-order, cascading effects that pertain to how interference propagates over the network graph. Building on these insights, we propose the Decoupled Graph Convolutional Network (D-GCN), a novel architecture that explicitly separates processing of a node's own transmission probability from neighbor interference effects. D-GCN replaces mean aggregation with learnable attention, yielding interpretable, per-neighbor contribution weights while capturing complex multihop interference patterns. D-GCN attains 3.3\% NMAE, outperforms strong baselines, remains tractable even when exact analytical methods become computationally infeasible, and enables gradient-based network optimization that achieves within 1\% of theoretical optima.

Paperid: 1164, https://arxiv.org/pdf/2510.13522.pdf

Abstract:
We establish an algorithm to learn feedback maps from data for a class of robust model predictive control (MPC) problems. The algorithm accounts for the approximation errors due to the learning directly at the synthesis stage, ensuring recursive feasibility by construction. The optimal control problem consists of a linear noisy dynamical system, a quadratic stage and quadratic terminal costs as the objective, and convex constraints on the state, control, and disturbance sequences; the control minimizes and the disturbance maximizes the objective. We proceed via two steps -- (a) Data generation: First, we reformulate the given minmax problem into a convex semi-infinite program and employ recently developed tools to solve it in an exact fashion on grid points of the state space to generate (state, action) data. (b) Learning approximate feedback maps: We employ a couple of approximation schemes that furnish tight approximations within preassigned uniform error bounds on the admissible state space to learn the unknown feedback policy. The stability of the closed-loop system under the approximate feedback policies is also guaranteed under a standard set of hypotheses. Two benchmark numerical examples are provided to illustrate the results.

Paperid: 1165, https://arxiv.org/pdf/2510.13449.pdf

Abstract:
The growing integration of distributed renewable generation and the electrification of heating and transportation are rapidly increasing the number of flexible devices within modern distribution grids. Leveraging the aggregated flexibility of these small-scale distributed resources is essential to maintaining future grid-wide stability. This work uses the Swiss distribution grid of Walenstadt as a case study to provide insights into the aggregated flexibility potential of distribution grids. It demonstrates that incorporating devices such as heat pumps and photovoltaic systems significantly enhances distribution grid flexibility. It investigates the time-varying nature of aggregated flexibility and highlights how it can vary seasonally. Furthermore, simulations of future scenarios reveal that aggregated flexibility does not increase linearly or monotonically with higher levels of flexible device penetration. This is primarily due to the overloading of individual feeders, which underscores the impact of grid topology and network constraints on the aggregated flexibility potential.

Paperid: 1166, https://arxiv.org/pdf/2510.13279.pdf

Abstract:
Autonomous driving systems, critical for safety, require real-time guarantees and can be modeled as DAGs. Their acceleration features, such as caches and pipelining, often result in execution times below the worst-case. Thus, a probabilistic approach ensuring constraint satisfaction within a probability threshold is more suitable than worst-case guarantees for these systems. This paper considers probabilistic guarantees for DAG tasks by utilizing the results of probabilistic guarantees for single processors, which have been relatively more advanced than those for multi-core processors. This paper proposes a task set partitioning method that guarantees schedulability under the partitioned scheduling. The evaluation on randomly generated DAG task sets demonstrates that the proposed method schedules more task sets with a smaller mean analysis time compared to existing probabilistic schedulability analysis for DAGs. The evaluation also compares four bin-packing heuristics, revealing Item-Centric Worst-Fit-Decreasing schedules the most task sets.

Paperid: 1167, https://arxiv.org/pdf/2510.13004.pdf

Abstract:
This paper compares the required fuel usage for forced and unforced motion of a chaser satellite engaged in Rendezvous, Proximity Operations, and Docking (RPOD) maneuvers. Improved RPOD models are vital, particularly as the space industry expands and demands for improved fuel efficiency, cost effectiveness, and mission life span increase. This paper specifically examines the Clohessy- Wiltshire (CW) Equations and the extent of model mismatch by comparing pre- dicted trajectories from this model with a more computationally complex, higher fidelity RPOD model. This paper assesses several test cases of similar mission parameters, in each case comparing natural motion circumnavigation (NMC) with comparable forced motion circumnavigation. The Guidance, Navigation, and Con- trol (GNC) impulse maneuvers required to maintain the supposedly zero fuel CW trajectories is representative of the extent of CW model mismatch. This paper demonstrates that unforced motions are not inherently more fuel efficient than forced motions, thus permitting extended orbital operations given the higher fuel efficiency.

Paperid: 1168, https://arxiv.org/pdf/2510.12318.pdf

Abstract:
Since the 1990s, widespread introduction of central (wholesale) electricity markets has been seen across multiple continents, driven by the search for efficient operation of the power grid through competition. The increase of renewables has made significant impacts both on central electricity markets and distribution-level grids as renewable power generation is often connected to the latter. These stochastic renewable technologies have both advantages and disadvantages. On one hand they offer very low marginal cost and carbon emissions, while on the other hand, their output is uncertain, requiring flexible backup power with high marginal cost. Flexibility from end-prosumers or smaller market participants is therefore seen as a key enabler of large-scale integration of renewables. However, current central electricity markets do not directly include uncertainty into the market clearing and do not account for physical constraints of distribution grids. In this paper we propose a local electricity market framework based on probabilistic locational marginal pricing, effectively accounting for uncertainties in production, consumption and grid variables. The model includes a representation of the grid using the lindistflow equations and accounts for the propagation of uncertainty using general Polynomial Chaos (gPC). A two-stage convex model is proposed; in the day-ahead stage, probability distributions of prices are calculated for every timestep, where the expected values represent the day-ahead (spot) prices. In the real-time stage, uncertainties are realized (measured) and a trivial calculation reveals the real-time price. Through four instructive case-studies we highlight the effectiveness of the method to incentivize end-prosumers' participation in the market, while ensuring that their behavior does not have an adverse impact on the operation of the grid.

Paperid: 1169, https://arxiv.org/pdf/2510.11181.pdf

Abstract:
The efficiency of railway infrastructure is significantly influenced by the mix of trains that utilize it, as different service types have competing operational requirements. While freight services might require extended service times, passenger services demand more predictable schedules. Traditional methods for addressing long-term traffic assignment problems often rely on fixed-value capacity limitations, determined based on specific assumptions about traffic composition. This paper introduces a methodology for determining timetable-independent capacity within the traffic rate assignment problem, enabling the calculation of junction capacities under dynamic traffic distributions. We solve the underlying non-linear constrained optimization problem maximizing the traffic throughput using Bayesian optimization (BO). This setting combines a known objective function with expensive- to-compute capacity constraints, motivating an adaption of standard BO problems, where objective functions are usually unknown. We tailor the acquisition process in BO to this specific setting and increase performance by incorporating prior knowledge about the shape of the constraint functions into the Gaussian process surrogate model. Our derived approaches are benchmarked on a railway junction near Paris, significantly outperforming fixed traffic composition models and highlighting the benefits of dynamic capacity allocation.

Paperid: 1170, https://arxiv.org/pdf/2510.09937.pdf

Abstract:
The empirical success of multi-agent reinforcement learning (MARL) has motivated the search for more efficient and scalable algorithms for large scale multi-agent systems. However, existing state-of-the-art algorithms do not fully exploit inter-agent coupling information to develop MARL algorithms. In this paper, we propose a systematic approach to leverage structures in the inter-agent couplings for efficient model-free reinforcement learning. We model the cooperative MARL problem via a Bayesian network and characterize the subset of agents, termed as the value dependency set, whose information is required by each agent to estimate its local action value function exactly. Moreover, we propose a partially decentralized training decentralized execution (P-DTDE) paradigm based on the value dependency set. We theoretically establish that the total variance of our P-DTDE policy gradient estimator is less than the centralized training decentralized execution (CTDE) policy gradient estimator. We derive a multi-agent policy gradient theorem based on the P-DTDE scheme and develop a scalable actor-critic algorithm. We demonstrate the efficiency and scalability of the proposed algorithm on multi-warehouse resource allocation and multi-zone temperature control examples. For dense value dependency sets, we propose an approximation scheme based on truncation of the Bayesian network and empirically show that it achieves a faster convergence than the exact value dependence set for applications with a large number of agents.

Paperid: 1171, https://arxiv.org/pdf/2510.09349.pdf

Abstract:
Ensuring both feasibility and efficiency in optimal power flow (OPF) operations has become increasingly important in modern power systems with high penetrations of renewable energy and energy storage. While deep neural networks (DNNs) have emerged as promising fast surrogates for OPF solvers, they often fail to satisfy critical operational constraints, especially those involving inter-temporal coupling, such as generator ramping limits and energy storage operations. To deal with these issues, we propose a Multi-Period Projection-Aware Deep Neural Network (MPA-DNN) that incorporates a projection layer for multi-period dispatch into the network. By doing so, our model enforces physical feasibility through the projection, enabling end-to-end learning of constraint-compliant dispatch trajectories without relying on labeled data. Experimental results demonstrate that the proposed method achieves near-optimal performance while strictly satisfying all constraints in varying load conditions.

Paperid: 1172, https://arxiv.org/pdf/2510.07102.pdf

Abstract:
Redispatch markets are widely used by system operators to manage network congestion. A well-known drawback, however, is that Flexibility Service Providers (FSPs) may strategically adjust their baselines in anticipation of redispatch actions, thereby aggravating congestion and raising system costs. To address this increase-decrease gaming, Distribution System Operators (DSOs) could use Alternative Connection Agreements (ACAs) to conditionally limit the available connection capacity of market participants in the day-ahead stage. In this paper, we present a novel Defender-Attacker-Defender game to investigate the potential of this approach in distribution networks under load and price uncertainty. We solve the resulting trilevel optimization model using a custom branch-and-bound algorithm, and we demonstrate that it efficiently solves the problem without exploring many nodes in the branch-and-bound search tree for most simulated scenarios. The case study demonstrates that applying ACAs can substantially lower redispatch costs (e.g. by 25%) for the DSO with only a limited impact on FSP profits. The effectiveness of the approach critically depends on how often the DSO can invoke ACAs and on the extent to which the DSO can anticipate strategic bidding behavior of the FSP.

Paperid: 1173, https://arxiv.org/pdf/2510.05343.pdf

Abstract:
This paper studies sensor placement when detection performance varies stochastically due to environmental factors over space and time and false alarms are present, but a filter is used to attenuate the effect. We introduce a unified model that couples detection and false alarms through an availability function, which captures how false alarms reduce effective sensing and filtering responses to the disturbance. Building on this model, we give a sufficient condition under which filtering improves detection. In addition, we derive a coverage-based lower bound on the void probability. Furthermore, we prove robustness guarantees showing that performance remains stable when detection probabilities are learned from limited data. We validate the approach with numerical studies using AIS vessel-traffic data and synthetic maritime scenarios. Together, these results provide theory and practical guidance for deploying sensors in dynamic, uncertain environments.

Paperid: 1174, https://arxiv.org/pdf/2510.04900.pdf

Abstract:
Understanding the robustness of deep learning models for multivariate long-term time series forecasting (M-LTSF) remains challenging, as evaluations typically rely on real-world datasets with unknown noise properties. We propose a simulation-based evaluation framework that generates parameterizable synthetic datasets, where each dataset instance corresponds to a different configuration of signal components, noise types, signal-to-noise ratios, and frequency characteristics. These configurable components aim to model real-world multivariate time series data without the ambiguity of unknown noise. This framework enables fine-grained, systematic evaluation of M-LTSF models under controlled and diverse scenarios. We benchmark four representative architectures S-Mamba (state-space), iTransformer (transformer-based), R-Linear (linear), and Autoformer (decomposition-based). Our analysis reveals that all models degrade severely when lookback windows cannot capture complete periods of seasonal patters in the data. S-Mamba and Autoformer perform best on sawtooth patterns, while R-Linear and iTransformer favor sinusoidal signals. White and Brownian noise universally degrade performance with lower signal-to-noise ratio while S-Mamba shows specific trend-noise and iTransformer shows seasonal-noise vulnerability. Further spectral analysis shows that S-Mamba and iTransformer achieve superior frequency reconstruction. This controlled approach, based on our synthetic and principle-driven testbed, offers deeper insights into model-specific strengths and limitations through the aggregation of MSE scores and provides concrete guidance for model selection based on signal characteristics and noise conditions.

Paperid: 1175, https://arxiv.org/pdf/2510.04436.pdf

Abstract:
Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addressing nonlinear equality constraints, i.e, dynamic feasi- bility, remains a great challenge in diffusion-based trajectory optimization. Recent diffusion-based trajectory optimization frameworks rely on a single-shooting style approach where the denoised control sequence is applied to forward propagate the dynamical system, which cannot explicitly enforce constraints on the states and frequently leads to sub-optimal solutions. In this work, we propose a novel direct trajectory optimization approach via model-based diffusion, which directly generates a sequence of states. To ensure dynamic feasibility, we propose a gradient-free projection mechanism that is incorporated into the reverse diffusion process. Our results show that, compared to a recent state-of-the-art baseline, our approach leads to zero dynamic feasibility error and approximately 4x higher success rate in a quadrotor waypoint navigation scenario involving dense static obstacles.

Paperid: 1176, https://arxiv.org/pdf/2510.04038.pdf

Abstract:
This paper introduces a comprehensive strategy that integrates traffic perimeter control with traffic signal control to alleviate congestion in an urban traffic network (UTN). The strategy is formulated as a lexicographic multi-objective optimization problem, starting with the regulation of traffic inflows at boundary junctions to maximize the capacity while ensuring a smooth operation of the UTN. Following this, the signal timings at internal junctions are collaboratively optimized to enhance overall traffic conditions under the regulated inflows. The use of a model predictive control (MPC) approach ensures that the control solution adheres to safety and capacity constraints within the network. To address the computational complexity of the problem, the UTN is divided into subnetworks, each managed by a local agent. A distributed solution method based on the alternating direction method of multipliers (ADMM) algorithm is employed, allowing each agent to determine its optimal control decisions using local information from its subnetwork and neighboring agents. Numerical simulations using VISSIM and MATLAB demonstrate the effectiveness of the proposed traffic control strategy.

Paperid: 1177, https://arxiv.org/pdf/2510.02973.pdf

Abstract:
Proactive preservation of steel structures at culturally significant heritage sites like the San Sebastian Basilica in the Philippines requires accurate corrosion forecasting. This study developed an Internet of Things hardware system connected with LoRa wireless communications to monitor heritage buildings with steel structures. From a three year dataset generated by the IoT system, we built a machine learning framework for predicting atmospheric corrosion rates using only temperature and relative humidity data. Deployed via a Streamlit dashboard with ngrok tunneling for public access, the framework provides real-time corrosion monitoring and actionable preservation recommendations. This minimal-data approach is scalable and cost effective for heritage sites with limited monitoring resources, showing that advanced regression can extract accurate corrosion predictions from basic meteorological data enabling proactive preservation of culturally significant structures worldwide without requiring extensive sensor networks

Paperid: 1178, https://arxiv.org/pdf/2510.02769.pdf

Abstract:
This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and temporal (SIT) constraints. In particular, an approximation-free adaptive-barrier control architecture is designed to ensure prescribed-time convergence of the tracking error to a prescribed bound while rejecting exogenous disturbances. In contrast to existing approaches that necessitate continuous real-time control action, the proposed controller generates event-based updates through periodic evaluation of the triggering condition. Additionally, we derive an upper bound on the monitoring period by analysing the performance degradation of the filtered tracking error to facilitate periodic evaluation of the event-triggered strategy. To this end, a time-varying threshold function is considered in the triggering mechanism to reduce the number of triggers during the transient phase of system behaviour. Notably, the proposed design avoids Zeno behaviour and precludes the need for continuous monitoring of the triggering condition. A simulation and experimental study is undertaken to demonstrate the efficacy of the proposed control scheme.

Paperid: 1179, https://arxiv.org/pdf/2510.01364.pdf

Abstract:
The paper introduces a linear bandit environment where the reward is the output of a known Linear Gaussian Dynamical System (LGDS). In this environment, we address the fundamental challenge of balancing exploration -- gathering information about the environment -- and exploitation -- selecting to the action with the highest predicted reward. We propose two algorithms, Kalman filter Upper Confidence Bound (Kalman-UCB) and Information filter Directed Exploration Action-selection (IDEA). Kalman-UCB uses the principle of optimism in the face of uncertainty. IDEA selects actions that maximize the combination of the predicted reward and a term that quantifies how much an action minimizes the error of the Kalman filter state prediction, which depends on the LGDS property called observability. IDEA is motivated by applications such as hyperparameter optimization in machine learning. A major problem encountered in hyperparameter optimization is the large action spaces, which hinder the performance of methods inspired by principle of optimism in the face of uncertainty as they need to explore each action to lower reward prediction uncertainty. To predict if either Kalman-UCB or IDEA will perform better, a metric based on the LGDS properties is provided. This metric is validated with numerical results across a variety of randomly generated environments.

Paperid: 1180, https://arxiv.org/pdf/2510.00858.pdf

Abstract:
Buildings represent a promising flexibility source to support the integration of renewable energy sources, as they may shift their heating energy consumption over time without impacting users' comfort. However, a building's predicted flexibility potential is based on uncertain ambient weather forecasts and a typically inaccurate building thermal model. Hence, this paper presents an uncertainty-aware flexibility quantifier using a chance-constrained formulation. Because such a quantifier may be conservative, we additionally model real-time feedback in the quantification, in the form of affine feedback policies. Such adaptation can take the form of intra-day trades or rebound around the flexibility provision period. To assess the flexibility quantification formulations, we further assume that flexible buildings participate in secondary frequency control markets. The results show some increase in flexibility and revenues when introducing affine feedback policies. Additionally, it is demonstrated that accounting for uncertainties in the flexibility quantification is necessary, especially when intra-day trades are not available. Even though an uncertainty-ignorant potential may seem financially profitable in secondary frequency control markets, it comes at the cost of significant thermal discomfort for inhabitants. Hence, we suggest a comfort-preserving approach, aiming to truly reflect thermal discomfort on the economic flexibility revenue, to obtain a fairer comparison.

Paperid: 1181, https://arxiv.org/pdf/2510.00410.pdf

Abstract:
Learning Model Predictive Control (LMPC) improves performance on iterative tasks by leveraging data from previous executions. At each iteration, LMPC constructs a sampled safe set from past trajectories and uses it as a terminal constraint, with a terminal cost given by the corresponding cost-to-go. While effective, LMPC heavily depends on the initial trajectories: states with high cost-to-go are rarely selected as terminal candidates in later iterations, leaving parts of the state space unexplored and potentially missing better solutions. For example, in a reach-avoid task with two possible routes, LMPC may keep refining the initially shorter path while neglecting the alternative path that could lead to a globally better solution. To overcome this limitation, we propose Multi-Modal LMPC (MM-LMPC), which clusters past trajectories into modes and maintains mode-specific terminal sets and value functions. A bandit-based meta-controller with a Lower Confidence Bound (LCB) policy balances exploration and exploitation across modes, enabling systematic refinement of all modes. This allows MM-LMPC to escape high-cost local optima and discover globally superior solutions. We establish recursive feasibility, closed-loop stability, asymptotic convergence to the best mode, and a logarithmic regret bound. Simulations on obstacle-avoidance tasks validate the performance improvements of the proposed method.

Paperid: 1182, https://arxiv.org/pdf/2510.00384.pdf

Abstract:
We propose the multistep port-Hamiltonian Gaussian process (MS-PHS GP) to learn physically consistent continuous-time dynamics and a posterior over the Hamiltonian from noisy, irregularly-sampled trajectories. By placing a GP prior on the Hamiltonian surface $H$ and encoding variable-step multistep integrator constraints as finite linear functionals, MS-PHS GP enables closed-form conditioning of both the vector field and the Hamiltonian surface without latent states, while enforcing energy balance and passivity by design. We state a finite-sample vector-field bound that separates the estimation and variable-step discretization terms. Lastly, we demonstrate improved vector-field recovery and well-calibrated Hamiltonian uncertainty on mass-spring, Van der Pol, and Duffing benchmarks.

Paperid: 1183, https://arxiv.org/pdf/2509.25859.pdf

Abstract:
In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from mechanical LiDAR using multiple camera inputs, providing complete 360-degree coverage. The primary innovation lies in its robustness under low-light conditions, achieved through the integration of a low-light image enhancement module within the fusion pipeline. The system requires initial calibration to determine intrinsic camera parameters, followed by automatic computation of the geometric transformation between the LiDAR and cameras, removing the need for specialised calibration targets and streamlining the setup. The data processing framework uses colour correction to ensure uniformity across camera feeds before fusion. The algorithm was tested using a Velodyne Puck Hi-Res LiDAR and a four-camera configuration. The optimised software achieved real-time performance and reliable colourisation even under very low illumination, successfully recovering scene details that would otherwise remain undetectable.

Paperid: 1184, https://arxiv.org/pdf/2509.25698.pdf

Abstract:
A pinching-antenna systems (PASS)-enabled unmanned aerial vehicle (UAV) delivery framework is proposed, which exploits the capability of PASS to establish a strong line-of-sight link and reduce free-space pathloss.Aiming at minimizing the communication energy consumption in one cycle, a double-layer optimization (DLO) algorithm is developed by jointly optimizing the UAV delivery sequence and the pinching antenna (PA) activation vector. More specifically, at the outer layer, a hierarchical alternating optimization (HAO) scheme is proposed to tackle the NP-hard problem of delivery sequence planning, where a genetic algorithm performs global exploration to generate candidate solutions at the top-level, while a dynamic programming performs local refinement to obtain elite solutions at the lower-level. With determined UAV trajectory, at the inner layer, focus is placed on addressing the highly coupled mixed-integer nonlinear programming problem of PA activation vector optimization, where a pair of algorithms are proposed: 1) Branch-and-Bound (BnB) algorithm for finding global optimum; 2) incremental search and local refinement (ISLR) algorithm for reducing computational complexity. Simulation results indicate that: i) The proposed HAO-based delivery sequence planning scheme can effectively reduce the total flight distance, thereby decreasing flight time and communication energy consumption; ii) Both the proposed BnB and ISLR algorithms can achieve energy-efficient PA activation, with the former exhibiting better performance and the latter having lower complexity; iii) PASS outperforms the conventional multi-antenna systems, especially with higher communication rate requirements.

Paperid: 1185, https://arxiv.org/pdf/2509.25482.pdf

Abstract:
We present the design of an autoregressive active inference agent in the form of message passing on a factor graph. Expected free energy is derived and distributed across a planning graph. The proposed agent is validated on a robot navigation task, demonstrating exploration and exploitation in a continuous-valued observation space with bounded continuous-valued actions. Compared to a classical optimal controller, the agent modulates action based on predictive uncertainty, arriving later but with a better model of the robot's dynamics.

Paperid: 1186, https://arxiv.org/pdf/2509.25244.pdf

Abstract:
Purpose: Neo Grounded Theory (NGT) integrates vector clustering with multi agent systems to resolve qualitative research's scale depth paradox, enabling analysis of massive datasets in hours while preserving interpretive rigor. Methods: We compared NGT against manual coding and ChatGPT-assisted analysis using 40,000 character Chinese interview transcripts. NGT employs 1536-dimensional embeddings, hierarchical clustering, and parallel agent-based coding. Two experiments tested pure automation versus human guided refinement. Findings: NGT achieved 168-fold speed improvement (3 hours vs 3 weeks), superior quality (0.904 vs 0.883), and 96% cost reduction. Human AI collaboration proved essential: automation alone produced abstract frameworks while human guidance yielded actionable dual pathway theories. The system discovered patterns invisible to manual coding, including identity bifurcation phenomena. Contributions: NGT demonstrates computational objectivity and human interpretation are complementary. Vector representations provide reproducible semantic measurement while preserving meaning's interpretive dimensions. Researchers shift from mechanical coding to theoretical guidance, with AI handling pattern recognition while humans provide creative insight. Implications: Cost reduction from \$50,000 to \$500 democratizes qualitative research, enabling communities to study themselves. Real-time analysis makes qualitative insights contemporaneous with events. The framework shows computational methods can strengthen rather than compromise qualitative research's humanistic commitments. Keywords: Grounded theory; Vector embeddings; Multi agent systems; Human AI collaboration; Computational qualitative analysis

Paperid: 1187, https://arxiv.org/pdf/2509.25034.pdf

Abstract:
As climate change intensifies extreme weather events, water disasters pose growing threats to global communities, making adaptive reservoir management critical for protecting vulnerable populations and ensuring water security. Modern water resource management faces unprecedented challenges from cascading uncertainties propagating through interconnected reservoir networks. These uncertainties, rooted in physical water transfer losses and environmental variability, make precise control difficult. For example, sending 10 tons downstream may yield only 8-12 tons due to evaporation and seepage. Traditional centralized optimization approaches suffer from exponential computational complexity and cannot effectively handle such real-world uncertainties, while existing multi-agent reinforcement learning (MARL) methods fail to achieve effective coordination under uncertainty. To address these challenges, we present MARLIN, a decentralized reservoir management framework inspired by starling murmurations intelligence. Integrating bio-inspired alignment, separation, and cohesion rules with MARL, MARLIN enables individual reservoirs to make local decisions while achieving emergent global coordination. In addition, a LLM provides real-time reward shaping signals, guiding agents to adapt to environmental changes and human-defined preferences. Experiments on real-world USGS data show that MARLIN improves uncertainty handling by 23\%, cuts computation by 35\%, and accelerates flood response by 68\%, exhibiting super-linear coordination, with complexity scaling 5.4x from 400 to 10,000 nodes. These results demonstrate MARLIN's potential for disaster prevention and protecting communities through intelligent, scalable water resource management.

Paperid: 1188, https://arxiv.org/pdf/2509.25000.pdf

Abstract:
We study the identification of continuous-time vector fields from irregularly sampled trajectories. We introduce Spectral Flow Learning (SFL), which learns in a windowed flow space using a lag-linear label operator that aggregates lagged Koopman actions. We provide finite-sample high-probability (FS-HP) guarantees for the class of variable-step linear multistep methods (vLLM). The FS-HP rates are constructed using spectral regularization with qualification-controlled filters for flow predictors under standard source and filter assumptions. A multistep observability inequality links flow error to vector-field error and yields two-term bounds that combine a statistical rate with an explicit discretization bias from vLMM theory. This preliminary preprint states the results and sketches proofs, with full proofs and extensions deferred to a journal version.

Paperid: 1189, https://arxiv.org/pdf/2509.23699.pdf

Abstract:
For electrifying the transportation sector, deploying a strategically planned and efficient charging infrastructure is essential. This paper presents a two-phase approach for electric vehicle (EV) charger deployment that integrates spatial point-of-interest analysis and maximum coverage optimization over an integrated spatial power grid. Spatial-focused studies in the literature often overlook electrical grid constraints, while grid-focused work frequently considers statistically modeled EV charging demand. To address these gaps, a new framework is proposed that combines spatial network planning with electrical grid considerations. This study approaches EV charger planning from a perspective of the distribution grid, starting with an estimation of EV charging demand and the identification of optimal candidate locations. It ensures that the capacity limits of newly established chargers are maintained within the limits of the power grid. This framework is applied in a test case for the Dallas area, integrating the existing EV charger network with an 8500-bus distribution system for comprehensive planning.

Paperid: 1190, https://arxiv.org/pdf/2509.22668.pdf

Abstract:
6G wireless networks aim to exploit semantic awareness to optimize radio resources. By optimizing the transmission through the lens of the desired goal, the energy consumption of transmissions can also be reduced, and the latency can be improved. To that end, this paper investigates a paradigm in which the capabilities of generative AI (GenAI) on the edge are harnessed for network optimization. In particular, we investigate an Unmanned Aerial Vehicle (UAV) handover framework that takes advantage of GenAI and semantic communication to maintain reliable connectivity. To that end, we propose a framework in which a lightweight MobileBERT language model, fine-tuned using Low-Rank Adaptation (LoRA), is deployed on the UAV. This model processes multi-attribute flight and radio measurements and performs multi-label classification to determine appropriate handover action. Concurrently, the model identifies an appropriate set of contextual "Reason Tags" that elucidate the decision's rationale. Our model, evaluated on a rule-based synthetic dataset of UAV handover scenarios, demonstrates the model's high efficacy in learning these rules, achieving high accuracy in predicting the primary handover decision. The model also shows strong performance in identifying supporting reasons, with an F1 micro-score of approximately 0.9 for reason tags.

Paperid: 1191, https://arxiv.org/pdf/2509.21416.pdf

Abstract:
The synthesis of optimization algorithms typically follows a design-first-analyze-later approach, which often obscures fundamental performance limitations and hinders the systematic design of algorithms operating at the achievable theoretical boundaries. Recently, a framework based on frequency-domain techniques from robust control theory has emerged as a powerful tool for automating algorithm synthesis. By integrating the design and analysis stages, this framework enables the identification of fundamental performance limits. In this paper, we build on this framework and extend it to address algorithms for solving strongly convex problems with equality constraints. As a result, we obtain a new class of algorithms that offers sharp trade-off between number of matrix multiplication per iteration and convergence rate.

Paperid: 1192, https://arxiv.org/pdf/2509.21116.pdf

Abstract:
Accurate identification of lithium-ion (Li-ion) battery parameters is essential for managing and predicting battery behavior. However, existing discrete-time methods hinder the estimation of physical parameters and face the fast-slow dynamics problem presented in the battery. In this paper, we developed a continuous-time approach that enables the estimation of battery parameters directly from sampled data. This method avoids discretization errors in converting continuous-time models into discrete-time ones, achieving more accurate identification. In addition, we jointly identify the open-circuit voltage (OCV) and the state of charge (SOC) relation of the battery without utilizing offline OCV tests. By modeling the OCV-SOC curve as a cubic B-spline, we achieve a high-fidelity representation of the OCV curve, facilitating its estimation. Through solving a rank and L1 regularized least squares problem, we jointly identify battery parameters and the OCV-SOC relation from the battery's dynamic data. Simulated and real-life data demonstrate the effectiveness of the developed method.

Paperid: 1193, https://arxiv.org/pdf/2509.21110.pdf

Abstract:
Accurate identification of lithium-ion battery parameters is essential for estimating battery states and managing performance. However, the variation of battery parameters over the state of charge (SOC) and the nonlinear dependence of the open-circuit voltage (OCV) on the SOC complicate the identification process. In this work, we develop a continuous-time LPV system identification approach to identify the SOC-dependent battery parameters and the OCV-SOC mapping. We model parameter variations using cubic B-splines to capture the piecewise nonlinearity of the variations and estimate signal derivatives via state variable filters, facilitating CT-LPV identification. Battery parameters and the OCV-SOC mapping are jointly identified by solving L1-regularized least squares problems. Numerical experiments on a simulated battery and real-life data demonstrate the effectiveness of the developed method in battery identification, presenting improved performance compared to conventional RLS-based methods.

Paperid: 1194, https://arxiv.org/pdf/2509.20746.pdf

Abstract:
Synthesis of optimization algorithms typically follows a {\em design-then-analyze\/} approach, which can obscure fundamental performance limits and hinder the systematic development of algorithms that operate near these limits. Recently, a framework grounded in robust control theory has emerged as a powerful tool for automating algorithm synthesis. By integrating design and analysis stages, fundamental performance bounds are revealed and synthesis of algorithms that achieve them is enabled. In this paper, we apply this framework to design algorithms for solving strongly convex optimization problems with linear equality constraints. Our approach yields a single-loop, gradient-based algorithm whose convergence rate is independent of the condition number of the constraint matrix. This improves upon the best known rate within the same algorithm class, which depends on the product of the condition numbers of the objective function and the constraint matrix.

Paperid: 1195, https://arxiv.org/pdf/2509.18518.pdf

Abstract:
Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing barrier certificate methods often rely on a restrictive boundedness assumption for auxiliary functions, limiting their applicability. This paper presents refined barrier-like conditions that remove this assumption. Specifically, we establish conditions for deriving upper bounds on finite-time safety probabilities in discrete-time systems and lower bounds on finite-time reach-avoid probabilities in continuous-time systems. This key relaxation significantly expands the class of verifiable systems, especially those with unbounded state spaces, and facilitates the application of advanced optimization techniques, such as semi-definite programming with polynomial functions. The efficacy of our approach is validated through numerical examples.

Paperid: 1196, https://arxiv.org/pdf/2509.18292.pdf

Abstract:
In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a distributed observer that enables each agent to reconstruct the state of the MAS. The main idea is to let each agent $\mathit{i}$ recover the state of agent $\mathit{j}$ by using leader-follower consensus rules to track agent $\mathit{j}$'s state estimate, which is generated by agent $\mathit{j}$ itself using a Luenberger-like estimation rule. Under the assumptions of node-level observability and topological ordering consistency, we show that the estimation error dynamics are stabilizable if and only if the communication graph is strongly connected. Moreover, we discuss the fully distributed design of the proposed observer, assuming that the agents only know basic MAS configuration information, such as the homogeneity and the maximum number of allowable agents. This design ensures that the proposed observer functions correctly when agents are added or removed. Building on this, we consider cooperative localization as a distributed estimation problem and develop two fully distributed localization algorithms that allow agents to track their own and other agents' positions (and velocities) within the MAS. Finally, we conduct simulations to demonstrate the effectiveness of our proposed theoretical results.

Paperid: 1197, https://arxiv.org/pdf/2509.17750.pdf

Abstract:
We present EigenSafe, an operator-theoretic framework for learning-enabled safety-critical control for stochastic systems. In many robotic systems where dynamics are best modeled as stochastic systems due to factors such as sensing noise and environmental disturbances, it is challenging for conventional methods such as Hamilton-Jacobi reachability and control barrier functions to provide a holistic measure of safety. We derive a linear operator governing the dynamic programming principle for safety probability, and find that its dominant eigenpair provides information about safety for both individual states and the overall closed-loop system. The proposed learning framework, called EigenSafe, jointly learns this dominant eigenpair and a safe backup policy in an offline manner. The learned eigenfunction is then used to construct a safety filter that detects potentially unsafe situations and falls back to the backup policy. The framework is validated in three simulated stochastic safety-critical control tasks.

Paperid: 1198, https://arxiv.org/pdf/2509.17010.pdf

Abstract:
This paper presents a novel Koopman operator formulation for Euler Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decouples a known linear actuation channel from state dependent dynamics and makes the system more amenable to linear Koopman modeling. By leveraging this structural separation, the proposed formulation only requires to learn the unactuated dynamics rather than the complete actuation dependent system, thereby significantly reducing the number of learnable parameters, improving data efficiency, and lowering overall model complexity. In contrast, conventional explicit formulations inherently couple inputs with the state dependent terms in a nonlinear manner, making them more suitable for bilinear Koopman models, which are more computationally expensive to train and deploy. Notably, the proposed scheme enables the formulation of linear models that achieve superior prediction performance compared to conventional bilinear models while remaining substantially more efficient. To realize this framework, we present two neural network architectures that construct Koopman embeddings from actuated or unactuated data, enabling flexible and efficient modeling across different tasks. Robustness is ensured through the integration of a linear Generalized Extended State Observer (GESO), which explicitly estimates disturbances and compensates for them in real time. The combined momentum-based Koopman and GESO framework is validated through comprehensive trajectory tracking simulations and experiments on robotic manipulators, demonstrating superior accuracy, robustness, and learning efficiency relative to state of the art alternatives.

Paperid: 1199, https://arxiv.org/pdf/2509.16746.pdf

Abstract:
We analyze offline designs of linear quadratic regulator (LQR) strategies with uncertain disturbances. First, we consider the scenario where the exogenous variable can be estimated in a controlled environment, and subsequently, consider a more practical and challenging scenario where it is unknown in a stochastic setting. Our approach builds on the fundamental learning-based framework of adaptive dynamic programming (ADP), combined with a Lyapunov-based analytical methodology to design the algorithms and derive sample-based approximations motivated from the Markov decision process (MDP)-based approaches. For the scenario involving non-measurable disturbances, we further establish stability and convergence guarantees for the learned control gains under sample-based approximations. The overall methodology emphasizes simplicity while providing rigorous guarantees. Finally, numerical experiments focus on the intricacies and validations for the design of offline continuous-time LQR with exogenous disturbances.

Paperid: 1200, https://arxiv.org/pdf/2509.16496.pdf

Abstract:
The recent emergence of large language models (LLMs) such as GPT-3 has marked a significant paradigm shift in machine learning. Trained on massive corpora of data, these models demonstrate remarkable capabilities in language understanding, generation, summarization, and reasoning, transforming how intelligent systems process and interact with human language. Although LLMs may still seem like a recent breakthrough, the field is already witnessing the rise of a new and more general category: multi-modal, multi-task foundation models (M3T FMs). These models go beyond language and can process heterogeneous data types/modalities, such as time-series measurements, audio, imagery, tabular records, and unstructured logs, while supporting a broad range of downstream tasks spanning forecasting, classification, control, and retrieval. When combined with federated learning (FL), they give rise to M3T Federated Foundation Models (FedFMs): a highly recent and largely unexplored class of models that enable scalable, privacy-preserving model training/fine-tuning across distributed data sources. In this paper, we take one of the first steps toward introducing these models to the power systems research community by offering a bidirectional perspective: (i) M3T FedFMs for smart grids and (ii) smart grids for FedFMs. In the former, we explore how M3T FedFMs can enhance key grid functions, such as load/demand forecasting and fault detection, by learning from distributed, heterogeneous data available at the grid edge in a privacy-preserving manner. In the latter, we investigate how the constraints and structure of smart grids, spanning energy, communication, and regulatory dimensions, shape the design, training, and deployment of M3T FedFMs.

Paperid: 1201, https://arxiv.org/pdf/2509.16134.pdf

Abstract:
The increasing penetration of electric vehicles (EVs) introduces significant flexibility potential to power systems. However, uncoordinated or synchronous charging can lead to overloading of distribution networks. Extending recent approaches that utilize generalized polymatroids, a family of polytopes, to represent the aggregate flexibility of EV populations, we show how to integrate network constraints into this representation to obtain network-constrained aggregate flexibility sets. Furthermore, we demonstrate how to optimize over these network-constrained aggregate flexibility sets, and propose a disaggregation procedure that maps an aggregate load profile to individual EV dispatch instructions, while respecting both device-level and network constraints.

Paperid: 1202, https://arxiv.org/pdf/2509.15354.pdf

Abstract:
This paper presents the coordination of two congestion management instruments - capacity limitation contracts (CLCs) and redispatch contracts (RCs) - as a risk-aware resource allocation problem. We propose that the advantages and drawbacks of these instruments can be represented as operational risk profiles and can be balanced through coordination. To this end, we develop a chance-constrained two-stage stochastic mixed-integer program for a system operator procuring flexibility from an aggregator managing a fleet of electric vehicles (EVs). The model captures uncertainty in EV charging and redispatch market conditions, using real order book data from the Dutch redispatch market (GOPACS). Results indicate that combining CLCs and RCs is generally the most cost-effective approach to mitigate risks associated with each instrument, but the optimal mix depends on fleet size and RC activation timing. Large uncertainty about EV loading increases RC activation intraday to correct for forecasting errors at the earlier CLC stage. For large fleet sizes (e.g. 25.000) the optimal policy limits redispatch due to market liquidity risks in the immature redispatch market. This risk increases for later redispatch activation due to shrinking trading windows for redispatch products. These findings highlight how various sources of uncertainty can impact the optimal trade-off between congestion management instruments.

Paperid: 1203, https://arxiv.org/pdf/2509.13164.pdf

Abstract:
Safe and scalable deployment of end-to-end (E2E) autonomous driving requires extensive and diverse data, particularly safety-critical events. Existing data are mostly generated from simulators with a significant sim-to-real gap or collected from on-road testing that is costly and unsafe. This paper presents TeraSim-World, an automated pipeline that synthesizes realistic and geographically diverse safety-critical data for E2E autonomous driving at anywhere in the world. Starting from an arbitrary location, TeraSim-World retrieves real-world maps and traffic demand from geospatial data sources. Then, it simulates agent behaviors from naturalistic driving datasets, and orchestrates diverse adversities to create corner cases. Informed by street views of the same location, it achieves photorealistic, geographically grounded sensor rendering via the frontier video generation model Cosmos-Drive. By bridging agent and sensor simulations, TeraSim-World provides a scalable and critical data synthesis framework for training and evaluation of E2E autonomous driving systems. Codes and videos are available at https://wjiawei.com/terasim-world-web/ .

Paperid: 1204, https://arxiv.org/pdf/2509.12813.pdf

Abstract:
We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world environments. We propose the \emph{Structured-MoE STL Planner} (\textbf{S-MSP}), a differentiable framework that maps synchronized multi-view camera observations and an STL specification directly to a feasible trajectory. S-MSP integrates STL constraints within a unified pipeline, trained with a composite loss that combines trajectory reconstruction and STL robustness. A \emph{structure-aware} Mixture-of-Experts (MoE) model enables horizon-aware specialization by projecting sub-tasks into temporally anchored embeddings. We evaluate S-MSP using a high-fidelity simulation of factory-logistics scenarios with temporally constrained tasks. Experiments show that S-MSP outperforms single-expert baselines in STL satisfaction and trajectory feasibility. A rule-based \emph{safety filter} at inference improves physical executability without compromising logical correctness, showcasing the practicality of the approach.

Paperid: 1205, https://arxiv.org/pdf/2509.11688.pdf

Abstract:
The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced or simulated data is employed in the pipeline. A primary bottleneck is the reliance on coordinate-dependent models, which leads to profound data inefficiency by failing to generalize physical interactions across different frames of reference. This forces learning algorithms to rediscover fundamental physical principles in every new orientation, artificially inflating the complexity of the learning task. This paper introduces a novel framework that synergizes a coordinate-free, unreduced multibody dynamics and kinematics model based on tensor mechanics with a Data-Assisted Control (DAC) architecture. A non-recursive, closed-form Newton-Euler model in an augmented matrix form is derived that is optimized for tensor-based control design. This structure enables a principled decomposition of the system into a structurally certain, physically grounded part and an uncertain, empirical, and interaction-focused part, mediated by a virtual port variable. Then, a complete, end-to-end tensor-invariant pipeline for modeling, control, and learning is proposed. The coordinate-free control laws for the structurally certain part provide a stable and abstract command interface, proven via Lyapunov analysis. Eventually, the model and closed-loop system are validated through simulations. This work provides a naturally ideal input for data-efficient, frame-invariant learning algorithms, such as equivariant learning, designed to learn the uncertain interaction. The synergy directly addresses the data-inefficiency problem, increases explainability and interpretability, and paves the way for more robust and generalizable robotic control in interactive environments.

Paperid: 1206, https://arxiv.org/pdf/2509.10246.pdf

Abstract:
The increasing penetration of renewable energy sources introduces significant uncertainty in power system operations, making traditional deterministic unit commitment approaches computationally expensive. This paper presents a machine learning surrogate modeling approach designed to reformulate the feasible design space of the two-stage stochastic unit commitment (TSUC) problem, reducing its computational complexity. The proposed method uses a support vector machine (SVM) to construct a surrogate model based on the governing equations of the learner. This model replaces the original 2|L| * |S| transmission line flow constraints, where |S| is the number of uncertainty scenarios and |L| is the number of transmission lines with |S| much less than |L|, with a significantly reduced set of 1 * |S| linear inequality constraints. The approach is theoretically grounded in the polyhedral structure of the feasible region under the DC power flow approximation, enabling the transformation of 2|L| line flow limit constraints into a single linear constraint. The surrogate model is trained using data generated from computationally efficient DC optimal power flow simulations. Simulation results on the IEEE 57-bus and 118-bus systems demonstrate SVM halfspace constraint accuracy of 99.72% and 99.88%, respectively, with TSUC computational time reductions of 46% and 31% and negligible generation cost increases (0.63% and 0.88% on average for IEEE 57- and 118-bus systems, respectively). This shows the effectiveness of the proposed approach for practical power system operations under renewable energy uncertainty.

Paperid: 1207, https://arxiv.org/pdf/2509.09784.pdf

Abstract:
Learning the governing equations of dynamical systems from data has drawn significant attention across diverse fields, including physics, engineering, robotics and control, economics, climate science, and healthcare. Sparse regression techniques, exemplified by the Automatic Regression for Governing Equations (ARGOS) framework, have demonstrated effectiveness in extracting parsimonious models from time series data. However, real-world dynamical systems are driven by input control, external forces, or human interventions, which standard ARGOS does not accommodate. To address this, we introduce ARGOS with control (ARGOSc), an extension of ARGOS that incorporates external control inputs into the system identification process. ARGOSc extends the sparse regression framework to infer governing equations while accounting for the effects of exogenous inputs, enabling robust identification of forcing dynamics in low- to medium-noise datasets. We demonstrate ARGOSc efficacy on benchmark systems, including the Van der Pol oscillator, Lotka-Volterra, and the Lorenz system with forcing and feedback control, showing enhanced accuracy in discovering governing laws. Under the noisy conditions, ARGOSc outperforms the widely used sparse identification of nonlinear dynamics with control (SINDYc), in accurately identifying the underlying forced dynamics. In some cases, SINDYc fails to capture the true system dynamics, whereas ARGOSc consistently succeeds.

Paperid: 1208, https://arxiv.org/pdf/2509.09563.pdf

Abstract:
A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A robust, model-based controller combined with a high-gain decentralized integrator establishes large robustness margins and strict time-scale separation, ensuring that subsequent learning cannot destabilize the primary dynamics. Learning, selected for its generalizability, is then applied to capture complex, unmodeled effects, despite inherent delay and transient error during adaptation. Formal Lyapunov analysis with explicit stability bounds guarantees convergence under bounded learning errors. The structured design confines learning to the simplest part of the dynamics, enhancing data efficiency while preserving physical interpretability. The approach is generic, with a free-floating space manipulator orientation control task, including integrated null-space collision avoidance, serving as a case study to demonstrate robust tracking performance and applicability to broader robotic domains.

Paperid: 1209, https://arxiv.org/pdf/2509.09027.pdf

Abstract:
This paper explores the role of regularization in data-driven predictive control (DDPC) through the lens of convex relaxation. Using a bi-level optimization framework, we model system identification as an inner problem and predictive control as an outer problem. Within this framework, we show that several regularized DDPC formulations, including l1-norm penalties, projection-based regularizers, and a newly introduced causality-based regularizer, can be viewed as convex relaxations of their respective bi-level problems. This perspective clarifies the conceptual links between direct and indirect data-driven control and highlights how regularization implicitly enforces system identification. We further propose an optimality-based variant, O-DDPC, which approximately solves the inner problem with all identification constraints via an iterative algorithm. Numerical experiments demonstrate that O-DDPC outperforms existing regularized DDPC by reducing both bias and variance errors. These results indicate that further benefits may be obtained by applying system identification techniques to pre-process the trajectory library in nonlinear settings. Overall, our analysis contributes to a unified convex relaxation view of regularization in DDPC and sheds light on its strong empirical performance beyond linear time-invariant systems.

Paperid: 1210, https://arxiv.org/pdf/2509.08310.pdf

Abstract:
The increasing reliance on cyber physical infrastructure in modern power systems has amplified the risk of targeted cyber attacks, necessitating robust and adaptive resilience strategies. This paper presents a mathematically rigorous game theoretic framework to evaluate and enhance microgrid resilience using a combination of quantitative resilience metrics Load Served Ratio LSR, Critical Load Resilience CLR, Topological Survivability Score TSS, and DER Resilience Score DRS. These are integrated into a unified payoff matrix using the Analytic Hierarchy Process AHP to assess attack defense interactions. The framework is formalized as a finite horizon Markov Decision Process MDP with formal convergence guarantees and computational complexity bounds. Three case studies are developed 1. static attacks analyzed via Nash equilibrium, 2. severe attacks incorporating high impact strategies, and 3. adaptive attacks using Stackelberg games, regret matching, softmax heuristics, and Multi Agent Q Learning. Rigorous theoretical analysis provides convergence proofs with explicit rates , PAC learning sample complexity bounds, and computational complexity analysis. The framework is tested on an enhanced IEEE 33bus distribution system with DERs and control switches, demonstrating the effectiveness of adaptive and strategic defenses in improving cyber physical resilience with statistically significant improvements of 18.7% 2.1% over static approaches.

Paperid: 1211, https://arxiv.org/pdf/2509.08241.pdf

Abstract:
Data-driven control methods need to be sample-efficient and lightweight, especially when data acquisition and computational resources are limited -- such as during learning on hardware. Most modern data-driven methods require large datasets and struggle with real-time updates of models, limiting their performance in dynamic environments. Koopman theory formally represents nonlinear systems as linear models over observables, and Koopman representations can be determined from data in an optimization-friendly setting with potentially rapid model updates. In this paper, we present a highly sample-efficient, Koopman-based learning pipeline: Recursive Koopman Learning (RKL). We identify sufficient conditions for model convergence and provide formal algorithmic analysis supporting our claim that RKL is lightweight and fast, with complexity independent of dataset size. We validate our method on a simulated planar two-link arm and a hybrid nonlinear hardware system with soft actuators, showing that real-time recursive Koopman model updates improve the sample efficiency and stability of data-driven controller synthesis -- requiring only <10% of the data compared to benchmarks. The high-performance C++ codebase is open-sourced. Website: https://www.zixinatom990.com/home/robotics/corl-2025-recursive-koopman-learning.

Paperid: 1212, https://arxiv.org/pdf/2509.08238.pdf

Abstract:
In this letters, an energy-efficient integrated sensing and communication (ISAC) for space-air-ground integrated network (SAGIN)-based Internet of Things (IoT) systems is proposed to facilitate wide coverage and real-time 6G services. For processing a sizable data collected at a IoT device, a hybrid edge computing scheme is applied with the cloudlets mounted at autonomous aerial vehicle (AAV) and low earth orbit (LEO) satellite, where the AAV with multiple antennas performs uplink sensing of the nearby target. With the aim of minimizing the total AAV's energy consumption, we optimize the duration of training and data phase and the bit allocation coupled with the offloading ratio under the constraints for offloading and sensing. Via simulations, the superiority of the proposed algorithm is verified to be pronounced with the sufficient mission time and the high sensing performance constraint.

Paperid: 1213, https://arxiv.org/pdf/2509.07847.pdf

Abstract:
We propose a model of opinion formation on resource allocation among multiple topics by multiple agents, who are subject to hard budget constraints. We define a utility function for each agent and then derive a projected dynamical system model of opinion evolution assuming that each agent myopically seeks to maximize its utility subject to its constraints. Inter-agent coupling arises from an undirected social network, while inter-topic coupling arises from resource constraints. We show that opinions always converge to the equilibrium set. For special networks with very weak antagonistic relations, the opinions converge to a unique equilibrium point. We further show that the underlying opinion formation game is a potential game. We relate the equilibria of the dynamics and the Nash equilibria of the game and characterize the unique Nash equilibrium for networks with no antagonistic relations. Finally, simulations illustrate our findings.

Paperid: 1214, https://arxiv.org/pdf/2509.05201.pdf

Abstract:
This paper presents a robust model predictive control (MPC) framework that explicitly addresses the non-Gaussian noise inherent in deep learning-based perception modules used for state estimation. Recognizing that accurate uncertainty quantification of the perception module is essential for safe feedback control, our approach departs from the conventional assumption of zero-mean noise quantification of the perception error. Instead, it employs set-based state estimation with constrained zonotopes to capture biased, heavy-tailed uncertainties while maintaining bounded estimation errors. To improve computational efficiency, the robust MPC is reformulated as a linear program (LP), using a Minkowski-Lyapunov-based cost function with an added slack variable to prevent degenerate solutions. Closed-loop stability is ensured through Minkowski-Lyapunov inequalities and contractive zonotopic invariant sets. The largest stabilizing terminal set and its corresponding feedback gain are then derived via an ellipsoidal approximation of the zonotopes. The proposed framework is validated through both simulations and hardware experiments on an omnidirectional mobile robot along with a camera and a convolutional neural network-based perception module implemented within a ROS2 framework. The results demonstrate that the perception-aware MPC provides stable and accurate control performance under heavy-tailed noise conditions, significantly outperforming traditional Gaussian-noise-based designs in terms of both state estimation error bounding and overall control performance.

Paperid: 1215, https://arxiv.org/pdf/2509.04708.pdf

Abstract:
We study fault identification in discrete-time nonlinear systems subject to additive Gaussian white noise. We introduce a Bayesian framework that explicitly accounts for unmodeled faults under reasonable assumptions. Our approach hinges on a new quantitative diagnosability definition, revealing when passive fault identification (FID) is fundamentally limited by the given control sequence. To overcome such limitations, we propose an active FID strategy that designs control inputs for better fault identification. Numerical studies on a two-water tank system and a Mars satellite with complex and discontinuous dynamics demonstrate that our method significantly reduces failure rates with shorter identification delays compared to purely passive techniques.

Paperid: 1216, https://arxiv.org/pdf/2509.03495.pdf

Abstract:
Interconnection studies require solving numerous instances of the AC load or power flow (AC PF) problem to simulate diverse scenarios as power systems navigate the ongoing energy transition. To expedite such studies, this work leverages recent advances in quantum computing to find or predict AC PF solutions using a variational quantum circuit (VQC). VQCs are trainable models that run on modern-day noisy intermediate-scale quantum (NISQ) hardware to accomplish elaborate optimization and machine learning (ML) tasks. Our first contribution is to pose a single instance of the AC PF as a nonlinear least-squares fit over the VQC trainable parameters (weights) and solve it using a hybrid classical/quantum computing approach. The second contribution is to feed PF specifications as features into a data-embedded VQC and train the resultant quantum ML (QML) model to predict general PF solutions. The third contribution is to develop a novel protocol to efficiently measure AC-PF quantum observables by exploiting the graph structure of a power network. Preliminary numerical tests indicate that the proposed VQC models attain enhanced prediction performance over a deep neural network despite using much fewer weights. The proposed quantum AC-PF framework sets the foundations for addressing more elaborate grid tasks via quantum computing.

Paperid: 1217, https://arxiv.org/pdf/2509.02922.pdf

Abstract:
Approximate methods to solve stochastic optimal control (SOC) problems have received significant interest from researchers in the past decade. Probabilistic inference approaches to SOC have been developed to solve nonlinear quadratic Gaussian problems. In this work, we propose an Expectation-Maximization (EM) based inference procedure to generate state-feedback controls for constrained SOC problems. We consider the inequality constraints for the state and controls and also the structural constraints for the controls. We employ barrier functions to address state and control constraints. We show that the expectation step leads to smoothing of the state-control pair while the the maximization step on the non-zero subsets of the control parameters allows inference of structured stochastic optimal controllers. We demonstrate the effectiveness of the algorithm on unicycle obstacle avoidance, four-unicycle formation control, and quadcopter navigation in windy environment examples. In these examples, we perform an empirical study on the parametric effect of barrier functions on the state constraint satisfaction. We also present a comparative study of smoothing algorithms on the performance of the proposed approach.

Paperid: 1218, https://arxiv.org/pdf/2509.01952.pdf

Abstract:
This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters and learn the external disturbances in real-time. To realize this, we augmented the existing geometric control with multiple neural networks and adaptive laws, where the estimated model parameters and the weights of the neural networks are simultaneously tuned and adjusted online. The Lyapunov-based adaptation guarantees bounded estimation errors without requiring either pre-training or the persistent excitation (PE) condition. The proposed control system has been proven to be stable in the sense of Lyapunov under certain preconditions, and its enhanced robustness under scenarios of disturbed environment and model-unmatched plant was demonstrated by numerical simulations.

Paperid: 1219, https://arxiv.org/pdf/2509.01951.pdf

Abstract:
This paper introduces an adaptive-neuro identification method that enhances the robustness of a centralized multi-quadrotor transportation system. This method leverages online tuning and learning on decomposed error subspaces, enabling efficient real-time compensation to time-varying disturbances and model uncertainties acting on the payload. The strategy is to decompose the high-dimensional error space into a set of low-dimensional subspaces. In this way, the identification problem for unseen features is naturally transformed into submappings (``slices'') addressed by multiple adaptive laws and shallow neural networks, which are updated online via Lyapunov-based adaptation without requiring persistent excitation (PE) and offline training. Due to the model-free nature of neural networks, this approach can be well adapted to highly coupled and nonlinear centralized transportation systems. It serves as a feedforward compensator for the payload controller without explicitly relying on the dynamics coupled with the payload, such as cables and quadrotors. The proposed control system has been proven to be stable in the sense of Lyapunov, and its enhanced robustness under time-varying disturbances and model uncertainties was demonstrated by numerical simulations.

Paperid: 1220, https://arxiv.org/pdf/2509.01662.pdf

Abstract:
Averting catastrophic global warming requires decisive action to decarbonize key sectors. Vehicle electrification, alongside renewable energy integration, is a long-term strategy toward zero carbon emissions. However, transitioning to fully renewable electricity may take decades -- during which electric vehicles may still rely on carbon-intensive electricity. We analyze the critical role of the transmission network in enabling or constraining emissions reduction from U.S. vehicle electrification. Our models reveal that the available transmission capacity severely limits potential CO2 emissions reduction. With adequate transmission, full electrification could nearly eliminate vehicle operational CO2 emissions once renewable generation reaches the existing nonrenewable capacity. In contrast, the current grid would support only a fraction of that benefit. Achieving the full emissions reduction potential of vehicle electrification during this transition will require a moderate but targeted increase in transmission capacity. Our findings underscore the pressing need to enhance transmission infrastructure to unlock the climate benefits of large-scale electrification and renewable integration.

Paperid: 1221, https://arxiv.org/pdf/2509.00528.pdf

Abstract:
This paper presents a physics-aware cyberphysical resilience framework for radial microgrids under coordinated cyberattacks. The proposed approach models the attacker through a hypergraph neural network (HGNN) enhanced with model agnostic metalearning (MAML) to rapidly adapt to evolving defense strategies and predict high-impact contingencies. The defender is modeled via a bi-level Stackelberg game, where the upper level selects optimal tie-line switching and distributed energy resource (DER) dispatch using an Alternating Direction Method of Multipliers (ADMM) coordinator embedded within the Non-dominated Sorting Genetic Algorithm II (NSGA-II). The framework simultaneously optimizes load served, operational cost, and voltage stability, ensuring all post-defense states satisfy network physics constraints. The methodology is first validated on the IEEE 69-bus distribution test system with 12 DERs, 8 critical loads, and 5 tie-lines, and then extended to higher bus systems including the IEEE 123-bus feeder and a synthetic 300-bus distribution system. Results show that the proposed defense strategy restores nearly full service for 90% of top-ranked attacks, mitigates voltage violations, and identifies Feeder 2 as the principal vulnerability corridor. Actionable operating rules are derived, recommending pre-arming of specific tie-lines to enhance resilience, while higher bus system studies confirm scalability of the framework on the IEEE 123-bus and 300-bus systems.

Paperid: 1222, https://arxiv.org/pdf/2509.00341.pdf

Abstract:
The optimal power flow (OPF) is a large-scale optimization problem that is central in the operation of electric power systems. Although it can be posed as a nonconvex quadratically constrained quadratic program, the complexity of modern-day power grids raises scalability and optimality challenges. In this context, this work proposes a variational quantum paradigm for solving the OPF. We encode primal variables through the state of a parameterized quantum circuit (PQC), and dual variables through the probability mass function associated with a second PQC. The Lagrangian function can thus be expressed as scaled expectations of quantum observables. An OPF solution can be found by minimizing/maximizing the Lagrangian over the parameters of the first/second PQC. We pursue saddle points of the Lagrangian in a hybrid fashion. Gradients of the Lagrangian are estimated using the two PQCs, while PQC parameters are updated classically using a primal-dual method. We propose permuting primal variables so that OPF observables are expressed in a banded form, allowing them to be measured efficiently. Numerical tests on the IEEE 57-node power system using Pennylane's simulator corroborate that the proposed doubly variational quantum framework can find high-quality OPF solutions. Although showcased for the OPF, this framework features a broader scope, including conic programs with numerous variables and constraints, problems defined over sparse graphs, and training quantum machine learning models to satisfy constraints.

Paperid: 1223, https://arxiv.org/pdf/2509.00329.pdf

Abstract:
Deformable continuum robots (DCRs) present unique planning challenges due to nonlinear deformation mechanics and partial state observability, violating the Markov assumptions of conventional reinforcement learning (RL) methods. While Jacobian-based approaches offer theoretical foundations for rigid manipulators, their direct application to DCRs remains limited by time-varying kinematics and underactuated deformation dynamics. This paper proposes Jacobian Exploratory Dual-Phase RL (JEDP-RL), a framework that decomposes planning into phased Jacobian estimation and policy execution. During each training step, we first perform small-scale local exploratory actions to estimate the deformation Jacobian matrix, then augment the state representation with Jacobian features to restore approximate Markovianity. Extensive SOFA surgical dynamic simulations demonstrate JEDP-RL's three key advantages over proximal policy optimization (PPO) baselines: 1) Convergence speed: 3.2x faster policy convergence, 2) Navigation efficiency: requires 25% fewer steps to reach the target, and 3) Generalization ability: achieve 92% success rate under material property variations and achieve 83% (33% higher than PPO) success rate in the unseen tissue environment.

Paperid: 1224, https://arxiv.org/pdf/2508.19670.pdf

Abstract:
As Mixed Criticality Systems (MCSs) evolve, they increasingly integrate heterogeneous computing platforms, combining general-purpose processors with specialized accelerators such as AI engines, GPUs, and high-speed networking interfaces. This heterogeneity introduces challenges, as these accelerators and DMA-capable devices act as independent bus masters, directly accessing memory. Consequently, ensuring both security and timing predictability in such environments becomes critical. To address these concerns, the Input-Output Memory Management Unit (IOMMU) plays a key role in mediating and regulating memory access, preventing unauthorized transactions while enforcing isolation and access control policies. While prior work has explored IOMMU-related side-channel vulnerabilities from a security standpoint, its role in performance interference remains largely unexplored. Moreover, many of the same architectural properties that enable side-channel leakage, such as shared TLBs, caching effects, and translation overheads, can also introduce timing unpredictability. In this work, we analyze the contention effects within IOMMU structures using the Xilinx UltraScale+ ZCU104 platform, demonstrating how their shared nature introduce unpredictable delays. Our findings reveal that IOMMU-induced interference primarily affects small memory transactions, where translation overheads significantly impact execution time. Additionally, we hypothesize that contention effects arising from IOTLBs exhibit similar behavior across architectures due to shared caching principles, such as prefetching and hierarchical TLB structures. Notably, our experiments show that IOMMU interference can delay DMA transactions by up to 1.79x for lower-size transfers on the Arm SMMUv2 implementation.

Paperid: 1225, https://arxiv.org/pdf/2508.16834.pdf

Abstract:
The integration of distributed generation (DG) is essential to the energy transition but poses challenges for lowvoltage (LV) distribution networks (DNs) with limited hosting capacity (HC). This study incorporates multiple fairness criteria, utilitarian, egalitarian, bounded, and bargaining, into the HC optimisation framework to assess their impact. When applied to LV feeders of different sizes and topologies, the analysis shows that bargaining and upper-bounded fairness provide the best balance between efficiency and fairness. Efficiency refers to maximising the social welfare of the LV DNs, while fairness is proportional to the minimisation of disparity in opportunity for installing DG. Feeder topology significantly influences fairness outcomes, while feeder size affects total HC and the inherent fairness of feeders. These results emphasise the importance of regulatory incentives and network designs in order to facilitate fair and efficient DG integration.

Paperid: 1226, https://arxiv.org/pdf/2508.14422.pdf

Abstract:
This paper introduces a lightweight and interpretable online learning approach called Dimension-Decomposed Learning (DiD-L) for disturbance identification in quadrotor geometric attitude control. As a module instance of DiD-L, we propose the Sliced Adaptive-Neuro Mapping (SANM). Specifically, to address underlying underfitting problems, the high-dimensional mapping for online identification is axially ``sliced" into multiple low-dimensional submappings (slices). In this way, the complex high-dimensional problem is decomposed into a set of simple low-dimensional subtasks addressed by shallow neural networks and adaptive laws. These neural networks and adaptive laws are updated online via Lyapunov-based adaptation without the persistent excitation (PE) condition. To enhance the interpretability of the proposed approach, we prove that the state solution of the rotational error dynamics exponentially converges into an arbitrarily small ball within an almost global attraction domain, despite time-varying disturbances and inertia uncertainties. This result is novel as it demonstrates exponential convergence without requiring pre-training for unseen disturbances and specific knowledge of the model. To our knowledge in the quadrotor control field, DiD-L is the first online learning approach that is lightweight enough to run in real-time at 400 Hz on microcontroller units (MCUs) such as STM32, and has been validated through real-world experiments.

Paperid: 1227, https://arxiv.org/pdf/2508.09432.pdf

Abstract:
Most autonomous-vehicles (AVs) driving strategies are designed and analyzed at the vehicle level, yet their aggregate impact on macroscopic traffic flow is still not understood, particularly the flow heterogeneity that emerges when AVs interact with human-driven vehicles (HVs). Existing validation techniques for macroscopic flow models rely on high-resolution spatiotemporal data spanning entire road segments which are rarely available for mixed-autonomy traffic. AVs record detailed Lagrangian trajectories of the ego vehicle and surrounding traffic through onboard sensors. Leveraging these Lagrangian observations to validate mixed-autonomy flow models therefore remains an open research challenge. This paper closes the gap between microscopic Lagrangian data and macroscopic Euclidean traffic models by introducing a continuous traffic-heterogeneity attribute. We represent traffic flow with two coupled conservation laws with one for vehicle number and one for the traffic attribute. Reconstruction methods are designed to derive the traffic attribute from Lagrangian vehicle trajectories. When abundant trajectory data are available, we characterize traffic heterogeneity by extracting drivers' desired speed and local behavioral uncertainty from trajectories. In data-scarce mixed traffic, we design an end-to-end mapping that infers the traffic heterogeneity solely from trajectories in the current spatiotemporal region. Experiments across multiple traffic datasets show that the proposed model effectively captures traffic heterogeneity by clustering the fundamental diagram scatter into attribute-based groups. The calibration errors of traffic flow dynamics are also reduce by 20% relative to the Aw-Rascle-Zhang model benchmark. Detailed analyses further show that the model generalizes well, maintaining nearly the same accuracy when evaluated under a variety of previously unseen traffic conditions.

Paperid: 1228, https://arxiv.org/pdf/2508.08642.pdf

Abstract:
Inaccurate spatial tracking in extended reality (XR) devices leads to virtual object jitter, misalignment, and user discomfort, fundamentally limiting immersive experiences and natural interactions. In this work, we introduce a novel testbed that enables simultaneous, synchronized evaluation of multiple XR devices under identical environmental and kinematic conditions. Leveraging this platform, we present the first comprehensive empirical benchmarking of five state-of-the-art XR devices across 16 diverse scenarios. Our results reveal substantial intra-device performance variation, with individual devices exhibiting up to 101\% increases in error when operating in featureless environments. We also demonstrate that tracking accuracy strongly correlates with visual conditions and motion dynamics. We also observe significant inter-device disparities, with performance differences of up to 2.8$\times$, which are closely linked to hardware specifications such as sensor configurations and dedicated processing units. Finally, we explore the feasibility of substituting a motion capture system with the Apple Vision Pro as a practical ground truth reference. While the Apple Vision Pro delivers highly accurate relative pose error estimates ($R^2 = 0.830$), its absolute pose error estimation remains limited ($R^2 = 0.387$), highlighting both its potential and its constraints for rigorous XR evaluation. This work establishes the first standardized framework for comparative XR tracking evaluation, providing the research community with reproducible methodologies, comprehensive benchmark datasets, and open-source tools that enable systematic analysis of tracking performance across devices and conditions, thereby accelerating the development of more robust spatial sensing technologies for XR systems.

Paperid: 1229, https://arxiv.org/pdf/2508.08511.pdf

Abstract:
The control-affine SchrÃ¶dinger bridge concerns with a stochastic optimal control problem. Its solution is a controlled evolution of joint state probability density subject to a control-affine ItÃ´ diffusion with a given deadline connecting a given pair of initial and terminal densities. In this work, we recast the necessary conditions of optimality for the control-affine SchrÃ¶dinger bridge problem as a two point boundary value problem for a quantum mechanical SchrÃ¶dinger PDE with complex potential. This complex-valued potential is a generalization of the real-valued Bohm potential in quantum mechanics. Our derived potential is akin to the optical potential in nuclear physics where the real part of the potential encodes elastic scattering (transmission of wave function), and the imaginary part encodes inelastic scattering (absorption of wave function). The key takeaway is that the process noise that drives the evolution of probability densities induces an absorbing medium in the evolution of wave function. These results make new connections between control theory and non-equilibrium statistical mechanics through the lens of quantum mechanics.

Paperid: 1230, https://arxiv.org/pdf/2508.05827.pdf

Abstract:
The shift towards electric vehicles (EVs) is crucial for establishing sustainable and low-emission urban transportation systems. However, the success of this transition depends on the strategic placement of the charging infrastructure. This paper addresses the challenge of optimizing charging station locations in dense urban environments while balancing efficiency with spatial accessibility. We propose an optimization framework that integrates traffic simulation, energy consumption modeling, and a mobility equity measure to evaluate the social reach of each potential charging station. Using New York City as a case study, we demonstrate consistent improvements in accessibility (15-20% reduction in travel time variability). Our results provide a scalable methodology for incorporating equity considerations into EV infrastructure planning, although economic factors and grid integration remain important areas for future development.

Paperid: 1231, https://arxiv.org/pdf/2508.05495.pdf

Abstract:
As processor performance advances, increasing power densities and complex thermal behaviors threaten both energy efficiency and system reliability. This survey covers more than two decades of research on power and thermal modeling and management in modern processors. We start by comparing analytical, regression-based, and neural network-based techniques for power estimation, then review thermal modeling methods, including finite element, finite difference, and data-driven approaches. Next, we categorize dynamic runtime management strategies that balance performance, power consumption, and reliability. Finally, we conclude with a discussion of emerging challenges and promising research directions.

Paperid: 1232, https://arxiv.org/pdf/2508.03043.pdf

Abstract:
Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This performance gap is contributed by a combination of low robot inertia, fast dynamics, uncertainty in flapping-wing aerodynamics, and high susceptibility to environmental disturbance. Executing highly dynamic maneuvers requires the generation of aggressive flight trajectories that push against the hardware limit and a high-rate feedback controller that accounts for model and environmental uncertainty. Here, through designing a deep-learned robust tube model predictive controller, we showcase insect-like flight agility and robustness in a 750-millgram flapping-wing robot. Our model predictive controller can track aggressive flight trajectories under disturbance. To achieve a high feedback rate in a compute-constrained real-time system, we design imitation learning methods to train a two-layer, fully connected neural network, which resembles insect flight control architecture consisting of central nervous system and motor neurons. Our robot demonstrates insect-like saccade movements with lateral speed and acceleration of 197 centimeters per second and 11.7 meters per second square, representing 447$\%$ and 255$\%$ improvement over prior results. The robot can also perform saccade maneuvers under 160 centimeters per second wind disturbance and large command-to-force mapping errors. Furthermore, it performs 10 consecutive body flips in 11 seconds - the most challenging maneuver among sub-gram flyers. These results represent a milestone in achieving insect-scale flight agility and inspire future investigations on sensing and compute autonomy.

Paperid: 1233, https://arxiv.org/pdf/2508.02881.pdf

Abstract:
Cyber attacks continue to be a cause of concern despite advances in cyber defense techniques. Although cyber attacks cannot be fully prevented, standard decision-making frameworks typically focus on how to prevent them from succeeding, without considering the cost of cleaning up the damages incurred by successful attacks. This motivates us to investigate a new resource allocation problem formulated in this paper: The defender must decide how to split its investment between preventive defenses, which aim to harden nodes from attacks, and reactive defenses, which aim to quickly clean up the compromised nodes. This encounters a challenge imposed by the uncertainty associated with the observation, or sensor signal, whether a node is truly compromised or not; this uncertainty is real because attack detectors are not perfect. We investigate how the quality of sensor signals impacts the defender's strategic investment in the two types of defense, and ultimately the level of security that can be achieved. In particular, we show that the optimal investment in preventive resources increases, and thus reactive resource investment decreases, with higher sensor quality. We also show that the defender's performance improvement, relative to a baseline of no sensors employed, is maximal when the attacker can only achieve low attack success probabilities.

Paperid: 1234, https://arxiv.org/pdf/2508.02632.pdf

Abstract:
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive target behavior, which frequently fails in practical applications where targets exhibit stochastic autonomous behavior. This paper presents a hierarchical learning-based control architecture that decomposes the shepherding problem into a high-level decision-making module and a low-level motion control component. The proposed distributed control system synthesizes effective control policies directly from closed-loop experience without requiring explicit inter-agent communication or prior knowledge of target dynamics. The decentralized architecture achieves cooperative control behavior through emergent coordination without centralized supervision. Experimental validation demonstrates superior closed-loop performance compared to state-of-the-art heuristic control methods, achieving 100\% success rates with improved settling times and control efficiency. The control architecture scales beyond its design conditions, adapts to time-varying goal regions, and demonstrates practical implementation feasibility through real-time experiments on the Robotarium platform.

Paperid: 1235, https://arxiv.org/pdf/2508.00156.pdf

Abstract:
As the airspace becomes increasingly congested, decentralized conflict resolution methods for airplane encounters have become essential. While decentralized safety controllers can prevent dangerous midair collisions, they do not always ensure prompt conflict resolution. As a result, airplane progress may be blocked for extended periods in certain situations. To address this blocking phenomenon, this paper proposes integrating bio-inspired nonlinear opinion dynamics into the airplane safety control framework, thereby guaranteeing both safety and blocking-free resolution. In particular, opinion dynamics enable the safety controller to achieve collaborative decision-making for blocking resolution and facilitate rapid, safe coordination without relying on communication or preset rules. Extensive simulation results validate the improved flight efficiency and safety guarantees. This study provides practical insights into the design of autonomous controllers for airplanes.

Paperid: 1236, https://arxiv.org/pdf/2507.23339.pdf

Abstract:
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they struggle with the significant simulation-to-reality gap, as policies that perform well in simulation often fail when transferred to physical systems. In this paper, we present a reinforcement learning framework with GPU-accelerated parallel simulation and systematic domain randomization that effectively bridges the gap. The proposed approach is validated on both simulation and a custom-designed and open-sourced 1/10 scale Individual Wheel Drive (IWD) RC car platform featuring independent wheel speed control. Experiments across various scenarios from steady-state circular drifting to direction transitions and variable-curvature path following demonstrate that our approach achieves precise trajectory tracking while maintaining controlled sideslip angles throughout complex maneuvers in both simulated and real-world environments.

Paperid: 1237, https://arxiv.org/pdf/2507.22385.pdf

Abstract:
Given a controlled diffusion and a connected, bounded, Lipschitz set, when is it possible to guarantee controlled set invariance with probability one? In this work, we answer this question by deriving the necessary and sufficient conditions for the same in terms of gradients of certain log-likelihoods -- a.k.a. score vector fields -- for two cases: given finite time horizon and infinite time horizon. The deduced conditions comprise a score-based test that provably certifies or falsifies the existence of Markovian controllers for given controlled set invariance problem data. Our results are constructive in the sense when the problem data passes the proposed test, we characterize all controllers guaranteeing the desired set invariance. When the problem data fails the proposed test, there does not exist a controller that can accomplish the desired set invariance with probability one. The computation in the proposed tests involve solving certain Dirichlet boundary value problems, and in the finite horizon case, can also account for additional constraint of hitting a target subset at the terminal time. We illustrate the results using several semi-analytical and numerical examples.

Paperid: 1238, https://arxiv.org/pdf/2507.20399.pdf

Abstract:
Autonomous Delivery Vehicles (ADVs) are increasingly used for transporting goods in 5G network-enabled smart factories, with the compute-intensive localization module presenting a significant opportunity for optimization. We propose ACCESS-AV, an energy-efficient Vehicle-to-Infrastructure (V2I) localization framework that leverages existing 5G infrastructure in smart factory environments. By opportunistically accessing the periodically broadcast 5G Synchronization Signal Blocks (SSBs) for localization, ACCESS-AV obviates the need for dedicated Roadside Units (RSUs) or additional onboard sensors to achieve energy efficiency as well as cost reduction. We implement an Angle-of-Arrival (AoA)-based estimation method using the Multiple Signal Classification (MUSIC) algorithm, optimized for resource-constrained ADV platforms through an adaptive communication-computation strategy that dynamically balances energy consumption with localization accuracy based on environmental conditions such as Signal-to-Noise Ratio (SNR) and vehicle velocity. Experimental results demonstrate that ACCESS-AV achieves an average energy reduction of 43.09% compared to non-adaptive systems employing AoA algorithms such as vanilla MUSIC, ESPRIT, and Root-MUSIC. It maintains sub-30 cm localization accuracy while also delivering substantial reductions in infrastructure and operational costs, establishing its viability for sustainable smart factory environments.

Paperid: 1239, https://arxiv.org/pdf/2507.19531.pdf

Abstract:
We tackle neural networks (NNs) to approximate model predictive control (MPC) laws. We propose a novel learning-based explicit MPC structure, which is reformulated into a dual-mode scheme over maximal constrained feasible set. The scheme ensuring the learning-based explicit MPC reduces to linear feedback control while entering the neighborhood of origin. We construct a safety governor to ensure that learning-based explicit MPC satisfies all the state and input constraints. Compare to the existing approach, our approach is computationally easier to implement even in high-dimensional system. The proof of recursive feasibility for the safety governor is given. Our approach is demonstrated on numerical examples.

Paperid: 1240, https://arxiv.org/pdf/2507.19244.pdf

Abstract:
Within Bayesian state estimation, considerable effort has been devoted to incorporating constraints into state estimation for process optimization, state monitoring, fault detection and control. Nonetheless, in the domain of state-space system identification, the prevalent practice entails constructing models under Gaussian noise assumptions, which can lead to inaccuracies when the noise follows bounded distributions. With the aim of generalizing the Gaussian noise assumption to potentially truncated densities, this paper introduces a method for estimating the noise parameters in a state-space model subject to truncated Gaussian noise. Our proposed data-driven approach is rooted in maximum likelihood principles combined with the Expectation-Maximization algorithm. The efficacy of the proposed approach is supported by a simulation example.

Paperid: 1241, https://arxiv.org/pdf/2507.17194.pdf

Abstract:
Optimal transmission switching (OTS) improves optimal power flow (OPF) by selectively opening transmission lines, but its mixed-integer formulation increases computational complexity, especially on large grids. To deal with this, we propose a dispatch-aware deep neural network (DA-DNN) that accelerates DC-OTS without relying on pre-solved labels. DA-DNN predicts line states and passes them through a differentiable DC-OPF layer, using the resulting generation cost as the loss function so that all physical network constraints are enforced throughout training and inference. In addition, we adopt a customized weight-bias initialization that keeps every forward pass feasible from the first iteration, which allows stable learning on large grids. Once trained, the proposed DA-DNN produces a provably feasible topology and dispatch pair in the same time as solving the DCOPF, whereas conventional mixed-integer solvers become intractable. As a result, the proposed method successfully captures the economic advantages of OTS while maintaining scalability.

Paperid: 1242, https://arxiv.org/pdf/2507.14025.pdf

Abstract:
In this paper, we propose a novel reference-free iterative learning model predictive control (MPC). In the proposed method, a certificate function based on the concept of Control Lyapunov Barrier Function (CLBF) is learned using data collected from past control executions and used to define the terminal set and cost in the MPC optimization problem at the current iteration. This scheme enables the progressive refinement of the MPC's terminal components over successive iterations. Unlike existing methods that rely on mixed-integer programming and suffer from numerical difficulties, the proposed approach formulates the MPC optimization problem as a standard nonlinear program, enabling more efficient online computation. The proposed method satisfies key MPC properties, including recursive feasibility and asymptotic stability. Additionally, we demonstrate that the performance cost is non-increasing with respect to the number of iterations, under certain assumptions. Numerical experiments including the simulation with PyBullet confirm that our control scheme iteratively enhances control performance and significantly improves online computational efficiency compared to the existing methods.

Paperid: 1243, https://arxiv.org/pdf/2507.13650.pdf

Abstract:
Secondary cataract is one of the most common complications of vision loss due to the proliferation of residual lens materials that naturally grow on the lens capsule after cataract surgery. A potential treatment is capsule cleaning, a surgical procedure that requires enhanced visualization of the entire capsule and tool manipulation on the thin membrane. This article presents a robotic system capable of performing the capsule cleaning procedure by integrating a standard transpupillary and an intraocular optical coherence tomography probe on a surgical instrument for equatorial capsule visualization and real-time tool-to-tissue distance feedback. Using robot precision, the developed system enables complete capsule mapping in the pupillary and equatorial regions with in-situ calibration of refractive index and fiber offset, which are still current challenges in obtaining an accurate capsule model. To demonstrate effectiveness, the capsule mapping strategy was validated through five experimental trials on an eye phantom that showed reduced root-mean-square errors in the constructed capsule model, while the cleaning strategy was performed in three ex-vivo pig eyes without tissue damage.

Paperid: 1244, https://arxiv.org/pdf/2507.12743.pdf

Abstract:
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper introduces a safe control framework of utilizing PCBF: continuously parametrized control barrier functions (CBFs). In PCBF, each choice of parameter corresponds to a control invariant set of relatively simple shape. Invariance-preserving control is done by dynamically selecting a parameter whose corresponding invariant set lies within the safety bound. This eliminates the need for synthesizing a single complex CBF that matches the entire free space. It also enables easier adaptation to diverse environments. By assigning a differentiable dynamics on the parameter space, we derive a lightweight feedback controller based on quadratic programming (QP), namely PCBF-QP. We also discuss on how to build a valid PCBF for a class of systems and how to constrain the parameter so that the invariant set does not exceed the safety bound. The concept is also extended to cover continuously parametrized high-order CBFs, which is called high-order PCBF. Finally, simulation experiments are conducted to validate the proposed approach.

Paperid: 1245, https://arxiv.org/pdf/2507.12196.pdf

Abstract:
Quantization is a process that reduces the precision of deep neural network models to lower model size and computational demands, often at the cost of accuracy. However, fully quantized models may exhibit sub-optimal performance below acceptable levels and face deployment challenges on low-end hardware accelerators due to practical constraints. To address these issues, quantization can be selectively applied to only a subset of layers, but selecting which layers to exclude is non-trivial. To this direction, we propose TuneQn, a suite enabling selective quantization, deployment and execution of ONNX models across various CPU and GPU devices, combined with profiling and multi-objective optimization. TuneQn generates selectively quantized ONNX models, deploys them on different hardware, measures performance on metrics like accuracy and size, performs Pareto Front minimization to identify the best model candidate and visualizes the results. To demonstrate the effectiveness of TuneQn, we evaluated TuneQn on four ONNX models with two quantization settings across CPU and GPU devices. As a result, we demonstrated that our utility effectively performs selective quantization and tuning, selecting ONNX model candidates with up to a $54.14$% reduction in accuracy loss compared to the fully quantized model, and up to a $72.9$% model size reduction compared to the original model.

Paperid: 1246, https://arxiv.org/pdf/2507.11920.pdf

Abstract:
Real-time path planning in dense, uncertain environments remains a challenging problem, as predicting the future motions of numerous dynamic obstacles is computationally burdensome and unrealistic. To address this, we introduce Hybrid Prediction-based Risk-Aware Planning (HyPRAP), a prediction-based risk-aware path-planning framework which uses a hybrid combination of models to predict local obstacle movement. HyPRAP uses a novel Prediction-based Collision Risk Index (P-CRI) to evaluate the risk posed by each obstacle, enabling the selective use of predictors based on whether the agent prioritizes high predictive accuracy or low computational prediction overhead. This selective routing enables the agent to focus on high-risk obstacles while ignoring or simplifying low-risk ones, making it suitable for environments with a large number of obstacles. Moreover, HyPRAP incorporates uncertainty quantification through hybrid conformal prediction by deriving confidence bounds simultaneously achieved by multiple predictions across different models. Theoretical analysis demonstrates that HyPRAP effectively balances safety and computational efficiency by leveraging the diversity of prediction models. Extensive simulations validate these insights for more general settings, confirming that HyPRAP performs better compared to single predictor methods, and P-CRI performs better over naive proximity-based risk assessment.

Paperid: 1247, https://arxiv.org/pdf/2507.11726.pdf

Abstract:
Transmission switching is a well-established approach primarily applied to minimize operational costs through strategic network reconfiguration. However, exclusive focus on cost reduction can compromise system reliability. While multi-objective transmission switching can balance cost savings with reliability improvements, feasible solutions become exceedingly difficult to obtain as system scale grows, due to the inherent nonlinearity and high computational demands involved. This paper proposes a deep reinforcement learning (DRL) method for multi-objective transmission switching. The method incorporates a dueling-based actor-critic framework to evaluate the relative impact of each line switching decision within the action space, which improves decision quality and enhances both system reliability and cost efficiency. Numerical studies on the IEEE 118-bus system verify the effectiveness and efficiency of the proposed approach compared to two benchmark DRL algorithms.

Paperid: 1248, https://arxiv.org/pdf/2507.11240.pdf

Abstract:
We study the Continuous-Discrete Kalman Filter (CD-KF) for State-Space Models (SSMs) where continuous-time dynamics are observed via multiple sensors with discrete, irregularly timed measurements. Our focus extends to scenarios in which the measurement process is coupled with the states of an auxiliary SSM. For instance, higher measurement rates may increase energy consumption or heat generation, while a sensor's accuracy can depend on its own spatial trajectory or that of the measured target. Each sensor thus carries distinct costs and constraints associated with its measurement rate and additional constraints and costs on the auxiliary state. We model measurement occurrences as independent Poisson processes with sensor-specific rates and derive an upper bound on the mean posterior covariance matrix of the CD-KF along the mean auxiliary state. The bound is continuously differentiable with respect to the measurement rates, which enables efficient gradient-based optimization. Exploiting this bound, we propose a finite-horizon optimal control framework to optimize measurement rates and auxiliary-state dynamics jointly. We further introduce a deterministic method for scheduling measurement times from the optimized rates. Empirical results in state-space filtering and dynamic temporal Gaussian process regression demonstrate that our approach achieves improved trade-offs between resource usage and estimation accuracy.

Paperid: 1249, https://arxiv.org/pdf/2507.09960.pdf

Abstract:
In multiple-input multiple-output integrated sensing and communication (MIMO ISAC) systems, radio frequency chain (i.e., RF chain) selection plays a vital role in reducing hardware cost, power consumption, and computational complexity. However, designing an effective RF chain selection strategy is challenging due to the disparity in performance metrics between communication and sensing-mutual information (MI) versus beam-pattern mean-squared error (MSE) or the CramÃ©r-Rao lower bound (CRLB). To overcome this, we propose a low-complexity greedy RF chain selection framework maximizing a unified MI-based performance metric applicable to both functions. By decomposing the total MI into individual contributions of each RF chain, we introduce two approaches: greedy eigen-based selection (GES) and greedy cofactor-based selection (GCS), which iteratively identify and remove the RF chains with the lowest contribution. We further extend our framework to beam selection for beamspace MIMO ISAC systems, introducing diagonal beam selection (DBS) as a simplified solution. Simulation results show that our proposed methods achieve near-optimal performance with significantly lower complexity than exhaustive search, demonstrating their practical effectiveness for MIMO ISAC systems.

Paperid: 1250, https://arxiv.org/pdf/2507.09280.pdf

Abstract:
Power systems Unit Commitment (UC) problem determines the generator commitment schedule and dispatch decisions to realize the reliable and economic operation of power networks. The growing penetration of stochastic renewables and demand behaviors makes it necessary to solve the UC problem timely. It is possible to derive lightweight, faster-to-solve UC models via constraint screening to eliminate redundant constraints. However, the screening process remains computationally cumbersome due to the need of solving numerous linear programming (LP) problems. To reduce the number of LPs to solve, we introduce a novel perspective on such classic LP-based screening. Our key insights lie in the principle that redundant constraints will be satisfied by all vertices of the screened feasible region. Using the UC decision variables' bounds tightened by solving much fewer LPs, we build an outer approximation for the UC feasible region as the screened region. A matrix operation is then designed and applied to the outer approximation's vertices to identify all redundant constraints on-the-fly. Adjustments for the outer approximation are further explored to improve screening efficiency by considering the load operating range and cutting planes derived from UC cost and discrete unit status prediction. Extensive simulations are performed on a set of testbeds up to 2,383 buses to substantiate the effectiveness of the proposed schemes. Compared to classic LP-based screening, our schemes can achieve up to 8.8x acceleration while finding the same redundant constraints.

Paperid: 1251, https://arxiv.org/pdf/2507.09000.pdf

Abstract:
Identifying the actual cause of events in engineered systems is a fundamental challenge in system analysis. Finding such causes becomes more challenging in the presence of noise and stochastic behavior in real-world systems. In this paper, we adopt the notion of probabilistic actual causality by Fenton-Glynn, which is a probabilistic extension of Halpern and Pearl's actual causality, and propose a novel method to formally reason about causal effect of events in stochastic systems. We (1) formulate the discovery of probabilistic actual causes in computing systems as an SMT problem, and (2) address the scalability challenges by introducing an abstraction-refinement technique that improves efficiency by up to 95%. We demonstrate the effectiveness of our approach through three case studies, identifying probabilistic actual causes of safety violations in (1) the Mountain Car problem, (2) the Lunar Lander benchmark, and (3) MPC controller for an F-16 autopilot simulator.

Paperid: 1252, https://arxiv.org/pdf/2507.07315.pdf

Abstract:
Emergence and swarms are widely discussed topics, yet no consensus exists on their formal definitions. This lack of agreement makes it difficult not only for new researchers to grasp these concepts, but also for experts who may use the same terms to mean different things. Many attempts have been made to objectively define 'swarm' or 'emergence,' with recent work highlighting the role of the external observer. Still, several researchers argue that once an observer's vantage point (e.g., scope, resolution, context) is established, the terms can be made objective or measured quantitatively. In this note, we propose a framework to discuss these ideas rigorously by separating externally observable states from latent, unobservable ones. This allows us to compare and contrast existing definitions of swarms and emergence on common ground. We argue that these concepts are ultimately subjective-shaped less by the system itself than by the perception and tacit knowledge of the observer. Specifically, we suggest that a 'swarm' is not defined by its group behavior alone, but by the process generating that behavior. Our broader goal is to support the design and deployment of robotic swarm systems, highlighting the critical distinction between multi-robot systems and true swarms.

Paperid: 1253, https://arxiv.org/pdf/2507.07263.pdf

Abstract:
This work analyzes convergence times and robustness bounds for asynchronous distributed shortest-path computation. We focus on the Adaptive Bellman--Ford algorithm, a self-stabilizing method in which each agent updates its shortest-path estimate based only on the estimates of its neighbors and forgetting its previous estimate. In the asynchronous framework considered in this paper, agents are allowed to idle or encounter race conditions during their execution of the Adaptive Bellman--Ford algorithm. We build on Lyapunov-based results that develop finite-time convergence and robustness bounds for the synchronous shortest-path setting, in order to produce finite-time convergence and robustness bounds for the asynchronous setting. We also explore robustness against interval-bounded noise processes and establish convergence and robustness guarantees for asynchronous most-probable-path algorithms.

Paperid: 1254, https://arxiv.org/pdf/2507.06549.pdf

Abstract:
To achieve higher system energy efficiency, SRAM in SoCs is often customized. The parasitic effects cause notable discrepancies between pre-layout and post-layout circuit simulations, leading to difficulty in converging design parameters and excessive design iterations. Is it possible to well predict the parasitics based on the pre-layout circuit, so as to perform parasitic-aware pre-layout simulation? In this work, we propose a deep-learning-based 2-stage model to accurately predict these parasitics in pre-layout stages. The model combines a Graph Neural Network (GNN) classifier and Multi-Layer Perceptron (MLP) regressors, effectively managing class imbalance of the net parasitics in SRAM circuits. We also employ Focal Loss to mitigate the impact of abundant internal net samples and integrate subcircuit information into the graph to abstract the hierarchical structure of schematics. Experiments on 4 real SRAM designs show that our approach not only surpasses the state-of-the-art model in parasitic prediction by a maximum of 19X reduction of error but also significantly boosts the simulation process by up to 598X speedup.

Paperid: 1255, https://arxiv.org/pdf/2507.06538.pdf

Abstract:
Graph representation learning is a powerful method to extract features from graph-structured data, such as analog/mixed-signal (AMS) circuits. However, training deep learning models for AMS designs is severely limited by the scarcity of integrated circuit design data. In this work, we present CircuitGPS, a few-shot learning method for parasitic effect prediction in AMS circuits. The circuit netlist is represented as a heterogeneous graph, with the coupling capacitance modeled as a link. CircuitGPS is pre-trained on link prediction and fine-tuned on edge regression. The proposed method starts with a small-hop sampling technique that converts a link or a node into a subgraph. Then, the subgraph embeddings are learned with a hybrid graph Transformer. Additionally, CircuitGPS integrates a low-cost positional encoding that summarizes the positional and structural information of the sampled subgraph. CircuitGPS improves the accuracy of coupling existence by at least 20\% and reduces the MAE of capacitance estimation by at least 0.067 compared to existing methods. Our method demonstrates strong inherent scalability, enabling direct application to diverse AMS circuit designs through zero-shot learning. Furthermore, the ablation studies provide valuable insights into graph models for representation learning.

Paperid: 1256, https://arxiv.org/pdf/2507.04229.pdf

Abstract:
Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control. Reinforcement learning (RL) offers a promising solution to address these challenges by learning optimal control policies through interaction. Nevertheless, RL methods often struggle with local optima when exploring large solution spaces for motion and manipulation tasks. To overcome these limitations, we propose a novel approach that integrates an explicit kinematic model of the manipulator into the RL framework. This integration provides feedback on the mapping of the body postures to the manipulator's workspace, guiding the RL exploration process and effectively mitigating the local optima issue. Our algorithm has been successfully deployed on a DeepRobotics X20 quadruped robot equipped with a Unitree Z1 manipulator, and extensive experimental results demonstrate the superior performance of this approach.

Paperid: 1257, https://arxiv.org/pdf/2512.24402.pdf

Abstract:
In this paper, we describe the automated simulation and reporting pipeline implemented for our autonomous racing stack, ur.autopilot. The backbone of the simulation is based on a high-fidelity model of the vehicle interfaced as a Functional Mockup Unit (FMU). The pipeline can execute the software stack and the simulation up to three times faster than real-time, locally or on GitHub for Continuous Integration/- Continuous Delivery (CI/CD). As the most important input of the pipeline, there is a set of running scenarios. Each scenario allows the initialization of the ego vehicle in different initial conditions (position and speed), as well as the initialization of any other configuration of the stack. This functionality is essential to validate efficiently critical modules, like the one responsible for high-speed overtaking maneuvers or localization, which are among the most challenging aspects of autonomous racing. Moreover, we describe how we implemented a fault injection module, capable of introducing sensor delays and perturbations as well as modifying outputs of any node of the stack. Finally, we describe the design of our automated reporting process, aimed at maximizing the effectiveness of the simulation analysis.

Paperid: 1258, https://arxiv.org/pdf/2512.23900.pdf

Abstract:
Non-terrestrial base stations (NTBSs), including high-altitude platform stations (HAPSs) and hot-air balloons (HABs), are integral to next-generation wireless networks, offering coverage in remote areas and enhancing capacity in dense regions. In this paper, we propose a distributed beamforming framework for a massive MIMO network with a constellation of aerial platform stations (APSs). Our approach leverages an entropy-based multi-agent deep reinforcement learning (DRL) model, where each APS operates as an independent agent using imperfect channel state information (CSI) in both training and testing phases. Unlike conventional methods, our model does not require CSI sharing among APSs, significantly reducing overhead. Simulations results demonstrate that our method outperforms zero forcing (ZF) and maximum ratio transmission (MRT) techniques, particularly in high-interference scenarios, while remaining robust to CSI imperfections. Additionally, our framework exhibits scalability, maintaining stable performance over an increasing number of users and various cluster configurations. Therefore, the proposed method holds promise for dynamic and interference-rich NTBS networks, advancing scalable and robust wireless solutions.

Paperid: 1259, https://arxiv.org/pdf/2512.22957.pdf

Abstract:
An aerial manipulator, comprising a multirotor base and a robotic arm, is subject to significant dynamic coupling between these two components. Therefore, achieving precise and robust motion control is a challenging yet important objective. Here, we propose a novel prescribed performance motion control framework based on variable-gain extended state observers (ESOs), referred to as PreGME. The method includes variable-gain ESOs for real-time estimation of dynamic coupling and a prescribed performance flight control that incorporates error trajectory constraints. Compared with existing methods, the proposed approach exhibits the following two characteristics. First, the adopted variable-gain ESOs can accurately estimate rapidly varying dynamic coupling. This enables the proposed method to handle manipulation tasks that require aggressive motion of the robotic arm. Second, by prescribing the performance, a preset error trajectory is generated to guide the system evolution along this trajectory. This strategy allows the proposed method to ensure the tracking error remains within the prescribed performance envelope, thereby achieving high-precision control. Experiments on a real platform, including aerial staff twirling, aerial mixology, and aerial cart-pulling experiments, are conducted to validate the effectiveness of the proposed method. Experimental results demonstrate that even under the dynamic coupling caused by rapid robotic arm motion (end-effector velocity: 1.02 m/s, acceleration: 5.10 m/s$^2$), the proposed method achieves high tracking performance.

Paperid: 1260, https://arxiv.org/pdf/2512.22699.pdf

Abstract:
This paper presents a novel learning-based framework for predicting power outages caused by extreme events. The proposed approach specifically targets low-probability, high-consequence outage scenarios and leverages a comprehensive set of features derived from publicly available data sources. We integrate EAGLE-I outage records (2014-2024) with weather, socio-economic, infrastructure, and seasonal event data. Incorporating social and demographic indicators reveals underlying patterns of community vulnerability and provides a clearer understanding of outage risk during extreme conditions. Four machine learning models (Random Forest (RF), Support Vector Machine (SVM), Adaptive Boosting (AdaBoost), and Long Short-Term Memory (LSTM)) are evaluated. Experimental validation is performed on a large-scale dataset covering counties in the lower peninsula of Michigan. Among all models tested, the LSTM network achieves the lowest prediction error. Additionally, the results demonstrate that stronger economic conditions and more developed infrastructure are associated with lower outage occurrence.

Paperid: 1261, https://arxiv.org/pdf/2512.21469.pdf

Abstract:
This paper analyzes the discrete-time natural power method, demonstrating its convergence to the dominant $r$-dimensional subspace corresponding to the $r$ eigenvalues with the largest absolute values. This contrasts with the Oja flow, which targets eigenvalues with the largest real parts. We leverage this property to develop methods for model order reduction and low-rank controller synthesis for discrete-time LTI systems, proving preservation of key system properties. We also extend the low-rank control framework to slowly-varying LTV systems, showing its utility for tracking time-varying dominant subspaces.

Paperid: 1262, https://arxiv.org/pdf/2512.18630.pdf

Abstract:
In this paper, we formulate the design of efficient digitalised deposit return schemes as a control problem. We focus on the recycling of paper cups, though the proposed methodology applies more broadly to reverse logistics systems arising in circular economy R-strategies. Each item is assumed to carry a digital wallet through which monetary rewards are allocated to actors transferring the item across successive stages, incentivising completion of the recycling process. System efficiency is ensured by: (i) decentralised algorithms that avoid congestion at individual nodes; (ii) a decentralised AIMD-based algorithm that optimally splits the deposit across layers; and (iii) a feedback control loop that dynamically adjusts the deposit to achieve a desired throughput. The effectiveness of the framework is demonstrated through extensive simulations using realistic paper cup recycling data.

Paperid: 1263, https://arxiv.org/pdf/2512.15225.pdf

Abstract:
This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved that through a suitable choice of a single controller parameter, consensus and stability of the resulting networked dynamical system can be ensured. This further opens up the possibility of achieving a desired formation and to move a swarm of quadrotors, interacting over ring digraphs, at a desired flight velocity, using a single controller gain. An analysis of achievable velocities is performed. Examples have been provided to offer deeper insights into the obtained analytical results. Simulation studies clearly demonstrate that a desired formation is achieved, starting from arbitrary initial positions, while also ensuring convergence to a final desired flight velocity.

Paperid: 1264, https://arxiv.org/pdf/2512.15067.pdf

Abstract:
The rapid growth in wireless infrastructure has increased the need to accurately estimate and forecast electromagnetic field (EMF) levels to ensure ongoing compliance, assess potential health impacts, and support efficient network planning. While existing studies rely on univariate forecasting of wideband aggregate EMF data, frequency-selective multivariate forecasting is needed to capture the inter-operator and inter-frequency variations essential for proactive network planning. To this end, this paper introduces EMFusion, a conditional multivariate diffusion-based probabilistic forecasting framework that integrates diverse contextual factors (e.g., time of day, season, and holidays) while providing explicit uncertainty estimates. The proposed architecture features a residual U-Net backbone enhanced by a cross-attention mechanism that dynamically integrates external conditions to guide the generation process. Furthermore, EMFusion integrates an imputation-based sampling strategy that treats forecasting as a structural inpainting task, ensuring temporal coherence even with irregular measurements. Unlike standard point forecasters, EMFusion generates calibrated probabilistic prediction intervals directly from the learned conditional distribution, providing explicit uncertainty quantification essential for trustworthy decision-making. Numerical experiments conducted on frequency-selective EMF datasets demonstrate that EMFusion with the contextual information of working hours outperforms the baseline models with or without conditions. The EMFusion outperforms the best baseline by 23.85% in continuous ranked probability score (CRPS), 13.93% in normalized root mean square error, and reduces prediction CRPS error by 22.47%.

Paperid: 1265, https://arxiv.org/pdf/2512.14451.pdf

Abstract:
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an additional linear velocity input projected onto the unit-sphere tangent space. This extended formulation is particularly useful in image-based visual servoing scenarios where stable bearing estimates are required and the relative velocity between the vehicle and target features must be accounted for. Leveraging lifted kinematics to the Special Orthogonal group, we design an observer for the bearing vector and prove its almost global asymptotic stability. Additionally, we demonstrate how the equivariant observer can be expressed in the original state manifold. Numerical simulation results validate the effectiveness of the proposed algorithm.

Paperid: 1266, https://arxiv.org/pdf/2512.14412.pdf

Abstract:
Rendezvous and docking between a chaser spacecraft and an uncooperative target, such as an inoperative satellite, require synchronization between the chaser spacecraft and the target. In these scenarios, the chaser must estimate the relative attitude and angular velocity of the target using onboard sensors, in the presence of gyroscope bias. In this work, we propose a cascade of Equivariant Filters (EqF) to address this problem. The first stage of the cascade estimates the chaser's attitude and the bias, using measurements from a star tracker, while the second stage of the cascade estimates the relative attitude and the target's angular velocity, using observations of two known, non-collinear vectors fixed in the target frame. The stability of the EqF cascade is theoretically analyzed and simulation results demonstrate the filter cascade's performance.

Paperid: 1267, https://arxiv.org/pdf/2512.14206.pdf

Abstract:
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped object while respecting both continuous robot dynamics and discrete geometric constraints arising from obstacles and narrow passages. To address this hybrid structure, we propose a multi-rate planning and control framework that combines offline generation of an STL-satisfying object trajectory and collision-free base footprints with online constrained inverse kinematics and continuous-time feedback control. The resulting closed-loop system enables coordinated reconfiguration of multiple manipulators while tracking the desired object motion. The approach is evaluated in high-fidelity physics simulations using three Franka Emika Panda mobile manipulators rigidly grasping an object.

Paperid: 1268, https://arxiv.org/pdf/2512.12923.pdf

Abstract:
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry and its impact on UAV sensing have rarely been studied, which can significantly degrade multimodal cooperative perception at scenarios where heterogeneous payloads (vision cameras and LiDAR) should be geometrically arranged to exploit their complementary strengths while managing communication interference and hardware budgets. To bridge this critical gap, we propose an information-theoretic optimization framework that allocation of UAVs and multimodal sensors, configures formation geometries, and flight control. The UAV-sensor allocation is optimized by the Fisher Information Matrix (FIM) determinant maximization. Under this framework we introduce an equivalent formation transition strategy that enhances field-of-view (FOV) coverage without compromising perception accuracy and communication interference. Furthermore, we design a novel Lyapunov-stable flight control scheme with logarithmic potential fields to generate energy-efficient trajectories for formation transitions. Extensive simulations demonstrate our formation-aware design achieves 25.0\% improvement in FOV coverage, 104.2\% enhancement in communication signal strength, and 47.2\% reduction in energy consumption compared to conventional benchmarks. This work establishes that task-driven geometric configuration represents a foundational rather than incidental component in next-generation UAV swarm systems.

Paperid: 1269, https://arxiv.org/pdf/2512.06423.pdf

Abstract:
This work proposes PH-based metrics for benchmarking impedance control. A causality-consistent PH model is introduced for mass-spring-damper impedance in Cartesian space. Based on this model, a differentiable, force-torque sensing-independent, n-DoF passivity condition is derived, valid for time-varying references. An impedance fidelity metric is also defined from step-response power in free motion, capturing dynamic decoupling. The proposed metrics are validated in Gazebo simulations with a six-DoF manipulator and a quadruped leg. Results demonstrate the suitability of the PH framework for standardized impedance control benchmarking.

Paperid: 1270, https://arxiv.org/pdf/2512.05595.pdf

Abstract:
Monitoring physiological and behavioral parameters of laboratory rodents is fundamental for biomedical research, yet conventional techniques often rely on invasive sensors or frequent handling that can induce stress and compromise data fidelity. To address these limitations, this paper presents a contactless and non-invasive in-vivo monitoring system based on a low-power 60 GHz frequency-modulated continuous wave (FMCW) radar. The proposed system enables simultaneous detection of rodent activity and vital signs directly within home-cage environments, eliminating the need for implants, electrodes, or human intervention. The hardware platform leverages a compact Infineon BGT60 series radar sensor, optimized for low power consumption and continuous operation. We investigate sensor placement strategies and design a complete signal processing pipeline, including range bin selection, phase extraction, and frequency-domain estimation tailored to rodent vital signs. The system achieves 3 cm and 0.1 m/s sensitivity for motion and activity detection, while allowing discrimination of micro-movements associated with cardiopulmonary activity with a 2 um distance resolution. Experimental validation with two rodents in realistic in-vivo cages demonstrates that the radar can track animal position and extract respiration rates with 2 bpm accuracy. By minimizing stress and disturbance, this work improves both animal welfare and the reliability of physiological measurements, offering a refined alternative to traditional monitoring methods. This work represents the first demonstration of continuous radar-based vital sign monitoring in freely moving rodents within group-housed cages. The proposed approach lays the foundation for scalable, automated, and ethical monitoring solutions in preclinical and translational research.

Paperid: 1271, https://arxiv.org/pdf/2512.05292.pdf

Abstract:
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly beneficial when 1) the inner-loop controller is imperfect, unmodifiable, and uncertain; and 2) the dynamic model exhibits significant uncertainty. Stability analysis, formal safety guarantee proof, and hardware experiments with a PUMA robotic manipulator are presented. Our solution demonstrates superior performance in terms of simplicity of implementation, robustness, tracking precision, and safety compared to the state of the art. Video: https://youtu.be/zw1tanvrV8Q

Paperid: 1272, https://arxiv.org/pdf/2512.04885.pdf

Abstract:
Accurate and stable state estimation is critical for battery management. Although dual Kalman filtering can jointly estimate states and parameters, the strong coupling between filters may cause divergence under large initialization errors or model mismatch. This paper proposes a Stability Guaranteed Dual Kalman Filtering (SG-DKF) method. A Lyapunov-based analysis yields a sufficient stability condition, leading to an adaptive dead-zone rule that suspends parameter updates when the innovation exceeds a stability bound. Applied to an electrochemical battery model, SG-DKF achieves accuracy comparable to a dual EKF and reduces state of charge RMSE by over 45% under large initial state errors.

Paperid: 1273, https://arxiv.org/pdf/2512.04856.pdf

Abstract:
Optimal control strategies are often combined with safety certificates to ensure both performance and safety in safety-critical systems. A prominent example is combining Model Predictive Control (MPC) with Control Barrier Functions (CBF). Yet, efficient tuning of MPC parameters and choosing an appropriate class $\mathcal{K}$ function in the CBF is challenging and problem dependent. This paper introduces a safe model-based Reinforcement Learning (RL) framework where a parametric MPC controller incorporates a CBF constraint with a parameterized class $\mathcal{K}$ function and serves as a function approximator to learn improved safe control policies from data. Three variations of the framework are introduced, distinguished by the way the optimization problem is formulated and the class $\mathcal{K}$ function is parameterized, including neural architectures. Numerical experiments on a discrete double-integrator with static and dynamic obstacles demonstrate that the proposed methods improve performance while ensuring safety.

Paperid: 1274, https://arxiv.org/pdf/2512.03545.pdf

Abstract:
Industrial installations across several sectors have seen a dramatic increase in productivity, accuracy and efficiency over the last decade due to expanded utilization of medium voltage, variable speed power electronic converters to drive their processes. Specifically, active front-end (AFE) drives have become popular due to their ability to deliver power while maintaining safe electrical setpoints. However, under abnormal grid conditions such as phase loss, conventional AFE control may fail to enforce safety constraints, potentially leading to drive shutdown and significant financial losses. In this work, we propose using reference-tracking Performance Boosting (rPB) to improve the resilience of standard AFE control to faults. This neural-network control framework provides a principled way to optimize transient performance while preserving the steady-state tracking properties of AFE-based drives. By carefully shaping the input signals to the rPB controller, we ensure that it activates only during grid faults, leaving nominal operation unaffected. Simulation results show that the proposed approach successfully maintains the DC bus voltage and the grid current within safe limits during single-phase loss events.

Paperid: 1275, https://arxiv.org/pdf/2511.20593.pdf

Abstract:
Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper, we propose Safe and Stable Neural Network Dynamical Systems S$^2$-NNDS, a learning-from-demonstration framework that simultaneously learns expressive neural dynamical systems alongside neural Lyapunov stability and barrier safety certificates. Unlike traditional approaches with restrictive polynomial parameterizations, S$^2$-NNDS leverages neural networks to capture complex robot motions providing probabilistic guarantees through split conformal prediction in learned certificates. Experimental results on various 2D and 3D datasets -- including LASA handwriting and demonstrations recorded kinesthetically from the Franka Emika Panda robot -- validate S$^2$-NNDS effectiveness in learning robust, safe, and stable motions from potentially unsafe demonstrations.

Paperid: 1276, https://arxiv.org/pdf/2511.19143.pdf

Abstract:
In this paper, we propose a new framework for the design of incentives aimed at promoting innovation diffusion in social influence networks. In particular, our framework relies on an extension of the Friedkin and Johnsen opinion dynamics model characterizing the effects of (i) short-memory incentives, which have an immediate yet transient impact, and (ii) long-term structural incentives, whose impact persists via an exponentially decaying memory. We propose to design these incentives via a model-predictive control (MPC) scheme over an augmented state that captures the memory in our opinion dynamics model, yielding a convex quadratic program with linear constraints. Our numerical simulations based on data on sustainable mobility habits show the effectiveness of the proposed approach, which balances large-scale adoption and resource allocation

Paperid: 1277, https://arxiv.org/pdf/2511.14098.pdf

Abstract:
In this paper, we model and analyze how a network of interacting LLMs performs collaborative question-answering (CQA) in order to estimate a ground truth given a distributed set of documents. This problem is interesting because LLMs often hallucinate when direct evidence to answer a question is lacking, and these effects become more pronounced in a network of interacting LLMs. The hallucination spreads, causing previously accurate LLMs to hallucinate. We study interacting LLMs and their hallucination by combining novel ideas of mean-field dynamics (MFD) from network science and the randomized utility model from economics to construct a useful generative model. We model the LLM with a latent state that indicates if it is truthful or not with respect to the ground truth, and extend a tractable analytical model considering an MFD to model the diffusion of information in a directed network of LLMs. To specify the probabilities that govern the dynamics of the MFD, we propose a randomized utility model. For a network of LLMs, where each LLM has two possible latent states, we posit sufficient conditions for the existence and uniqueness of a fixed point and analyze the behavior of the fixed point in terms of the incentive (e.g., test-time compute) given to individual LLMs. We experimentally study and analyze the behavior of a network of $100$ open-source LLMs with respect to data heterogeneity, node capability, network structure, and sensitivity to framing on multiple semi-synthetic datasets.

Paperid: 1278, https://arxiv.org/pdf/2511.13785.pdf

Abstract:
Traffic signal control algorithms are vulnerable to distribution shift, where performance degrades under traffic conditions that differ from those seen during design or training. This paper introduces a principled approach to quantify distribution shift by representing traffic scenarios as demand histograms and comparing them with a GEH-based distance function. The method is policy-independent, interpretable, and leverages a widely used traffic engineering statistic. We validate the approach on 20 simulated scenarios using both a NEMA actuated controller and a reinforcement learning controller (FRAP++). Results show that larger scenario distances consistently correspond to increased travel time and reduced throughput, with particularly strong explanatory power for learning-based control. Overall, this method can predict performance degradation under distribution shift better than previously published techniques. These findings highlight the utility of the proposed framework for benchmarking, training regime design, and monitoring in adaptive traffic signal control.

Paperid: 1279, https://arxiv.org/pdf/2511.12329.pdf

Abstract:
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the target perimeter without being captured by the defender, while the defender's goal is to capture as many intruders as possible. After one intruder breaches or is captured, the next appears randomly on a fixed circle surrounding the target. Therefore, the defender's final position in one game becomes its starting position for the next. We divide an intruder-defender engagement into two phases, partial information and full information, depending on the information available to the players. We address the capturability of an intruder by the defender using the notions of Dubins path and guarding arc. We quantify the percentage of capture for both finite and infinite sequences of incoming intruders. Finally, the theoretical results are verified through numerical examples using Monte-Carlo-type random trials of experiments.

Paperid: 1280, https://arxiv.org/pdf/2511.10844.pdf

Abstract:
Deep Brain Stimulation (DBS) is a well-established neurosurgical treatment aiming at symptom alleviation in a range of neurological and psychiatric diseases. Computational models of DBS are widely used to investigate the effects of stimulation on neural tissue, to explore stimulation targets and sweetspots, and ultimately, to aid clinicians in the DBS programming by calculating the stimulation parameters. Commonly, DBS is performed bilaterally, i.e. with one lead in each brain hemisphere, where computational models are solved independently for one lead at a time. This paper treats scenarios where multiple DBS leads are implanted in close proximity to one another, resulting in interacting electrical fields and, therefore, potentially overlapping stimulation spreads. In particular, a global dual-lead model is compared to approximations derived from single-lead approaches in a cohort of twelve multiple sclerosis (MS) tremor patients. It is concluded that simple superposition of volumes of tissue activated (VTAs) underestimates activation, while superposition of electric fields or activating functions leads to overestimation. It is concluded that given close proximity of DBS leads, the VTA cannot be computed individually as stimulation fields exhibit significant and complex interaction. The approach is extended to modeling two obsessive compulsive disorder patients with medially placed leads, where similar VTA discrepancies as in the MS patient cohort are observed.

Paperid: 1281, https://arxiv.org/pdf/2511.10798.pdf

Abstract:
We consider the problem of estimating the parameters of a vehicle dynamics model for predictive control in driving applications. Instead of solely using the instantaneous parameters estimated from the vehicle signals, we combine this with cameras and update a probabilistic map with parameter estimates and semantic information using Bayesian moment matching. Key to this approach is the map representation, which is constructed with conjugate priors to the measurement likelihoods and defined in the same path coordinates as the vehicle controller, such that the map can be externalized to provide a local representation of the parameter likelihoods that vary in space. The result is a spatial map of vehicle parameters adapted online to enhance the driving control system. We provide theoretical guarantees on the smoothness of relevant parameter likelihood statistics as a function of space, which is critical for their use in predictive control.

Paperid: 1282, https://arxiv.org/pdf/2511.10401.pdf

Abstract:
As renewable energy generation becomes increasingly integrated into electrical grids, there is a critical need for a paradigm shift toward control schemes that ensure safe, stable, and scalable operations. Hence, in this study, we explore the stability guarantees of a promising control proposal for cyber-physical DC microgrids (MGs), specifically designed to simultaneously achieve proportional current sharing and voltage containment within pre-specified limits. Our scalable stability result relies on singular perturbation theory to prove global exponential stability by imposing a sufficient time-scale separation at the border between the inner(decentralized) and outer(distributed) nested loops, and thus, ensuring that the system reaches the desired (optimal) steady state under appropriate tuning verifying some stability conditions. To prove the effectiveness of our method, our findings are supported by testing the control method in a time-domain simulation case study involving a low-voltage DC microgrid, as well as a small-signal stability analysis

Paperid: 1283, https://arxiv.org/pdf/2511.09790.pdf

Abstract:
Dynamical system (DS)-based learning from demonstration (LfD) is a powerful tool for generating motion plans in the operation (`task') space of robotic systems. However, the realization of the generated motion plans is often compromised by a ''task-execution mismatch'', where unmodeled dynamics, persistent disturbances, and system latency cause the robot's actual task-space state to diverge from the desired motion trajectory. We propose a novel task-level robust control architecture, L1-augmented Dynamical Systems (L1-DS), that explicitly handles the task-execution mismatch in tracking a nominal motion plan generated by any DS-based LfD scheme. Our framework augments any DS-based LfD model with a nominal stabilizing controller and an L1 adaptive controller. Furthermore, we introduce a windowed Dynamic Time Warping (DTW)-based target selector, which enables the nominal stabilizing controller to handle temporal misalignment for improved phase-consistent tracking. We demonstrate the efficacy of our architecture on the LASA and IROS handwriting datasets.

Paperid: 1284, https://arxiv.org/pdf/2511.09661.pdf

Abstract:
Model Predictive Control (MPC) offers rigorous safety and performance guarantees but is computationally intensive. Approximate MPC (AMPC) aims to circumvent this drawback by learning a computationally cheaper surrogate policy. Common approaches focus on imitation learning (IL) via behavioral cloning (BC), minimizing a mean-squared-error loss on a collection of state-input pairs. However, BC fundamentally fails to provide accurate approximations when MPC solutions are set-valued due to non-convex constraints or local minima. We propose a two-stage IL procedure to accurately approximate nonlinear, potentially set-valued MPC policies. The method integrates an approximation of the MPC's optimal value function into a one-step look-ahead loss function, and thereby embeds the MPC's constraint and performance objectives into the IL objective.This is achieved by adopting a stabilizing soft constrained MPC formulation, which reflects constraint violations in the optimal value function by combining a constraint tightening with slack penalties. We prove statistical consistency for policies that exactly minimize our IL objective, implying convergence to a safe and stabilizing control law, and establish input-to-state stability guarantees for approximate minimizers. Simulations demonstrate improved performance compared to BC.

Paperid: 1285, https://arxiv.org/pdf/2511.09569.pdf

Abstract:
This paper presents the Jump Markov Filtering Network (JMFNet), a novel model-based deep learning framework for real-time state-state estimation in jump Markov systems with unknown noise statistics and mode transition dynamics. A hybrid architecture comprising two Recurrent Neural Networks (RNNs) is proposed: one for mode prediction and another for filtering that is based on a mode-augmented version of the recently presented KalmanNet architecture. The proposed RNNs are trained jointly using an alternating least squares strategy that enables mutual adaptation without supervision of the latent modes. Extensive numerical experiments on linear and nonlinear systems, including target tracking, pendulum angle tracking, Lorenz attractor dynamics, and a real-life dataset demonstrate that the proposed JMFNet framework outperforms classical model-based filters (e.g., interacting multiple models and particle filters) as well as model-free deep learning baselines, particularly in non-stationary and high-noise regimes. It is also showcased that JMFNet achieves a small yet meaningful improvement over the KalmanNet framework, which becomes much more pronounced in complicated systems or long trajectories. Finally, the method's performance is empirically validated to be consistent and reliable, exhibiting low sensitivity to initial conditions, hyperparameter selection, as well as to incorrect model knowledge

Paperid: 1286, https://arxiv.org/pdf/2511.08436.pdf

Abstract:
Weakly electric fish, like Gnathonemus petersii, use a remarkable electrical modality for active sensing and communication, but studying their rich electrosensing and electrocommunication behavior and associated neural activity in naturalistic settings remains experimentally challenging. Here, we present a novel biologically-inspired computational framework to study these behaviors, where recurrent neural network (RNN) based artificial agents trained via multi-agent reinforcement learning (MARL) learn to modulate their electric organ discharges (EODs) and movement patterns to collectively forage in virtual environments. Trained agents demonstrate several emergent features consistent with real fish collectives, including heavy tailed EOD interval distributions, environmental context dependent shifts in EOD interval distributions, and social interaction patterns like freeloading, where agents reduce their EOD rates while benefiting from neighboring agents' active sensing. A minimal two-fish assay further isolates the role of electro-communication, showing that access to conspecific EODs and relative dominance jointly shape foraging success. Notably, these behaviors emerge through evolution-inspired rewards for individual fitness and emergent inter-agent interactions, rather than through rewarding agents explicitly for social interactions. Our work has broad implications for the neuroethology of weakly electric fish, as well as other social, communicating animals in which extensive recordings from multiple individuals, and thus traditional data-driven modeling, are infeasible.

Paperid: 1287, https://arxiv.org/pdf/2511.07805.pdf

Abstract:
Nonlinear dynamical systems are widely encountered in various scientific and engineering fields. Despite significant advances in theoretical understanding, developing complete and integrated frameworks for analyzing and designing these systems remains challenging, which underscores the importance of efficient linearization methods. In this paper, we introduce a general linearization framework with emphasis on Carleman linearization and Carleman-Fourier linearization. A detailed case study on finite-section approximation to the lifted infinite-dimensional dynamical system is provided for the dynamical system with its governing function being a trigonometric polynomial of degree one.

Paperid: 1288, https://arxiv.org/pdf/2511.07655.pdf

Abstract:
We consider a class of continuous-time dynamic games involving a large number of players. Each player selects actions from a finite set and evolves through a finite set of states. State transitions occur stochastically and depend on the player's chosen action. A player's single-stage reward depends on their state, action, and the population-wide distribution of states and actions, capturing aggregate effects such as congestion in traffic networks. Each player seeks to maximize a discounted infinite-horizon reward. Existing evolutionary game-theoretic approaches introduce a model for the way individual players update their decisions in static environments without individual state dynamics. In contrast, this work develops an evolutionary framework for dynamic games with explicit state evolution, which is necessary to model many applications. We introduce a mean field approximation of the finite-population game and establish approximation guarantees. Since state-of-the-art solution concepts for dynamic games lack an evolutionary interpretation, we propose a new concept - the Mixed Stationary Nash Equilibrium (MSNE) - which admits one. We characterize an equivalence between MSNE and the rest points of the proposed mean field evolutionary model and we give conditions for the evolutionary stability of MSNE.

Paperid: 1289, https://arxiv.org/pdf/2511.07052.pdf

Abstract:
The growing integration of renewable energy sources (RESs) in modern power systems has intensified the need for resilient and efficient microgrid solutions. DC microgrids have gained prominence due to their reduced conversion losses, simplified interfacing with DC-based RESs, and improved reliability. To manage the inherent variability of RESs and ensure stable operation, energy management systems (EMS) have become essential. While various EMS algorithms have been proposed and validated using real-time simulation platforms, most assume ideal communication conditions or rely on simplified network models, overlooking the impact of realistic communication delays on EMS performance. This paper presents a novel real-time cyber-physical system (CPS) testbed for evaluating EMS performance in DC microgrids under realistic communication delays. The proposed testbed integrates a DC microgrid modeled in OPAL-RT with an EMS controller implemented on a Raspberry Pi (RPi). The communication network is emulated using EXataCPS, enabling the exchange of actual power system traffic and the replication of realistic latency conditions. This comprehensive setup captures the interplay between power system dynamics, EMS control, and communication network behavior.

Paperid: 1290, https://arxiv.org/pdf/2511.06832.pdf

Abstract:
This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional closed-loop l_p-stability of the error in tracking a desired equilibrium and the satisfaction of input and output constraints within a robustly positive invariant set. An additional control contribution, derived by combining the internal model control principle with a stable operator, is introduced to improve system performance. This operator, implemented as a stable neural network, can be trained via unconstrained optimisation on a chosen performance metric, without compromising closed-loop equilibrium tracking or constraint satisfaction, even if the optimisation is stopped prematurely. In addition, we characterise the class of closed-loop stable behaviours that can be achieved with the proposed architecture. Simulation results on a pH-neutralisation benchmark demonstrate the effectiveness of the proposed approach.

Paperid: 1291, https://arxiv.org/pdf/2511.06363.pdf

Abstract:
The optimization of urban traffic is threatened by the complexity of achieving a balance between transport efficiency and the maintenance of privacy, as well as the equitable distribution of traffic based on socioeconomically diverse neighborhoods. Current centralized traffic management schemes invade user location privacy and further entrench traffic disparity by offering disadvantaged route suggestions, whereas current federated learning frameworks do not consider fairness constraints in multi-objective traffic settings. This study presents a privacy-preserving federated learning framework, termed FedFair-Traffic, that jointly and simultaneously optimizes travel efficiency, traffic fairness, and differential privacy protection. This is the first attempt to integrate three conflicting objectives to improve urban transportation systems. The proposed methodology enables collaborative learning between related vehicles with data locality by integrating Graph Neural Networks with differential privacy mechanisms ($ε$-privacy guarantees) and Gini coefficient-based fair constraints using multi-objective optimization. The framework uses federated aggregation methods of gradient clipping and noise injection to provide differential privacy and optimize Pareto-efficient solutions for the efficiency-fairness tradeoff. Real-world comprehensive experiments on the METR-LA traffic dataset showed that FedFair-Traffic can reduce the average travel time by 7\% (14.2 minutes) compared with their centralized baselines, promote traffic fairness by 73\% (Gini coefficient, 0.78), and offer high privacy protection (privacy score, 0.8) with an 89\% reduction in communication overhead. These outcomes demonstrate that FedFair-Traffic is a scalable privacy-aware smart city infrastructure with possible use-cases in metropolitan traffic flow control and federated transportation networks.

Paperid: 1292, https://arxiv.org/pdf/2511.06063.pdf

Abstract:
Koopman operator, as a fully linear representation of nonlinear dynamical systems, if well-defined on a reproducing kernel Hilbert space (RKHS), can be efficiently learned from data. For stability analysis and control-related problems, it is desired that the defining RKHS of the Koopman operator should account for both the stability of an equilibrium point (as a local property) and the regularity of the dynamics on the state space (as a global property). To this end, we show that by using the product kernel formed by the linear kernel and a Wendland radial kernel, the resulting RKHS is invariant under the action of Koopman operator (under certain smoothness conditions). Furthermore, when the equilibrium is asymptotically stable, the spectrum of Koopman operator is provably confined inside the unit circle, and escapes therefrom upon bifurcation. Thus, the learned Koopman operator with provable probabilistic error bound provides a stability certificate. In addition to numerical verification, we further discuss how such a fundamental spectrum--stability relation would be useful for Koopman-based control.

Paperid: 1293, https://arxiv.org/pdf/2511.05715.pdf

Abstract:
A major limitation of existing routing algorithms for multi-agent systems is that they are designed without considering the potential presence of adversarial agents in the decision-making loop, which could lead to severe performance degradation in real-life applications where adversarial agents may be present. We study autonomous pickup-and-delivery routing problems in which adversarial agents launch coordinated denial-of-service attacks by spoofing their locations. This deception causes the central scheduler to assign pickup requests to adversarial agents instead of cooperative agents. Adversarial agents then choose not to service the requests with the goal of disrupting the operation of the system, leading to delays, cancellations, and potential instability in the routing policy. Policy stability in routing problems is typically defined as the cost of the policy being uniformly bounded over time, and it has been studied through two different lenses: queuing theory and reinforcement learning (RL), which are not well suited for routing with adversaries. In this paper, we propose a new stability criterion, STAIR, which is easier to analyze than queuing-theory-based stability in adversarial settings. Furthermore, STAIR does not depend on a chosen discount factor as is the case in discounted RL stability. STAIR directly links stability to desired operational metrics, like a finite number of rejected requests. This characterization is particularly useful in adversarial settings as it provides a metric for monitoring the effect of adversaries in the operation of the system. Furthermore, we demonstrate STAIR's practical relevance through simulations on real-world San Francisco mobility-on-demand data. We also identify a phenomenon of degenerate stability that arises in the adversarial routing problem, and we introduce time-window constraints in the decision-making algorithm to mitigate it.

Paperid: 1294, https://arxiv.org/pdf/2511.04461.pdf

Abstract:
In this study, we present and validate an ensemble-based Hankel Dynamic Mode Decomposition with control (HDMDc) for uncertainty-aware seakeeping predictions of a high-speed catamaran, namely the Delft 372 model. Experimental measurements (time histories) of wave elevation at the longitudinal center of gravity, heave, pitch, notional flight-deck velocity, notional bridge acceleration, and total resistance were collected from irregular wave basin tests on a 1:33.3 scale replica of the Delft 372 model under sea state 5 conditions at Fr = 0.425, and organized into training, validation, and test sets. The HDMDc algorithm constructs an equation-free linear reduced-order model of the seakeeping vessel by augmenting states and inputs with their time-lagged copies to capture nonlinear and memory effects. Two ensembling strategies, namely Bayesian HDMDc (BHDMDc), which samples hyperparameters considered stochastic variables with prior distribution to produce posterior mean forecasts with confidence intervals, and Frequentist HDMDc (FHDMDc), which aggregates multiple model obtained over data subsets, are compared in providing seakeeping prediction and uncertainty quantification. The FHDMDc approach is found to improve the accuracy of the predictions compared to the deterministic counterpart, also providing robust uncertainty estimation; whereas the application of BHDMDc to the present test case is not found beneficial in comparison to the deterministic model. FHDMDc-derived probability density functions for the motions closely match both experimental data and URANS results, demonstrating reliable and computationally efficient seakeeping prediction for design and operational support.

Paperid: 1295, https://arxiv.org/pdf/2511.03746.pdf

Abstract:
Modern power systems with high penetration of inverter-based resources exhibit complex dynamic behaviors that challenge the scalability and generalizability of traditional stability assessment methods. This paper presents a dynamic recurrent adjacency memory network (DRAMN) that combines physics-informed analysis with deep learning for real-time power system stability forecasting. The framework employs sliding-window dynamic mode decomposition to construct time-varying, multi-layer adjacency matrices from phasor measurement unit and sensor data to capture system dynamics such as modal participation factors, coupling strengths, phase relationships, and spectral energy distributions. As opposed to processing spatial and temporal dependencies separately, DRAMN integrates graph convolution operations directly within recurrent gating mechanisms, enabling simultaneous modeling of evolving dynamics and temporal dependencies. Extensive validations on modified IEEE 9-bus, 39-bus, and a multi-terminal HVDC network demonstrate high performance, achieving 99.85%, 99.90%, and 99.69% average accuracies, respectively, surpassing all tested benchmarks, including classical machine learning algorithms and recent graph-based models. The framework identifies optimal combinations of measurements that reduce feature dimensionality by 82% without performance degradation. Correlation analysis between dominant measurements for small-signal and transient stability events validates generalizability across different stability phenomena. DRAMN achieves state-of-the-art accuracy while providing enhanced interpretability for power system operators, making it suitable for real-time deployment in modern control centers.

Paperid: 1296, https://arxiv.org/pdf/2511.03603.pdf

Abstract:
Industrial embedded systems are typically used to execute simple control algorithms due to their low computational resources. Despite these limitations, the implementation of advanced control techniques such as Model Predictive Control (MPC) has been explored by the control community in recent years, typically considering simple linear formulations or explicit ones to facilitate the online computation of the control input. These simplifications often lack features and properties that are desirable in real-world environments. In this article, we present an efficient implementation for embedded systems of MPC for tracking with artificial reference, solved via a recently developed structure-exploiting first-order method. This formulation is tailored to a wide range of applications by incorporating essential practical features at a small computational cost, including integration with an offset-free scheme, back-off parameters that enable constraint tightening, and soft constraints that preserve feasibility under disturbances or plant-model mismatch. We accompany this with a framework for probabilistic performance validation of the closed-loop system over long-term operation. We illustrate the applicability of the approach on a Programmable Logic Controller (PLC), incorporated in a hardware-in-the-loop setup to control a nonlinear continuous stirred-tank reactor. The behavior of the closed-loop system is probabilistically validated with respect to constraint violations and the number of iterations required at each time step by the MPC optimization algorithm.

Paperid: 1297, https://arxiv.org/pdf/2511.03482.pdf

Abstract:
This study addresses the system identification of a small autonomous surface vehicle (ASV) under moored conditions using Hankel dynamic mode decomposition with control (HDMDc) and its Bayesian extension (BHDMDc). Experiments were carried out on a Codevintec CK-14e ASV in the towing tank of CNR-INM, under both irregular and regular head-sea wave conditions. The ASV under investigation features a recessed moon pool, which induces nonlinear responses due to sloshing, thereby increasing the modelling challenge. Data-driven reduced-order models were built from measurements of vessel motions and mooring loads. The HDMDc framework provided accurate deterministic predictions of vessel dynamics, while the Bayesian formulation enabled uncertainty-aware characterization of the model response by accounting for variability in hyperparameter selection. Validation against experimental data demonstrated that both HDMDc and BHDMDc can predict the vessel's response to unseen regular and irregular wave excitations. In conclusion, the study shows that HDMDc-based ROMs are a viable data-driven alternative for system identification, demonstrating for the first time their generalization capability for a sea condition different from the training set, achieving high accuracy in reproducing vessel dynamics.

Paperid: 1298, https://arxiv.org/pdf/2511.03297.pdf

Abstract:
We study a dynamic game with a large population of players who choose actions from a finite set in continuous time. Each player has a state in a finite state space that evolves stochastically with their actions. A player's reward depends not only on their own state and action but also on the distribution of states and actions across the population, capturing effects such as congestion in traffic networks. In Part I, we introduced an evolutionary model and a new solution concept - the mixed stationary Nash Equilibrium (MSNE) - which coincides with the rest points of the mean field evolutionary model under meaningful families of revision protocols. In this second part, we investigate the evolutionary stability of MSNE. We derive conditions on both the structure of the MSNE and the game's payoff map that ensure local and global stability under evolutionary dynamics. These results characterize when MSNE can robustly emerge and persist against strategic deviations, thereby providing insight into its long-term viability in large population dynamic games.

Paperid: 1299, https://arxiv.org/pdf/2511.02957.pdf

Abstract:
Pavement infrastructure monitoring is challenged by complex spatial dependencies, changing environmental conditions, and non-linear deterioration across road networks. Traditional Pavement Management Systems (PMS) remain largely reactive, lacking real-time intelligence for failure prevention and optimal maintenance planning. To address this, we propose a unified Digital Twin (DT) and Graph Neural Network (GNN) framework for scalable, data-driven pavement health monitoring and predictive maintenance. Pavement segments and spatial relations are modeled as graph nodes and edges, while real-time UAV, sensor, and LiDAR data stream into the DT. The inductive GNN learns deterioration patterns from graph-structured inputs to forecast distress and enable proactive interventions. Trained on a real-world-inspired dataset with segment attributes and dynamic connectivity, our model achieves an R2 of 0.3798, outperforming baseline regressors and effectively capturing non-linear degradation. We also develop an interactive dashboard and reinforcement learning module for simulation, visualization, and adaptive maintenance planning. This DT-GNN integration enhances forecasting precision and establishes a closed feedback loop for continuous improvement, positioning the approach as a foundation for proactive, intelligent, and sustainable pavement management, with future extensions toward real-world deployment, multi-agent coordination, and smart-city integration.

Paperid: 1300, https://arxiv.org/pdf/2511.02389.pdf

Abstract:
We present the Alternating Direction Method of Multipliers for Performance Boosting (ADMM-PB), an approach to design performance boosting controllers for stable or pre-stabilized nonlinear systems, while explicitly seeking input and state constraint satisfaction. Rooted on a recently proposed approach for designing neural-network controllers that guarantees closed-loop stability by design while minimizing generic cost functions, our strategy integrates it within an alternating direction method of multipliers routine to seek constraint handling without modifying the controller structure of the aforementioned seminal strategy. Our numerical results showcase the advantages of the proposed approach over a baseline penalizing constraint violation through barrier-like terms in the cost, indicating that ADMM-PB can lead to considerably lower constraint violations at the price of inducing slightly more cautious closed-loop behaviors.

Paperid: 1301, https://arxiv.org/pdf/2511.01452.pdf

Abstract:
We study a dynamic game with a large population of players who choose actions from a finite set in continuous time. Each player has a state in a finite state space that evolves stochastically with their actions. A player's reward depends not only on their own state and action but also on the distribution of states and actions across the population, capturing effects such as congestion in traffic networks. While prior work in evolutionary game theory has primarily focused on static games without individual player state dynamics, we present the first comprehensive evolutionary analysis of such dynamic games. We propose an evolutionary model together with a mean field approximation of the finite-population game and establish strong approximation guarantees. We show that standard solution concepts for dynamic games lack an evolutionary interpretation, and we propose a new concept - the Mixed Stationary Nash Equilibrium (MSNE) - which admits one. We analyze the relationship between MSNE and the rest points of the mean field evolutionary model and study the evolutionary stability of MSNE.

Paperid: 1302, https://arxiv.org/pdf/2511.00946.pdf

Abstract:
This paper presents an efficient parallel Cholesky factorization and triangular solve algorithm for the Karush-Kuhn-Tucker (KKT) systems arising in multistage optimization problems, with a focus on model predictive control and trajectory optimization for racing. The proposed approach directly parallelizes solving the KKT systems with block-tridiagonal-arrow KKT matrices on the linear algebra level arising in interior-point methods. The algorithm is implemented as a new backend of the PIQP solver and released as open source. Numerical experiments on the chain-of-masses benchmarks and a minimum curvature race line optimization problem demonstrate substantial performance gains compared to other state-of-the-art solvers.

Paperid: 1303, https://arxiv.org/pdf/2511.00595.pdf

Abstract:
Parameter identification for electrochemical battery models has always been challenging due to the multitude of parameters involved, most of which cannot be directly measured. This paper evaluates the efficiency and optimality of three widely-used parameter identification methods for electrochemical battery models: Least Squares Method (LS), Particle Swarm Optimization (PSO), and Genetic Algorithm (GA). Therefore, a Single Particle Model (SPM) of a battery was developed and discretized. Battery parameter grouping was then performed to reduce the number of parameters required. Using a set of parameters previously identified from a real battery as a benchmark, we generated fitting and validation datasets to assess the methods' runtime and accuracy. The comparative analysis reveals that PSO outperforms the other methods in terms of accuracy and stability, making it highly effective for parameter identification when there is no prior knowledge of the battery's internal parameters. In contrast, LS is better suited for minor adjustments in parameters, particularly for aging batteries, whereas GA lags behind in both computational efficiency and optimality with respect to PSO.

Paperid: 1304, https://arxiv.org/pdf/2511.00562.pdf

Abstract:
Low-altitude economy (LAE) is an emerging technological paradigm that enables continuous airspace coverage at multiple altitudes by providing highly reliable data connectivity for numerous low-altitude applications. However, existing networks cannot sufficiently support LAE development, as current base stations (BSs) are primarily designed for terrestrial users and lack the capability to provide continuous coverage at low altitudes. To overcome these challenges, rotatable antenna system (RAS) is introduced in LAE, enabling flexible beamforming by dynamically adjusting the boresight of directional antennas to extend low-altitude coverage and enhance the stability of data transmission. In this article, we first provide an overview of RAS-empowered LAE applications, including low-altitude communication, sensing, control, and computation. Then, we present two practical RAS deployment strategies for LAE scenarios, namely RAS-aided multi-BS and multi-unmanned aerial vehicle (UAV) cooperative coverages, as well as provide detailed discussions on their system architectures and performance benefits. Additionally, key design issues of RAS in LAE are discussed, including channel modeling and estimation, cellular access and interference cancellation, as well as RAS configuration and boresight optimization. Finally, we demonstrate the performance gains of RAS in LAE networks through experimental and simulation results.

Paperid: 1305, https://arxiv.org/pdf/2511.00296.pdf

Abstract:
In low-carbon grids, system flexibility can be enhanced through mechanisms such as Demand Response (DR), enabling the efficient utilization of renewable energy. However, as Synchronous Generators (SGs) are being replaced with renewable energy characterized by Inverter-Based Resources (IBR), system stability is severely affected. Due to the limited overload capability of IBR, their Short-Circuit Current (SCC) contribution is much smaller than that of SGs, which may result in protection devices failing to trip during faults. Consequently, the remaining SGs play a key role in offering sufficient SCC volumes. Given that the commitment of SGs is closely related to system load, DR can thus indirectly affect their SCC provision, a relationship that has not been investigated. Therefore, this paper incorporates both DR and SCC constraints into a unit commitment model and conducts studies on an IEEE 30-bus system. The results show that although DR can reduce social costs by lowering power demand, it may also lead to inadequate SCC levels. Nevertheless, the cost increases by only 0.3% when DR is combined with SCC constraints, indicating that DR can actually help achieve a stable system in a cost-effective manner.

Paperid: 1306, https://arxiv.org/pdf/2510.27669.pdf

Abstract:
This work presents a nonparametric framework for dissipativity learning in reproducing kernel Hilbert spaces, which enables data-driven certification of stability and performance properties for unknown nonlinear systems without requiring an explicit dynamic model. Dissipativity is a fundamental system property that generalizes Lyapunov stability, passivity, and finite L2 gain conditions through an energy balance inequality between a storage function and a supply rate. Unlike prior parametric formulations that approximate these functions using quadratic forms with fixed matrices, the proposed method represents them as Hilbert Schmidt operators acting on canonical kernel features, thereby capturing nonlinearities implicitly while preserving convexity and analytic tractability. The resulting operator optimization problem is formulated in the form of a one-class support vector machine and reduced, via the representer theorem, to a finite dimensional convex program expressed through kernel Gram matrices. Furthermore, statistical learning theory is applied to establish generalization guarantees, including confidence bounds on the dissipation rate and the L2 gain. Numerical results demonstrate that the proposed RKHS based dissipativity learning method effectively identifies nonlinear dissipative behavior directly from input output data, providing a powerful and interpretable framework for model free control analysis and synthesis.

Paperid: 1307, https://arxiv.org/pdf/2510.25671.pdf

Abstract:
The increasing integration of renewable energy, particularly offshore wind, introduces significant uncertainty into hybrid AC-HVDC systems due to forecast errors and power fluctuations. Conventional control strategies typically rely on fixed setpoints and neglect frequency deviations, which can compromise system stability under rapid renewable variations. To address this challenge, this paper presents a forecast-integrated, optimal power flow (OPF)-based adaptive control framework. Wind speed forecasts generated using a Random Forest model are incorporated into a time-coupled OPF to determine baseline converter setpoints in anticipation of wind fluctuations, which are further adjusted in real time based on actual operating conditions. An adaptive droop control scheme is developed that jointly considers DC voltage and AC frequency deviations. The effectiveness of the proposed control framework is validated through hardware-in-the-loop (HIL) simulations, demonstrating its capability to ensure stable and robust operation of hybrid AC-HVDC systems under high penetration of renewable energy.

Paperid: 1308, https://arxiv.org/pdf/2510.23356.pdf

Abstract:
Parameter monitoring and control systems are crucial in the industry as they enable automation processes that improve productivity and resource optimization. These improvements also help to manage environmental factors and the complex interactions between multiple inputs and outputs required for production management. This paper proposes an automation system for broiler management based on a simulation scenario that involves sensor networks and embedded systems. The aim is to create a transmission network for monitoring and controlling broiler temperature and feeding using the Internet of Things (IoT), complemented by a dashboard and a cloud-based service database to track improvements in broiler management. We look forward this work will serve as a guide for stakeholders and entrepreneurs in the animal production industry, fostering sustainable development through simple and cost-effective automation solutions. The goal is for them to scale and integrate these recommendations into their existing operations, leading to more efficient decision-making at the management level.

Paperid: 1309, https://arxiv.org/pdf/2510.22813.pdf

Abstract:
This paper addresses state of charge (SOC) estimation for lithium iron phosphate (LFP) batteries, where the relatively flat open-circuit voltage (OCV-SOC) characteristic reduces observability. A residual bias compensation dual extended Kalman filter (RBC-DEKF) is developed. Unlike conventional bias compensation methods that treat the bias as an augmented state within a single filter, the proposed dual-filter structure decouples residual bias estimation from electrochemical state estimation. One EKF estimates the system states of a control-oriented parameter-grouped single particle model with thermal effects, while the other EKF estimates a residual bias that continuously corrects the voltage observation equation, thereby refining the model-predicted voltage in real time. Unlike bias-augmented single-filter schemes that enlarge the covariance coupling, the decoupled bias estimator refines the voltage observation without perturbing electrochemical state dynamics. Validation is conducted on an LFP cell from a public dataset under three representative operating conditions: US06 at 0 degC, DST at 25 degC, and FUDS at 50 degC. Compared with a conventional EKF using the same model and identical state filter settings, the proposed method reduces the average SOC RMSE from 3.75% to 0.20% and the voltage RMSE between the filtered model voltage and the measured voltage from 32.8 mV to 0.8 mV. The improvement is most evident in the mid-SOC range where the OCV-SOC curve is flat, confirming that residual bias compensation significantly enhances accuracy for model-based SOC estimation of LFP batteries across a wide temperature range.

Paperid: 1310, https://arxiv.org/pdf/2510.21136.pdf

Abstract:
With the increasing penetration of behind-the-meter (BTM) resources, it is vital to monitor the components of these resources and deduce their response behavior to external environment. Owing to data privacy, however, the appliance-wise measurement is invisible to the power system operator, which hinders the accurate modeling of load identification. To this end, this paper proposes a hybrid physics-inspired and data-driven framework for decomposing BTM components based on external measurement of total load and environmental factors. The total load is decomposed into different environment-dependent components, namely storage-like component, PV generation component, thermostatically-controlled load component, and periodic component. The overall load identification adopts a double-layer iterative solution framework. A data-driven inverse optimization algorithm is developed to identify parameters of the energy storage-like component. The physics-inspired model is proposed to identify the capacity and response of the rest components. The modeling accuracy and robustness of the proposed method are validated by numerical tests. The application significance of the proposed BTM identification method is also validated in electricity market clearing for reducing system operation costs.

Paperid: 1311, https://arxiv.org/pdf/2510.16576.pdf

Abstract:
Reconfigurable intelligent surfaces (RISs) have emerged as a promising technology for enhancing wireless communications through dense antenna arrays. Accurate channel estimation is critical to unlocking their full performance potential. To enhance RIS channel estimators, this paper proposes a novel observation matrix design scheme. Bayesian optimization framework is adopted to generate observation matrices that maximize the mutual information between received pilot signals and RIS channels. To solve the formulated problem efficiently, we develop an alternating Riemannian manifold optimization (ARMO) algorithm to alternately update the receiver combiners and RIS phase-shift matrices. An adaptive kernel training strategy is further introduced to iteratively refine the channel covariance matrix without requiring additional pilot resources. Simulation results demonstrate that the proposed ARMO-enhanced estimator achieves substantial gains in estimation accuracy over state-of-the-art methods.

Paperid: 1312, https://arxiv.org/pdf/2510.16064.pdf

Abstract:
Solving the nonlinear AC optimal power flow (AC OPF) problem remains a major computational bottleneck for real-time grid operations. In this paper, we propose a residual learning paradigm that uses fast DC optimal power flow (DC OPF) solutions as a baseline, and learns only the nonlinear corrections required to provide the full AC-OPF solution. The method utilizes a topology-aware Graph Neural Network with local attention and two-level DC feature integration, trained using a physics-informed loss that enforces AC power-flow feasibility and operational limits. Evaluations on OPFData for 57-, 118-, and 2000-bus systems show around 25% lower MSE, up to 3X reduction in feasibility error, and up to 13X runtime speedup compared to conventional AC OPF solvers. The model maintains accuracy under N-1 contingencies and scales efficiently to large networks. These results demonstrate that residual learning is a practical and scalable bridge between linear approximations and AC-feasible OPF, enabling near real-time operational decision making.

Paperid: 1313, https://arxiv.org/pdf/2510.16063.pdf

Abstract:
Accurate voltage estimation in distribution networks is critical for real-time monitoring and increasing the reliability of the grid. As DER penetration and distribution level voltage variability increase, robust distribution system state estimation (DSSE) has become more essential to maintain safe and efficient operations. Traditional DSSE techniques, however, struggle with sparse measurements and the scale of modern feeders, limiting their scalability to large networks. This paper presents a hierarchical graph neural network for substation-level voltage estimation that exploits both electrical topology and physical features, while remaining robust to the low observability levels common to real-world distribution networks. Leveraging the public SMART-DS datasets, the model is trained and evaluated on thousands of buses across multiple substations and DER penetration scenarios. Comprehensive experiments demonstrate that the proposed method achieves up to 2 times lower RMSE than alternative data-driven models, and maintains high accuracy with as little as 1\% measurement coverage. The results highlight the potential of GNNs to enable scalable, reproducible, and data-driven voltage monitoring for distribution systems.

Paperid: 1314, https://arxiv.org/pdf/2510.15904.pdf

Abstract:
The rapid growth of deep neural network (DNN) workloads has significantly increased the demand for large-capacity on-chip SRAM in machine learning (ML) applications, with SRAM arrays now occupying a substantial fraction of the total die area. To address the dual challenges of storage density and computation efficiency, this paper proposes an NVM-in-Cache architecture that integrates resistive RAM (RRAM) devices into a conventional 6T-SRAM cell, forming a compact 6T-2R bit-cell. This hybrid cell enables Processing-in-Memory (PIM) mode, which performs massively parallel multiply-and-accumulate (MAC) operations directly on cache power lines while preserving stored cache data. By exploiting the intrinsic properties of the 6T-2R structure, the architecture achieves additional storage capability, high computational throughput without any bit-cell area overhead. Circuit- and array-level simulations in GlobalFoundries 22nm FDSOI technology demonstrate that the proposed design achieves a throughput of 0.4 TOPS and 491.78 TOPS/W. For 128 row-parallel operations, the CIFAR-10 classification is demonstrated by mapping a Resnet-18 neural network, achieving an accuracy of 91.27%. These results highlight the potential of the NVM-in-Cache approach to serve as a scalable, energy-efficient computing method by re-purposing existing 6T SRAM cache architecture for next-generation AI accelerators and general purpose processors.

Paperid: 1315, https://arxiv.org/pdf/2510.15340.pdf

Abstract:
State preparation is a cornerstone of quantum technologies, underpinning applications in computation, communication, and sensing. Its importance becomes even more pronounced in non-Markovian open quantum systems, where environmental memory and model uncertainties pose significant challenges to achieving high-fidelity control. Invariant-based inverse engineering provides a principled framework for synthesizing analytic control fields, yet existing parameterizations often lead to experimentally infeasible, singular pulses and are limited to simplified noise models such as those of Lindblad form. Here, we introduce a generalized invariant-based protocol for single-qubit state preparation under arbitrary noise conditions. The control proceeds in two-stages: first, we construct a family of bounded pulses that achieve perfect state preparation in a closed system; second, we identify the optimal member of this family that minimizes the effect of noise. The framework accommodates both (i) characterized noise, enabling noise-aware control synthesis, and (ii) uncharacterized noise, where a noise-agnostic variant preserves robustness without requiring a master-equation description. Numerical simulations demonstrate high-fidelity state preparation across diverse targets while producing smooth, hardware-feasible control fields. This singularity-free framework extends invariant-based control to realistic open-system regimes, providing a versatile route toward robust quantum state engineering on NISQ hardware and other platforms exhibiting non-Markovian dynamics.

Paperid: 1316, https://arxiv.org/pdf/2510.13031.pdf

Abstract:
The Open Radio Access Network (O-RAN) architecture enables a flexible, vendor-neutral deployment of 5G networks by disaggregating base station components and supporting third-party xApps for near real-time RAN control. However, the concurrent operation of multiple xApps can lead to conflicting control actions, which may cause network performance degradation. In this work, we propose a framework for xApp conflict management that combines explainable machine learning and causal inference to evaluate the causal relationships between RAN Control Parameters (RCPs) and Key Performance Indicators (KPIs). We use model explainability tools such as SHAP to identify RCPs that jointly affect the same KPI, signaling potential conflicts, and represent these interactions as a causal Directed Acyclic Graph (DAG). We then estimate the causal impact of each of these RCPs on their associated KPIs using metrics such as Average Treatment Effect (ATE) and Conditional Average Treatment Effect (CATE). This approach offers network operators guided insights into identifying conflicts and quantifying their impacts, enabling more informed and effective conflict resolution strategies across diverse xApp deployments.

Paperid: 1317, https://arxiv.org/pdf/2510.12382.pdf

Abstract:
Wind power producers can benefit from forming coalitions to participate cooperatively in electricity markets. To support such collaboration, various profit allocation rules rooted in cooperative game theory have been proposed. However, existing approaches overlook the lack of coherence among producers regarding forecast information, which may lead to ambiguity in offering and allocations. In this paper, we introduce a ``reconcile-then-optimize'' framework for cooperative market offerings. This framework first aligns the individual forecasts into a coherent joint forecast before determining market offers. With such forecasts, we formulate and solve a two-stage stochastic programming problem to derive both the aggregate offer and the corresponding scenario-based dual values for each trading hour. Based on these dual values, we construct a profit allocation rule that is budget-balanced and stable. Finally, we validate the proposed method through empirical case studies, demonstrating its practical effectiveness and theoretical soundness.

Paperid: 1318, https://arxiv.org/pdf/2510.11534.pdf

Abstract:
Realistic traffic simulation is critical for ensuring the safety and reliability of autonomous vehicles (AVs), especially in complex and diverse urban traffic environments. However, existing data-driven simulators face two key challenges: a limited focus on modeling dense, heterogeneous interactions at urban intersections - which are prevalent, crucial, and practically significant in countries like China, featuring diverse agents including motorized vehicles (MVs), non-motorized vehicles (NMVs), and pedestrians - and the inherent difficulty in robustly learning high-dimensional joint distributions for such high-density scenes, often leading to mode collapse and long-term simulation instability. We introduce City Crossings Dataset (CiCross), a large-scale dataset collected from a real-world urban intersection, uniquely capturing dense, heterogeneous multi-agent interactions, particularly with a substantial proportion of MVs, NMVs and pedestrians. Based on this dataset, we propose IntersectioNDE (Intersection Naturalistic Driving Environment), a data-driven simulator tailored for complex urban intersection scenarios. Its core component is the Interaction Decoupling Strategy (IDS), a training paradigm that learns compositional dynamics from agent subsets, enabling the marginal-to-joint simulation. Integrated into a scene-aware Transformer network with specialized training techniques, IDS significantly enhances simulation robustness and long-term stability for modeling heterogeneous interactions. Experiments on CiCross show that IntersectioNDE outperforms baseline methods in simulation fidelity, stability, and its ability to replicate complex, distribution-level urban traffic dynamics.

Paperid: 1319, https://arxiv.org/pdf/2510.11386.pdf

Abstract:
Fiber optic current sensors (FOCS) are widely adopted in modern power grids due to high sensitivity, excellent insulation, and strong immunity to electromagnetic interference. This prominence necessitates precise investigation into their error sources and corresponding optimization. This study examines reflective FOCS based on the Faraday effect. A theoretical model is established to simulate phase error caused by linear birefringence from the quarter-wave plate. Conventional methods using circular birefringence are analyzed, revealing inherent limitations. Innovatively, a compensation strategy employing high-order quarter-wave plates is proposed to effectively eliminate linear birefringence effects. This approach significantly enhances the accuracy and practicality of FOCS in precision metrology.

Paperid: 1320, https://arxiv.org/pdf/2510.11331.pdf

Abstract:
Large language model (LLM) inference at the network edge is a promising serving paradigm that leverages distributed edge resources to run inference near users and enhance privacy. Existing edge-based LLM inference systems typically adopt autoregressive decoding (AD), which only generates one token per forward pass. This iterative process, compounded by the limited computational resources of edge nodes, results in high serving latency and constrains the system's ability to support multiple users under growing demands.To address these challenges, we propose a speculative decoding (SD)-based LLM serving framework that deploys small and large models across heterogeneous edge nodes to collaboratively deliver inference services. Specifically, the small model rapidly generates draft tokens that the large model verifies in parallel, enabling multi-token generation per forward pass and thus reducing serving latency. To improve resource utilization of edge nodes, we incorporate pipeline parallelism to overlap drafting and verification across multiple inference tasks. Based on this framework, we analyze and derive a comprehensive latency model incorporating both communication and inference latency. Then, we formulate a joint optimization problem for speculation length, task batching, and wireless communication resource allocation to minimize total serving latency. To address this problem, we derive the closed-form solutions for wireless communication resource allocation, and develop a dynamic programming algorithm for joint batching and speculation control strategies. Experimental results demonstrate that the proposed framework achieves lower serving latency compared to AD-based serving systems. In addition,the proposed joint optimization method delivers up to 44.9% latency reduction compared to benchmark schemes.

Paperid: 1321, https://arxiv.org/pdf/2510.10914.pdf

Abstract:
The electrification of transportation represents a critical challenge in the global transition toward net-zero emissions, as the sector often accounts for more than one-quarter of national energy consumption. Achieving this transformation requires not only widespread adoption of electric vehicles (EVs) but also their seamless integration into interdependent infrastructure systems-specifically, the transportation-electricity nexus (TEN). This paper develops an optimal multi-modal transportation and electric power flow (OMTEPF) model to evaluate the benefits of coordinated, dynamic system operation. Building on recent advances in hetero-functional graph theory, the framework enables joint optimization of five key operational decisions in intelligent TEN management: vehicle dispatch, route choice, charging station queuing, coordinated charging, and vehicle-to-grid stabilization. The mesoscopic, dynamic model explicitly represents individual EVs and their state-of-charge trajectories, thereby extending beyond the prevailing literature's focus on static, macroscopic traffic assignment. It further captures the full scope of the TEN as a system-of-systems, incorporating five distinct charging modalities: private residential, private commercial, wired public commercial, inductive public, and discharging. On the power system side, an IV-ACOPF formulation ensures globally optimal solutions to the electrical subproblems. Comparative analysis demonstrates the substantial value of coordinated TEN operation relative to the status quo of siloed, uncoordinated infrastructure management. This work provides both a novel methodological contribution and actionable insights for the co-design and operation of next-generation sustainable mobility-energy systems.

Paperid: 1322, https://arxiv.org/pdf/2510.09929.pdf

Abstract:
Control barrier functions (CBFs) and Hamilton-Jacobi reachability (HJR) are central frameworks in safe control. Traditionally, these frameworks have been viewed as distinct, with the former focusing on optimally safe controller design and the latter providing sufficient conditions for safety. A previous work introduced the notion of a control barrier value function (CB-VF), which is defined similarly to the other value functions studied in HJR but has certain CBF-like properties. In this work, we proceed the other direction by generalizing CBFs to non-differentiable ``viscosity'' CBFs. We show the deep connection between viscosity CBFs and CB-VFs, bridging the CBF and HJR frameworks. Through this bridge, we characterize the viscosity CBFs as precisely those functions which provide CBF-like safety guarantees (control invariance and smooth approach to the boundary). We then further show nice theoretical properties of viscosity CBFs, including their desirable closure under maximum and limit operations. In the process, we also extend CB-VFs to non-exponential anti-discounting and update the corresponding theory for CB-VFs along these lines.

Paperid: 1323, https://arxiv.org/pdf/2510.09725.pdf

Abstract:
The switching losses of power transistors are generally measured using the so-called double pulse method. Measuring the opposition of two switching cells is a complementary method that is more accurate but indirect. However, implementing this method can be more complex and requires calibration steps and comprehensive control, with the added issue of thermal management. In this context, we proposed to address this topic through open and collaborative science, first in the form of a two-day hackathon, followed by monthly open sessions. More than 20 participants contributed to the two-day hackathon, followed by monthly sessions for those wishing to continue working together. This enabled us to set up an automated bench, in open science, including the generation of switching commands, the configuration and control of measuring instruments, and the hardware part. Here we present and share our work and this open approach.

Paperid: 1324, https://arxiv.org/pdf/2510.09304.pdf

Abstract:
The fundamental role of power converters is to efficiently manage and control the flow of electrical energy, ensuring compatibility between power sources and loads. All these applications of power converters need the design of an appropriate control law. Control of power converters is a challenging problem due to the presence of switching devices which are difficult to handle using traditional control approaches. The objective of this paper is to investigate the use of data-driven techniques, in particular the Virtual References Feedback Tuning (VRFT) method, in the context of power converters feedback control. This study considers a buck \pauline{mode} power converter circuit provided by the OwnTech foundation.

Paperid: 1325, https://arxiv.org/pdf/2510.08937.pdf

Abstract:
Cognitive radio (CR) is an important technique for improving spectral efficiency, letting a secondary system operate in a wireless spectrum when the primary system does not make use of it. While it has been widely explored over the past 25 years, many common assumptions are not aligned with the realities of 5G networks. In this paper, we consider the CR problem for the following setup: (i) infrastructure-based systems, where downlink transmissions might occur to receivers whose positions are not, or not exactly, known; (ii) multi-beam antennas at both primary and secondary base stations. We formulate a detailed protocol to determine when secondary transmissions into different beam directions can interfere with primary users at potential locations and create probability-based interference rules. We then analyze the "catastrophic interference" probability and the "missed transmission opportunity" probability, as well as the achievable throughput, as a function of the transmit powers of the primary and secondary base stations and the sensing window of the secondary base station. Results can serve to more realistically assess the spectral efficiency gains in 5G infrastructure-based cognitive systems.

Paperid: 1326, https://arxiv.org/pdf/2510.08887.pdf

Abstract:
In recent years, densifying multiple-input multiple-output (MIMO) has attracted much attention from the communication community. Thanks to the subwavelength antenna spacing, the strong correlations among densifying antennas provide sufficient prior knowledge about channel state information (CSI). This inspires the careful design of observation matrices (e.g., transmit precoders and receive combiners), that exploits the CSI prior knowledge, to boost channel estimation performance. Aligned with this vision, this work proposes to jointly design the combiners and precoders by maximizing the mutual information between the received pilots and densifying MIMO channels. A two-dimensional ice-filling (2DIF) algorithm is proposed to efficiently accomplish this objective. The algorithm is motivated by the fact that the eigenspace of MIMO channel covariance can be decoupled into two sub-eigenspaces, which are associated with the correlations of transmitter antennas and receiver antennas, respectively. By properly setting the precoder and the combiner as the eigenvectors from these two sub-eigenspaces, the 2DIF promises to generate near-optimal observation matrices. Moreover, we further extend the 2DIF method to the popular hybrid combining systems, where a two-stage 2DIF (TS-2DIF) algorithm is developed to handle the analog combining circuits realized by phase shifters. Simulation results demonstrate that, compared to the state-of-the-art schemes, the proposed 2DIF and TS-2DIF methods can achieve superior channel estimation accuracy.

Paperid: 1327, https://arxiv.org/pdf/2510.08275.pdf

Abstract:
Hypersonic glide vehicles (HGVs) operate in challenging flight regimes characterized by strong nonlinearities in actuation and stringent physical constraints. These include state-dependent actuator limitations, asymmetric control bounds, and thermal loads that vary with maneuvering conditions. This paper introduces an iterative control allocation method to address these challenges in real time. The proposed algorithm searches for control inputs that achieve the desired moment commands while respecting constraints on input magnitude and rate. For slender HGV configurations, thermal loads and drag generation are strongly correlated-lower drag typically results in reduced surface heating. By embedding drag-sensitive soft constraints, the method improves energy efficiency and implicitly reduces surface temperatures, lowering the vehicle's infrared signature. These features are particularly advantageous for long-range military operations that require low observability. The approach is demonstrated using the DLR's Generic Hypersonic Glide Vehicle 2 (GHGV-2) simulation model. The results confirm the method's effectiveness in maintaining control authority under realistic, constrained flight conditions.

Paperid: 1328, https://arxiv.org/pdf/2510.08119.pdf

Abstract:
This study introduces a systematic and scalable method for arbitrary rigid-bodies equipped with vectorized thrusters. Two novel solutions are proposed: a closed-form, Lipschitz continuous mapping that ensures smooth actuator orientation references, and a convex optimization formulation capable of handling practical actuator constraints such as thrust saturation and angular rate limits. Both methods leverage the null-space structure of the allocation mapping to perform singularity avoidance while generating sub-optimal yet practical solutions. The effectiveness and generality of the proposed framework are demonstrated through numerical simulations on a 3DOF marine vessel and a 6DOF aerial quadcopter.

Paperid: 1329, https://arxiv.org/pdf/2510.07708.pdf

Abstract:
As orbital debris continues to become a higher priority for the space industry, there is a need to explore how partnerships between the public and private space sector may aid in addressing this issue. This research develops a space logistics framework for planning orbital debris remediation missions, providing a quantitative basis for partnerships that are mutually beneficial between space operators and debris remediators. By integrating network-based space logistics and game theory, we illuminate the high-level costs of remediating orbital debris, and the surplus that stands to be shared as a result. These findings indicate significant progress toward the continued development of a safe, sustainable, and profitable space economy.

Paperid: 1330, https://arxiv.org/pdf/2510.07625.pdf

Abstract:
While Model Predictive Control (MPC) delivers strong performance across robotics applications, solving the underlying (batches of) nonlinear trajectory optimization (TO) problems online remains computationally demanding. Existing GPU-accelerated approaches typically (i) parallelize a single solve to meet real-time deadlines, (ii) scale to very large batches at slower-than-real-time rates, or (iii) achieve speed by restricting model generality (e.g., point-mass dynamics or a single linearization). This leaves a large gap in solver performance for many state-of-the-art MPC applications that require real-time batches of tens to low-hundreds of solves. As such, we present GATO, an open source, GPU-accelerated, batched TO solver co-designed across algorithm, software, and computational hardware to deliver real-time throughput for these moderate batch size regimes. Our approach leverages a combination of block-, warp-, and thread-level parallelism within and across solves for ultra-high performance. We demonstrate the effectiveness of our approach through a combination of: simulated benchmarks showing speedups of 18-21x over CPU baselines and 1.4-16x over GPU baselines as batch size increases; case studies highlighting improved disturbance rejection and convergence behavior; and finally a validation on hardware using an industrial manipulator. We open source GATO to support reproducibility and adoption.

Paperid: 1331, https://arxiv.org/pdf/2510.07338.pdf

Abstract:
To facilitate the widespread adoption of renewable energy, dispatchable, zero-emission power sources are essential for grid stability. This work performs a comprehensive techno-economic analysis of a self-sustainable thermophotovoltaic (TPV) system, an architecture that integrates solar charging to function as a standalone power generation asset. Using theory-based models for air-bridge InGaAs and Si diode cells, our analysis reveals that while the system is not currently competitive from a pure levelized of storage cost (LCOS) perspective due to the high capital expenditure for thermal battery materials, its primary value lies in its competitive levelized cost of electricity (LCOE). The results demonstrate that the LCOE of this self-sustaining system can be competitive with conventional dispatchable generators, such as gas turbines. Furthermore, at scales exceeding the gigawatt-hour level, a Si-based system can also achieve an LCOE comparable to that of traditional gas-turbine power plants, despite having a lower conversion efficiency than its InGaAs counterpart. This highlights a practical engineering pathway for leveraging silicon's immense manufacturing scalability, offering a lower-risk route to deployment compared to III-V materials. Ultimately, this work establishes the self-sustainable TPV architecture as a compelling pathway toward providing grid-scale, on-demand, zero-emission power.

Paperid: 1332, https://arxiv.org/pdf/2510.06835.pdf

Abstract:
In this paper, we consider the resilient multi-dimensional consensus and distributed optimization problems of multi-agent systems (MASs) in the presence of both agent-based and denial-of-service (DoS) attacks. The considered agent-based attacks can cover malicious, Byzantine, and stubborn agents. The links between agents in the network can be blocked by DoS attacks, which may lead the digraph to be time-varying and even disconnected. The objective is to ensure that the remaining benign agents achieve consensus. To this end, an "auxiliary point"-based resilient control algorithm is proposed for MASs. Under the proposed algorithm, each healthy agent constructs a "safe kernel" utilizing the states of its in-neighbors and updates its state toward a specific point within this kernel at each iteration. If an agent cannot receive its neighbors' states owing to DoS attacks, it will use the states received immediately before the DoS period. Moreover, a resilient multi-dimensional distributed optimization (RMDO) algorithm is also proposed. Theoretical proofs and numerical examples are presented to demonstrate the effectiveness of the proposed algorithms.

Paperid: 1333, https://arxiv.org/pdf/2510.05625.pdf

Abstract:
The rapid development of Generative Artificial Intelligence (GenAI) has catalyzed a transformative technological revolution across all walks of life. As the backbone of wideband communication, optical networks are expecting high-level autonomous operation and zero-touch management to accommodate their expanding network scales and escalating transmission bandwidth. The integration of GenAI is deemed as the pivotal solution for realizing zero-touch optical networks. However, the lifecycle management of optical networks involves a multitude of tasks and necessitates seamless collaboration across multiple layers, which poses significant challenges to the existing single-agent GenAI systems. In this paper, we propose a GenAI-driven hierarchical multi-agent framework designed to streamline multi-task autonomous execution for zero-touch optical networks. We present the architecture, implementation, and applications of this framework. A field-deployed mesh network is utilized to demonstrate three typical scenarios throughout the lifecycle of optical network: quality of transmission estimation in the planning stage, dynamic channel adding/dropping in the operation stage, and system capacity increase in the upgrade stage. The case studies, illustrate the capabilities of multi-agent framework in multi-task allocation, coordination, execution, evaluation, and summarization. This work provides a promising approach for the future development of intelligent, efficient, and collaborative network management solutions, paving the way for more specialized and adaptive zero-touch optical networks.

Paperid: 1334, https://arxiv.org/pdf/2510.05345.pdf

Abstract:
The continuous-time, infinite horizon LQR problem for the diffusion equation over the unit circle with fully distributed actuation is considered. It is well-known that the solution to this problem can be obtained from the solution to an operator-valued algebraic Riccati equation. Here, it is demonstrated that this solution can be equivalently obtained by solving an $H_2$ control problem through a closed-loop design procedure that is analogous to the "System Level Synthesis" methodology previously developed for systems over a discrete spatial domain and/or over a finite time horizon. The presented extension to the continuous spatial domain and continuous and infinite-horizon time setting admits analytical solutions that may complement computational approaches for discrete or finite-horizon settings. It is further illustrated that spatio-temporal constraints on the closed-loop responses can be incorporated into this new formulation in a convex manner.

Paperid: 1335, https://arxiv.org/pdf/2510.05293.pdf

Abstract:
Synchronous Generators (SGs) currently provide important levels of Short-Circuit Current (SCC), a critical ancillary service that ensures line protections trip during short-circuit faults. Given the ongoing replacement of SGs by power-electronics-based generation, which have a hard limit for current injection, it has become relevant to optimize the procurement of SCC provided by remaining SGs. Pricing this service is however challenging due to the integrality constraints in Unit Commitment (UC). Existing methods, e.g., dispatchable pricing, restricted pricing and marginal unit pricing, attempt to address this issue but exhibit limitations in handling binary variables, resulting in SCC prices that either fail to cover the operating costs of units or lack interpretability. To overcome these pitfalls, we propose a primal-dual formulation of the SCC-constrained dispatch that preserves the binary nature of UC while effectively computing shadow prices of SCC services. Using a modified IEEE 30-bus system, a comparison is carried out between the proposed approach and the state-of-the-art pricing schemes, highlighting the advantages of the primal-dual method in preserving UC integrality for SCC pricing.

Paperid: 1336, https://arxiv.org/pdf/2510.04853.pdf

Abstract:
A novel active fault-tolerant control (AFTC) scheme for a dual-system vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) during transition flight is proposed in this paper. The AFTC scheme is composed of a baseline control law and an online control reallocation module. First, the structured $H_{\infty}$ baseline control law is able to guarantee the stability of closed-loop systems without being reconfigured under simultaneous actuator fault conditions. Second, compared to the existing mainstream method of sliding mode control that is a discontinuous control strategy, the AFTC scheme can effectively avoid control chattering problem by adopting the structured $H_{\infty}$ baseline control law. Third, an online control allocation (CA) module is implemented to carry out a unified CA for all the available actuators. When actuator faults/failures occur, the CA matrix is updated according to fault information and real-time airspeed, which is able to redistribute the virtual control signals to the remaining healthy actuators, avoiding significant performance degradation. Based on the developed AFTC scheme, symmetric and non-symmetric actuator fault scenarios are simulated on a nonlinear six-degree-of-freedom simulator, where the cases of merely structured $H_{\infty}$ control and structured $H_{\infty}$ based AFTC are compared and analyzed. The results show that the proposed structured $H_{\infty}$ based AFTC system is capable of handling more complicated fault scenarios and model uncertainties with no need to reconfigure the baseline control law. The proposed AFTC scheme significantly improves the safety and reliability of the transition flight of dual-system VTOL UAVs.

Paperid: 1337, https://arxiv.org/pdf/2510.04379.pdf

Abstract:
Distance relays detect faults on transmission lines. They face uncertainty from the fault's location and resistance, as well as the current from the line's remote terminal. In this paper, we aggregate this uncertainty with the Minkowski sum. This allows us to explicitly model the power grid surrounding the relay's line, and in turn accommodate any mix of synchronous machines and inverter-based resources. To make the relay's task easier, inverters can inject perturbations, or auxiliary signals, such as negative-sequence current. We use Farkas' lemma to construct an optimization for designing inverter auxiliary signals.

Paperid: 1338, https://arxiv.org/pdf/2510.04168.pdf

Abstract:
Rock capturing with standard excavator buckets is a challenging task typically requiring the expertise of skilled operators. Unlike soil digging, it involves manipulating large, irregular rocks in unstructured environments where complex contact interactions with granular material make model-based control impractical. Existing autonomous excavation methods focus mainly on continuous media or rely on specialized grippers, limiting their applicability to real-world construction sites. This paper introduces a fully data-driven control framework for rock capturing that eliminates the need for explicit modeling of rock or soil properties. A model-free reinforcement learning agent is trained in the AGX Dynamics simulator using the Proximal Policy Optimization (PPO) algorithm and a guiding reward formulation. The learned policy outputs joint velocity commands directly to the boom, arm, and bucket of a CAT365 excavator model. Robustness is enhanced through extensive domain randomization of rock geometry, density, and mass, as well as the initial configurations of the bucket, rock, and goal position. To the best of our knowledge, this is the first study to develop and evaluate an RL-based controller for the rock capturing task. Experimental results show that the policy generalizes well to unseen rocks and varying soil conditions, achieving high success rates comparable to those of human participants while maintaining machine stability. These findings demonstrate the feasibility of learning-based excavation strategies for discrete object manipulation without requiring specialized hardware or detailed material models.

Paperid: 1339, https://arxiv.org/pdf/2510.03867.pdf

Abstract:
Data center loads have expanded significantly in recent years. Compared to traditional loads, data centers are highly sensitive to voltage deviations and thus their protection mechanisms trip more proactively during voltage fluctuations. During a grid fault, simultaneous tripping of large-scale data centers can further destabilize the transmission system and even lead to cascading failures. In response, transmission system operators are imposing voltage ride-through (VRT) requirements for data centers. In this work, we enhance the VRT capability of data centers by designing voltage controllers for their internal power distribution network. We first systematically analyze VRT standards and the controllable resources related to data centers. These resources enable the design of voltage control strategies to regulate voltages internal to the data center, thereby allowing loads to remain online during voltage disturbances from the external transmission grid. We study and contrast both centralized and decentralized controllers that unify the control of heterogeneous flexible resources. Additionally, we construct an integrated test system that simulates both the transient fault response of the transmission system and the data center distribution network. Case studies demonstrate that the proposed voltage control mechanisms provide effective yet simple solutions to enhance data center low-voltage ride-through capability.

Paperid: 1340, https://arxiv.org/pdf/2510.03699.pdf

Abstract:
Larval zebrafish hunting provides a tractable setting to study how ecological and energetic constraints shape adaptive behavior in both biological brains and artificial agents. Here we develop a minimal agent-based model, training recurrent policies with deep reinforcement learning in a bout-based zebrafish simulator. Despite its simplicity, the model reproduces hallmark hunting behaviors -- including eye vergence-linked pursuit, speed modulation, and stereotyped approach trajectories -- that closely match real larval zebrafish. Quantitative trajectory analyses show that pursuit bouts systematically reduce prey angle by roughly half before strike, consistent with measurements. Virtual experiments and parameter sweeps vary ecological and energetic constraints, bout kinematics (coupled vs. uncoupled turns and forward motion), and environmental factors such as food density, food speed, and vergence limits. These manipulations reveal how constraints and environments shape pursuit dynamics, strike success, and abort rates, yielding falsifiable predictions for neuroscience experiments. These sweeps identify a compact set of constraints -- binocular sensing, the coupling of forward speed and turning in bout kinematics, and modest energetic costs on locomotion and vergence -- that are sufficient for zebrafish-like hunting to emerge. Strikingly, these behaviors arise in minimal agents without detailed biomechanics, fluid dynamics, circuit realism, or imitation learning from real zebrafish data. Taken together, this work provides a normative account of zebrafish hunting as the optimal balance between energetic cost and sensory benefit, highlighting the trade-offs that structure vergence and trajectory dynamics. We establish a virtual lab that narrows the experimental search space and generates falsifiable predictions about behavior and neural coding.

Paperid: 1341, https://arxiv.org/pdf/2510.03520.pdf

Abstract:
Ensuring safety is a foundational requirement for large language models (LLMs). Achieving an appropriate balance between enhancing the utility of model outputs and mitigating their potential for harm is a complex and persistent challenge. Contemporary approaches frequently formalize this problem within the framework of Constrained Markov Decision Processes (CMDPs) and employ established CMDP optimization techniques. However, these methods exhibit two notable limitations. First, their reliance on reward and cost functions renders performance highly sensitive to the underlying scoring mechanism, which must capture semantic meaning rather than being triggered by superficial keywords. Second, CMDP-based training entails tuning dual-variable, a process that is both computationally expensive and does not provide any provable safety guarantee for a fixed dual variable that can be exploitable through adversarial jailbreaks. To overcome these limitations, we introduce Certifiable Safe-RLHF (CS-RLHF) that introduces a cost model trained on a large-scale corpus to assign semantically grounded safety scores. In contrast to the lagrangian-based approach, CS-RLHF adopts a rectified penalty-based formulation. This design draws on the theory of exact penalty functions in constrained optimization, wherein constraint satisfaction is enforced directly through a suitably chosen penalty term. With an appropriately scaled penalty, feasibility of the safety constraints can be guaranteed at the optimizer, eliminating the need for dual-variable updates. Empirical evaluation demonstrates that CS-RLHF outperforms state-of-the-art LLM model responses rendering at-least 5 times efficient against nominal and jail-breaking prompts

Paperid: 1342, https://arxiv.org/pdf/2510.03475.pdf

Abstract:
This paper offers a unified perspective on different approaches to the solution of optimal control problems through the lens of constrained sequential quadratic programming. In particular, it allows us to find the relationships between Newton's method, the iterative LQR (iLQR), and Differential Dynamic Programming (DDP) approaches to solve the problem. It is shown that the iLQR is a principled SQP approach, rather than simply an approximation of DDP by neglecting the Hessian terms, to solve optimal control problems that can be guaranteed to always produce a cost-descent direction and converge to an optimum; while Newton's approach or DDP do not have similar guarantees, especially far from an optimum. Our empirical evaluations on the pendulum and cart-pole swing-up tasks serve to corroborate the SQP-based analysis proposed in this paper.

Paperid: 1343, https://arxiv.org/pdf/2510.02896.pdf

Abstract:
Reinforcement Learning (RL) has emerged as a powerful framework for sequential decision-making in dynamic environments, particularly when system parameters are unknown. This paper investigates RL-based control for entropy-regularized Linear Quadratic control (LQC) problems with multiplicative noises over an infinite time horizon. First, we adapt the Regularized Policy Gradient (RPG) algorithm to stochastic optimal control settings, proving that despite the non-convexity of the problem, RPG converges globally under conditions of gradient domination and near-smoothness. Second, based on zero-order optimization approach, we introduce a novel model free RL algorithm: Sample-Based Regularized Policy Gradient (SB-RPG). SB-RPG operates without knowledge of system parameters yet still retains strong theoretical guarantees of global convergence. Our model leverages entropy regularization to accelerate convergence and address the exploration versus exploitation trade-off inherent in RL. Numerical simulations validate the theoretical results and demonstrate the efficacy of SB-RPG in unknown-parameters environments.

Paperid: 1344, https://arxiv.org/pdf/2510.02529.pdf

Abstract:
Subspace identification methods (SIMs) have proven to be very useful and numerically robust for building state-space models. While most SIMs are consistent, few if any can achieve the efficiency of the maximum likelihood estimate (MLE). Conversely, the prediction error method (PEM) with a quadratic criteria is equivalent to MLE, but it comes with non-convex optimization problems and requires good initialization points. This contribution proposes a weighted null space fitting (WNSF) approach for estimating state-space models, combining some key advantages of the two aforementioned mainstream approaches. It starts with a least-squares estimate of a high-order ARX model, and then a multi-step least-squares procedure reduces the model to a state-space model on canoncial form. It is demonstrated through statistical analysis that when a canonical parameterization is admissible, the proposed method is consistent and asymptotically efficient, thereby making progress on the long-standing open problem about the existence of an asymptotically efficient SIM. Numerical and practical examples are provided to illustrate that the proposed method performs favorable in comparison with SIMs.

Paperid: 1345, https://arxiv.org/pdf/2510.02490.pdf

Abstract:
In this paper, we study the use of robust model independent bounded extremum seeking (ES) feedback control to improve the robustness of deep reinforcement learning (DRL) controllers for a class of nonlinear time-varying systems. DRL has the potential to learn from large datasets to quickly control or optimize the outputs of many-parameter systems, but its performance degrades catastrophically when the system model changes rapidly over time. Bounded ES can handle time-varying systems with unknown control directions, but its convergence speed slows down as the number of tuned parameters increases and, like all local adaptive methods, it can get stuck in local minima. We demonstrate that together, DRL and bounded ES result in a hybrid controller whose performance exceeds the sum of its parts with DRL taking advantage of historical data to learn how to quickly control a many-parameter system to a desired setpoint while bounded ES ensures its robustness to time variations. We present a numerical study of a general time-varying system and a combined ES-DRL controller for automatic tuning of the Low Energy Beam Transport section at the Los Alamos Neutron Science Center linear particle accelerator.

Paperid: 1346, https://arxiv.org/pdf/2510.02364.pdf

Abstract:
Adaptive Cruise Control (ACC) is rapidly proliferating across electric vehicles (EVs) and internal combustion engine (ICE) vehicles, enhancing traffic flow while simultaneously expanding the attack surface for communication-based cyberattacks. Because the two powertrains translate control inputs into motion differently, their cyber-resilience remains unquantified. Therefore, we formalize six novel message-level attack vectors and implement them in a ring-road simulation that systematically varies the ACC market penetration rates (MPRs) and the spatial pattern of compromised vehicles. A three-tier risk taxonomy converts disturbance metrics into actionable defense priorities for practitioners. Across all simulation scenarios, EV platoons exhibit lower velocity standard deviation, reduced spacing oscillations, and faster post-attack recovery compared to ICE counterparts, revealing an inherent stability advantage. These findings clarify how controller-to-powertrain coupling influences vulnerability and offer quantitative guidance for the detection and mitigation of attacks in mixed automated traffic.

Paperid: 1347, https://arxiv.org/pdf/2510.02355.pdf

Abstract:
We develop an end-to-end deep learning framework for downlink beamforming in large-scale sparse MIMO channels. The core is a deep EDN architecture with three modules: (i) an encoder NN, deployed at each user end, that compresses estimated downlink channels into low-dimensional latent vectors. The latent vector from each user is compressed and then fed back to the BS. (ii) a beamformer decoder NN at the BS that maps recovered latent vectors to beamformers, and (iii) a channel decoder NN at the BS that reconstructs downlink channels from recovered latent vectors to further refine the beamformers. The training of EDN leverages two key strategies: (a) semi-amortized learning, where the beamformer decoder NN contains an analytical gradient ascent during both training and inference stages, and (b) knowledge distillation, where the loss function consists of a supervised term and an unsupervised term, and starting from supervised training with MMSE beamformers, over the epochs, the model training gradually shifts toward unsupervised using the sum-rate objective. The proposed EDN beamforming framework is extended to both far-field and near-field hybrid beamforming scenarios. Extensive simulations validate its effectiveness under diverse network and channel conditions.

Paperid: 1348, https://arxiv.org/pdf/2510.02140.pdf

Abstract:
In this work we study the convergence of gradient methods for nonconvex optimization problems -- specifically the effect of the problem formulation to the convergence behavior of the solution of a gradient flow. We show through a simple example that, surprisingly, the gradient flow solution can be exponentially or asymptotically convergent, depending on how the problem is formulated. We then deepen the analysis and show that a policy optimization strategy for the continuous-time linear quadratic regulator (LQR) (which is known to present only asymptotic convergence globally) presents almost global exponential convergence if the problem is overparameterized through a linear feed-forward neural network (LFFNN). We prove this qualitative improvement always happens for a simplified version of the LQR problem and derive explicit convergence rates for the gradient flow. Finally, we show that both the qualitative improvement and the quantitative rate gains persist in the general LQR through numerical simulations.

Paperid: 1349, https://arxiv.org/pdf/2510.02127.pdf

Abstract:
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a function that characterizes a safe set that can be made (control) invariant. However, the computational burden of solving high-dimensional partial differential equations (for HJ Reachability) or large-scale semidefinite programs (for CBFs) makes finding such functions challenging. In this paper, we introduce the notion of Recurrent Control Barrier Functions (RCBFs), a novel class of CBFs that leverages a recurrent property of the trajectories, i.e., coming back to a safe set, for safety verification. Under mild assumptions, we show that the RCBF condition holds for the signed-distance function, turning function design into set identification. Notably, the resulting set need not be invariant to certify safety. We further propose a data-driven nonparametric method to compute safe sets that is massively parallelizable and trades off conservativeness against computational cost.

Paperid: 1350, https://arxiv.org/pdf/2510.02010.pdf

Abstract:
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are solved directly as outcomes of the DMPC optimization given the driver's perceivable states. The coordinated solutions are derived using the best response dynamics via iterated self-play, and are facilitated by direct negotiation using inter-agent or agent-infrastructure communication. These solutions closely approximate either Nash equilibrium or centralized optimization. By re-parameterizing the action sequence in DMPC as a curve along the planning horizon, we are able to systematically reduce the original DMPC to very efficient grid searches such that the optimal solution to the original DMPC can be well executed in real-time. Within our modeling framework, it is natural to cast traffic control problems as mechanism design problems, in which all agents are endogenized on an equal footing with full incentive compatibility. We show how traffic efficiency can be dramatically improved while keeping stop-and-go phantom waves tamed at high vehicle densities. Our approach can be viewed as an alternative way to formulate coordinated adaptive cruise control (CACC) without an explicit platooning (or with all vehicles in the traffic system treated as a single extended platoon). We also address the issue of linear stability of the associated discrete-time traffic dynamics and demonstrate why it does not always tell the full story about the traffic stability.

Paperid: 1351, https://arxiv.org/pdf/2510.01481.pdf

Abstract:
We present the Social Influence Game (SIG), a framework for modeling adversarial persuasion in social networks with an arbitrary number of competing players. Our goal is to provide a tractable and interpretable model of contested influence that scales to large systems while capturing the structural leverage points of networks. Each player allocates influence from a fixed budget to steer opinions that evolve under DeGroot dynamics, and we prove that the resulting optimization problem is a difference-of-convex program. To enable scalability, we develop an Iterated Linear (IL) solver that approximates player objectives with linear programs. In experiments on random and archetypical networks, IL achieves solutions within 7% of nonlinear solvers while being over 10x faster, scaling to large social networks. This paper lays a foundation for asymptotic analysis of contested influence in complex networks.

Paperid: 1352, https://arxiv.org/pdf/2510.01147.pdf

Abstract:
This paper addresses the challenge of synthesizing safety-critical controllers for high-order nonlinear systems, where constructing valid Control Barrier Functions (CBFs) remains computationally intractable. Leveraging layered control, we design CBFs in reduced-order models (RoMs) while regulating full-order models' (FoMs) dynamics at the same time. Traditional Lyapunov tracking functions are required to decrease monotonically, but systematic synthesis methods for such functions exist only for fully-actuated systems. To overcome this limitation, we introduce Recurrent Tracking Functions (RTFs), which replace the monotonic decay requirement with a weaker finite-time recurrence condition. This relaxation permits transient deviations of tracking errors while ensuring safety. By augmenting CBFs for RoMs with RTFs, we construct recurrent CBFs (RCBFs) whose zero-superlevel set is control $τ$-recurrent, and guarantee safety for all initial states in such a set when RTFs are satisfied. We establish theoretical safety guarantees and validate the approach through numerical experiments, demonstrating RTFs' effectiveness and the safety of FoMs.

Paperid: 1353, https://arxiv.org/pdf/2510.01044.pdf

Abstract:
Dual-system UAVs with vertical take-off and landing capabilities have become increasingly popular in recent years. As a safety-critical system, it is important that a dual-system UAV can maintain safe flight after faults/failures occur. This paper proposes a gain-scheduled passive fault-tolerant control (PFTC) method for the transition flight of dual-system UAVs. In this novel FTC design method, the model uncertainties arising from the loss of control effectiveness caused by actuator faults/failures, for the first time, are treated as model input uncertainty, allowing us to use multiplicative uncertainty descriptions to represent it. The advantages of the proposed method consist in significantly reducing the number of design points, thereby simplifying the control synthesis process and improving the efficiency of designing the FTC system for dual-system UAV transition flight compared with the existing FTC design methods. As a general method, it can be applied to the design of FTC systems with multiple uncertain parameters and multiple channels. The developed passive FTC system is validated on a nonlinear six-degree-of-freedom simulator. The simulation results demonstrate that the gain-scheduled structured H infinity (GS SHIF) PFTC system provides superior fault tolerance performance compared with the LQR and structured H infinity control systems, thereby showcasing the effectiveness and the advantages of the proposed GS SHIF PFTC approach.

Paperid: 1354, https://arxiv.org/pdf/2510.01041.pdf

Abstract:
Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system. ROSplane is a lean, open-source fixed-wing autonomy stack built by researchers for researchers. It is designed to accelerate research by providing clearly defined interfaces with an easily modifiable framework. Powered by ROS 2, ROSplane allows for rapid integration of low or high-level control, path planning, or estimation algorithms. A focus on lean, easily understood code and extensive documentation lowers the barrier to entry for researchers. Recent developments to ROSplane improve its capacity to accelerate UAV research, including the transition from ROS 1 to ROS 2, enhanced estimation and control algorithms, increased modularity, and an improved aerodynamic modeling pipeline. This aerodynamic modeling pipeline significantly reduces the effort of transitioning from simulation to real-world testing without requiring expensive system identification or computational fluid dynamics tools. ROSplane's architecture reduces the effort required to integrate new research tools and methods, expediting hardware experimentation.

Paperid: 1355, https://arxiv.org/pdf/2510.00995.pdf

Abstract:
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to hardware experiments by maintaining a lean (not full-featured), well-documented, and modular codebase. This publication builds on previous treatments and describes significant additions to the architecture that improve the modularity and usability of ROSflight, including the transition from ROS 1 to ROS 2, supported hardware, low-level actuator mixing, and the simulation environment. We believe that these changes improve the usability of ROSflight and enable ROSflight to accelerate research in areas like advanced-air mobility. Hardware results are provided, showing that ROSflight is able to control a multirotor over a serial connection at 400 Hz while closing all control loops on the companion computer.

Paperid: 1356, https://arxiv.org/pdf/2510.00992.pdf

Abstract:
In the last decade, charging service providers are emerging along with the prevalence of electric vehicles. These providers need to strategically optimize their charging prices to improve the profits considering operation conditions of the coupled power-transportation network. However, the optimal pricing problem generally involves the user equilibrium model, which leads to a mathematical program with equilibrium constraints. As a result, the pricing problem is non-convex and computationally intractable especially for large-scale network. To address this challenge, we propose a generalized sensitivity analysis approach for optimal pricing of electric vehicle charging on coupled power-transportation network. Specifically, we adopt a sensitivity analysis to capture the best response of charging demand to charging price in the gradient form. Consequently, charging service providers can make pricing decisions based on the gradient information instead of the conventional KKT conditions of the user equilibrium model. We then propose a tailored gradient descent algorithm to solve the whole pricing problem. The mathematical proof of validity is given and the time complexity of the proposed algorithm is theoretically polynomial. Numerical experiments on different scales of networks verify the computational efficiency of the proposed algorithm, indicating its potential in evaluating the impact of the optimal pricing on the operational performance of large-scale coupled power-transportation network.

Paperid: 1357, https://arxiv.org/pdf/2510.00984.pdf

Abstract:
Electric autonomous mobility-on-demand (EAMoD) systems are emerging all over the world. However, their potential swarm charging in depots may deteriorate operation of the power system, further in turn affecting EAMoD system's optimal operation. To prevent this latent risk, we develop a real-time coordination framework for the EAMoD system and the power system. First, the temporal-spatial characteristics of EAMoD fleets are fully described based on a Markov decision process model, including serving trips, repositioning, and charging. Second, charger accessibility of EAMoD depot charging is well modeled as real-world configuration, wherein fast and slow charge piles are both included. Third, the power system regulation model provides real-time charging regulation constraints for EAMoD systems to prevent potential overload and undervoltage. To address the poor solution quality attributed to the complex decision space of the EAMoD system, this paper proposes a piecewise linear-based approximate dynamic programming algorithm combined with model predictive control. Numerical experiments in the Manhattan and a 14-node power distribution network validate the effectiveness of the proposed algorithm and underscore the necessity of system coordination.

Paperid: 1358, https://arxiv.org/pdf/2510.00801.pdf

Abstract:
This paper establishes the global convergence properties of the Oja flow, a continuous-time algorithm for principal component extraction, for general square matrices. The Oja flow is a matrix differential equation on the Stiefel manifold designed to extract a dominant subspace. While its analysis has traditionally been restricted to symmetric positive-definite matrices, where it acts as a gradient flow, recent applications have extended its use to general matrices. In this non-symmetric case, the flow extracts the invariant subspace corresponding to the eigenvalues with the largest real parts. However, prior convergence results have been purely local, leaving the global behavior as an open problem. This paper fills this gap by providing a comprehensive global convergence analysis, establishing that the flow converges exponentially for almost all initial conditions. We also propose a modification to the algorithm that enhances its numerical stability. As an application of this theory, we develop novel methods for the model reduction of linear dynamical systems and the synthesis of low-rank stabilizing controllers.

Paperid: 1359, https://arxiv.org/pdf/2510.00560.pdf

Abstract:
Ensuring the structural integrity of bridges is essential for maintaining infrastructure safety and promoting long-term sustainability. In this context, Indirect Structural Health Monitoring (ISHM) through drive-by bridge inspection emerges as a promising alternative to traditional inspection methods, offering a cost-effective and scalable solution by using vehicle-mounted sensors to assess the condition of bridges without requiring direct instrumentation. This study introduces the first purpose-built electric inspection vehicle specifically designed for drive-by bridge inspection. The autonomous platform is capable of maintaining a constant low speed and offers customisable operational parameters to maximise the accuracy and repeatability of indirect sensing, capabilities not achieved in previous studies. The vehicle is deployed within an ISHM framework and tested on two full-scale bridges to evaluate its effectiveness in capturing structural dynamic responses. Two unsupervised frameworks are then employed to analyse the collected data to identify features indicative of bridge properties and structural condition. The promising findings from this study demonstrate the practical feasibility of the approach. The study also shows the potential of ISHM as a viable tool for efficient bridge monitoring, contributing to the development of next-generation structural health monitoring systems that can enhance safety, optimise maintenance strategies, and support the longevity of critical infrastructure.

Paperid: 1360, https://arxiv.org/pdf/2510.00208.pdf

Abstract:
Attitude stabilization of unmanned aerial vehicles in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of $\mathcal{H}_\infty$ and classical PID controllers for multi-rotor attitude regulation in the presence of wind disturbances and gyroscope noise. The flight dynamics are modeled using a linear parameter-varying (LPV) framework, where nonlinearities and parameter variations are systematically represented as structured uncertainties within a linear fractional transformation formulation. A robust controller based on $\mathcal{H}_\infty$ formulation is designed using only gyroscope measurements to ensure guaranteed performance bounds. Nonlinear simulation results demonstrate the effectiveness of the robust controllers compared to classical PID control, showing significant improvement in attitude regulation under severe wind disturbances.

Paperid: 1361, https://arxiv.org/pdf/2510.00188.pdf

Abstract:
Nonlinear Model Predictive Control (NMPC) is a precise controller, but its heavy computational load often prevents application in robotic systems. Some studies have attempted to approximate NMPC using deep neural networks (NMPC-DNN). However, in the presence of unexpected disturbances or when operating conditions differ from training data, this approach lacks robustness, leading to large tracking errors. To address this issue, for the first time, the NMPC-DNN output is combined with a PI controller (Hybrid NMPC-DNN-PI). The proposed controller is validated by applying it to an exoskeleton robot during squat movement, which has a complex dynamic model and has received limited attention regarding robust nonlinear control design. A human-robot dynamic model with three active joints (ankle, knee, hip) is developed, and more than 5.3 million training samples are used to train the DNN. The results show that, under unseen conditions for the DNN, the tracking error in Hybrid NMPC-DNN-PI is significantly lower compared to NMPC-DNN. Moreover, human joint torques are greatly reduced with the use of the exoskeleton, with RMS values for the studied case reduced by 30.9%, 41.8%, and 29.7% at the ankle, knee, and hip, respectively. In addition, the computational cost of Hybrid NMPC-DNN-PI is 99.93% lower than that of NMPC.

Paperid: 1362, https://arxiv.org/pdf/2509.26545.pdf

Abstract:
This work identifies instabilities and computes the growth rate of a linear time-varying system using the Lyapunov method. The linear system describes cold fresh water on top of hot salty water with a periodically time-varying background shear flow. We employ a time-dependent weighting matrix to construct a Lyapunov function candidate, and the resulting linear matrix inequalities formulation is discretized in time using the forward Euler method. As the number of temporal discretization points increases, the growth rate predicted from the Lyapunov method or the Floquet theory will converge to the same value as that obtained from numerical simulations. We also use the Lyapunov method to analyze the instantaneous principal direction of instabilities and compare the computational resources required by the Lyapunov method, numerical simulations, and the Floquet theory.

Paperid: 1363, https://arxiv.org/pdf/2509.26481.pdf

Abstract:
We here report the development of a structure that shows the proteresis phenomenon in more general setting and set out its philosophical implications. In this case, the questions relate to how we are to interpret what will happen in the future, and the procollection (the counterpart of recollection) of not-yet-experienced phenomena that, when expressed, will be whatever has built up in fully determinate form already, ahead of the event. If such a process really exists, as our evidence confirms, not just as phenomenon but as a fact, then a gap exists between the actualized form of the future and its concrete expression when the event does happen. Such a fact, as hard to imagine as it is, may be intelligible, even interpretable and susceptible to mathematical and/or logical modeling. We build upon neglected theories and formulae that present time in a way that makes our results interpretable. A proteretic device is here described which shifts the input signal (event) to the future; and it is an anticipatory structure. The proteretic characteristic of neurons should also be capable of demonstration; and its neuronal behavior is possibly the reason for the fast perception/thought processes in spite of slow behaving neurons. That capacity may also account for why it is possible for animals (including humans) to interact with the environment by slightly seeing (in the sense of perceiving and/or sensing) the future. Exploiting this new proteretic technology, faster computers and more efficient cellphones, among other things, will be designed and built.

Paperid: 1364, https://arxiv.org/pdf/2509.26396.pdf

Abstract:
Deploying vertical bifacial PV modules can play a significant role in agrivoltaics, fencing walls, noise barriers, building integrated photovoltaics (BIPV), solar PV for electric vehicles, and many other applications. This research work presents the performance comparison of vertical bifacial photovoltaic (VBPV) modules facing East-West (E-W) and South-North (S-N) directions. Also, the VBPV modules are compared with vertical and tilted south-facing monofacial PV modules. Six PV modules (monofacial and bifacial) were installed at the rooftop of IIT Bhilai academic building, Raipur (21.16Â° N, 81.65Â° E), India, and studied for a year from May 2022 to April 2023. The results show that the E-W facing VBPV module gives two production peaks, one in the morning and another in the evening, as compared to the single notable rise at midday observed for a monofacial module. From a series of experiments, 19 days of data were collected over the one-year period from May 2022 to April 2023, with specific inclusion of important days like solstices and equinoxes. In addition, the energy generation results are compared with PVsyst simulations, while also addressing the limitations of the PVsyst simulation of vertical PV modules. E-W bifacial generation is higher than S-N bifacial and south-facing monofacial modules from February to April. The VBPV modules in E-W and S-N orientations present a promising opportunity for expanding the agrivoltaics sector in tropical and sub-tropical countries, like India. This has huge implications for addressing the sustainable development goals by simultaneously contributing to sustainable land management, green energy generation, energy security and water conservation in the vast geo-climatic expanse of tropics.

Paperid: 1365, https://arxiv.org/pdf/2509.25768.pdf

Abstract:
Current control techniques for cryogenically cooled qubits are realized with coaxial cables, posing multiple challenges in terms of cost, thermal load, size, and long-term scalability. Emerging approaches to tackle this issue include cryogenic CMOS electronics at 4 K, and photonic links for direct qubit control. In this paper, we propose a multiplexed all-passive cryogenic high frequency direct detection control platform (cryo-HFDD). The proposed classical interface for direct qubit control utilizes optical or sub-THz bands. We present the possible tradeoffs of this platform, and compare it with current state-of-the-art cryogenic CMOS and conventional coaxial approaches. We assess the feasibility of adopting these efficient links for a wide range of microwave qubit power levels. Specifically, we estimate the heat load to achieve the required signal-to-noise ratio SNR considering different noise sources, component losses, as well as link density. We show that multiplexed photonic receivers at 4 K can aggressively scale the control of thousands of qubits. This opens the door for low cost scalable quantum computing systems.

Paperid: 1366, https://arxiv.org/pdf/2509.25612.pdf

Abstract:
Ensuring power grid resilience requires the timely and unsupervised detection of anomalies in synchrophasor data streams. We introduce T-BiGAN, a novel framework that integrates window-attention Transformers within a bidirectional Generative Adversarial Network (BiGAN) to address this challenge. Its self-attention encoder-decoder architecture captures complex spatio-temporal dependencies across the grid, while a joint discriminator enforces cycle consistency to align the learned latent space with the true data distribution. Anomalies are flagged in real-time using an adaptive score that combines reconstruction error, latent space drift, and discriminator confidence. Evaluated on a realistic hardware-in-the-loop PMU benchmark, T-BiGAN achieves an ROC-AUC of 0.95 and an average precision of 0.996, significantly outperforming leading supervised and unsupervised methods. It shows particular strength in detecting subtle frequency and voltage deviations, demonstrating its practical value for live, wide-area monitoring without relying on manually labeled fault data.

Paperid: 1367, https://arxiv.org/pdf/2509.25589.pdf

Abstract:
Various natural and engineered systems, from urban traffic flow to the human brain, have been described by large-scale networked dynamical systems. Despite their vast differences, these systems are often similar in being comprised of numerous microscopic subsystems with complex nonlinear dynamics and interactions that give rise to diverse emergent macroscopic behaviors. As such, a long-standing question across various fields has been to understand why and how various forms of macroscopic behavior emerge from underlying microscopic dynamics. Motivated by a growing body of empirical observations, in this work we focus on linearity as one of the most fundamental aspects of system dynamics, and develop a general theoretical framework for the interplay between spatial averaging, decaying microscopic correlations, and emergent macroscopic linearity. Using and extending the theory of mixing sequences, we show that in a broad class of autonomous nonlinear networked systems, the dynamics of the average of all subsystems' states becomes asymptotically linear as the number of subsystems grows to infinity, provided that (in addition to technical assumptions) pairwise correlations between subsystems decay to 0 as their pairwise distance grows to infinity. We prove this result when the latter distance is between subsystems' linear indices or spatial locations, and provide extensions to linear time-invariant (LTI) limit dynamics, finite-sample analysis of rates of convergence, and networks of spatially-embedded subsystems with random locations. To our knowledge, this work is the first rigorous analysis of macroscopic linearity in large-scale heterogeneous networked systems, and provides a solid foundation for further theoretical and empirical analyses in various domains of science and engineering.

Paperid: 1368, https://arxiv.org/pdf/2509.25262.pdf

Abstract:
This paper presents adaptive weighted Euler-Lagrange theorem combined physics-informed neural networks (AW-EL-PINNs) for solving Euler-Lagrange systems in optimal control problems. The framework systematically converts optimal control frameworks into two-point boundary value problems (TPBVPs) while establishing a multi-task learning paradigm through innovative integration of the Euler-Lagrange theorem with deep learning architecture. An adaptive loss weighting mechanism dynamically balances loss function components during training, decreasing tedious manual tuning of weighting the loss functions compared to the conventional physics-informed neural networks (PINNs). Based on six numerical examples, it's clear that AW-EL-PINNs achieve enhanced solution accuracy compared to baseline methods while maintaining stability throughout the optimization process. These results highlight the framework's capability to improve precision and ensure stability in solving Euler-Lagrange systems in optimal control problems, offering potential strategies for problems under physical applications.

Paperid: 1369, https://arxiv.org/pdf/2509.23620.pdf

Abstract:
Non-ideal communication links, especially delays, critically affect fast networked controls in power systems, such as the wide-area damping control (WADC). Traditionally, a delay estimation and compensation approach is adopted to address this cyber-physical coupling, but it demands very high accuracy for the fast WADC and cannot handle other cyber concerns like link failures or {cyber perturbations}. Hence, we propose a new risk-constrained framework that can target the communication delays, yet amenable to general uncertainty under the cyber-physical couplings. Our WADC model includes the synchronous generators (SGs), and also voltage source converters (VSCs) for additional damping capabilities. To mitigate uncertainty, a mean-variance risk constraint is introduced to the classical optimal control cost of the linear quadratic regulator (LQR). Unlike estimating delays, our approach can effectively mitigate large communication delays by improving the worst-case performance. A reinforcement learning (RL)-based algorithm, namely, stochastic gradient-descent with max-oracle (SGDmax), is developed to solve the risk-constrained problem. We further show its guaranteed convergence to stationarity at a high probability, even using the simple zero-order policy gradient (ZOPG). Numerical tests on the IEEE 68-bus system not only verify SGDmax's convergence and VSCs' damping capabilities, but also demonstrate that our approach outperforms conventional delay compensator-based methods under estimation error. While focusing on performance improvement under large delays, our proposed risk-constrained design can effectively mitigate the worst-case oscillations, making it equally effective for addressing other communication issues and cyber perturbations.

Paperid: 1370, https://arxiv.org/pdf/2509.23223.pdf

Abstract:
Quadruped robots are designed to achieve agile locomotion by mimicking legged animals. However, existing control methods for quadrupeds often lack one of the key capabilities observed in animals: adaptive and adjustable compliance in response to external disturbances. Most locomotion controllers do not provide tunable compliance and tend to fail under large perturbations. In this work, we propose a switched policy framework for compliant and safe quadruped locomotion. First, we train a force compliant policy with adjustable compliance levels using a teacher student reinforcement learning framework, eliminating the need for explicit force sensing. Next, we develop a safe policy based on the capture point concept to stabilize the robot when the compliant policy fails. Finally, we introduce a recoverability network that predicts the likelihood of failure and switches between the compliant and safe policies. Together, this framework enables quadruped robots to achieve both force compliance and robust safety when subjected to severe external disturbances.

Paperid: 1371, https://arxiv.org/pdf/2509.22741.pdf

Abstract:
Real world evolves in continuous time but computations are done from finite samples. Therefore, we study algorithms using finite observations in continuous-time linear dynamical systems. We first study the system identification problem, and propose a first non-asymptotic error analysis with finite observations. Our algorithm identifies system parameters without needing integrated observations over certain time intervals, making it more practical for real-world applications. Further we propose a lower bound result that shows our estimator is provably optimal up to constant factors. Moreover, we apply the above algorithm to online control regret analysis for continuous-time linear system. Our system identification method allows us to explore more efficiently, enabling the swift detection of ineffective policies. We achieve a regret of $\mathcal{O}(\sqrt{T})$ over a single $T$-time horizon in a controllable system, requiring only $\mathcal{O}(T)$ observations of the system.

Paperid: 1372, https://arxiv.org/pdf/2509.21767.pdf

Abstract:
Many real-world complex systems can be modeled as multiplex networks, where each layer represents a distinct set of interactions among the same entities. Controlling such systems-steering them toward desired states using external inputs-is crucial across many domains. However, existing network control theory largely focuses on single-layer networks, and applying separate controls to each layer of a multiplex system often leads to redundant sets of driver nodes, increasing cost and complexity. To address this challenge, we formulate the Universal Minimum Union Driver Set (MinUDS) problem for duplex networks. The goal is to find the smallest set of driver nodes that can simultaneously control both layers. We propose a novel algorithm, Shortest Cross-Layer Augmenting Path Search (CLAP-S). This method introduces the concept of a Cross-Layer Augmenting Path (CLAP) and efficiently explores the combinatorial space of control configurations. CLAP-S iteratively realigns each layer's Minimum Driver Set (MDS) to maximize their overlap. We prove the algorithm's global optimality and demonstrate its efficiency on both synthetic networks and real-world multiplex systems. The results show that CLAP-S consistently outperforms baseline approaches by significantly reducing the number of required driver nodes and cutting computational time by an order of magnitude. This work provides a powerful, general-purpose tool for optimizing control strategies in multi-layer networks, enabling more economical interventions in diverse fields.

Paperid: 1373, https://arxiv.org/pdf/2509.19526.pdf

Abstract:
Metriplectic conditional flow matching (MCFM) learns dissipative dynamics without violating first principles. Neural surrogates often inject energy and destabilize long-horizon rollouts; MCFM instead builds the conservative-dissipative split into both the vector field and a structure preserving sampler. MCFM trains via conditional flow matching on short transitions, avoiding long rollout adjoints. In inference, a Strang-prox scheme alternates a symplectic update with a proximal metric step, ensuring discrete energy decay; an optional projection enforces strict decay when a trusted energy is available. We provide continuous and discrete time guarantees linking this parameterization and sampler to conservation, monotonic dissipation, and stable rollouts. On a controlled mechanical benchmark, MCFM yields phase portraits closer to ground truth and markedly fewer energy-increase and positive energy rate events than an equally expressive unconstrained neural flow, while matching terminal distributional fit.

Paperid: 1374, https://arxiv.org/pdf/2509.19045.pdf

Abstract:
As one of the most pressing challenges of the 21st century, global climate change demands a host of changes across at least four critical energy infrastructures: the electric grid, the natural gas system, the oil system, and the coal system. In the context of the United States, this paper refers to this system-of-systems as ``The American Multi-Modal Energy System (AMES)". These combined changes necessitate an understanding of the AMES interdependencies, both structurally and behaviorally, to develop and enact effective policies. This work focuses on behavioral analysis methods to provide examples of how to analyze system behavior and the critical matter and energy flows through the system. Building upon past works, two regions of the AMES are modeled, and their behavior is analyzed using Hetero-functional Graph Theory (HFGT). More specifically, the work presents a weighted least square error state estimation model of the AMES. State estimation has played a major role in the operation and development of the American Electric Power System. This work extends the state estimation analysis beyond the single-operand electric grid environment into the heterogeneous environment of the AMES. Employing a data-driven and model-based systems engineering approach in combination with HFGT, a Weighted Least Squares Error Hetero-functional Graph State Estimation (WLSEHFGSE) optimization program is developed to estimate the optimal flows of mass and energy through the AMES. This work is the first to integrate state estimation methods with HFGT. Furthermore, it demonstrates how such a WLSEHFGSE recovers the mass and energy flows in a system-of-systems like the AMES with asset-level granularity.

Paperid: 1375, https://arxiv.org/pdf/2509.17827.pdf

Abstract:
This paper addresses two interrelated problems of the nonlinear filtering mechanism and fast attitude filtering with the matrix Fisher distribution (MFD) on the special orthogonal group. By analyzing the distribution evolution along Bayes' rule, we reveal two essential properties that enhance the performance of Bayesian attitude filters with MFDs, particularly in challenging conditions, from a theoretical viewpoint. Benefiting from the new understanding of the filtering mechanism associated with MFDs, two closed-form filters with MFDs is then proposed. These filters avoid the burdensome computations in previous MFD-based filters by introducing linearized error systems with right-invariant errors but retaining the two advantageous properties. Moreover, we leverage the two properties and closed-form filtering iteration to prove the almost-global exponential stability of the proposed filter with right-invariant error for the single-axis rotation, which, to our knowledge, is not achieved by existing directional statistics-based filters. Numerical simulations demonstrate that the proposed filters are significantly more accurate than the classic invariant Kalman filter. Besides, they are also as accurate as recent MFD-based Bayesian filters in challenging circumstances with large initial error and measurement uncertainty but consumes far less computation time (about 1/5 to 1/100 of previous MFD-based attitude filters).

Paperid: 1376, https://arxiv.org/pdf/2509.17672.pdf

Abstract:
HVDC-connected offshore wind power plants (OWPPs) are expected to provide inertial response and frequency containment reserve (FCR) to help address the frequency control challenges caused by the growing penetration of power electronics in power systems. Initially dominated by communication-based and grid-following (GFL) control, recent efforts have shifted towards incorporating communication-free and grid-forming (GFM) control into HVDC-OWPP systems to enhance their frequency response capability. This paper proposes a holistic GFM control based on dual-port GFM control to improve the coordination across the entire AC-DC-AC dynamics. A frequency response model of a typical HVDC-OWPP system is developed for GFM control design. Then, dual-port GFM control and virtual synchronous generator control are implemented respectively on the HVDC system and OWPP of the typical system, where the asynchronism of onshore and offshore frequencies is revealed. Next, holistic GFM control is proposed to improve the synchronization and DC voltage regulation. Finally, simulations on the delivery of FCR and inertial response are carried out to verify the feasibility and effectiveness of the proposed control.

Paperid: 1377, https://arxiv.org/pdf/2509.17423.pdf

Abstract:
Integrating unmanned aerial vehicles into daily use requires controllers that ensure stable flight, efficient energy use, and reduced noise. Proportional integral derivative controllers remain standard but are highly sensitive to gain selection, with manual tuning often yielding suboptimal trade-offs. This paper studies different optimization techniques for the automated tuning of quadrotor proportional integral derivative gains under a unified simulation that couples a blade element momentum based aerodynamic model with a fast deep neural network surrogate, six degrees of freedom rigid body dynamics, turbulence, and a data driven acoustic surrogate model that predicts third octave spectra and propagates them to ground receivers. We compare three families of gradient-free optimizers: metaheuristics, Bayesian optimization, and deep reinforcement learning. Candidate controllers are evaluated using a composite cost function that incorporates multiple metrics, such as noise footprint and power consumption, simultaneously. Metaheuristics improve performance consistently, with Grey Wolf Optimization producing optimal results. Bayesian optimization is sample efficient but carries higher per iteration overhead and depends on the design domain. The reinforcement learning agents do not surpass the baseline in the current setup, suggesting the problem formulation requires further refinement. On unseen missions the best tuned controller maintains accurate tracking while reducing oscillations, power demand, and acoustic emissions. These results show that noise aware proportional integral derivative tuning through black box search can deliver quieter and more efficient flight without hardware changes.

Paperid: 1378, https://arxiv.org/pdf/2509.16536.pdf

Abstract:
Field workers are frequently exposed to hazardous vibrations, increasing the risk of Hand-Arm Vibration Syndrome (HAVS) and other long-term health problems. ISO 5349-1 provides guidelines for measuring vibration exposure. However, this standard was established in controlled conditions using high-quality accelerometers directly attached to power tool handles. This study investigates an alternative, wearable sensor-based data collection process and develops an error-minimization transfer function that derives values comparable to ISO benchmarks for safety monitoring. Experiments are performed with subjects hammer drilling into concrete while vibrations are measured using three accelerometers at different sampling frequencies. The transfer function maps vibration data across sensor positions by accounting for damping effects. The findings indicate a significant reduction in acceleration between the palm and upper arm, highlight the impact of sampling frequency on data accuracy, and enable accurate comparison of true hand-arm vibration levels with existing standard limits to allow accessible, real-time, and cost-effective HAVS prevention.

Paperid: 1379, https://arxiv.org/pdf/2509.16482.pdf

Abstract:
Coordinated path following in multi-agent systems is a key challenge in robotics, with applications in automated logistics, surveillance, and collaborative exploration. Traditional formation control techniques often rely on time-parameterized trajectories and path integrals, which can result in synchronization issues and rigid behavior. In this work, we address the problem of sequential path following, where agents maintain fixed spatial separation along a common trajectory, guided by a leader under centralized control. We introduce Robot Conga, a leader-follower control strategy that updates each agent's desired state based on the leader's spatial displacement rather than time, assuming access to a global position reference, an assumption valid in indoor environments equipped with motion capture, vision-based tracking, or UWB localization systems. The algorithm was validated in simulation using both TurtleBot3 and quadruped (Laikago) robots. Results demonstrate accurate trajectory tracking, stable inter-agent spacing, and fast convergence, with all agents aligning within 250 time steps (approx. 0.25 seconds) in the quadruped case, and almost instantaneously in the TurtleBot3 implementation.

Paperid: 1380, https://arxiv.org/pdf/2509.16365.pdf

Abstract:
Extremum seeking control (ESC) often employs perturbation-based estimates of derivatives for some sensor field or cost function. These estimates are generally obtained by simply multiplying the output of a single-unit sensor by some time-varying function. Previous work has focused on sinusoidal perturbations to generate derivative estimates with results for arbitrary order derivatives of scalar maps or higher up to third-order derivatives of multivariable maps. This work extends the perturbations from sinusoidal to bounded periodic or almost periodic functions and considers multivariable maps. A necessary and sufficient condition is given for determining if time-varying functions exist for estimating arbitrary order derivatives of multivariable maps for any given bounded periodic or almost periodic dither signal. These results are then used in a source seeking controller for a nonholonomic vehicle with a sensor actuated by servo. The conducted simulation and real-world experiments demonstrate that by distributing the local map exploration to a servo, the nonholonomic vehicle was able to achieve a faster convergence to the source.

Paperid: 1381, https://arxiv.org/pdf/2509.16077.pdf

Abstract:
Boolean networks (BNs) are important models for gene regulatory networks and many other biological systems. In this paper, we study the minimal controllability problem of threshold and XOR BNs with degree constraints. Firstly, we derive lower-bound-related inequalities and some upper bounds for the number of control nodes of several classes of controllable majority-type threshold BNs. Secondly, we construct controllable majority-type BNs and BNs involving Boolean threshold functions with both positive and negative coefficients such that these BNs are associated with a small number of control nodes. Thirdly, we derive a linear-algebraic necessary and sufficient condition for the controllability of general XOR-BNs, whose update rules are based on the XOR logical operator, and construct polynomial-time algorithms for computing control-node sets and control signals for general XOR-BNs. Lastly, we use ring theory and linear algebra to establish a few best-case upper bounds for a type of degree-constrainted XOR-BNs called $k$-$k$-XOR-BNs. In particular, we show that for any positive integer $m \geq 2$ and any odd integer $k \in [3, 2^{m} - 1]$, there exists a $2^{m}$-node controllable $k$-$k$-XOR-BN with 1 control node. Our results offer theoretical insights into minimal interventions in networked systems such as gene regulatory networks.

Paperid: 1382, https://arxiv.org/pdf/2509.15291.pdf

Abstract:
The use of Machine Learning (ML) and Artificial Intelligence (AI) in smart transportation networks has increased significantly in the last few years. Among these ML and AI approaches, Reinforcement Learning (RL) has been shown to be a very promising approach by several authors. However, a problem with using Reinforcement Learning in Traffic Signal Control is the reliability of the trained RL agents due to the dynamically changing distribution of the input data with respect to the distribution of the data used for training. This presents a major challenge and a reliability problem for the trained network of AI agents and could have very undesirable and even detrimental consequences if a suitable solution is not found. Several researchers have tried to address this problem using different approaches. In particular, Meta Reinforcement Learning (Meta RL) promises to be an effective solution. In this paper, we evaluate and analyze a state-of-the-art Meta RL approach called MetaLight and show that, while under certain conditions MetaLight can indeed lead to reasonably good results, under some other conditions it might not perform well (with errors of up to 22%), suggesting that Meta RL schemes are often not robust enough and can even pose major reliability problems.

Paperid: 1383, https://arxiv.org/pdf/2509.14065.pdf

Abstract:
This work studies the limitations of uniquely identifying a linear network's topology from partial measurements of its nodes. We show that the set of networks that are consistent with the measurements are related through the nullspace of the observability matrix for the true network. In doing so, we illustrate how potentially many networks are fully consistent with the measurements despite having topologies that are structurally inconsistent with each other, an often neglected consideration in the design of topology inference methods. We then provide an aggregate characterization of the space of possible networks by analytically solving for the most structurally dissimilar network. We find that when observing over 6% of nodes in random network models (e.g., ErdÅs-RÃ©nyi and Watts-Strogatz) the rate of edge misclassification drops to ~1%. Extending this discussion, we construct a family of networks that keep measurements $Îµ$-"close" to each other, and connect the identifiability of these networks to the spectral properties of an augmented observability Gramian.

Paperid: 1384, https://arxiv.org/pdf/2509.13934.pdf

Abstract:
The deployment of unmanned aerial vehicles (UAVs) for reliable and energy-efficient data collection from spatially distributed devices holds great promise in supporting diverse Internet of Things (IoT) applications. Nevertheless, the limited endurance and communication range of UAVs necessitate intelligent trajectory planning. While reinforcement learning (RL) has been extensively explored for UAV trajectory optimization, its interactive nature entails high costs and risks in real-world environments. Offline RL mitigates these issues but remains susceptible to unstable training and heavily rely on expert-quality datasets. To address these challenges, we formulate a joint UAV trajectory planning and resource allocation problem to maximize energy efficiency of data collection. The resource allocation subproblem is first transformed into an equivalent linear programming formulation and solved optimally with polynomial-time complexity. Then, we propose a large language model (LLM)-empowered critic-regularized decision transformer (DT) framework, termed LLM-CRDT, to learn effective UAV control policies. In LLM-CRDT, we incorporate critic networks to regularize the DT model training, thereby integrating the sequence modeling capabilities of DT with critic-based value guidance to enable learning effective policies from suboptimal datasets. Furthermore, to mitigate the data-hungry nature of transformer models, we employ a pre-trained LLM as the transformer backbone of the DT model and adopt a parameter-efficient fine-tuning strategy, i.e., LoRA, enabling rapid adaptation to UAV control tasks with small-scale dataset and low computational overhead. Extensive simulations demonstrate that LLM-CRDT outperforms benchmark online and offline RL methods, achieving up to 36.7\% higher energy efficiency than the current state-of-the-art DT approaches.

Paperid: 1385, https://arxiv.org/pdf/2509.13564.pdf

Abstract:
We consider a variant of the target defense problem in a planar conical environment where a single defender is tasked to capture a sequence of incoming attackers. The attackers' objective is to breach the target boundary without being captured by the defender. As soon as the current attacker breaches the target or gets captured by the defender, the next attacker appears at the boundary of the environment and moves radially toward the target with maximum speed. Therefore, the defender's final location at the end of the current game becomes its initial location for the next game. The attackers pick strategies that are advantageous for the current as well as for future engagements between the defender and the remaining attackers. The attackers have their own sensors with limited range, using which they can perfectly detect if the defender is within their sensing range. We derive equilibrium strategies for all the players to optimize the capture percentage using the notions of capture distribution. Finally, the theoretical results are verified through numerical examples using Monte Carlo type random trials of experiments.

Paperid: 1386, https://arxiv.org/pdf/2509.13505.pdf

Abstract:
In this work, we study the identifiability of network topologies for networked nonlinear systems when partial measurements of the nodes are taken. We explore scenarios where different candidate topologies can yield similar measurements, thus limiting identifiability. To do so, we apply the contraction theory framework to facilitate comparisons between candidate topologies. We show that semicontraction in the observable space is a sufficient condition for two systems to become indistinguishable from one another based on partial measurements. We apply this framework to study networks of Kuramoto oscillators, and discuss scenarios in which different topologies (both connected and disconnected) become indistinguishable.

Paperid: 1387, https://arxiv.org/pdf/2509.13446.pdf

Abstract:
The linear quadratic Gaussian (LQG) control problem for the linear wave equation on the unit circle with fully distributed actuation and partial state measurements is considered. An analytical solution to a spatial discretization of the problem is obtained. The main result of this work illustrates that for specific parameter values, the optimal LQG policy is completely decentralized, meaning only a measurement at spatial location $i$ is needed to compute an optimal control signal to actuate at this location. The relationship between performance and decentralization as a function of parameters is explored. Conditions for complete decentralization are related to metrics of kinetic and potential energy quantities and control effort.

Paperid: 1388, https://arxiv.org/pdf/2509.12944.pdf

Abstract:
The increasing variety of means of transportation, including light vehicles like e-scooters and e-bikes, together with the increasing weight of conventional vehicles due to electrification and consumer preferences for SUVs, are raising serious concerns regarding the safety of road networks. In this paper we design a two-level control algorithm to improve the safety of heterogeneous networks: first, an access control strategy decreases the heterogeneity of the network depending on actual traffic conditions; then, a speed control strategy mitigates the probability of serious injuries in potential collisions. Both control strategies are designed based on momentum considerations, as this is regarded as the most influential variable to assess injury risk. The road network mobility simulator SUMO is adopted to implement and validate our proposed control strategies.

Paperid: 1389, https://arxiv.org/pdf/2509.12617.pdf

Abstract:
CattleSense is an innovative application of Internet of Things (IoT) technology for the comprehensive monitoring and management of cattle well-being. This research paper outlines the design and implementation of a sophisticated system using a Raspberry Pi Module 4B, RFID Card Reader, Electret Arduino Microphone Module, DHT11 Sensor, Arduino UNO, Neo-6M GPS Sensor, and Heartbeat Sensor. The system aims to provide real-time surveillance of the environment in which Cows are present and individual Cow parameters such as location, milking frequency, and heartbeat fluctuations. The primary objective is to simplify managing the Cattle in the shed, ensuring that the Cattle are healthy and safe.

Paperid: 1390, https://arxiv.org/pdf/2509.11764.pdf

Abstract:
Epidemic control frequently relies on adjusting interventions based on prevalence. But designing such policies is a highly non-trivial problem due to uncertain intervention effects, costs and the difficulty of quantifying key transmission mechanisms and parameters. Here, using exact mathematical and computational methods, we reveal a fundamental limit in epidemic control in that prevalence feedback policies are outperformed by a single optimally chosen constant control level. Specifically, we find no incentive to use prevalence based control under a wide class of cost functions that depend arbitrarily on interventions and scale with infections. We also identify regimes where prevalence feedback is beneficial. Our results challenge the current understanding that prevalence based interventions are required for epidemic control and suggest that, for many classes of epidemics, interventions should not be varied unless the epidemic is near the herd immunity threshold.

Paperid: 1391, https://arxiv.org/pdf/2509.11025.pdf

Abstract:
The increasing labor costs in agriculture have accelerated the adoption of multi-robot systems for orchard harvesting. However, efficiently coordinating these systems is challenging due to the complex interplay between makespan and energy consumption, particularly under practical constraints like load-dependent speed variations and battery limitations. This paper defines the multi-objective agricultural multi-electrical-robot task allocation (AMERTA) problem, which systematically incorporates these often-overlooked real-world constraints. To address this problem, we propose a hybrid hierarchical route reconstruction algorithm (HRRA) that integrates several innovative mechanisms, including a hierarchical encoding structure, a dual-phase initialization method, task sequence optimizers, and specialized route reconstruction operators. Extensive experiments on 45 test instances demonstrate HRRA's superior performance against seven state-of-the-art algorithms. Statistical analysis, including the Wilcoxon signed-rank and Friedman tests, empirically validates HRRA's competitiveness and its unique ability to explore previously inaccessible regions of the solution space. In general, this research contributes to the theoretical understanding of multi-robot coordination by offering a novel problem formulation and an effective algorithm, thereby also providing practical insights for agricultural automation.

Paperid: 1392, https://arxiv.org/pdf/2509.11022.pdf

Abstract:
This paper proposes a novel privacy-preserving uncertainty disclosure framework, enabling system operators to release marginal value function bounds to reduce the conservativeness of interval forecast and mitigate excessive withholding, thereby enhancing storage dispatch and social welfare. We develop a risk-averse storage arbitrage model based on stochastic dynamic programming, explicitly accounting for uncertainty intervals in value function training. Real-time marginal value function bounds are derived using a rolling-horizon chance-constrained economic dispatch formulation. We rigorously prove that the bounds reliably cap the true opportunity cost and dynamically converge to the hindsight value. We verify that both the marginal value function and its bounds monotonically decrease with the state of charge (SoC) and increase with uncertainty, providing a theoretical basis for risk-averse strategic behaviors and SoC-dependent designs. An adjusted storage dispatch algorithm is further designed using these bounds. We validate the effectiveness of the proposed framework via an agent-based simulation on the ISO-NE test system. Under 50% renewable capacity and 35% storage capacity, the proposed bounds enhance storage response by 38.91% and reduce the optimality gap to 3.91% through improved interval predictions. Additionally, by mitigating excessive withholding, the bounds yield an average system cost reduction of 0.23% and an average storage profit increase of 13.22%. These benefits further scale with higher prediction conservativeness, storage capacity, and system uncertainty.

Paperid: 1393, https://arxiv.org/pdf/2509.10791.pdf

Abstract:
This paper presents an experimental validation of decentralized affine transformation (AT) in multi-agent systems using teams of mini-quadcopters. The AT framework enables an agent team to safely navigate constrained, obstacle-rich environments while allowing aggressive changes in inter-agent distances, which are formally characterized through the decomposition of the AT transformation matrix. Without loss of generality, we focus on two-dimensional AT, formulated as a decentralized leader-follower problem. In this formulation, three leader quadcopters are positioned at the vertices of a triangle, while all follower quadcopters remain within the triangle. The leaders know the desired trajectories prescribed by the AT, whereas the followers do not. Instead, the followers infer their trajectories through local communication governed by fixed communication weights determined by the initial spatial configuration of the team. Experimental results validate the asymptotic convergence of decentralized AT and demonstrate its capability to safely guide multi-agent teams through obstacle-laden environments.

Paperid: 1394, https://arxiv.org/pdf/2509.10585.pdf

Abstract:
This paper introduces a Markov chain-based approach for the analysis and optimization of spare-management policies in large-scale satellite constellations. Focusing on the direct strategy, we model spare replenishment as a periodic-review reorder-point/order-quantity policy, where spares are deployed directly to constellation planes. The stochastic behavior of satellite failures and launch vehicle lead times is captured through Markov representations of both failure and replenishment dynamics. Based on this efficient and accurate framework, we construct and solve an optimization problem aimed at minimizing operational costs. The effectiveness of the proposed method is demonstrated through a case study using a real-world mega-constellation.

Paperid: 1395, https://arxiv.org/pdf/2509.10154.pdf

Abstract:
An aquifer thermal energy storage (ATES) can mitigate CO2 emissions of heating, ventilation, and air conditioning (HVAC) systems for buildings. In application, an ATES keeps large quantities of thermal energy in groundwater-saturated aquifers. Normally, an ATES system comprises two (one for heat and one for cold) storages and supports the heating and cooling efforts of simultaneously present HVAC system components. This way, the operation and emissions of installed and, usually, fossil fuel-based components are reduced. The control of ATES systems is challenging, and various control schemes, including model predictive control (MPC), have been proposed. In this context, we present a lightweight input-output-data-based autoregressive with exogenous input (ARX) model of the hybrid ATES system dynamics. The ARX model allows the design of an output-based MPC scheme, resulting in an easy-to-solve quadratic program and avoiding challenging state estimations of ground temperatures. A numerical study discusses the accuracy of the ARX predictor and controller performance.

Paperid: 1396, https://arxiv.org/pdf/2509.09812.pdf

Abstract:
This paper presents a data driven Koopman operator based framework for designing robust state observers for nonlinear systems. Based on a finite dimensional surrogate of the Koopman generator, identified via an extended dynamic mode decomposition procedure, a tractable formulation of the observer design is enabled on the data driven model with conic uncertainties. The resulting problem is cast as a semidefinite program with linear matrix inequalities, guaranteeing exponential convergence of the observer with a predetermined rate in a probabilistic sense. The approach bridges the gap between statistical error tolerance and observer convergence certification, and enables an explicit use of linear systems theory for state observation via a data driven linear surrogate model. Numerical studies demonstrate the effectiveness and flexibility of the proposed method.

Paperid: 1397, https://arxiv.org/pdf/2509.09637.pdf

Abstract:
The drift-plus-penalty method is a Lyapunov optimisation technique commonly applied to network routing problems. It reduces the original stochastic planning task to a sequence of greedy optimizations, enabling the design of distributed routing algorithms which stabilize data queues while simultaneously optimizing a specified penalty function. While drift-plus-penalty methods have desirable asymptotic properties, they tend to incur higher network delay than alternative control methods, especially under light network load. In this work, we propose a learned variant of the drift-plus-penalty method that can preserve its theoretical guarantees, while being flexible enough to learn routing strategies directly from a model of the problem. Our approach introduces a novel mechanism for learning routing decisions and employs an optimal transport-based method for link scheduling. Applied to the joint task of transmit-power allocation and data routing, the method achieves consistent improvements over common baselines under a broad set of scenarios.

Paperid: 1398, https://arxiv.org/pdf/2509.09484.pdf

Abstract:
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI) manipulation strategy for dual robot arms. The system dynamically adjusts its actions based on real-time visual feedback, removing the need for pre-existing knowledge of bag properties. Our framework incorporates Gaussian Mixture Models (GMM) for estimating SOI states, optimization techniques for SOI generation, motion planning via Constrained Bidirectional Rapidly-exploring Random Tree (CBiRRT), and dual-arm coordination using Model Predictive Control (MPC). Extensive experiments validate the capability of our system to perform precise and robust bagging across various objects, showcasing its adaptability. This work offers a new solution for robotic deformable object manipulation (DOM), particularly in automated bagging tasks. Video of this work is available at https://youtu.be/6JWjCOeTGiQ.

Paperid: 1399, https://arxiv.org/pdf/2509.09441.pdf

Abstract:
It is well known that stop-and-go waves can be generated spontaneously in traffic even without bottlenecks. Can such undesirable traffic patterns, induced by intrinsic human driving behaviors, be tamed effectively and inexpensively? Taking advantage of emerging connectivity and autonomy technologies, we envision a simple yet realistic traffic control system to achieve this goal. To prove the concept, we design such a system to suppress these waves while maximizing traffic throughput in the Tadaki setting: a circular road with varying number of vehicles. We first introduce our driver behavior model and demonstrate how our calibrated human driving agents can closely reproduce the observed human driving patterns in the original Tadaki experiment. We then propose a simple control system mediated via connected automated vehicles (CAV) whose ideal speed parameter is treated as a system-level control variable adapted to the local vehicle density of the traffic. The objective of the control system is set up as a tradeoff: maximizing throughput while minimizing traffic oscillation. Following computational mechanism design, we search for the optimal control policy as a function of vehicle density and the tradeoff attitude parameter. This can be done by letting all vehicles play a simulated game of CAV-modulated traffic under such a control system. Our simulation results show that the improvements in traffic efficiency and smoothness are substantial. Finally, we envision how such a traffic control system can be realized in an environment with smart vehicles connected to a smart infrastructure or via a scheme of variable speed advisory.

Paperid: 1400, https://arxiv.org/pdf/2509.08914.pdf

Abstract:
State estimation for linear time-invariant systems with unknown inputs is a fundamental problem in various research domains. In this article, we establish conditions for the design of unknown input observers (UIOs) from a geometric approach perspective. Specifically, we derive a necessary and sufficient geometric condition for the existence of a centralized UIO. Compared to existing results, our condition offers a more general design framework, allowing designers the flexibility to estimate partial information of the system state. Furthermore, we extend the centralized UIO design to distributed settings. In contrast to existing distributed UIO approaches, which require each local node to satisfy the rank condition regarding the unknown input and output matrices, our method accommodates cases where a subset of nodes does not meet this requirement. This relaxation significantly broadens the range of practical applications. Simulation results are provided to demonstrate the effectiveness of the proposed design.

Paperid: 1401, https://arxiv.org/pdf/2509.08783.pdf

Abstract:
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents significant challenges in distributed state estimation due to the limited sensing capabilities of individual nodes. Existing methods typically impose an individual input-to-output rank condition on each estimator node, which severely restricts applicability in practical applications. This paper presents a novel distributed unknown-input observer design scheme based on a geometric approach under much weaker assumptions than the ones available in the literature. By leveraging the properties of the $(C, A)$-invariant (conditioned invariant) subspace at each node, our methodology aims at reconstructing portions of the system state that remain unaffected by local unknown inputs, while integrating these estimates via a network-based information exchange. A case study on vehicle platoon control shows the effectiveness of the proposed approach.

Paperid: 1402, https://arxiv.org/pdf/2509.08572.pdf

Abstract:
We consider an arbitrary network of $M/M/\infty$ queues with controlled transitions between queues. We consider optimal control problems where the costs are linear functions of the state and inputs over a finite or infinite horizon. We provide in both cases an explicit characterization of the optimal control policies. We also show that these do not involve state feedback, but they depend on the network topology and system parameters. The results are also illustrated with various examples.

Paperid: 1403, https://arxiv.org/pdf/2509.08481.pdf

Abstract:
Errors occurring on noisy hardware pose a key challenge to reliable quantum computing. Existing techniques such as error correction, mitigation, or suppression typically separate the error handling from the algorithm analysis and design. In this paper, we develop an alternative, algorithm-centered framework for understanding and improving the robustness against errors. For a given quantum algorithm and error model, we derive worst-case fidelity bounds which can be explicitly computed to certify the robustness. We consider general error models including coherent and (Markovian) incoherent errors and allowing for set-based error descriptions to address uncertainty or time-dependence in the errors. Our results give rise to guidelines for robust algorithm design and compilation by optimizing our theoretical robustness measure. Numerical results on algorithm analysis and robust optimization demonstrate the practicality of the framework.

Paperid: 1404, https://arxiv.org/pdf/2509.08324.pdf

Abstract:
This paper investigates the problem of resilient global practical fixed-time cooperative output regulation of uncertain nonlinear multi-agent systems subject to denial-of-service attacks. A novel distributed resilient adaptive fixed-time control strategy is proposed, which consists of a novel distributed resilient fixed-time observer with a chain of nonlinear filters and a novel distributed resilient adaptive fixed-time controller. It is shown that the problem of resilient global practical fixed-time cooperative output regulation can be solved by the proposed control strategy. More specifically, the proposed {distributed} control strategy ensures the global boundedness of all the signals in the resulting closed-loop system and the global convergence of the regulated outputs to a {tunable} residual set in a fixed time. A simulation example is finally provided to illustrate the efficacy of the proposed control strategy.

Paperid: 1405, https://arxiv.org/pdf/2509.08085.pdf

Abstract:
Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation.

Paperid: 1406, https://arxiv.org/pdf/2509.07843.pdf

Abstract:
This paper presents an input-output feedback linearization (IOL)-based guidance law to ensure interception in a pursuer-evader engagement scenario. A point-mass dynamic model for both the pursuer and the evader is considered. An IOL guidance law is derived using range and line-of-sight (LOS) rate measurements. It is found that the range-based IOL guidance law exhibits a singularity under certain conditions. To address this issue, a fuzzy logic system is employed to smoothly blend the IOL guidance with the classical proportional guidance law, thereby avoiding the singularity. In contrast, the LOS-based IOL guidance law is free of singularities but suffers from divergence issues due to angle-related complications. To resolve this, a simple correction function is introduced to ensure consistent interception behavior. Results from Monte Carlo simulations indicate that both modifications of the IOL guidance laws cause interception with control limits applied.

Paperid: 1407, https://arxiv.org/pdf/2509.07837.pdf

Abstract:
This work addresses the problem of state estimation in multivariable dynamic systems with quantized outputs, a common scenario in applications involving low-resolution sensors or communication constraints. A novel method is proposed to explicitly construct the probability mass function associated with the quantized measurements by approximating the indicator function of each region defined by the quantizer using Gaussian mixture models. Unlike previous approaches, this technique generalizes to any number of quantized outputs without requiring case-specific numerical solutions, making it a scalable and efficient solution. Simulation results demonstrate that the proposed filter achieves high accuracy in state estimation, both in terms of fidelity of the filtering distributions and mean squared error, while maintaining significantly reduced computational cost.

Paperid: 1408, https://arxiv.org/pdf/2509.07748.pdf

Abstract:
This paper considers the problem of optimizing a missile autopilot. In particular, the paper investigates the application of an online learning technique to learn and optimize the gains of a three-loop topology autopilot for a planar missile modeled with nonlinear dynamics and nonlinear aerodynamics forces and moments. The classical autopilot for a missile is based on a three-loop topology, where each loop consists of tunable proportional gains. An adaptive three-loop autopilot is constructed by augmenting the classical autopilot's fixed-gain controllers with a learning-based controller, which is recursively optimized using retrospective cost optimization. Numerical simulations show that online learning improves the tracking performance of the classical autopilot in both nominal and off-nominal interception scenarios.

Paperid: 1409, https://arxiv.org/pdf/2509.06257.pdf

Abstract:
Rapid and accurate body weight estimation is critical in emergency medical care, as it directly influences treatment decisions, such as drug dosing, defibrillation energy selection, and fluid resuscitation. Traditional methods such as stand-on scales, length-based tapes, or transfer-based weighing scales are often impractical for immobilized patients, inaccurate, or labor-intensive and time-consuming. This paper introduces MelodyBedScale, a non-intrusive and rapid on-bed weight estimation system that leverages bed vibration induced by music. The core insight is that body weight affects the vibration transfer function of the bed-body system, which is captured using vibration sensors placed on opposite sides of the bed. First, we identify weight-sensitive frequency bands and compose clinically acceptable soft, natural music with high signal energy in these frequency bands. This music is then played through a speaker mounted on the bed to induce bed vibrations. Additionally, to efficiently capture the complex weight-vibration relationship with limited data and enhance generalizability to unseen individuals and weights, we theoretically analyze the weight-vibration relationship and integrate the results into the activation functions of the neural network for physics-informed weight regression. We evaluated MelodyBedScale on both wooden and steel beds across 11 participants, achieving a mean absolute error of up to 1.55 kg.

Paperid: 1410, https://arxiv.org/pdf/2509.04817.pdf

Abstract:
Vibrational structures are susceptible to catastrophic failures or structural damages when external forces induce resonances or repeated unwanted oscillations. One common mitigation strategy is to use dampers to suppress these disturbances. This leads to the problem of finding optimal damper viscosities and positions for a given vibrational structure. Although extensive research exists for the case of finite-dimensional systems, optimizing damper positions remains challenging due to its discrete nature. To overcome this, we introduce a novel model for the damped wave equation (at the PDE level) with a damper of viscosity $\mathfrak{g}$ at position $\mathfrak{p}$ and develop a system-theoretic input/output-based analysis in the frequency domain. In this system-theoretic formulation, while we consider average displacement as the output, for input (forcing), we analyze two separate cases, namely, the uniform and boundary forcing. For both cases, explicit formulas are derived for the corresponding transfer functions, parametrized by $\mathfrak{p}$ and $\mathfrak{g}$. This explicit parametrization by $\mathfrak{p}$ and $\mathfrak{g}$ facilitates analyzing the optimal damping problem (at the PDE level) using norms such as the $\mathcal{H}_2$ and $\mathcal{H}_\infty$ norms. We also examine limiting cases, such as when the viscosity is very large or when no external damping is present. To illustrate our approach, we present numerical examples, compare different optimization criteria, and discuss the impact of damping parameters on the damped wave equation.

Paperid: 1411, https://arxiv.org/pdf/2509.04511.pdf

Abstract:
This work presents a novel hydrogen sensor based on 30% scandium-doped aluminum nitride (ScAlN) laterally vibrating resonators (LVRs) functionalized with a palladium (Pd) thin film. The micro-electro-mechanical system (MEMS) device operates by detecting shifts in resonant frequency resulting from hydrogen absorption in the Pd layer. The sensor demonstrates a high mechanical quality factor (Qm) of 820, an electromechanical coupling coefficient (kt2) of 3.18%, and an enhanced responsivity of 26 Hz/ppm in the low-parts per million (ppm) range, making it highly suitable for hydrogen leak detection. Compared to existing MHz-range technologies, the sensor achieves up to 50x higher sensitivity, while also offering multi-frequency definition in a single lithographic step, minimal footprint, and the highest quality factor among comparable miniaturized platforms.

Paperid: 1412, https://arxiv.org/pdf/2509.03290.pdf

Abstract:
The ever-increasing reliance of critical services on network infrastructure coupled with the increased operational complexity of beyond-5G/6G networks necessitate the need for proactive and automated network fault management. The provision for open interfaces among different radio access network\,(RAN) elements and the integration of AI/ML into network architecture enabled by the Open RAN\,(O-RAN) specifications bring new possibilities for active network health monitoring and anomaly detection. In this paper we leverage these advantages and develop an anomaly detection framework that proactively detect the possible throughput drops for a UE and minimize the post-handover failures. We propose two actionable anomaly detection algorithms tailored for real-world deployment. The first algorithm identifies user equipment (UE) at risk of severe throughput degradation by analyzing key performance indicators (KPIs) such as resource block utilization and signal quality metrics, enabling proactive handover initiation. The second algorithm evaluates neighbor cell radio coverage quality, filtering out cells with anomalous signal strength or interference levels. This reduces candidate targets for handover by 41.27\% on average. Together, these methods mitigate post-handover failures and throughput drops while operating much faster than the near-real-time latency constraints. This paves the way for self-healing 6G networks.

Paperid: 1413, https://arxiv.org/pdf/2509.02869.pdf

Abstract:
This paper presents a distributed gradient-based deployment strategy to maximize coverage in hybrid wireless sensor networks (WSNs) with probabilistic sensing. Leveraging Voronoi partitioning, the overall coverage is reformulated as a sum of local contributions, enabling mobile sensors to optimize their positions using only local information. The strategy adopts the Elfes model to capture detection uncertainty and introduces a dynamic step size based on the gradient of the local coverage, ensuring movements adaptive to regional importance. Obstacle awareness is integrated via visibility constraints, projecting sensor positions to unobstructed paths. A threshold-based decision rule ensures movement occurs only for sufficiently large coverage gains, with convergence achieved when all sensors and their neighbors stop at a local maximum configuration. Simulations demonstrate improved coverage over static deployments, highlighting scalability and practicality for real-world applications.

Paperid: 1414, https://arxiv.org/pdf/2509.02235.pdf

Abstract:
We present an AI-integrated molecular communication link validated on a benchtop nanomachine testbed representative of subdermal implants. The system employs an indium-gallium-zinc-oxide electrolyte-gated FET (IGZO-EGFET) functionalized with glucose oxidase as a biocompatible receiver, a microfluidic channel with a syringe-pump transmitter using on-off keying (OOK), and a machine-intelligence pipeline that addresses model mismatch and hardware non-idealities. The pipeline integrates: (i) a modular universal decoder robust to vibration-induced noise, chemical delay, and single-tap intersymbol interference; (ii) a lightweight pilot-only synchronizer that estimates symbol intervals; and (iii) a virtual-response generator that augments data and scales symbol duration. Experiments across multiple chips and sessions demonstrate end-to-end chemical text transmission with consistent error-rate reductions compared to naive thresholding and standard neural baselines. By coupling biocompatible hardware with learning-based detection and generative augmentation, this work establishes a practical route toward AI-native nanomachine networks and higher rate molecular links, while providing a system blueprint adaptable to other biochemical modalities.

Paperid: 1415, https://arxiv.org/pdf/2509.01749.pdf

Abstract:
This paper presents the development of a mathematical model of a converter state space model for a hybrid microgrid. The hybrid model combines the models of components such as DC-Converters, DC-AC converters, and their individual controllers, as well as loads. The input to the converter is considered a constant DC voltage, assumed to originate from distributed generations like solar, battery storage, or fuel-cells. The converter output is connected to a DC line through an LCL filter. The controller circuitry is designed to regulate the voltage, current, and power from the converter. Sensors are strategically placed to measure the currents, voltages, and power, and calculate the reference pulse signal using PWM for the switch. Similarly, the DC-AC converter is modeled. In the state space domain the converter models is used to design overall microgrid system. A single DC converter has six states and two inputs, with all states as outputs. A single DC-AC converter has thirteen states and three inputs, with all states as outputs. Three such converters of each type are considered to develop the DC microgrid and AC microgrid, which are then combined using mathematical analysis to model a hybrid microgrid. For the hybrid microgrid development, network and load models were also included. Eigenvalue analysis has been conducted to study the small signal stability of the considered system. The complete state space model of the hybrid microgrid has been programmed, and a pole-placement controller has been designed to enhance the stability of the system.

Paperid: 1416, https://arxiv.org/pdf/2509.01748.pdf

Abstract:
This paper demonstrates the key features of a control system applicable to inverter-based resources (IBR), which is based on grid-forming technology. Such resources are classified as grid-forming or grid-following converters based on the type of output with or without grid connection. With rapid growth in the energy sector to adopt carbon-free generation, Grid Forming Converter (GFC) seems suitable for power provision to remote or islanded operation of converters. A fully-fledged bulk power grid based on GFC requires complex control implementation with suitable tuning of its parameters. In this article a broader analysis of synchronous machine and such type of converter is discussed and designed in the MATLAB 2024 environment with its control technique is studied for a closed-loop system under contingencies. A proposed control scheme is developed to understand the frequency minimization problem and the minimization problem is solved using GAMS programming tool. The primary objective function is found to be suitable for minimization of frequency deviation using a mixed control approach. An artificial neural network-based controller is also proposed with Levenberg-Marquardt training algorithm which augments the research by finding suitable optimal reference for GFM converter in the presence of a grid. A long-short-term memory (LSTM) based network is also proposed for the above control and the performance is found to be efficacious.

Paperid: 1417, https://arxiv.org/pdf/2509.01599.pdf

Abstract:
Radiation Detection Systems (RDSs) are used to measure and detect abnormal levels of radioactive material in the environment. These systems are used in many applications to mitigate threats posed by high levels of radioactive material. However, these systems lack protection against malicious external attacks to modify the data. The novelty of applying Intrusion Detection Systems (IDS) in RDSs is a crucial element in safeguarding these critical infrastructures. While IDSs are widely used in networking environments to safeguard against various attacks, their application in RDSs is novel. A common attack on RDSs is Denial of Service (DoS), where the attacker aims to overwhelm the system, causing malfunctioning RDSs. This paper proposes an efficient Machine Learning (ML)-based IDS to detect anomalies in radiation data, focusing on DoS attacks. This work explores the use of sampling methods to create a simulated DoS attack based on a real radiation dataset, followed by an evaluation of various ML algorithms, including Random Forest, Support Vector Machine (SVM), logistic regression, and Light Gradient-Boosting Machine (LightGBM), to detect DoS attacks on RDSs. LightGBM is emphasized for its superior accuracy and low computational resource consumption, making it particularly suitable for real-time intrusion detection. Additionally, model optimization and TinyML techniques, including feature selection, parallel execution, and random search methods, are used to improve the efficiency of the proposed IDS. Finally, an optimized and efficient LightGBM-based IDS is developed to achieve accurate intrusion detection for RDSs.

Paperid: 1418, https://arxiv.org/pdf/2509.01592.pdf

Abstract:
Radiation Detection Systems (RDSs) play a vital role in ensuring public safety across various settings, from nuclear facilities to medical environments. However, these systems are increasingly vulnerable to cyber-attacks such as data injection, man-in-the-middle (MITM) attacks, ICMP floods, botnet attacks, privilege escalation, and distributed denial-of-service (DDoS) attacks. Such threats could compromise the integrity and reliability of radiation measurements, posing significant public health and safety risks. This paper presents a new synthetic radiation dataset and an Intrusion Detection System (IDS) tailored for resource-constrained environments, bringing Machine Learning (ML) predictive capabilities closer to the sensing edge layer of critical infrastructure. Leveraging TinyML techniques, the proposed IDS employs an optimized XGBoost model enhanced with pruning, quantization, feature selection, and sampling. These TinyML techniques significantly reduce the size of the model and computational demands, enabling real-time intrusion detection on low-resource devices while maintaining a reasonable balance between efficiency and accuracy.

Paperid: 1419, https://arxiv.org/pdf/2509.01388.pdf

Abstract:
Magnetic levitation is poised to revolutionize industrial automation by integrating flexible in-machine product transport and seamless manipulation. It is expected to become the standard drive for automated manufacturing. However, controlling such systems is inherently challenging due to their complex, unstable dynamics. Traditional control approaches, which rely on hand-crafted control engineering, typically yield robust but conservative solutions, with their performance closely tied to the expertise of the engineering team. In contrast, neural control learning presents a promising alternative. This paper presents the first neural controller for 6D magnetic levitation. Trained end-to-end on interaction data from a proprietary controller, it directly maps raw sensor data and 6D reference poses to coil current commands. The neural controller can effectively generalize to previously unseen situations while maintaining accurate and robust control. These results underscore the practical feasibility of learning-based neural control in complex physical systems and suggest a future where such a paradigm could enhance or even substitute traditional engineering approaches in demanding real-world applications. The trained neural controller, source code, and demonstration videos are publicly available at https://sites.google.com/view/neural-maglev.

Paperid: 1420, https://arxiv.org/pdf/2509.00270.pdf

Abstract:
We propose a general two-period model where electrical vehicles (EVs) can reserve charging sessions in the day-ahead market and swap them in the real-time market. Under the model, we explore several candidate mechanisms for running the two markets, compared using several normative properties such as incentive compatibility, efficiency, reservation awareness, and budget balance. Specifically, reservation awareness is the only property coupling the two markets and dictates that an EV will not get a lower utility by joining the real-time market. Focusing on the real-time market, we show that two variants of the classical Vickrey-Clarke-Groves (VCG) mechanism do not satisfy all the proposed properties; specifically, one is not reservation-aware, while the other is not budget-balanced. Moreover, we show that no mechanism satisfies some combinations of the properties. Then, we propose to use a posted-price mechanism to resolve the issue, which turns out to be the dynamic pricing mechanism adopted in many real-world systems. The proposed mechanism has no efficiency guarantee but satisfies all the other properties. To improve efficiency, we propose to use a VCG auction in the day-ahead market that guides the reserve prices in the real-time market. When EVs' valuations in the two markets are highly correlated, the proposed approach results in highly efficient outcomes.

Paperid: 1421, https://arxiv.org/pdf/2508.21760.pdf

Abstract:
This paper investigates a control approach that renders the driveshaft inertia completely available on the grid side and enhances the fault ride-through behavior of medium-voltage (MV) drive systems. Two main contributions are presented. First, we show how the rotational inertia of the driveline shaft can be synchronously coupled to the grid through a modification of the speed control reference signal and through an adapted DC-link control strategy. For the latter, we pursue two alternatives: one based on conventional cascaded control and another based on synchronous machine (SM) model matching. Second, we demonstrate that both the standard phase-locked loop (PLL) and the matching control approach can be interpreted, via the ray-circle complementarity, as feedback optimization schemes with distinct steady-state maps. This perspective allows us to revisit matching control, reveal its embedded PLL, highlight its current-limiting and tracking capabilities, and provide an extensive simulation study.

Paperid: 1422, https://arxiv.org/pdf/2508.18203.pdf

Abstract:
Improving the predictive accuracy of a dynamics model is crucial to obtaining good control performance and safety from Model Predictive Controllers (MPC). One approach involves learning unmodelled (residual) dynamics, in addition to nominal models derived from first principles. Varying residual models across an environment manifest as modes of a piecewise residual (PWR) model that requires a) identifying how modes are distributed across the environment and b) solving a computationally intensive Mixed Integer Nonlinear Program (MINLP) problem for control. We develop an iterative mapping algorithm capable of predicting time-varying mode distributions. We then develop and solve two tractable approximations of the MINLP to combine with the predictor in closed-loop to solve the overall control problem. In simulation, we first demonstrate how the approximations improve performance by 4-18% in comparison to the MINLP while achieving significantly lower computation times (upto 250x faster). We then demonstrate how the proposed mapping algorithm incrementally improves controller performance (upto 3x) over multiple iterations of a trajectory tracking control task even when the mode distributions change over time.

Paperid: 1423, https://arxiv.org/pdf/2508.17769.pdf

Abstract:
This paper proposes a quality-of-service (QoS)-aware multi-user communication framework facilitated by multiple simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RISs). The user groups are established based on their QoS requirements specified by the minimum data rate, which is provisioned by the optimized transmission and reflection configurations of the STAR-RISs. Particularly, we formulate an optimization problem to maximize the aggregate link rate across all users, under group-specified rate requirements by jointly considering the transmit beamforming and STAR-RIS configurations. Then, we employ the Lagrangian duality with quadratic transformation to tackle the non-convexity of the objective. We decompose the problem within a block coordinate descent framework, and the subproblems are solved through convex approximation and iterated to approach the optimal solution. Simulation results demonstrate the effectiveness of the proposed method in enhancing the system sum rate with guaranteed QoS performance for heterogeneous users, offering valuable insights for the deployment of STAR-RISs in future QoS-aware wireless networks.

Paperid: 1424, https://arxiv.org/pdf/2508.16817.pdf

Abstract:
The rise of parallel computing hardware has made it increasingly important to understand which nonlinear state space models can be efficiently parallelized. Recent advances like DEER (arXiv:2309.12252) or DeepPCR (arXiv:2309.16318) have shown that evaluating a state space model can be recast as solving a parallelizable optimization problem, and sometimes this approach can yield dramatic speed-ups in evaluation time. However, the factors that govern the difficulty of these optimization problems remain unclear, limiting the larger adoption of the technique. In this work, we establish a precise relationship between the dynamics of a nonlinear system and the conditioning of its corresponding optimization formulation. We show that the predictability of a system, defined as the degree to which small perturbations in state influence future behavior, impacts the number of optimization steps required for evaluation. In predictable systems, the state trajectory can be computed in $O((\log T)^2)$ time, where $T$ is the sequence length, a major improvement over the conventional sequential approach. In contrast, chaotic or unpredictable systems exhibit poor conditioning, with the consequence that parallel evaluation converges too slowly to be useful. Importantly, our theoretical analysis demonstrates that for predictable systems, the optimization problem is always well-conditioned, whereas for unpredictable systems, the conditioning degrades exponentially as a function of the sequence length. We validate our claims through extensive experiments, providing practical guidance on when nonlinear dynamical systems can be efficiently parallelized, and highlighting predictability as a key design principle for parallelizable models.

Paperid: 1425, https://arxiv.org/pdf/2508.15040.pdf

Abstract:
The control problem of realizing propeller motion of a devil-stick in the vertical plane using impulsive forces applied normal to the stick is considered. This problem is an example of underactuated robotic juggling and has not been considered in the literature before. Inspired by virtual holonomic constraints, the concept of discrete virtual holonomic constraints (DVHC) is introduced for the first time to solve this orbital stabilization problem. At the discrete instants when impulsive inputs are applied, the location of the center-of-mass of the devil-stick is specified in terms of its orientation angle. This yields the discrete zero dynamics (DZD), which provides conditions for stable propeller motion. In the limiting case, when the rotation angle between successive applications of impulsive inputs is chosen to be arbitrarily small, the problem reduces to that of propeller motion under continuous forcing. A controller that enforces the DVHC, and an orbit stabilizing controller based on the impulse controlled PoincarÃ© map approach are presented. The efficacy of the approach to trajectory design and stabilization is validated through simulations.

Paperid: 1426, https://arxiv.org/pdf/2508.11572.pdf

Abstract:
The alternating direction of multipliers method (ADMM) is a popular method to solve distributed consensus optimization utilizing efficient communication among various nodes in the network. However, in the presence of faulty or attacked nodes, even a small perturbation (or sharing false data) during the communication can lead to divergence of the solution. To address this issue, in this work we consider ADMM under the effect of Byzantine threat, where an unknown subset of nodes is subject to Byzantine attacks or faults. We propose Dynamically Weighted ADMM (DW-ADMM), a novel variant of ADMM that uses dynamic weights on the edges of the network, thus promoting resilient distributed optimization. We establish that the proposed method (i) produces a nearly identical solution to conventional ADMM in the error-free case, and (ii) guarantees a bounded solution with respect to the global minimizer, even under Byzantine threat. Finally, we demonstrate the effectiveness of our proposed algorithm using an illustrative numerical simulation.

Paperid: 1427, https://arxiv.org/pdf/2508.11432.pdf

Abstract:
Neural networks can be fragile to input noise and adversarial attacks. In this work, we consider Convolutional Neural Ordinary Differential Equations (NODEs), a family of continuous-depth neural networks represented by dynamical systems, and propose to use contraction theory to improve their robustness. For a contractive dynamical system two trajectories starting from different initial conditions converge to each other exponentially fast. Contractive Convolutional NODEs can enjoy increased robustness as slight perturbations of the features do not cause a significant change in the output. Contractivity can be induced during training by using a regularization term involving the Jacobian of the system dynamics. To reduce the computational burden, we show that it can also be promoted using carefully selected weight regularization terms for a class of NODEs with slope-restricted activation functions. The performance of the proposed regularizers is illustrated through benchmark image classification tasks on MNIST and FashionMNIST datasets, where images are corrupted by different kinds of noise and attacks.

Paperid: 1428, https://arxiv.org/pdf/2508.11080.pdf

Abstract:
Anticipated rapid growth of large digital load, driven by artificial intelligence (AI) data centers, is poised to increase uncertainty and large fluctuations in consumption, threatening the stability, reliability, and security of the energy infrastructure. Conventional measures taken by grid planners and operators to ensure stable and reliable integration of new resources are either cost-prohibitive (e.g., transmission upgrades) or ill-equipped (e.g., generation control) to resolve the unique challenges brought on by AI Data Centers (e.g., extreme load transients). In this work, we explore the feasibility of coordinating and managing available flexibility in the grid, in terms of grid-forming storage units, to ensure stable and reliable integration of AI Data Centers without the need for costly grid upgrades. Recently developed bi-layered coordinated control strategies -- involving fast-acting, local, autonomous, control at the storage to maintain transient safety in voltage and frequency at the point-of-interconnection, and a slower, coordinated (consensus) control to restore normal operating condition in the grid -- are used in the case studies. A comparison is drawn between broadly two scenarios: a network of coordinated, smaller, distributed storage vs. larger storage installations collocated with large digital loads. IEEE 68-bus network is used for the case studies, with large digital load profiles drawn from the MIT Supercloud Dataset.

Paperid: 1429, https://arxiv.org/pdf/2508.10849.pdf

Abstract:
Sustainability is paramount in modern cellular networks, which face significant energy consumption challenges from rising mobile traffic and advancements in wireless technology. Cell-switching, well-established in literature as an effective solution, encounters limitations such as inadequate capacity and limited coverage when implemented through terrestrial networks (TN). This study enhances cell-switching by integrating non-terrestrial networks (NTN), including satellites (used for cell-switching for the first time), high altitude platform stations (HAPS), and uncrewed aerial vehicles (UAVs) into TN. This integration significantly boosts energy savings by expanding capacity, enhancing coverage, and increasing operational flexibility. We introduce a multi-tier cell-switching approach that dynamically offloads users across network layers to manage energy effectively and minimize delays, accommodating diverse user demands with a context aware strategy. Additionally, we explore the role of artificial intelligence (AI), particularly generative AI, in optimizing network efficiency through data compression, handover optimization between different network layers, and enhancing device compatibility, further improving the adaptability and energy efficiency of cell-switching operations. A case study confirms substantial improvements in network power consumption and user satisfaction, demonstrating the potential of our approach for future networks.

Paperid: 1430, https://arxiv.org/pdf/2508.09425.pdf

Abstract:
An important limitation of Inverter-Based Resources (IBR) is their reduced contribution to Short-Circuit Current (SCC), as compared to that of Synchronous Generators (SGs). With increasing penetration of IBR in most power systems, the reducing SCC poses challenges to a secure system operation, as line protections may not trip when required. In order to address this issue, the SCC ancillary service could be procured via an economic mechanism, aiming at securing adequate SCC on all buses. However, the suitability of markets for SCC services is not well understood, given that these could be prone to market-power issues: since the SCC contributions from various SGs to a certain bus are determined by the electrical topology of the grid, this is a highly local service. It is necessary to understand if SGs at advantageous electrical locations could exert market power and, if so, how it could be mitigated. In order to fill this gap, this paper adopts an SCC-constrained bilevel model to investigate strategic behaviors of SGs. To address the non-convexity due to unit commitment variables, the model is restructured through a primal-dual formulation. Based on a modified IEEE 30-bus system, cases with strategic SGs placed at different buses are analyzed. These studies demonstrate that agents exerting market power could achieve up to triple revenues from SCC provision, highlighting the need to carefully design these markets.

Paperid: 1431, https://arxiv.org/pdf/2508.07045.pdf

Abstract:
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement noise. Existing approaches often rely on idealized assumptions, neglect the impact of noisy measurements, and simply heuristically guess unrealistic bounds. In this work, we present an efficient and modular robust MPC design pipeline that systematically addresses these limitations. The pipeline consists of an iterative procedure that leverages closed-loop experimental data to estimate disturbance bounds and synthesize a robust output-feedback MPC scheme. We provide the pipeline in the form of deterministic and reproducible code to synthesize the robust output-feedback MPC from data. We empirically demonstrate robust constraint satisfaction and recursive feasibility in quadrotor simulations using Gazebo.

Paperid: 1432, https://arxiv.org/pdf/2508.06742.pdf

Abstract:
Structural causal models describe how the components of a robotic system interact. They provide both structural and functional information about the relationships that are present in the system. The structural information outlines the variables among which there is interaction. The functional information describes how such interactions work, via equations or learned models. In this paper we find that learning the functional relationships while accounting for the uncertainty about the structural information leads to more robust dynamics models which improves downstream planning, while using significantly lower computational resources. This in contrast with common model-learning methods that ignore the causal structure and fail to leverage the sparsity of interactions in robotic systems. We achieve this by estimating a causal structure distribution that is used to sample causal graphs that inform the latent-space representations in an encoder-multidecoder probabilistic model. We show that our model can be used to learn the dynamics of a robot, which together with a sampling-based planner can be used to perform new tasks in novel environments, provided an objective function for the new requirement is available. We validate our method using manipulators and mobile robots in both simulation and the real-world. Additionally, we validate the learned dynamics' adaptability and increased robustness to corrupted inputs and changes in the environment, which is highly desirable in challenging real-world robotics scenarios. Video: https://youtu.be/X6k5t7OOnNc.

Paperid: 1433, https://arxiv.org/pdf/2508.06728.pdf

Abstract:
This paper presents an optimal peer-to-peer (P2P) energy transaction mechanism leveraging decentralized blockchain technology to enable a secure and scalable retail electricity market for the increasing penetration of distributed energy resources (DERs). A decentralized bidding strategy is proposed to maximize individual profits while collectively enhancing social welfare. The market design and transaction processes are simulated using the Ethereum testnet, demonstrating the blockchain network's capability to ensure secure, transparent, and sustainable P2P energy trading among DER participants.

Paperid: 1434, https://arxiv.org/pdf/2508.06619.pdf

Abstract:
In a network game, players interact over a network and the utility of each player depends on his own action and on an aggregate of his neighbours' actions. Many real world networks of interest are asymmetric and involve a large number of heterogeneous players. This paper analyzes static network games using the framework of $Î±$-potential games. Under mild assumptions on the action sets (compact intervals) and the utility functions (twice continuously differentiable) of the players, we derive an expression for an inexact potential function of the game, called the $Î±$-potential function. Using such a function, we show that modified versions of the sequential best-response algorithm and the simultaneous gradient play algorithm achieve convergence of players' actions to a $2Î±$-Nash equilibrium. For linear-quadratic network games, we show that $Î±$ depends on the maximum asymmetry in the network and is well-behaved for a wide range of networks of practical interest. Further, we derive bounds on the social welfare of the $Î±$-Nash equilibrium corresponding to the maximum of the $Î±$-potential function, under suitable assumptions. We numerically illustrate the convergence of the proposed algorithms and properties of the learned $2Î±$-Nash equilibria.

Paperid: 1435, https://arxiv.org/pdf/2508.04382.pdf

Abstract:
This paper investigates flexibility aggregation approaches based on linear models. We begin by examining the theoretical foundations of linear AC power flow, two variants of so-called DC power flow, and the LinDistFlow model, along with their underlying assumptions. The discussion covers key system details, including network topology, voltage constraints, and line losses. Simulations are conducted on the KIT Campus Nord network with real demand and solar data. Results show that, in the absence of negative losses, line losses are generally underestimated by linear models. Furthermore, line losses errors tend to accumulate both at the point of common coupling (PCC) and over extended time horizons.

Paperid: 1436, https://arxiv.org/pdf/2508.03417.pdf

Abstract:
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency. However, most existing studies oversimplify the coordination system, assuming accurate vehicle state information and ideal state update process. The oversights pose driving risks in the presence of state uncertainty and communication constraint. To address this gap, we propose a robust and comprehensive intersection coordination framework consisting of a robust cooperative trajectory planner and a context-aware status update scheduler. The trajectory planner directly controls the evolution of the trajectory distributions during frequent vehicle interactions, thereby offering probabilistic safety guarantees. To further align with coordination safety in practical bandwidth-limited conditions, we propose a context-aware status update scheduler that dynamically prioritizes the state updating order of vehicles based on their driving urgency. Simulation results validate the robustness and effectiveness of the proposed coordination framework, showing that the collision probability can be significantly reduced while maintaining comparable coordination efficiency to state-of-theart strategies. Moreover, our proposed framework demonstrates superior effectiveness in utilizing wireless resources in practical uncertain and bandwidth-limited conditions.

Paperid: 1437, https://arxiv.org/pdf/2508.02164.pdf

Abstract:
This paper considers distributed resource allocation problems (DRAPs) with a coupled constraint for real-time systems. Based on primal-dual methods, we adopt a control perspective for optimization algorithm design by synthesizing a safe feedback controller using control barrier functions to enforce constraint satisfaction. On this basis, a distributed anytime-feasible resource allocation (DanyRA) algorithm is proposed. It is shown that DanyRA algorithm converges to the exact optimal solution of DRAPs while ensuring feasibility of the coupled inequality constraint at all time steps. Considering constraint violation arises from potential external interferences, a virtual queue with minimum buffer is incorporated to restore the constraint satisfaction before the pre-defined deadlines. We characterize the trade-off between convergence accuracy and violation robustness for maintaining or recovering feasibility. DanyRA algorithm is further extended to address DRAPs with a coupled equality constraint, and its linear convergence rate is theoretically established. Finally, a numerical example is provided for verification.

Paperid: 1438, https://arxiv.org/pdf/2508.00603.pdf

Abstract:
The feedforward selective fixed-filter method selects the most suitable pre-trained control filter based on the spectral features of the detected reference signal, effectively avoiding slow convergence in conventional adaptive algorithms. However, it can only handle limited types of noises, and the performance degrades when the input noise exhibits non-uniform power spectral density. To address these limitations, this paper devises a novel selective fixed-filter scheme based on a delayless subband structure. In the off-line training stage, subband control filters are pre-trained for different frequency ranges and stored in a dedicated sub-filter database. During the on-line control stage, the incoming noise is decomposed using a polyphase FFT filter bank, and a frequency-band-matching mechanism assigns each subband signal the most appropriate control filter. Subsequently, a weight stacking technique is employed to combine all subband weights into a fullband filter, enabling real-time noise suppression. Experimental results demonstrate that the proposed scheme provides fast convergence, effective noise reduction, and strong robustness in handling more complicated noisy environments.

Paperid: 1439, https://arxiv.org/pdf/2507.22760.pdf

Abstract:
As neural networks (NNs) become increasingly prevalent in safety-critical neural network-controlled cyber-physical systems (NNCSs), formally guaranteeing their safety becomes crucial. For these systems, safety must be ensured throughout their entire operation, necessitating infinite-time horizon verification. To verify the infinite-time horizon safety of NNCSs, recent approaches leverage Differential Dynamic Logic (dL). However, these dL-based guarantees rely on idealized, real-valued NN semantics and fail to account for roundoff errors introduced by finite-precision implementations. This paper bridges the gap between theoretical guarantees and real-world implementations by incorporating robustness under finite-precision perturbations -- in sensing, actuation, and computation -- into the safety verification. We model the problem as a hybrid game between a good Demon, responsible for control actions, and a bad Angel, introducing perturbations. This formulation enables formal proofs of robustness w.r.t. a given (bounded) perturbation. Leveraging this bound, we employ state-of-the-art mixed-precision fixed-point tuners to synthesize sound and efficient implementations, thus providing a complete end-to-end solution. We evaluate our approach on case studies from the automotive and aeronautics domains, producing efficient NN implementations with rigorous infinite-time horizon safety guarantees.

Paperid: 1440, https://arxiv.org/pdf/2507.20974.pdf

Abstract:
Borehole thermal energy storage (BTES) can reduce the operation of fossil fuel-based heating, ventilation, and air conditioning systems for buildings. With BTES, thermal energy is stored via a borehole heat exchanger in the ground. Model predictive control (MPC) may maximize the use of BTES by achieving a dynamic interaction between the building and BTES. However, modeling BTES for MPC is challenging, and a trade-off between model accuracy and an easy-to-solve optimal control problem (OCP) must be found. This manuscript presents an accurate numerical model yielding an easy-to-solve linear-quadratic OCP.

Paperid: 1441, https://arxiv.org/pdf/2507.20050.pdf

Abstract:
The Multi-user Immersive Reality (MIR) landscape is evolving rapidly, with applications spanning virtual collaboration, entertainment, and training. However, wireless network limitations create a critical bottleneck, struggling to meet the high-bandwidth and ultra-low latency demands essential for next-generation MIR experiences. This paper presents Hera, a modular framework for next-generation immersive applications, comprising a high-level streaming and synchronization layer for AR/VR systems and a low-level delay-based QoE-aware rate control protocol optimized for dynamic wireless environments. The Hera framework integrates application-aware streaming logic with a QoE-centric rate control core, enabling adaptive video quality, multi-user fairness, and low-latency communication across challenging 5G network conditions. We demonstrate that Hera outperforms existing state-of-the-art rate control algorithms by maintaining up to 66% lower latencies with comparable throughput performance, higher visual quality with 50% average bitrate improvements in our analysis, and improved fairness. By bridging the gap between application-level responsiveness and network-level adaptability, Hera lays the foundation for more scalable, robust, and high-fidelity multi-user immersive experiences.

Paperid: 1442, https://arxiv.org/pdf/2507.19860.pdf

Abstract:
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse the same long and narrow corridor simultaneously. To address this, we propose a novel distributed trajectory planning framework that bridges the gap between global path and local trajectory cooperation. At the global level, a homotopy-aware optimal path planning algorithm is proposed, which fully leverages the topological structure of the environment. A reference path is chosen from distinct homotopy classes by considering both its spatial and temporal properties, leading to improved coordination among agents globally. At the local level, a model predictive control-based trajectory optimization method is used to generate dynamically feasible and collision-free trajectories. Additionally, an online replanning strategy ensures its adaptability to dynamic environments. Simulations and experiments validate the effectiveness of our approach in mitigating deadlocks. Ablation studies demonstrate that by incorporating time-aware homotopic properties into the underlying global paths, our method can significantly reduce deadlocks and improve the average success rate from 4%-13% to over 90% in randomly generated dense scenarios.

Paperid: 1443, https://arxiv.org/pdf/2507.19535.pdf

Abstract:
Guidance & control networks (G&CNETs) provide a promising alternative to on-board guidance and control (G&C) architectures for spacecraft, offering a differentiable, end-to-end representation of the guidance and control architecture. When training G&CNETs, two predominant paradigms emerge: behavioural cloning (BC), which mimics optimal trajectories, and reinforcement learning (RL), which learns optimal behaviour through trials and errors. Although both approaches have been adopted in G&CNET related literature, direct comparisons are notably absent. To address this, we conduct a systematic evaluation of BC and RL specifically for training G&CNETs on continuous-thrust spacecraft trajectory optimisation tasks. We introduce a novel RL training framework tailored to G&CNETs, incorporating decoupled action and control frequencies alongside reward redistribution strategies to stabilise training and to provide a fair comparison. Our results show that BC-trained G&CNETs excel at closely replicating expert policy behaviour, and thus the optimal control structure of a deterministic environment, but can be negatively constrained by the quality and coverage of the training dataset. In contrast RL-trained G&CNETs, beyond demonstrating a superior adaptability to stochastic conditions, can also discover solutions that improve upon suboptimal expert demonstrations, sometimes revealing globally optimal strategies that eluded the generation of training samples.

Paperid: 1444, https://arxiv.org/pdf/2507.14728.pdf

Abstract:
This study introduces and addresses the critical challenge of traffic load estimation in cell switching within vertical heterogeneous networks. The effectiveness of cell switching is significantly limited by the lack of accurate traffic load data for small base stations (SBSs) in sleep mode, making many load-dependent energy-saving approaches impractical, as they assume perfect knowledge of traffic loads, an assumption that is unrealistic when SBSs are inactive. In other words, when SBSs are in sleep mode, their traffic loads cannot be directly known and can only be estimated, inevitably with corresponding errors. Rather than proposing a new switching algorithm, we focus on eliminating this foundational barrier by exploring effective prediction techniques. A novel vertical heterogeneous network model is considered, integrating a high-altitude platform station (HAPS) as a super macro base station (SMBS). We investigate both spatial and temporal load estimation approaches, including three spatial interpolation schemes, random neighboring selection, distance based selection, and multi level clustering (MLC), alongside a temporal deep learning method based on long short-term memory (LSTM) networks. Using a real world dataset for empirical validation, our results show that both spatial and temporal methods significantly improve estimation accuracy, with the MLC and LSTM approaches demonstrating particularly strong performance.

Paperid: 1445, https://arxiv.org/pdf/2507.14300.pdf

Abstract:
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modeled as a chain of integrators of arbitrary order. Each agent is assumed to know its own position and simultaneously measure bearing vectors relative to the target. We start by introducing a general continuous time observer design tailored to systems whose state dynamics are modeled as chains of integrators and whose measurement model follows a particular nonlinear but observer-suited form. This design leverages a correction term that combines innovation and consensus components, allowing each agent to broadcast only a part of the state estimate to its neighbours, which effectively reduces the data flowing across the network. To provide uniform exponential stability guarantees, a novel result for a class of nonlinear closed-loop systems in a generalized observer form is introduced and subsequently used as the main tool to derive stability conditions on the observer gains. Then, by exploring the properties of orthogonal projection matrices, the proposed design is used to solve the distributed target tracking problem and provide explicit stability conditions that depend on the target-agents geometric formation. Practical examples are derived for a target modeled as first-, second-, and third-order integrator dynamics, highlighting the design procedure and the stability conditions imposed. Finally, numerical results showcase the properties of the proposed algorithm.

Paperid: 1446, https://arxiv.org/pdf/2507.12892.pdf

Abstract:
Load balancing between base stations (BSs) allows BS capacity to be efficiently utilised and avoid outages. Currently, data-driven mechanisms strive to balance inter-BS load and reduce unnecessary handovers. The challenge is that over a large number of BSs, networks observe an oscillatory effect of load evolution that causes high inter-BS messaging. Without a calculus function that integrates network topology to describe the evolution of load states, current data-driven algorithms cannot explain the oscillation phenomenon observed in load states, nor can they provide theoretical guarantees on the stability of the ideal synchronised state. Whilst we know load state oscillation is coupled with the load balancing process algorithms and the topology structure of inter-BS boundary relations, we do not have a theoretical framework to prove this and a pathway to improving load balancing algorithms. Here, we abstract generic and heterogeneous data-driven algorithms into a calculus dynamics space, so that we can establish the synchronization conditions for networked load balancing dynamics with any network topology. By incorporating what is known as "non-conservative error" and the eigenvalue spectrum of the networked dynamics, we can adjust the inter-BS load balancing mechanisms to achieve high efficiency and convergence guarantee, or to mitigate the oscillation when the synchronisation condition cannot be satisfied.

Paperid: 1447, https://arxiv.org/pdf/2507.10914.pdf

Abstract:
We study online algorithms to tune the parameters of a robot controller in a setting where the dynamics, policy class, and optimality objective are all time-varying. The system follows a single trajectory without episodes or state resets, and the time-varying information is not known in advance. Focusing on nonlinear geometric quadrotor controllers as a test case, we propose a practical implementation of a single-trajectory model-based online policy optimization algorithm, M-GAPS,along with reparameterizations of the quadrotor state space and policy class to improve the optimization landscape. In hardware experiments,we compare to model-based and model-free baselines that impose artificial episodes. We show that M-GAPS finds near-optimal parameters more quickly, especially when the episode length is not favorable. We also show that M-GAPS rapidly adapts to heavy unmodeled wind and payload disturbances, and achieves similar strong improvement on a 1:6-scale Ackermann-steered car. Our results demonstrate the hardware practicality of this emerging class of online policy optimization that offers significantly more flexibility than classic adaptive control, while being more stable and data-efficient than model-free reinforcement learning.

Paperid: 1448, https://arxiv.org/pdf/2507.10394.pdf

Abstract:
Earth observation satellites (EOS) play a pivotal role in capturing and analyzing planetary phenomena, ranging from natural disasters to societal development. The EOS scheduling problem (EOSSP), which optimizes the schedule of EOS, is often solved with respect to nadir-directional EOS systems, thus restricting the observation time of targets and, consequently, the effectiveness of each EOS. This paper leverages state-of-the-art constellation reconfigurability to develop the reconfigurable EOS scheduling problem (REOSSP), wherein EOS are assumed to be maneuverable, forming a more optimal constellation configuration at multiple opportunities during a schedule. This paper develops a novel mixed-integer linear programming formulation for the REOSSP to optimally solve the scheduling problem for given parameters. Additionally, since the REOSSP can be computationally expensive for large-scale problems, a rolling horizon procedure (RHP) solution method is developed. The performance of the REOSSP is benchmarked against the EOSSP, which serves as a baseline, through a set of random instances where problem characteristics are varied and a case study in which Hurricane Sandy is used to demonstrate realistic performance. These experiments demonstrate the value of constellation reconfigurability in its application to the EOSSP, yielding solutions that improve performance, while the RHP enhances computational runtime for large-scale REOSSP instances.

Paperid: 1449, https://arxiv.org/pdf/2507.10052.pdf

Abstract:
Investment herding, a phenomenon where households mimic the decisions of others rather than relying on their own analysis, has significant effects on financial markets and household behavior. Excessive investment herding may reduce investments and lead to a depletion of household consumption, which is called the crowding-out effect. While existing research has qualitatively examined the impact of investment herding on consumption, quantitative studies in this area remain limited. In this work, we investigate the optimal investment and consumption decisions of households under the impact of investment herding. We formulate an optimization problem to model how investment herding influences household decisions over time. Based on the optimal control theory, we solve for the analytical solutions of optimal investment and consumption decisions. We theoretically analyze the impact of investment herding on household consumption decisions and demonstrate the existence of the crowding-out effect. We further explore how parameters, such as interest rate, excess return rate, and volatility, influence the crowding-out effect. Finally, we conduct a real data test to validate our theoretical analysis of the crowding-out effect. This study is crucial to understanding the impact of investment herding on household consumption and offering valuable insights for policymakers seeking to stimulate consumption and mitigate the negative effects of investment herding on economic growth.

Paperid: 1450, https://arxiv.org/pdf/2507.09794.pdf

Abstract:
We address the problem of optimal joint scheduling of deferrable and nondeferrable demand involving colocated stochastic supply. Deferrable demand can be delayed within its service deadline, whereas nondeferrable demand must be scheduled immediately. Under a finite-horizon stochastic dynamic programming formulation, we show that the optimal scheduling policy is a ``procrastination policy'' that delays scheduling as much as possible and is characterized by three procrastination parameters. Exploiting the low-dimensional parameterization of the optimal policy, we propose a Procrastination Threshold Reinforcement Learning algorithm. Numerical experiments based on real-world test data confirm that the threshold-learning algorithm closely approximates the optimal policy and outperforms standard benchmarks.

Paperid: 1451, https://arxiv.org/pdf/2507.04594.pdf

Abstract:
Engineering methodologies predominantly revolve around established principles of decomposition and recomposition. These principles involve partitioning inputs and outputs at the component level, ensuring that the properties of individual components are preserved upon composition. However, this view does not transfer well to intelligent systems, particularly when addressing the scaling of intelligence as a system property. Our prior research contends that the engineering of general intelligence necessitates a fresh set of overarching systems principles. As a result, we introduced the "core and periphery" principles, a novel conceptual framework rooted in abstract systems theory and the Law of Requisite Variety. In this paper, we assert that these abstract concepts hold practical significance. Through empirical evidence, we illustrate their applicability to both biological and artificial intelligence systems, bridging abstract theory with real-world implementations. Then, we expand on our previous theoretical framework by mathematically defining core-dominant vs periphery-dominant systems.

Paperid: 1452, https://arxiv.org/pdf/2507.03022.pdf

Abstract:
Grey wolf optimizer (GWO) is a nature-inspired stochastic meta-heuristic of the swarm intelligence field that mimics the hunting behavior of grey wolves. Differential evolution (DE) is a popular stochastic algorithm of the evolutionary computation field that is well suited for global optimization. In this part, we introduce a new algorithm based on the hybridization of GWO and two DE variants, namely the GWO-DE algorithm. We evaluate the new algorithm by applying various numerical benchmark functions. The numerical results of the comparative study are quite satisfactory in terms of performance and solution quality.

Paperid: 1453, https://arxiv.org/pdf/2507.01522.pdf

Abstract:
Deep Reinforcement Learning can play a key role in addressing sustainable energy challenges. For instance, many grid systems are heavily congested, highlighting the urgent need to enhance operational efficiency. However, reinforcement learning approaches have traditionally been slow due to the high sample complexity and expensive simulation requirements. While recent works have effectively used GPUs to accelerate data generation by converting environments to JAX, these works have largely focussed on classical toy problems. This paper introduces Chargax, a JAX-based environment for realistic simulation of electric vehicle charging stations designed for accelerated training of RL agents. We validate our environment in a variety of scenarios based on real data, comparing reinforcement learning agents against baselines. Chargax delivers substantial computational performance improvements of over 100x-1000x over existing environments. Additionally, Chargax' modular architecture enables the representation of diverse real-world charging station configurations.

Paperid: 1454, https://arxiv.org/pdf/2507.00255.pdf

Abstract:
Differential sensitivity techniques originally developed to study the robustness of energy landscape controllers are generalized to the important case of closed quantum systems subject to continuously varying controls. Vanishing sensitivity to parameter variation is shown to coincide with perfect fidelity, as was the case for time-invariant controls. Upper bounds on the magnitude of the differential sensitivity to any parameter variation are derived based simply on knowledge of the system Hamiltonian and the maximum size of the control inputs.

Paperid: 1455, https://arxiv.org/pdf/2512.24542.pdf

Abstract:
In wide-area measurement systems (WAMS), phasor measurement unit (PMU) measurement is prone to data missingness due to hardware failures, communication delays, and cyber-attacks. Existing data-driven methods are limited by inadaptability to concept drift in power systems, poor robustness under high missing rates, and reliance on the unrealistic assumption of full system observability. Thus, this paper proposes an auxiliary task learning (ATL) method for reconstructing missing PMU data. First, a K-hop graph neural network (GNN) is proposed to enable direct learning on the subgraph consisting of PMU nodes, overcoming the limitation of the incompletely observable system. Then, an auxiliary learning framework consisting of two complementary graph networks is designed for accurate reconstruction: a spatial-temporal GNN extracts spatial-temporal dependencies from PMU data to reconstruct missing values, and another auxiliary GNN utilizes the low-rank property of PMU data to achieve unsupervised online learning. In this way, the low-rank properties of the PMU data are dynamically leveraged across the architecture to ensure robustness and self-adaptation. Numerical results demonstrate the superior offline and online performance of the proposed method under high missing rates and incomplete observability.

Paperid: 1456, https://arxiv.org/pdf/2512.24129.pdf

Abstract:
On the way towards full autonomy, sharing roads between automated vehicles and human actors in so-called mixed traffic is unavoidable. Moreover, even if all vehicles on the road were autonomous, pedestrians would still be crossing the streets. We propose social robots as moderators between autonomous vehicles and vulnerable road users (VRU). To this end, we identify four enablers requiring integration: (1) advanced perception, allowing the robot to see the environment; (2) vehicular communications allowing connected vehicles to share intentions and the robot to send guiding commands; (3) social human-robot interaction allowing the robot to effectively communicate with VRUs and drivers; (4) formal specification allowing the robot to understand traffic and plan accordingly. This paper presents an overview of the key enablers and report on a first proof-of-concept integration of the first three enablers envisioning a social robot advising pedestrians in scenarios with a cooperative automated e-bike.

Paperid: 1457, https://arxiv.org/pdf/2512.19160.pdf

Abstract:
This paper studies the rapid stabilization of a multidimensional heat equation in the presence of an unknown spatially localized disturbance. A novel multivalued feedback control strategy is proposed, which synthesizes the frequency Lyapunov method (introduced by Xiang [41]) with the sign multivalued operator. This methodology connects Lyapunov-based stability analysis with spectral inequalities, while the inclusion of the sign operator ensures robustness against the disturbance. The closed-loop system is governed by a differential inclusion, for which well-posedness is proved via the theory of maximal monotone operators. This approach not only guarantees exponential stabilization but also circumvents the need for explicit disturbance modeling or estimation.

Paperid: 1458, https://arxiv.org/pdf/2512.17803.pdf

Abstract:
Local Electricity Communities (communautés électriques locales, CEL) will become operational in Switzerland in 2026, allowing prosumers, consumers, and storage operators within the same municipality and distribution system operator (DSO) area to exchange electricity over the public grid with reduced distribution tariffs. This report examines a rural Swiss case study to explore the techno-economic implications of CELs for both participants and the local DSO. The findings indicate that CELs can enhance the local use of renewable generation, particularly photovoltaics, and offer modest financial gains, with outcomes strongly shaped by community size, composition, and tariff design. Larger and more heterogeneous communities achieve better internal matching of supply and demand, though the overall incentive remains limited because the tariff reduction applies only to distribution charges. The study further shows that internal energy exchange is maximized when local PV generation covers roughly 1-2 times the community load. For DSOs, CELs reduce grid imports (27-46%), resulting in a substantial reduction in distribution tariff revenues (17-36%), necessitating regulatory adaptation. While centralized batteries provide economic value to members, their technical impact on the grid remains modest due to their small, economically optimized capacity. Larger centralized storage is shown to reduce transformer peak power, but risks increasing line loading, suggesting a need for careful sizing and placement.

Paperid: 1459, https://arxiv.org/pdf/2512.13331.pdf

Abstract:
This work addresses the Assembly Line Rebalancing Problem in manual assembly systems where multiple workers operate in parallel within the same station - an industrially relevant scenario that remains insufficiently explored in the literature. A multi-objective optimization model is proposed that incorporates task reassignment, worker allocation, ergonomic evaluation, and explicit spatial feasibility through work-area constraints. The formulation minimizes deviations from the current configuration while promoting balanced workload and ergonomic conditions among workers. Computational experiments on synthetic problem instances demonstrate that the model consistently generates feasible and human-centered reconfigurations across varying cycle-time conditions, highlighting its potential as a decision-support tool for industrial rebalancing in flexible production environments.

Paperid: 1460, https://arxiv.org/pdf/2512.12026.pdf

Abstract:
Model Predictive Control (MPC) is a powerful control strategy for power electronics, but it highly relies on manually-derived and topology-specific analytical models, which is labor-intensive and time-consuming in practical designs. To overcome this bottleneck, this paper introduces a Digital-Twin-based MPC (DT-MPC) framework for generic power converters that can systematically translate a high-level circuit into an objective-aware control policy by leveraging a DT as a high-fidelity system model. Furthermore, a physics-informed neural surrogate predictor is proposed to accelerate predictions by DT and enable real-time operation. A gradient-free simplex search optimizer is also introduced to efficiently handle complex multi-objective optimization. The efficacy of the framework has been validated through a cloud-to-edge deployment on a 1500 W dual active bridge converter. Experimental results show that the synthesized predictive model achieves an inference speed over 7 times faster than real time, the DT-MPC controller outperforms several human-designed counterparts, and the overall framework reduces engineering design time by over 95\%, verifying the superiority of DT-MPC on generalized power converters.

Paperid: 1461, https://arxiv.org/pdf/2512.12017.pdf

Abstract:
Multi-active bridge (MAB) converters, the core of the state-of-the-art medium-voltage power electronic transformers, can flexibly connect multiple DC ports among distributed DC grids and loads, but suffer from hard switching under conventional single phase-shift control, especially under unbalanced voltage conversion ratios and light load conditions. Although some offline methods manage to improve the efficiency through complex optimization structures, there lacks online optimization methods that are simple but effective due to the strong coupling among ports of the converter. By leveraging the time-domain model of the MAB converter under the multiple phase-shift modulation scheme, this paper simplifies the optimization process and proposes an online optimization method that can achieve full zero-voltage switching (ZVS) operation regardless of the load conditions. The proposed method has simple solutions with only voltage conversion ratios involved and can be implemented within a wide operation range without additional sensors or advanced controllers. A four-port MAB converter is constructed as the prototype. The simulation and experimental results have verified the feasibility and superiority of the proposed online strategy in achieving ZVS operation, dynamic response, and efficiency improvement.

Paperid: 1462, https://arxiv.org/pdf/2512.11493.pdf

Abstract:
Situational awareness for connected and automated vehicles describes the ability to perceive and predict the behavior of other road-users in the near surroundings. However, pedestrians can become occluded by vehicles or infrastructure, creating significant safety risks due to limited visibility. Vehicle-to-everything communication enables the sharing of perception data between connected road-users, allowing for a more comprehensive awareness. The main challenge is how to fuse perception data when measurements are inconsistent with the true locations of pedestrians. Inconsistent measurements can occur due to sensor noise, false positives, or communication issues. This paper employs set-based estimation with constrained zonotopes to compute a confidence metric for the measurement set from each sensor. These sets and their confidences are then fused using hybrid zonotopes. This method can account for inconsistent measurements, enabling reliable and robust fusion of the sensor data. The effectiveness of the proposed method is demonstrated in both simulation and real experiments.

Paperid: 1463, https://arxiv.org/pdf/2512.11169.pdf

Abstract:
Combinatorial sequential decision making problems are typically modeled as mixed integer linear programs (MILPs) and solved via branch and bound (B&B) algorithms. The inherent difficulty of modeling MILPs that accurately represent stochastic real world problems leads to suboptimal performance in the real world. Recently, machine learning methods have been applied to build MILP models for decision quality rather than how accurately they model the real world problem. However, these approaches typically rely on supervised learning, assume access to true optimal decisions, and use surrogates for the MILP gradients. In this work, we introduce a proof of concept CORL framework that end to end fine tunes an MILP scheme using reinforcement learning (RL) on real world data to maximize its operational performance. We enable this by casting an MILP solved by B&B as a differentiable stochastic policy compatible with RL. We validate the CORL method in a simple illustrative combinatorial sequential decision making example.

Paperid: 1464, https://arxiv.org/pdf/2512.09372.pdf

Abstract:
Testing and evaluating decision-making agents remains challenging due to unknown system architectures, limited access to internal states, and the vastness of high-dimensional scenario spaces. Existing testing approaches often rely on surrogate models of decision-making agents to generate large-scale scenario libraries; however, discrepancies between surrogate models and real decision-making agents significantly limit their generalizability and practical applicability. To address this challenge, this paper proposes intelligent resilience testing (IRTest), a unified online adaptive testing framework designed to rapidly adjust to diverse decision-making agents. IRTest initializes with an offline-trained surrogate prediction model and progressively reduces surrogate-to-real gap during testing through two complementary adaptation mechanisms: (i) online neural fine-tuning in data-rich regimes, and (ii) lightweight importance-sampling-based weighting correction in data-limited regimes. A Bayesian optimization strategy, equipped with bias-corrected acquisition functions, guides scenario generation to balance exploration and exploitation in complex testing spaces. Extensive experiments across varying levels of task complexity and system heterogeneity demonstrate that IRTest consistently improves failure-discovery efficiency, testing robustness, and cross-system generalizability. These results highlight the potential of IRTest as a practical solution for scalable, adaptive, and resilient testing of decision-making agents.

Paperid: 1465, https://arxiv.org/pdf/2512.09293.pdf

Abstract:
This paper proposes a reinforcement learning-based framework for optimizing the operation of electric arc furnaces (EAFs) under volatile electricity prices. We formulate the deterministic version of the EAF scheduling problem into a mixed-integer linear programming (MILP) formulation, and then develop a Q-learning algorithm to perform real-time control of multiple EAF units under real-time price volatility and shared feeding capacity constraints. We design a custom reward function for the Q-learning algorithm to smooth the start-up penalties of the EAFs. Using real data from EAF designs and electricity prices in New York State, we benchmark our algorithm against a baseline rule-based controller and a MILP benchmark, assuming perfect price forecasts. The results show that our reinforcement learning algorithm achieves around 90% of the profit compared to the perfect MILP benchmark in various single-unit and multi-unit cases under a non-anticipatory control setting.

Paperid: 1466, https://arxiv.org/pdf/2512.08949.pdf

Abstract:
Electromagnetic formation flight (EMFF) uses the electromagnetic force to control the relative positions of multiple satellites without using conventional fuel-based propulsion. To compensate for the electromagnetic torque generated alongside the electromagnetic force, in most previous studies, all satellites were assumed to have reaction wheels (RWs) besides electromagnetic coils. However, the RW-loaded angular momentum becomes non-uniformly distributed among the satellites, because the electromagnetic torque usually differs between satellites. Without a proper control scheme, this deviation increases over time, and the RWs become saturated quickly, preventing the attitudes of the satellites from being controlled. In this study, a new controller is proposed that enables the electromagnetic force and torque to be controlled simultaneously. The EMFF kinematics derived from the conservation of angular momentum are used for the controller design. This controller can control $n$ satellites without saturating the RWs, and only one set of RWs is required among all satellites. The combination of the proposed controller with a simple unloading control exclusive to the chief satellite results in the elimination of the accumulation of angular momentum in the entire system. The effectiveness of the proposed controller is demonstrated through numerical simulations of the formation maintenance and formation reconfiguration of a five-satellite system.

Paperid: 1467, https://arxiv.org/pdf/2512.06561.pdf

Abstract:
This paper introduces and solves a structural controllability problem for ensembles of switched linear systems. All individual subsystems in the ensemble are sparse, governed by the same sparsity pattern, and undergo switching at the same sequence of time instants. The controllability of an ensemble system describes the ability to use a common control input to simultaneously steer every individual system. A sparsity pattern is called structurally controllable for pair $(k,q)$ if it admits a controllable ensemble of $q$ individual systems with at most $k$ switches. We derive a necessary and sufficient condition for a sparsity pattern to be structurally controllable for a given $(k,q)$, and characterize when a sparsity pattern admits a finite $k$ that guarantees structural controllability for $(k,q)$ for arbitrary $q$. Compared with the linear time-invariant ensemble case, this second condition is strictly weaker. We further show that these conditions have natural connections with maximum flow, and hence can be checked by polynomial algorithms. Specifically, the time complexity of deciding structural controllability is $O(n^3)$ and the complexity of computing the smallest number of switches needed is $O(n^3 \log n)$, with $n$ the dimension of each individual subsystem.

Paperid: 1468, https://arxiv.org/pdf/2512.06187.pdf

Abstract:
The adversarial worst-case load shedding (AWLS) problem is pivotal for identifying critical contingencies under line outages. It is naturally cast as a bilevel program: the upper level simulates an attacker determining worst-case line failures, and the lower level corresponds to the defender's generator redispatch operations. Conventional techniques using optimality conditions render the bilevel, mixed-integer formulation computationally prohibitive due to the combinatorial number of topologies and the nonconvexity of AC power flow constraints. To address these challenges, we develop a novel single-level optimal value-function (OVF) reformulation and further leverage a data-driven neural network (NN) surrogate of the follower's optimal value. To ensure physical realizability, we embed the trained surrogate in a physics-constrained NN (PCNN) formulation that couples the OVF inequality with (relaxed) AC feasibility, yielding a mixed-integer convex model amenable to off-the-shelf solvers. To achieve scalability, we learn a sparse, area-partitioned NN via spectral clustering; the resulting block-sparse architecture scales essentially linearly with system size while preserving accuracy. Notably, our approach produces near-optimal worst-case failures and generalizes across loading conditions and unseen topologies, enabling rapid online recomputation. Numerical experiments on the IEEE 14- and 118-bus systems demonstrate the method's scalability and solution quality for large-scale contingency analysis, with an average optimality gap of 5.8% compared to conventional methods, while maintaining computation times under one minute.

Paperid: 1469, https://arxiv.org/pdf/2512.05654.pdf

Abstract:
In this note, we present a novel synchronization framework for heterogeneous multi-agent systems enabled by neuro-spike communication, which induces emergence. Unlike conventional synchronization strategies that require continuous transmission of full-state data packets, our approach utilizes a bio-inspired neuromorphic amplifier to achieve practical synchronization via intermittent, 1-bit Dirac delta pulses. The proposed method drastically improves communication efficiency in terms of bandwidth and energy by minimizing the information payload to a single bit, with intermittent and asynchronous communication. We provide a rigorous convergence analysis of the proposed method and validate the proposed scheme through numerical examples.

Paperid: 1470, https://arxiv.org/pdf/2512.05606.pdf

Abstract:
In this work, we analyze the internal and boundary stabilization of the Cahn-Hilliard and Kuramoto-Sivashinsky equations under saturated feedback control. We conduct our study through the spectral analysis of the associated linear operator. We identify a finite number of eigenvalues related to the unstable part of the system and then design a stabilization strategy based on modal decomposition, linear matrix inequalities (LMIs), and geometric conditions on the saturation function. Local exponential stabilization in $H^{2}$ is established.

Paperid: 1471, https://arxiv.org/pdf/2512.05604.pdf

Abstract:
Reliable state estimation depends on accurately modeled noise covariances, which are difficult to determine in practice. This paper formulates the noise covariance estimation as a bilevel optimization problem that factorizes the joint likelihood of primary and supervisory measurements to reconcile information exploitation with computational tractability. The factorization converts the nested Bayesian dependency into a Markov-chain structure, allowing efficient computation. At the lower level, a Kalman filter with state augmentation performs such computation. Meanwhile, closed-form forward and reverse differentiation provide efficient gradients for the upper-level updates, and we compare the two models' space and time complexities to inform their practical selection. The upper level subsequently refines the noise covariances to guide the lower-level estimation. Taken together, the proposed algorithms offer a systematic and computationally efficient approach to noise covariance estimation in linear Gaussian systems.

Paperid: 1472, https://arxiv.org/pdf/2512.04745.pdf

Abstract:
The ability to compose acquired skills to plan and execute behaviors is a hallmark of natural intelligence. Yet, despite remarkable cross-disciplinary efforts, a principled account of how task structure shapes gating and how such computations could be delivered in neural circuits, remains elusive. Here we introduce GateMod, an interpretable theoretically grounded computational model linking the emergence of gating to the underlying decision-making task, and to a neural circuit architecture. We first develop GateFrame, a normative framework casting policy gating into the minimization of the free energy. This framework, relating gating rules to task, applies broadly across neuroscience, cognitive and computational sciences. We then derive GateFlow, a continuous-time energy based dynamics that provably converges to GateFrame optimal solution. Convergence, exponential and global, follows from a contractivity property that also yields robustness and other desirable properties. Finally, we derive a neural circuit from GateFlow, GateNet. This is a soft-competitive recurrent circuit whose components perform local and contextual computations consistent with known dendritic and neural processing motifs. We evaluate GateMod across two different settings: collective behaviors in multi-agent systems and human decision-making in multi-armed bandits. In all settings, GateMod provides interpretable mechanistic explanations of gating and quantitatively matches or outperforms established models. GateMod offers a unifying framework for neural policy gating, linking task objectives, dynamical computation, and circuit-level mechanisms. It provides a framework to understand gating in natural agents beyond current explanations and to equip machines with this ability.

Paperid: 1473, https://arxiv.org/pdf/2512.04579.pdf

Abstract:
Model Predictive Path Integral (MPPI) control is a sampling-based optimization method that has recently attracted attention, particularly in the robotics and reinforcement learning communities. MPPI has been widely applied as a GPU-accelerated random search method to deterministic direct single-shooting optimal control problems arising in model predictive control (MPC) formulations. MPPI offers several key advantages, including flexibility, robustness, ease of implementation, and inherent parallelizability. However, its performance can deteriorate in high-dimensional settings since the optimal control problem is solved via Monte Carlo sampling. To address this limitation, this paper proposes an enhanced MPPI method that incorporates a Jacobian reconstruction technique and the second-order Generalized Gauss-Newton method. This novel approach is called \textit{Gauss-Newton accelerated MPPI}. The numerical results show that the Gauss-Newton accelerated MPPI approach substantially improves MPPI scalability and computational efficiency while preserving the key benefits of the classical MPPI framework, making it a promising approach even for high-dimensional problems.

Paperid: 1474, https://arxiv.org/pdf/2512.04512.pdf

Abstract:
Reducing Noise, Vibration, and Harshness (NVH) in electric drives is crucial for applications such as electric vehicle drivetrains and heat-pump compressors, where strict NVH requirements directly affect user satisfaction and component longevity. This work presents the integration of an adaptive time-domain harmonic controller into an existing electric-drive control loop to attenuate harmonic disturbances. Three control structures are proposed and analyzed, along with a modified parameter-estimation scheme that reduces computational effort while preserving estimation accuracy, making the method suitable for embedded real-time implementation. To cope with fast operating-point changes, a delta-learning approach combines adaptive control with a lookup-table-based feedforward estimator, ensuring fast convergence and robustness. The proposed controller architectures are validated through simulation and testbench experiments on a permanent-magnet synchronous machine drive, demonstrating substantial NVH reductions across operating conditions. The results confirm that time-domain adaptive harmonic control offers a practical and theoretically grounded solution for real-time NVH mitigation in electric drives.

Paperid: 1475, https://arxiv.org/pdf/2512.03605.pdf

Abstract:
In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state estimation. Bias in gyros sensors are corrected to enhance the tracking performance. Practical stability of the origin of the tracking error system in the presence of external disturbances is proved using the Lyapunov analysis, which turns out to exponential stability in the absence of external disturbances. Numerical simulations are included to illustrate the proposed control scheme and to verify the robustness of the proposed controller under noisy measurements and parameter uncertainties.

Paperid: 1476, https://arxiv.org/pdf/2512.01238.pdf

Abstract:
Many recent data-driven control approaches for linear time-invariant systems are based on finite-horizon prediction of output trajectories using input-output data matrices. When applied recursively, this predictor forms a dynamic system representation. This data-driven representation is generally non-minimal, containing latent poles in addition to the system's original poles. In this article, we show that these latent poles are guaranteed to be stable through the use of the Moore-Penrose inverses of the data matrices, regardless of the system's stability and even in the presence of small noise in data. This result obviates the need to eliminate the latent poles through procedures that resort to low-rank approximation in data-driven control and analysis. It is then applied to construct a stabilizable and detectable realization from data, from which we design an output feedback linear quadratic regulator (LQR) controller. Furthermore, we extend this principle to data-driven inversion, enabling asymptotic unknown input estimation for minimum-phase systems.

Paperid: 1477, https://arxiv.org/pdf/2512.01133.pdf

Abstract:
Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer a high degree of adaptability, robustness, and energy efficiency across a wide range of tasks, from edge computing to robotics. Within this context, we investigate a key feature of biological neurons: their ability to carry out robust and reliable computation by adapting their input response and spiking pattern to context through neuromodulation. Achieving analogous levels of robustness and adaptation in neuromorphic circuits through modulatory mechanisms is a largely unexplored path. We present a novel current-mode neuron design that supports robust neuromodulation with minimal model complexity, compatible with standard CMOS technologies. We first introduce a mathematical model of the circuit and provide tools to analyze and tune the neuron behavior; we then demonstrate both theoretically and experimentally the biologically plausible neuromodulation adaptation capabilities of the circuit over a wide range of parameters. All the theoretical predictions were verified in experiments on a low-power 180 nm CMOS implementation of the proposed neuron circuit. Due to the analog underlying feedback structure, the proposed adaptive neuromodulable neuron exhibits a high degree of robustness, flexibility, and scalability across operating ranges of currents and temperatures, making it a perfect candidate for real-world neuromorphic applications.

Paperid: 1478, https://arxiv.org/pdf/2512.00767.pdf

Abstract:
Recent successful lunar landing missions have generated significant interest among space agencies in establishing a permanent human settlement on the Moon. Building a lunar base requires multiple and frequent landing missions to support logistics and mobility applications. In these missions, maximizing payload mass defined as the useful cargo for human settlement is crucial. The landing mass depends on several factors, with the most critical being the maximum thrust available for braking and the engine's specific impulse (ISP). Generally, increasing engine thrust for braking reduces flight duration and, consequently, gravity losses. However, higher thrust also introduces trade-offs, such as increased engine weight and lower ISP, which can negatively impact payload capacity. Therefore, optimizing the descent trajectory requires careful consideration of these parameters to achieve a global solution that maximizes payload mass. Most existing research focuses on solving optimal control problems that minimize propellant consumption for a given thrust. These problems are typically addressed through trajectory optimization, where a minimum-fuel solution is obtained. The optimized trajectory is then executed onboard using polynomial guidance. In this paper, we propose an outer-layer optimization approach based on a Pareto-optimal solution. This method iterates on the maximum available thrust for descent trajectory optimization while incorporating a loss function that accounts for engine mass and ISP losses. By applying this approach, we identify a globally optimal solution that maximizes payload mass while ensuring an optimal landing trajectory.

Paperid: 1479, https://arxiv.org/pdf/2511.23014.pdf

Abstract:
Electric propulsion is used to maximize payload capacity in communication satellites. These orbit raising maneuvers span several months and hundreds of revolutions, making trajectory design a complex challenge. The literature typically addresses this problem using feedback laws, with Q-law being one of the most prominent approaches. However, Q-law suffers from closed-loop stability issues, limiting its suitability for real-time on-board implementation. In this work, we focus on closed-loop orbit raising rather than offline trajectory planning and address the stability limitations of the Q-law through a Lyapunov based control design. A Lyapunov-guided modification of the classical Q-law is proposed to ensure closed-loop stability and enable real-time implementation. The effectiveness of the proposed method is demonstrated through closed-loop orbit transfers across various scenarios, including co-planar transfers, equatorial to polar orbit transfers, and geostationary transfer orbit (GTO) to geostationary earth orbit (GEO) transfers.

Paperid: 1480, https://arxiv.org/pdf/2511.22721.pdf

Abstract:
Underground mining operations are actively exploring the use of large-format lithium-ion batteries (LIBs) to power their equipment. LIBs have high energy density, long cycle life, and favorable safety record. They also have low noise, heat, and emission footprints. This fosters a conducive workplace environment for underground mining personnel. However, many occurrences of LIB failure have resulted in dangerous situations in underground mines. The combustion products, including toxic emissions, can rapidly travel throughout the mine using the ventilation network. Therefore, it is critical to monitor the temperature and smoke concentration underground at all times to ensure the safety of the miners. High-fidelity models can be developed for specific scenarios of LIB failure, but are computationally prohibitive for large underground mine volumes, complex geometries, and long duration combustion events. To mitigate computation-related issues associated with high-fidelity models, we developed cyber-physical systems (CPS) models to examine temperature and smoke dynamics. The mine supervisory control center, acting as the cyber framework, operates in conjunction with the physical underground mine. The CPS models, trained on high-fidelity computational fluid dynamics (CFD) model data sets, present an exceptional estimate of the evolution of temperature and smoke concentration in the underground mine tunnel. Once implemented, the research results can help mine operators make informed decisions during emergencies.

Paperid: 1481, https://arxiv.org/pdf/2511.22705.pdf

Abstract:
The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are unable to adjust the STS training to different mobility levels. Therefore, We have developed an STS training device that allows various configurations of impedance and vertical/forward forces to adapt to many training needs while maintaining commercial raising aid transfer capabilities. Experiments with healthy adults (both men and women) of various heights and weights show that the device 1) has a low impact on the natural STS kinematics, 2) can provide precise weight unloading at the patient's center of mass and 3) can add a forward virtual spring to assist the transfer of the bodyweight to the feet for seat-off, at the start of the STS motion.

Paperid: 1482, https://arxiv.org/pdf/2511.19084.pdf

Abstract:
The consideration of stochastic uncertainty in optimal and predictive control is a well-explored topic. Recently Polynomial Chaos Expansions (PCE) have seen a lot of considerations for problems involving stochastically uncertain system parameters and also for problems with additive stochastic i.i.d. disturbances. While there exist a number of open-source PCE toolboxes, tailored open-source codes for the solution of OCPs involving additive stochastic i.i.d. disturbances in julia are not available. Hence, this paper introduces the toolbox PolyOCP$.$jl which enables to efficiently solve stochastic OCPs for a large class of disturbance distributions. We explain the main mathematical concepts between the PCE transcription of stochastic OCPs and how they are provided in the toolbox. We draw upon two examples to illustrate the functionalities of PolyOCP$.$jl.

Paperid: 1483, https://arxiv.org/pdf/2511.18748.pdf

Abstract:
The digitalization of substations enlarges the cyber-attack surface, necessitating effective detection and mitigation of cyber attacks in digital substations. While machine learning-based intrusion detection has been widely explored, such methods have not demonstrated detection and mitigation within the required real-time budget. In contrast, cryptographic authentication has emerged as a practical candidate for real-time cyber defense, as specified in IEC 62351. In addition, lightweight rule-based intrusion detection that validates IEC 61850 semantics can provide specification-based detection of anomalous or malicious traffic with minimal processing delay. This paper presents the design logic and implementation aspects of three potential real-time mitigation techniques capable of countering GOOSE-based attacks: (i) IEC 62351-compliant message authentication code (MAC) scheme, (ii) a semantics-enforced rule-based intrusion detection system (IDS), and (iii) a hybrid approach integrating both MAC verification and Intrusion Detection System (IDS). A comparative evaluation of these real-time mitigation approaches is conducted using a cyber-physical system (CPS) security testbed. The results show that the hybrid integration significantly enhances mitigation capability. Furthermore, the processing delays of all three methods remain within the strict delivery requirements of GOOSE communication. The study also identifies limitations that none of the techniques can fully address, highlighting areas for future work.

Paperid: 1484, https://arxiv.org/pdf/2511.17436.pdf

Abstract:
We consider the adaptive control problem for discrete-time, nonlinear stochastic systems with linearly parameterised uncertainty. Assuming access to a parameterised family of controllers that can stabilise the system in a bounded set within an informative region of the state space when the parameter is well-chosen, we propose a certainty equivalence learning-based adaptive control strategy, and subsequently derive stability bounds on the closed-loop system that hold for some probabilities. We then show that if the entire state space is informative, and the family of controllers is globally stabilising with appropriately chosen parameters, high probability stability guarantees can be derived.

Paperid: 1485, https://arxiv.org/pdf/2511.16629.pdf

Abstract:
Policy gradient methods, which have been extensively studied in the last decade, offer an effective and efficient framework for reinforcement learning problems. However, their performances can often be unsatisfactory, suffering from unreliable reward improvements and slow convergence, due to high variance in gradient estimations. In this paper, we propose a universal reward profiling framework that can be seamlessly integrated with any policy gradient algorithm, where we selectively update the policy based on high-confidence performance estimations. We theoretically justify that our technique will not slow down the convergence of the baseline policy gradient methods, but with high probability, will result in stable and monotonic improvements of their performance. Empirically, on eight continuous-control benchmarks (Box2D and MuJoCo/PyBullet), our profiling yields up to 1.5x faster convergence to near-optimal returns, up to 1.75x reduction in return variance on some setups. Our profiling approach offers a general, theoretically grounded path to more reliable and efficient policy learning in complex environments.

Paperid: 1486, https://arxiv.org/pdf/2511.13955.pdf

Abstract:
In this paper, our goal is to enable quantitative feedback on muscle fatigue during exercise to optimize exercise effectiveness while minimizing injury risk. We seek to capture fatigue by monitoring surface vibrations that muscle exertion induces. Muscle vibrations are unique as they arise from the asynchronous firing of motor units, producing surface micro-displacements that are broadband, nonlinear, and seemingly stochastic. Accurately sensing these noise-like signals requires new algorithmic strategies that can uncover their underlying structure. We present GigaFlex the first contactless system that measures muscle vibrations using mmWave radar to infer muscle force and detect fatigue. GigaFlex draws on algorithmic foundations from Chaos theory to model the deterministic patterns of muscle vibrations and extend them to the radar domain. Specifically, we design a radar processing architecture that systematically infuses principles from Chaos theory and nonlinear dynamics throughout the sensing pipeline, spanning localization, segmentation, and learning, to estimate muscle forces during static and dynamic weight-bearing exercises. Across a 23-participant study, GigaFlex estimates maximum voluntary isometric contraction (MVIC) root mean square error (RMSE) of 5.9\%, and detects one to three Repetitions in Reserve (RIR), a key quantitative muscle fatigue metric, with an AUC of 0.83 to 0.86, performing comparably to a contact-based IMU baseline. Our system can enable timely feedback that can help prevent fatigue-induced injury, and opens new opportunities for physiological sensing of complex, non-periodic biosignals.

Paperid: 1487, https://arxiv.org/pdf/2511.13861.pdf

Abstract:
Widespread electric vehicle (EV) adoption introduces new challenges for distribution grids due to large, localized load increases, stochastic charging behavior, and limited data availability. This paper proposes two data-driven methods to estimate residential EV charging profiles using real-world customer meter data from CenterPoint Energy serving the Houston area. The first approach applies a least-squares estimation to extract average charging rates by comparing aggregated EV and non-EV meter data, enabling a statistical method for starting and ending charge times. The second method isolates EV load from meter profiles and applies a kernel density estimation (KDE) to develop a probabilistic charging model. Both methods produce a distinct "u-shaped" daily charging profile, with most charging occurring overnight. The validated profiles offer a scalable tool for utilities to better anticipate EV-driven demand increases and support proactive grid planning.

Paperid: 1488, https://arxiv.org/pdf/2511.13499.pdf

Abstract:
We study feasibility guarantees for safety filters developed using Control Barrier Functions (CBFs) when a safe set is defined using the pointwise minimum of continuously differentiable functions, a construction that is common for the backup CBF method and typically nonsmooth. We replace the minimum by its log-sum-exp (soft-min) smoothing and show that, under a strict safety condition, the smooth function becomes a CBF (or extended CBF) for a range of the smoothing parameter. For compact safe sets, we derive an explicit lower bound on the smoothing parameter that makes the smooth function a CBF and hence renders the corresponding safety filter feasible. For unbounded sets, we introduce tail conditions under which the smooth function satisfies an extended CBF condition uniformly. Finally, we apply these results to backup CBFs. We show that safety of a compact (terminal) backup set under a backup controller, together with a condition ensuring safety of the backup trajectories on the relevant boundary of the safe set, is sufficient for feasibility for backup CBFs. These results provide a recipe for a priori feasibility guarantees for smooth inner approximations of nonsmooth safe sets without the need for additional online certification.

Paperid: 1489, https://arxiv.org/pdf/2511.13162.pdf

Abstract:
Cyber-attacks jeopardize the safe operation of inverter-based resource-dominated microgrids (IBR-dominated microgrids). At the same time, existing diagnostic methods either depend on expensive multi-point instrumentation or stringent modeling assumptions that are untenable under single-point measurement constraints. This paper proposes a Fractional-Order Memory-Enhanced Attack-Diagnosis Scheme (FO-MADS) that achieves timely fault localization and cyber-resilient fault diagnosis using only one VPQ (voltage, active power, reactive power) measurement point. FO-MADS first constructs a dual fractional-order feature library by jointly applying Caputo and Grünwald-Letnikov derivatives, thereby amplifying micro-perturbations and slow drifts in the VPQ signal. A two-stage hierarchical classifier then pinpoints the affected inverter and isolates the faulty IGBT switch, effectively alleviating class imbalance. Robustness is further strengthened through Progressive Memory-Replay Adversarial Training (PMR-AT), whose attack-aware loss is dynamically re-weighted via Online Hard Example Mining (OHEM) to prioritize the most challenging samples. Experiments on a four-inverter IBR-dominated microgrid testbed comprising 1 normal and 24 fault classes under four attack scenarios demonstrate diagnostic accuracies of 96.6% (bias), 94.0% (noise), 92.8% (data replacement), and 95.7% (replay), while sustaining 96.7% under attack-free conditions. These results establish FO-MADS as a cost-effective and readily deployable solution that markedly enhances the cyber-physical resilience of IBR-dominated microgrids.

Paperid: 1490, https://arxiv.org/pdf/2511.11875.pdf

Abstract:
Brain-inspired neuromorphic technologies can offer important advantages over classical digital clock-based technologies in various domains, including systems and control engineering. Indeed, neuromorphic engineering could provide low-latency, low-energy and adaptive control systems in the form of spiking neural networks (SNNs) exploiting spike-based control and communication. However, systematic methods for designing and analyzing neuron-inspired spiking controllers are currently lacking. This paper presents a new systematic approach for stabilizing linear time-invariant (LTI) systems using SNN-based controllers, designed as a network of integrate-and-fire neurons, whose input is the measured output from the plant and generating spiking control signals. The new approach consists of a two-step emulation-based design procedure. In the first step, we establish conditions on the neuron parameters to ensure that the spiking signal generated by a pair of neurons emulates any continuous-time signal input to the neurons with arbitrary accuracy in terms of a special metric for spiky signals. In the second step, we propose a novel stability notion, called integral spiking-input-to-state stability (iSISS) building on this special metric. We prove that an asymptotically stable LTI system has this iSISS property. By combining these steps, a certifiable practical stability property of the closed-loop system can be established. Generalizations are discussed and the effectiveness of the approach is illustrated in a numerical case study.

Paperid: 1491, https://arxiv.org/pdf/2511.08750.pdf

Abstract:
The alternating direction method of multipliers (ADMM) is a powerful algorithm for solving decentralized optimization problems including networked microgrid energy management (NetMEM). However, its performance is highly sensitive to the selection of its penalty parameter \r{ho}, which can lead to slow convergence, suboptimal solutions, or even algorithm divergence. This paper evaluates and compares three district ADMM formulations to solve the NetMEM problem, which explore different methods to determine appropriate stopping points, aiming to yield high-quality solutions. Furthermore, an adaptive penalty heuristic is also incorporated into each method to analyze its potential impact on ADMM performance. Different case studies on networks of varying sizes demonstrate that an objective-based ADMM approach, denominated as OB-ADMM, is significantly more robust to the choice of \r{ho}, consistently yielding solutions closer to the centralized optimal benchmark by preventing premature algorithm stopping.

Paperid: 1492, https://arxiv.org/pdf/2511.08612.pdf

Abstract:
Typical lunar landing missions involve multiple phases of braking to achieve soft-landing. The propulsion system configuration for these missions consists of throttleable engines. This configuration involves complex interconnected hydraulic, mechanical, and pneumatic components each exhibiting non-linear dynamic characteristics. Accurate modelling of the propulsion dynamics is essential for analyzing closed-loop guidance and control schemes during descent. This paper presents a learning-based system identification approach for modelling of throttleable engine dynamics using data obtained from high-fidelity propulsion model. The developed model is validated with experimental results and used for closed-loop guidance and control simulations.

Paperid: 1493, https://arxiv.org/pdf/2511.08027.pdf

Abstract:
Zhong-Ping Jiang devoted a large part of his work to the study of the stability properties of interconnected systems. In this short paper we celebrate Zhong-Ping Jiang's 60th birthday by studying a special class of families of interconnected systems: the so-called strings. We develop trajectory-based and Lyapunov-based tools that allow the verification of string stability to homogeneous bidirectional strings. The obtained results are applied to the problem of cruise controller design for a string of vehicles.

Paperid: 1494, https://arxiv.org/pdf/2511.07938.pdf

Abstract:
Power-logistics scheduling in modern seaports typically follow a predict-then-optimize pipeline. To enhance the decision quality of forecasts, decision-focused learning has been proposed, which aligns the training of forecasting models with downstream decision outcomes. However, this end-to-end design inherently restricts the value of forecasting models to only a specific task structure, and thus generalize poorly to evolving tasks induced by varying seaport vessel arrivals. We address this gap with a decision-focused continual learning framework that adapts online to a stream of scheduling tasks. Specifically, we introduce Fisher information based regularization to enhance cross-task generalization by preserving parameters critical to prior tasks. A differentiable convex surrogate is also developed to stabilize gradient backpropagation. The proposed approach enables learning a decision-aligned forecasting model across a varying tasks stream with a sustainable long-term computational burden. Experiments calibrated to the Jurong Port demonstrate superior decision performance and generalization over existing methods with reduced computational cost.

Paperid: 1495, https://arxiv.org/pdf/2511.07486.pdf

Abstract:
We study the problem of learning policies that maximize cumulative reward while satisfying safety constraints, even when the real environment differs from a simulator or nominal model. We focus on robust constrained Markov decision processes (RCMDPs), where the agent must maximize reward while ensuring cumulative utility exceeds a threshold under the worst-case dynamics within an uncertainty set. While recent works have established finite-time iteration complexity guarantees for RCMDPs using policy optimization, their sample complexity guarantees remain largely unexplored. In this paper, we first show that Markovian policies may fail to be optimal even under rectangular uncertainty sets unlike the {\em unconstrained} robust MDP. To address this, we introduce an augmented state space that incorporates the remaining utility budget into the state representation. Building on this formulation, we propose a novel Robust constrained Value iteration (RCVI) algorithm with a sample complexity of $\mathcal{\tilde{O}}(|S||A|H^5/ε^2)$ achieving at most $ε$ violation using a generative model where $|S|$ and $|A|$ denote the sizes of the state and action spaces, respectively, and $H$ is the episode length. To the best of our knowledge, this is the {\em first sample complexity guarantee} for RCMDP. Empirical results further validate the effectiveness of our approach.

Paperid: 1496, https://arxiv.org/pdf/2511.06677.pdf

Abstract:
Enhancing the reliability of AI based fault diagnosis in inverter dominated microgrids requires diverse and statistically balanced datasets. However, the scarcity and imbalance of high fidelity fault data, especially for rare inverter malfunctions and extreme external line faults, limit dependable model training and validation. This paper introduces a unified framework that models a detailed inverter dominated microgrid and systematically generates multiple internal and external fault scenarios to mitigate data scarcity and class imbalance. An enhanced generative model called F2GAN (Feature Feedback GAN) is developed to synthesize high dimensional tabular fault data with improved realism and statistical alignment. Unlike conventional GANs, F2GAN integrates multi level feedback based on mean variance, correlation, and feature matching losses, enabling the generator to refine output distributions toward real fault feature spaces. The generated datasets are evaluated through quantitative and qualitative analyses. Train on Synthetic, Test on Real (TSTR) experiments demonstrate strong generalization of machine learning classifiers trained exclusively on F2GAN samples. The framework is validated on a hardware-in-the-loop (HIL) fault diagnosis platform integrated with a real time simulator and graphical interface, achieving 100 % diagnostic accuracy under real-time testing. Results confirm that F2GAN effectively bridges the gap between simulated and real world microgrid fault datasets

Paperid: 1497, https://arxiv.org/pdf/2511.03594.pdf

Abstract:
India achieved a significant milestone on August $23^{\text{rd}}$ 2023, becoming the fourth country to accomplish a soft landing on the Moon. This paper presents the powered descent trajectory design for the Chandrayaan-3 mission. The optimization framework is based on pseudospectral Radau collocation, and controllability-based waypoint refinement is employed to further enhance the robustness of the trajectory against state and control perturbations. Furthermore, the trade-off between fuel consumption and robustness is explicitly quantified, providing insights into the practical considerations of mission planning.

Paperid: 1498, https://arxiv.org/pdf/2511.03391.pdf

Abstract:
Maximum likelihood estimation is effective for identifying dynamical systems, but applying it to large networks becomes computationally prohibitive. This paper introduces a maximum likelihood estimation method that enables identification of sub-networks within complex interconnected systems without estimating the entire network. The key insight is that under specific topological conditions, a sub-network's parameters can be estimated using only local measurements: signals within the target sub-network and those in the directly connected to the so-called separator sub-network. This approach significantly reduces computational complexity while enhancing privacy by eliminating the need to share sensitive internal data across organizational boundaries. We establish theoretical conditions for network separability, derive the probability density function for the sub-network, and demonstrate the method's effectiveness through numerical examples.

Paperid: 1499, https://arxiv.org/pdf/2511.01491.pdf

Abstract:
Large multiple antenna arrays coupled with accurate beamforming are essential in terahertz (THz) communications to ensure link reliability. However, as the number of antennas increases, beam alignment (focusing) and beam tracking in mobile networks incur prohibitive overhead. Additionally, the near-field region expands both with the size of antenna arrays and the carrier frequency, calling for adjustments in the beamforming to account for spherical wavefront instead of the conventional planar wave assumption. In this letter, we introduce a novel beam coherence time for mobile THz networks, to drastically reduce the rate of beam updates. Then, we propose a deep learning model, relying on a simple feedforward neural network with a time-dependent input, to predict the beam coherence time and adjust the beamforming on the fly with minimal overhead. Our numerical results demonstrate the effectiveness of the proposed approach by enabling higher data rates while reducing the overhead, especially at high (i.e., vehicular) mobility.

Paperid: 1500, https://arxiv.org/pdf/2511.01288.pdf

Abstract:
This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incorporates a momentum wheel with an axis aligned with the secondary pendulum, creating a novel spherical robot structure. Practical experiments with the physical prototype have demonstrated that this new spherical robot can achieve stable high-speed motion through simple decoupled control, which was unattainable with the original structure. The spherical robot designed for high-speed motion not only increases speed but also significantly enhances obstacle-crossing performance and terrain robustness.

Paperid: 1501, https://arxiv.org/pdf/2510.26712.pdf

Abstract:
This paper presents a time-optimal Model Predictive Control (MPC) scheme for linear discrete-time systems subject to multiplicative uncertainties represented by interval matrices. To render the uncertainty propagation computationally tractable, the set-valued error system dynamics are approximated using a matrix-zonotope-based bounding operator. Recursive feasibility and finite-time convergence are ensured through an adaptive terminal constraint mechanism. A key advantage of the proposed approach is that all the necessary bounding sets can be computed offline, substantially reducing the online computational burden. The effectiveness of the method is illustrated via a numerical case study on an orbital rendezvous maneuver between two satellites.

Paperid: 1502, https://arxiv.org/pdf/2510.26578.pdf

Abstract:
In post-disaster scenarios, the rapid deployment of adequate communication infrastructure is essential to support disaster search, rescue, and recovery operations. To achieve this, uncrewed aerial vehicle (UAV) has emerged as a promising solution for emergency communication due to its low cost and deployment flexibility. However, conventional untethered UAV (U-UAV) is constrained by size, weight, and power (SWaP) limitations, making it incapable of maintaining the operation of a macro base station. To address this limitation, we propose a heterogeneous UAV-based framework that integrates tethered UAV (T-UAV) and U-UAVs, where U-UAVs are utilized to enhance the throughput of cell-edge ground user equipments (G-UEs) and guarantee seamless connectivity during G-UEs' mobility to safe zones. It is noted that the integrated access and backhaul (IAB) technique is adopted to support the wireless backhaul of U-UAVs. Accordingly, we formulate a two-timescale joint user scheduling and trajectory control optimization problem, aiming to maximize the downlink throughput under asymmetric traffic demands and G-UEs' mobility. To solve the formulated problem, we proposed a two-timescale multi-agent deep deterministic policy gradient (TTS-MADDPG) algorithm based on the centralized training and distributed execution paradigm. Numerical results show that the proposed algorithm outperforms other benchmarks, including the two-timescale multi-agent proximal policy optimization (TTS-MAPPO) algorithm and MADDPG scheduling method, with robust and higher throughput. Specifically, the proposed algorithm obtains up to 12.2\% average throughput gain compared to the MADDPG scheduling method.

Paperid: 1503, https://arxiv.org/pdf/2510.25452.pdf

Abstract:
In this work, we study data-driven stabilization of linear time-invariant systems using prior knowledge of system-theoretic properties, specifically stabilizability and controllability. To formalize this, we extend the concept of data informativity by requiring the existence of a controller that stabilizes all systems consistent with the data and the prior knowledge. We show that if the system is controllable, then incorporating this as prior knowledge does not relax the conditions required for data-driven stabilization. Remarkably, however, we show that if the system is stabilizable, then using this as prior knowledge leads to necessary and sufficient conditions that are weaker than those for data-driven stabilization without prior knowledge. In other words, data-driven stabilization is easier if one knows that the underlying system is stabilizable. We also provide new data-driven control design methods in terms of linear matrix inequalities that complement the conditions for informativity.

Paperid: 1504, https://arxiv.org/pdf/2510.23922.pdf

Abstract:
Connected and Autonomous Electrified Vehicles (CAEV) is the solution to the future smart mobility having benefits of efficient traffic flow and cleaner environmental impact. Although CAEV has advantages they are still susceptible to adversarial cyber attacks due to their autonomous electric operation and the involved connectivity. To alleviate this issue, we propose a secure control architecture of CAEV. Particularly, we design an additional control input using Reinforcement Learning (RL) to be applied to the vehicle powertrain along with the input commanded by the battery. We present simulation case studies to demonstrate the potential of the proposed approach in keeping the CAEV platoon operating safely without collisions by curbing the effect of adversarial attacks.

Paperid: 1505, https://arxiv.org/pdf/2510.23910.pdf

Abstract:
Large-format lithium-ion batteries (LIBs) provide effective energy storage solutions for high-power equipment used in underground mining operations. They have high Columbic efficiency and minimal heat and emission footprints. However, improper use of LIBs, accidents, or other factors may increase the probability of thermal runaway (TR), a rapid combustion reaction that discharges toxic and flammable substances. Several such incidents have been documented in mines. Since repeatable TR experiments to uncover the transient-state propagation of TR are expensive and hazardous, high-fidelity models are usually developed to mimic the impact of these events. They are resource-intensive and are impractical to develop for many scenarios that could be observed in a mine. Therefore, dynamic models within a reduced-order framework were constructed to represent the transient-state combustion event. Reduced order models (ROMs) reasonably replicate trends in temperature and smoke, showing strong alignment with the ground-truth dataset.

Paperid: 1506, https://arxiv.org/pdf/2510.23721.pdf

Abstract:
This paper introduces a convex optimization framework for identifying switched network systems, in which both the node dynamics and the underlying graph topology switch between a finite number of configurations. Building on our recent convex identification method for general switching systems, we extend the formulation to structured network systems where each mode corresponds to a distinct adjacency matrix. We show that both the continuous node dynamics and binary network topologies can be identified from sampled state-velocity data by solving a sequence of convex programs. The proposed framework provides a unified and scalable way to recover piecewise network structures from data without a prior knowledge of mode labels at each state. Numerical results on diffusively coupled oscillators demonstrate accurate recovery of both mode dynamics and switching graphs.

Paperid: 1507, https://arxiv.org/pdf/2510.23067.pdf

Abstract:
This paper proposes NeuroDOB, a deep neural network based observer controller for vehicle lateral dynamics, which replaces the conventional disturbance observer (DOB) with a deep neural network (DNN) to enhance personalized lateral control. Unlike conventional DOBs that compensate for general disturbances such as road friction variation and crosswind, NeuroDOB explicitly addresses unmodeled vehicle dynamics and driver-specific behaviors by learning the steering compensation signal from driver-in-the-loop simulations using CarSim's embedded controller as a surrogate driver. The proposed architecture integrates NeuroDOB with a linear quadratic regulator (LQR), where the DNN outputs a delta error correction added to the baseline LQR steering input to produce the final control command. Input features to the DNN include lateral position and yaw angle errors, and the LQR control input. Experimental validation using a lateral dynamic bicycle model within CarSim demonstrates that NeuroDOB effectively adapts to individual driving habits, improving lateral control performance beyond what conventional LQR controllers achieve. The results indicate the potential of deep neural network based observer to enable personalized and adaptive autonomous vehicle control. In cognitive terms, the proposed architecture can be viewed as a dual-system control structure. The baseline LQR corresponds to System 1, a model-based, fast, and analytic reasoning layer ensuring stability. The NeuroDOB acts as System 2, a reflective, data-driven layer that learns compensation from experience and corrects the analytical bias of System 1. Together, they form an integrated decision process analogous to human intuition-reflection interaction, enabling both stability and adaptability in lateral control.

Paperid: 1508, https://arxiv.org/pdf/2510.23060.pdf

Abstract:
Industrial control systems (ICS) form the operational backbone of critical infrastructure networks (CIN) such as power grids, water supply systems, and gas pipelines. As cyber threats to these systems escalate, regulatory agencies are imposing stricter compliance requirements to ensure system-wide security and reliability. A central challenge, however, is enabling regulators to verify the effectiveness of detection mechanisms without requiring utilities to disclose sensitive operational data. In this paper, we introduce zkSTAR, a cyberattack detection framework that leverages zk-SNARKs to reconcile these requirements and enable provable detection guarantees while preserving data confidentiality. Our approach builds on established residual-based statistical hypothesis testing methods applied to state-space detection models. Specifically, we design a two-pronged zk-SNARK architecture that enforces temporal consistency of the state-space dynamics and statistical consistency of the detection tests, allowing regulators to temporally verify alarm correctness without visibility into utility-level data. We formally analyze the soundness and zero knowledge properties of our framework and validate its practical feasibility through computational experiments on real-world ICS datasets. As a result, our work demonstrates a scalable, privacy-preserving alternative for regulatory compliance for ICS driven critical infrastructure networks.

Paperid: 1509, https://arxiv.org/pdf/2510.22514.pdf

Abstract:
This paper presents a constructive framework for synthesizing provably safe controllers for nonlinear multi-agent systems subject to bounded disturbances. The methodology applies to systems representable in Brunovsky canonical form, accommodating arbitrary-order dynamics in multi-dimensional spaces. The central contribution is a method of constraint tightening that formally couples robust error feedback with nominal trajectory planning. The key insight is that the design of an ancillary feedback law, which confines state errors to a robust positively invariant (RPI) tube, simultaneously provides the exact information needed to ensure the safety of the nominal plan. Specifically, the geometry of the resulting RPI tube is leveraged via its support function to derive state-dependent safety margins. These margins are then used to systematically tighten the high relative-degree exponential control barrier function (eCBF) constraints imposed on the nominal planner. This integrated synthesis guarantees that any nominal trajectory satisfying the tightened constraints corresponds to a provably safe trajectory for the true, disturbed system. We demonstrate the practical utility of this formal synthesis method by implementing the planner within a distributed Model Predictive Control (MPC) scheme, which optimizes performance while inheriting the robust safety guarantees.

Paperid: 1510, https://arxiv.org/pdf/2510.21490.pdf

Abstract:
Deployment of optimization algorithms on networked systems face challenges associated with time delays and corruptions. One particular instance is the presence of time-varying delays arising from factors such as packet drops and irregular sampling. Fixed time delays can destabilize gradient descent algorithms, and this degradation is exacerbated by time-varying delays. This work concentrates on the analysis and creation of discrete-time optimization algorithms with certified exponential convergence rates that are robust against switched uncertainties between the optimizer and the gradient oracle. These optimization algorithms are implemented by a switch-scheduled output feedback controllers. Rate variation and sawtooth behavior (packet drops) in time-varying delays can be imposed through constraining switching sequences. Analysis is accomplished by bisection in the convergence rate to find Zames-Falb filter coefficents. Synthesis is performed by alternating between a filter coefficient search for a fixed controller, and a controller search for fixed multipliers.

Paperid: 1511, https://arxiv.org/pdf/2510.21415.pdf

Abstract:
This paper proposes a robust regret control framework in which the performance baseline adapts to the realization of system uncertainty. The plant is modeled as a discrete-time, uncertain linear time-invariant system with real-parametric uncertainty. The performance baseline is the optimal non-causal controller constructed with full knowledge of the disturbance and the specific realization of the uncertain plant. We show that a controller achieves robust additive regret relative to this baseline if and only if it satisfies a related, robust $H_\infty$ performance condition on a modified plant. One technical issue is that the modified plant can, in general, have a complicated nonlinear dependence on the uncertainty. We use a linear approximation step so that the robust additive regret condition can be recast as a standard $μ$-synthesis problem. A numerical example is used to demonstrate the proposed approach.

Paperid: 1512, https://arxiv.org/pdf/2510.21294.pdf

Abstract:
We present a MATLAB package called the Pha-sorArray Toolbox that has been developed to make harmonic analysis and control methods both practical and user-friendly. The toolbox adopts an object-oriented architecture that enables intuitive manipulation of periodic matrices through overloaded operators for addition, multiplication, convolution, and automatic Toeplitz construction. Its advanced features include harmonic Sylvester, Lyapunov and Riccati equations solvers, and seamless integration with YALMIP, thereby facilitating advanced control and analysis techniques based on Linear Matrix Inequalities (LMIs) in the harmonic framework.

Paperid: 1513, https://arxiv.org/pdf/2510.20537.pdf

Abstract:
We analyze the identifiability of nonlinear networks with node dynamics characterized by functions that are non-additive. We consider the full measurement case (all the nodes are measured) in the path-independent delay scenario where all the excitation signals of a specific node have the same delay in the output of a measured node. Based on the notion of a generic nonlinear matrix associated with the network, we introduce the concept of generic identifiability and characterize the space of functions that satisfies this property. For directed acyclic graphs (DAGs) characterized by analytic functions, we derive a sufficient condition for identifiability based on vertex-disjoint paths from excited nodes to the in-neighbors of each node in the network. Furthermore, when we consider the class of polynomial functions, by using well-known results on algebraic varieties, we prove that the vertex-disjoint path condition is also necessary. Finally, we show that this identifiability condition is not necessary for the additive nonlinear model. Some examples are added to illustrate the results.

Paperid: 1514, https://arxiv.org/pdf/2510.20135.pdf

Abstract:
The dual challenge of decarbonizing the economy and meeting rising global energy demand underscores the need for scalable and cost-effective carbon dioxide removal technologies. Direct air capture (DAC) is among the most promising approaches, but its high energy intensity, particularly the thermal energy required for sorbent regeneration, remains a critical barrier to cost reduction and sustainable deployment. This study explores solar-thermal DAC systems that combine concentrated solar thermal technology with low-cost sand-based thermal energy storage to meet this demand. We analyze the techno-economic performance of such systems in both grid-connected and stand-alone configurations. Results show that solar-thermal DAC can achieve annual capacity factors exceeding 80% and CO2 removal costs as low as 160-200 USD per ton, making it competitive with leading DAC technologies. The proposed system operates most efficiently with short-cycle sorbents that align with solar availability. The stand-alone Solar-DAC systems, which rely solely on solar energy for both electricity and thermal energy, are particularly promising in regions with high solar capacity and sandy terrain, exhibiting minimal ambient sensitivity from temperature and humidity. An optimal 6000 ton/yr modular system design takes <1 km2 land-use requirement and potentially >26 Gt/year DAC capacity is identified for sandy terrain alone globally. In areas with sedimentary basins suitable for CO2 storage, solar-powered DAC offers a lower-cost alternative to geothermal heating, which often faces geological and economic constraints.

Paperid: 1515, https://arxiv.org/pdf/2510.19548.pdf

Abstract:
This study presents a control strategy for coordinating multiple unmanned aerial vehicles (UAVs) to monitor unknown flood regions and estimate the extent of inundation. The proposed method adopts a density-driven coverage framework based on Centroidal Voronoi Tessellation (CVT), in which the density function is modeled using a Gaussian Mixture of Density Functions (GMDF). This formulation provides a more accurate characterization of inundated areas compared to conventional axis-aligned Gaussian models. The performance of the two density modeling approaches is systematically evaluated under different UAV fleet sizes (16, 20, and 24), with multiple simulation trials conducted in the ROS/Gazebo environment. The results show that the GMDF-based formulation consistently achieves higher coverage rates, demonstrating its effectiveness in enhancing flood monitoring and improving UAV spatial distribution.

Paperid: 1516, https://arxiv.org/pdf/2510.19293.pdf

Abstract:
Operating fleets of electric vehicles (EVs) introduces several challenges, some of which are borne by the fleet operator, and some of which are borne by the power grid. To maximize short-term profit a fleet operator could always charge EVs at the maximum rate to ensure vehicles are ready to service ride demand. However, due to the stochastic nature of electricity demand, charging EVs at their maximum rate may potentially increase the grid stress and lead to overall instability. Furthermore, high-rate charging of EVs can accelerate battery degradation, thereby reducing the service lifespan of the fleet. This study aims to reconcile the conflicting incentives of fleet longevity, short-term profitability, and grid stability by simulating a taxi fleet throughout its lifespan in relation to its charging policies and service conditions. We develop an EV fleet simulator to evaluate the battery degradation due to unpredictable charging and ride demand. Consequently, the impact on the power grid through the charging infrastructure is assessed due to these activities. This simulation utilizes publicly accessible real-world travel data from the NYC taxi dataset. We compare a baseline 80-20 fleet charging policy with a reinforcement learning-based policy designed to prolong the fleet's service life and alleviate grid stress. We monitor grid stress, battery degradation, and profitability over five years and find that our learned policy outperforms the baseline. This simulator enables fleet operators to assess the impact of different charging policies on these indicators to make informed decisions in the future.

Paperid: 1517, https://arxiv.org/pdf/2510.17859.pdf

Abstract:
Neural ordinary differential equations (neural ODE) are powerful continuous-time machine learning models for depicting the behavior of complex dynamical systems, but their verification remains challenging due to limited reachability analysis tools adapted to them. We propose a novel interval-based reachability method that leverages continuous-time mixed monotonicity techniques for dynamical systems to compute an over-approximation for the neural ODE reachable sets. By exploiting the geometric structure of full initial sets and their boundaries via the homeomorphism property, our approach ensures efficient bound propagation. By embedding neural ODE dynamics into a mixed monotone system, our interval-based reachability approach, implemented in TIRA with single-step, incremental, and boundary-based approaches, provides sound and computationally efficient over-approximations compared with CORA's zonotopes and NNV2.0 star set representations, while trading tightness for efficiency. This trade-off makes our method particularly suited for high-dimensional, real-time, and safety-critical applications. Applying mixed monotonicity to neural ODE reachability analysis paves the way for lightweight formal analysis by leveraging the symmetric structure of monotone embeddings and the geometric simplicity of interval boxes, opening new avenues for scalable verification aligned with the symmetry and geometry of neural representations. This novel approach is illustrated on two numerical examples of a spiral system and a fixed-point attractor system modeled as a neural ODE.

Paperid: 1518, https://arxiv.org/pdf/2510.17825.pdf

Abstract:
Integrated Satellite Aerial Terrestrial Networks (ISATNs) are envisioned as key enablers of 6G, providing global connectivity for applications such as autonomous transportation, Industrial IoT, and disaster response. Their large-scale deployment, however, risks unsustainable energy use and carbon emissions. This work advances prior energy-aware studies by proposing a carbon-aware orchestration framework for ISATNs that leverages Digital Twin (DT) technology. The framework adopts grams of CO$_2$-equivalent per bit (gCO$_2$/bit) as a primary sustainability metric and implements a multi timescale Plan Do Check Act (PDCA) loop that combines day-ahead forecasting with real-time adaptive optimization. ISATN-specific control knobs, including carbon-aware handovers, UAV duty cycling, and renewable-aware edge placement, are exploited to reduce emissions. Simulation results with real carbon intensity data show up to 29\% lower gCO$_2$/bit than QoS-only orchestration, while improving renewable utilization and resilience under adverse events.

Paperid: 1519, https://arxiv.org/pdf/2510.16482.pdf

Abstract:
Power grids increasingly need real-time situational awareness under the ever-evolving cyberthreat landscape. Advances in snapshot-based system identification approaches have enabled accurately estimating states and topology from a snapshot of measurement data, under random bad data and topology errors. However, modern interactive, targeted false data can stay undetectable to these methods, and significantly compromise estimation accuracy. This work advances system identification that combines snapshot-based method with time-series model via Bayesian Integration, to advance cyber resiliency against both random and targeted false data. Using a distance-based time-series model, this work can leverage historical data of different distributions induced by changes in grid topology and other settings. The normal system behavior captured from historical data is integrated into system identification through a Bayesian treatment, to make solutions robust to targeted false data. We experiment on mixed random anomalies (bad data, topology error) and targeted false data injection attack (FDIA) to demonstrate our method's 1) cyber resilience: achieving over 70% reduction in estimation error under FDIA; 2) anomalous data identification: being able to alarm and locate anomalous data; 3) almost linear scalability: achieving comparable speed with the snapshot-based baseline, both taking <1min per time tick on the large 2,383-bus system using a laptop CPU.

Paperid: 1521, https://arxiv.org/pdf/2510.13024.pdf

Abstract:
Cloud-assisted system identification and control have emerged as practical solutions for low-power, resource-constrained control systems such as micro-UAVs. In a typical cloud-assisted setting, state and input data are transmitted from local agents to a central computer over low-bandwidth wireless links, leading to quantization. This paper investigates the impact of state and input data quantization on a linear time invariant (LTI) system identification, derives a worst-case bound on the identification error, and develops a robust controller for guaranteed cost control. We establish a fundamental bound on the model error that depends only on the quantized data and quantization resolution, and develop a linear matrix inequality (LMI) based guaranteed cost robust controller under this error bound.

Paperid: 1522, https://arxiv.org/pdf/2510.12949.pdf

Abstract:
Current decarbonization efforts are falling short of meeting the net-zero greenhouse gas (GHG) emission target, highlighting the need for substantial carbon dioxide removal methods such as direct air capture (DAC). However, integrating DACs poses challenges due to their enormous power consumption. This study assesses the commercial operation of various DAC technologies that earn revenue using monetized carbon incentives while purchasing electricity from wholesale power markets. We model four commercial DAC technologies and examine their operation in three representative locations including California, Texas, and New York. Our findings reveal that commercial DAC operations can take financial advantage of the volatile power market to operate only during low-price periods strategically, offering a pathway to facilitate a cost-efficient decarbonization transition. The ambient operational environment such as temperature and relative humidity has non-trivial impact on abatement capacity. Profit-driven decisions introduce climate-economic trade-offs that might decrease the capacity factor of DAC and reduce total CO2 removal. These implications extend throughout the entire lifecycle of DAC developments and influence power systems and policies related to full-scale DAC implementation. Our study shows that DAC technologies with shorter cycle spans and higher flexibility can better exploit the electricity price volatility, while power markets demonstrate persistent low-price windows that often synergize with low grid emission periods, like during the solar "duck curve" in California. An optimal incentive design exists for profit-driven operations while carbon-tax policy in electricity pricing is counterproductive for DAC systems.

Paperid: 1523, https://arxiv.org/pdf/2510.12456.pdf

Abstract:
We introduce a control design and analysis framework for micro-macro, boundary control of large-scale, $n+m$ hyperbolic PDE systems. Specifically, we develop feedback laws for stabilization of hyperbolic systems at the micro level (i.e., of the large-scale system) that employ a) measurements obtained from the $n+m$ system (i.e., at micro level) and kernels constructed based on an $\infty+\infty$ continuum system counterpart (i.e., at macro level), or b) kernels and measurements both stemming from a continuum counterpart, or c) averaged-continuum kernels/measurements. We also address (d)) stabilization of the continuum (macro) system, employing continuum kernels and measurements. Towards addressing d) we derive in a constructive manner an $\infty+\infty$ continuum approximation of $n+m$ hyperbolic systems and establish that its solutions approximate, for large $n$ and $m$, the solutions of the $n+m$ system. We then construct a feedback law for stabilization of the $\infty+\infty$ system via introduction of a continuum-PDE backstepping transformation. We establish well-posedness of the resulting 4-D kernel equations and prove closed-loop stability via construction of a novel Lyapunov functional. Furthermore, under control configuration a) we establish that the closed-loop system is exponentially stable provided that $n$ and $m$ are large, by proving that the exact, stabilizing $n+m$ control kernels can be accurately approximated by the continuum kernels. While under control configurations b) and c), we establish closed-loop stability capitalizing on the established solutions' and kernels' approximation properties via employment of infinite-dimensional ISS arguments. We provide two numerical simulation examples to illustrate the effectiveness and potential limitations of our design approach.

Paperid: 1524, https://arxiv.org/pdf/2510.11692.pdf

Abstract:
We present an analysis on the convergence properties of the so-called geometric heat flow equation for computing geodesics (shortest-path~curves) on Riemannian manifolds. Computing geodesics numerically in real-time has become an important capability in several fields, including control and motion planning. The geometric heat flow equation involves solving a parabolic partial differential equation whose solution is a geodesic. In practice, solving this PDE numerically can be done efficiently, and tends to be more numerically stable and exhibit a better rate of convergence compared to numerical optimization. We prove that the geometric heat flow equation is globally exponentially stable in $L_2$ if the curvature of the Riemannian manifold is not too positive, and that asymptotic convergence in $L_2$ is always guaranteed. We also present a pseudospectral method that leverages Chebyshev polynomials to accurately compute geodesics in only a few milliseconds for non-contrived manifolds. Our analysis was verified with our custom pseudospectral method by computing geodesics on common non-Euclidean surfaces, and in feedback for a contraction-based controller with a non-flat metric for a nonlinear system.

Paperid: 1525, https://arxiv.org/pdf/2510.10531.pdf

Abstract:
Remote Direct Memory Access (RDMA) is a memory technology that allows remote devices to directly write to and read from each other's memory, bypassing components such as the CPU and operating system. This enables low-latency high-throughput networking, as required for many modern data centres, HPC applications and AI/ML workloads. However, baseline RDMA comprises a highly permissive weak memory model that is difficult to use in practice and has only recently been formalised. In this paper, we introduce the Library of Composable Objects (LOCO), a formally verified library for building multi-node objects on RDMA, filling the gap between shared memory and distributed system programming. LOCO objects are well-encapsulated and take advantage of the strong locality and the weak consistency characteristics of RDMA. They have performance comparable to custom RDMA systems (e.g. distributed maps), but with a far simpler programming model amenable to formal proofs of correctness. To support verification, we develop a novel modular declarative verification framework, called Mowgli, that is flexible enough to model multinode objects and is independent of a memory consistency model. We instantiate Mowgli with the RDMA memory model, and use it to verify correctness of LOCO libraries.

Paperid: 1526, https://arxiv.org/pdf/2510.10236.pdf

Abstract:
Flying Ad Hoc Networks (FANETs) present unique challenges due to high node mobility, dynamic topologies, and strict resource constraints. Existing routing protocols often optimize for a single metric, such as path length or energy, while neglecting the complex dependencies between network performance, security, and MAC layer efficiency. This paper introduces a novel hardware software co design framework for secure and adaptive UAV swarm communications, featuring an energy aware protocol stack. The architecture employs a multicast, clustered organization where routing decisions integrate dynamic trust scores, historical link quality, and internodal distance. A hybrid MAC protocol combines contention based and scheduled channel access for optimized throughput. Security is ensured through a zero trust model that fuses cryptographic authentication with a behavioral reputation system, alongside hardware accelerated AES GCM encryption. Comparative analysis in an NS 3 simulation environment demonstrates the framework's superiority in packet delivery ratio, latency, resilience, and overhead, providing a scalable foundation for high performance swarm operations.

Paperid: 1527, https://arxiv.org/pdf/2510.09047.pdf

Abstract:
Forced response curves (FRCs) of nonlinear systems can exhibit complex behaviors, including hardening/softening behavior and bifurcations. Although topology optimization holds great potential for tuning these nonlinear dynamic responses, its use in high-dimensional systems is limited by the high cost of repeated response and sensitivity analyses. To address this challenge, we employ the spectral submanifolds (SSMs) reduction theory, which reformulates the periodic response as the equilibria of an associated reduced-order model (ROM). This enables efficient and analytic evaluation of both response amplitudes and their sensitivities. Based on the SSM-based ROM, we formulate optimization problems that optimize the peak amplitude, the hardening/softening behavior, and the distance between two saddle-node bifurcations for an FRC. The proposed method is applied to the design of nonlinear MEMS devices, achieving targeted performance optimization. This framework provides a practical and efficient strategy for incorporating nonlinear dynamic effects into the topology optimization of structures.

Paperid: 1529, https://arxiv.org/pdf/2510.07578.pdf

Abstract:
This review aims to conduct a comparative analysis of liquid neural networks (LNNs) and traditional recurrent neural networks (RNNs) and their variants, such as long short-term memory networks (LSTMs) and gated recurrent units (GRUs). The core dimensions of the analysis include model accuracy, memory efficiency, and generalization ability. By systematically reviewing existing research, this paper explores the basic principles, mathematical models, key characteristics, and inherent challenges of these neural network architectures in processing sequential data. Research findings reveal that LNN, as an emerging, biologically inspired, continuous-time dynamic neural network, demonstrates significant potential in handling noisy, non-stationary data, and achieving out-of-distribution (OOD) generalization. Additionally, some LNN variants outperform traditional RNN in terms of parameter efficiency and computational speed. However, RNN remains a cornerstone in sequence modeling due to its mature ecosystem and successful applications across various tasks. This review identifies the commonalities and differences between LNNs and RNNs, summarizes their respective shortcomings and challenges, and points out valuable directions for future research, particularly emphasizing the importance of improving the scalability of LNNs to promote their application in broader and more complex scenarios.

Paperid: 1530, https://arxiv.org/pdf/2510.07145.pdf

Abstract:
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking performance. Unlike conventional control barrier function methods, the constrained control problem is transformed into an unconstrained one using state-dependent mappings together with carefully constructed Lyapunov functions. This approach enables explicit synthesis of the control law, instead of requiring a solution of constrained optimization at each step. The transformation also enables the controller to enforce safety without sacrificing stability or performance. Simulation results for a polytopic reference trajectory confined within a designated safe region demonstrate the effectiveness of the proposed method.

Paperid: 1531, https://arxiv.org/pdf/2510.06033.pdf

Abstract:
Stochastic processing networks (SPNs) have broad applications in healthcare, transportation, and communication networks. The control of SPN is to dynamically assign servers in batches under uncertainty to optimize long-run performance. This problem is challenging as the policy dimension grows exponentially with the number of servers, making standard reinforcement learning and policy optimization methods intractable at scale. We propose an atomic action decomposition framework that addresses this scalability challenge by breaking joint assignments into sequential single-server assignments. This yields policies with constant dimension, independent of the number of servers. We study two classes of atomic policies, the step-dependent and step-independent atomic policies, and prove that both achieve the same optimal long-run average reward as the original joint policies. These results establish that computing the optimal SPN control can be made scalable without loss of optimality using the atomic framework. Our results offer theoretical justification for the strong empirical success of the atomic framework in large-scale applications reported in previous articles.

Paperid: 1532, https://arxiv.org/pdf/2510.05895.pdf

Abstract:
Soft landing on small celestial bodies (SCBs) poses unique challenges, as uncertainties in gravitational models and poorly characterized, dynamic environments require a high level of autonomy. Existing control approaches lack formal guarantees for safety constraint satisfaction, necessary to ensure the safe execution of the maneuvers. This paper introduces a control that addresses this limitation by integrating trajectory tracking, disturbance estimation, and safety enforcement. An extended high-gain observer is employed to estimate disturbances resulting from gravitational model uncertainties. We then apply a feedback-linearizing and disturbance-canceling controller that achieves exponential tracking of reference trajectories. Finally, we use a control barrier function based minimum-intervention controller to enforce state and input constraints through out the maneuver execution. This control combines trajectory tracking of offline generated reference trajectories with formal guarantees of safety, which follows common guidance and control architectures for spacecraft and allows aggressive maneuvers to be executed without compromising safety. Numerical simulations using fuel-optimal trajectories demonstrate the effectiveness of the controller in achieving precise and safe soft-landing, highlighting its potential for autonomous SCB missions.

Paperid: 1533, https://arxiv.org/pdf/2510.04893.pdf

Abstract:
In this paper, we study the rapid stabilization of an unstable wave equation, in which an unknown disturbance is located at the boundary condition. We address two different boundary conditions: Dirichlet- Dirichlet and Dirichlet-Neumann. In both cases, we design a feedback law, located at the same place as the unknown disturbance, that forces the exponential decay of the energy for any desired decay rate while suppressing the effects of the unknown disturbance. For the feedback design, we employ the backstepping method, Lyapunov techniques and the sign multivalued operator. The well-posedness of the closed-loop system, which is a differential inclusion, is shown with the maximal monotone operator theory.

Paperid: 1534, https://arxiv.org/pdf/2510.04807.pdf

Abstract:
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formulation for ball-shaped ambiguity sets of Gaussian distributions and leverage it to develop a distributionally robust belief roadmap construction algorithm. This algorithm synthe- sizes robust controllers which are certified to be safe for maximal size ball-shaped ambiguity sets of Gaussian distributions. Our algorithm achieves better coverage than the maximal coverage algorithm for planning over Gaussian distributions [1], and we identify mild conditions under which our algorithm achieves strictly better coverage. For the special case of no process noise or state constraints, we formally prove that our algorithm achieves maximal coverage. In addition, we present a second multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a region parameterized by the Minkowski sum of an ellipsoid and a Euclidean ball with high probability. This algorithm plans over ellipsoidal sets of maximal size ball-shaped ambiguity sets of Gaussian distributions, and provably achieves equal or better coverage than the best-known algorithm for planning over ellipsoidal ambiguity sets of Gaussian distributions [2]. We demonstrate the efficacy of both methods in a wide range of conditions via extensive simulation experiments.

Paperid: 1535, https://arxiv.org/pdf/2510.04784.pdf

Abstract:
Control of the density profile based on pellet fueling for the ITER nuclear fusion tokamak involves a multi-rate nonlinear system with safety-critical constraints, input delays, and discrete actuators with parametric uncertainty. To address this challenging problem, we propose a multi-stage MPC (msMPC) approach to handle uncertainty in the presence of mixed-integer inputs. While the scenario tree of msMPC accounts for uncertainty, it also adds complexity to an already computationally intensive mixed-integer MPC (MI-MPC) problem. To achieve real-time density profile controller with discrete pellets and uncertainty handling, we systematically reduce the problem complexity by (1) reducing the identified prediction model size through dynamic mode decomposition with control, (2) applying principal component analysis to reduce the number of scenarios needed to capture the parametric uncertainty in msMPC, and (3) utilizing the penalty term homotopy for MPC (PTH-MPC) algorithm to reduce the computational burden caused by the presence of mixed-integer inputs. We compare the performance and safety of the msMPC strategy against a nominal MI-MPC in plant simulations, demonstrating the first predictive density control strategy with uncertainty handling, viable for real-time pellet fueling in ITER.

Paperid: 1536, https://arxiv.org/pdf/2510.03534.pdf

Abstract:
We study the problem of long-term (multiple days) mapping of a river plume using multiple autonomous underwater vehicles (AUVs), focusing on the Douro river representative use-case. We propose an energy - and communication - efficient multi-agent reinforcement learning approach in which a central coordinator intermittently communicates with the AUVs, collecting measurements and issuing commands. Our approach integrates spatiotemporal Gaussian process regression (GPR) with a multi-head Q-network controller that regulates direction and speed for each AUV. Simulations using the Delft3D ocean model demonstrate that our method consistently outperforms both single- and multi-agent benchmarks, with scaling the number of agents both improving mean squared error (MSE) and operational endurance. In some instances, our algorithm demonstrates that doubling the number of AUVs can more than double endurance while maintaining or improving accuracy, underscoring the benefits of multi-agent coordination. Our learned policies generalize across unseen seasonal regimes over different months and years, demonstrating promise for future developments of data-driven long-term monitoring of dynamic plume environments.

Paperid: 1537, https://arxiv.org/pdf/2510.03481.pdf

Abstract:
We address the problem of robust permissive controller synthesis for robots operating under uncertain dynamics, modeled as Interval Markov Decision Processes (IMDPs). IMDPs generalize standard MDPs by allowing transition probabilities to vary within intervals, capturing epistemic uncertainty from sensing noise, actuation imprecision, and coarse system abstractions-common in robotics. Traditional controller synthesis typically yields a single deterministic strategy, limiting adaptability. In contrast, permissive controllers (multi-strategies) allow multiple actions per state, enabling runtime flexibility and resilience. However, prior work on permissive controller synthesis generally assumes exact transition probabilities, which is unrealistic in many robotic applications. We present the first framework for robust permissive controller synthesis on IMDPs, guaranteeing that all strategies compliant with the synthesized multi-strategy satisfy reachability or reward-based specifications under all admissible transitions. We formulate the problem as mixed-integer linear programs (MILPs) and propose two encodings: a baseline vertex-enumeration method and a scalable duality-based method that avoids explicit enumeration. Experiments on four benchmark domains show that both methods synthesize robust, maximally permissive controllers and scale to large IMDPs with up to hundreds of thousands of states.

Paperid: 1538, https://arxiv.org/pdf/2510.03241.pdf

Abstract:
Model predictive control (MPC)-based energy management systems (EMS) are essential for ensuring optimal, secure, and stable operation in microgrids with high penetrations of distributed energy resources. However, due to the high computational cost for the decision-making, the conventional MPC-based EMS typically adopts a simplified integrated-bus power balance model. While this simplification is effective for small networks, large-scale systems require a more detailed branch flow model to account for the increased impact of grid power losses and security constraints. This work proposes an efficient and reliable MPC-based EMS that incorporates power-loss effects and grid-security constraints. %, while adaptively shaping the battery power profile in response to online renewable inputs, achieving reduced operational costs. It enhances system reliability, reduces operational costs, and shows strong potential for online implementation due to its reduced computational effort. Specifically, a second-order cone program (SOCP) branch flow relaxation is integrated into the constraint set, yielding a convex formulation that guarantees globally optimal solutions with high computational efficiency. Owing to the radial topology of the microgrid, this relaxation is practically tight, ensuring equivalence to the original problem. Building on this foundation, an online demand response (DR) module is designed to further reduce the operation cost through peak shaving. To the best of our knowledge, no prior MPC-EMS framework has simultaneously modeled losses and security constraints while coordinating flexible loads within a unified architecture. The developed framework enables secure operation with effective peak shaving and reduced total cost. The effectiveness of the proposed method is validated on 10-bus, 18-bus, and 33-bus systems.

Paperid: 1539, https://arxiv.org/pdf/2510.02363.pdf

Abstract:
Recent advancements in Integrated Sensing and Communications (ISAC) have unlocked new potential for addressing the dual demands of high-resolution positioning and reliable communication in 6G Vehicle-to-Everything (V2X) networks. These capabilities are vital for transmitting safety-critical data from Connected Autonomous Vehicles (CAVs) to improve metrics such as Time to Collision (TTC) and reduce the Collision Risk (CR) ratio. However, limited radio resources and interference remain major obstacles to achieving both precision and capacity simultaneously. The challenge intensifies in mixedtraffic scenarios involving Human-Driven Vehicles (HDVs), which lack connectivity and cannot share their status or positioning. Additionally, CAV sensors are limited in range and accuracy, making detection of HDVs unreliable. ISAC plays a pivotal role here by enabling the sensing of HDV positions via shared communication infrastructure, improving environmental awareness. To address these challenges, this paper proposes a novel Value of Information (VoI) metric that prioritizes the transmission of safety-critical data. The joint sensing-communication-control problem is modeled as a two-time-scale sequential decision process and solved using a Multi-Agent Distributed Deterministic Policy Gradient (MADDPG) algorithm. By focusing on high- VoI data, the framework reduces complexity and optimizes network and traffic resource usage. Simulations show that the proposed approach significantly reduces the CR ratio by at least 33% and improves the TTC by up to 66%, demonstrating its effectiveness in enhancing safety and efficiency in mixedautonomy environments.

Paperid: 1540, https://arxiv.org/pdf/2510.01492.pdf

Abstract:
This paper considers the problem of solving constrained reinforcement learning (RL) problems with anytime guarantees, meaning that the algorithmic solution must yield a constraint-satisfying policy at every iteration of its evolution. Our design is based on a discretization of the Robust Safe Gradient Flow (RSGF), a continuous-time dynamics for anytime constrained optimization whose forward invariance and stability properties we formally characterize. The proposed strategy, termed RSGF-RL, is an off-policy algorithm which uses episodic data to estimate the value functions and their gradients and updates the policy parameters by solving a convex quadratically constrained quadratic program. Our technical analysis combines statistical analysis, the theory of stochastic approximation, and convex analysis to determine the number of episodes sufficient to ensure that safe policies are updated to safe policies and to recover from an unsafe policy, both with an arbitrary user-specified probability, and to establish the asymptotic convergence to the set of KKT points of the RL problem almost surely. Simulations on a navigation example and the cart-pole system illustrate the superior performance of RSGF-RL with respect to the state of the art.

Paperid: 1541, https://arxiv.org/pdf/2510.01007.pdf

Abstract:
A model-based extended state observer (MB-ESO) and its variant are proposed for discrete-time linear multivariable systems, where multiple disturbances are defined as an extended state vector in the same manner as in the original formulation of ESO. The variant MB-ESO extends the MB-ESO to address cases where the disturbance gain matrix is non-diagonal. Leveraging the connection between the variant MB-ESO and the well-known unknown input observer (UIO), the condition for the existence of a MB-ESO and its variant in multivariable systems is established, for the first time, i.e., no invariant zeros exist between the disturbances and the plant outputs. It is shown that, with the observer eigenvalues all placed at the origin and the subsystems decoupled, the variant MB-ESO produces the identical disturbance estimation as that of UIO. Moreover, the error characteristics of MB-ESO and its variant are analyzed and the transfer functions associated with the disturbance estimation errors are derived. It is demonstrated both mathematically and in simulations that the disturbance estimation error of MB-ESO decreases monotonically with respect to both the observer eigenvalues and time.

Paperid: 1542, https://arxiv.org/pdf/2510.00525.pdf

Abstract:
We present a frequency-domain system identification scheme based on barycentric interpolation and weight optimization. The scheme is related to the Adaptive Antoulas-Anderson (AAA) algorithm for model reduction, but uses an adaptive algorithm for selection of frequency points for interrogating the system response, as would be required in identification versus model reduction. The scheme is particularly suited for systems in which any one sinusoidal response run is long or expensive, and thus there is an incentive to reduce the total number of such runs. Two key features of our algorithm are the use of transient data in sinusoidal runs to both optimize the barycentric weights, and automated next-frequency selection on an adaptive grid. Both are done with error criteria that are proxies for a system's $H^2$ and $H^\infty$ norms respectively. Furthermore, the optimization problem we formulate is convex, and can optionally guarantee stability of the identified system. Computational results on a high-order, lightly damped structural system highlights the efficacy of this scheme.

Paperid: 1543, https://arxiv.org/pdf/2509.25431.pdf

Abstract:
Differential privacy has been used to privately calculate numerous network properties, but existing approaches often require the development of a new privacy mechanism for each property of interest. Therefore, we present a framework for generating entire networks in a differentially private way. Differential privacy is immune to post-processing, which allows for any network property to be computed and analyzed for a private output network, without weakening its protections. We consider undirected networks and develop a differential privacy mechanism that takes in a sensitive network and outputs a private network by randomizing its edge set. We prove that this mechanism does provide differential privacy to a network's edge set, though it induces a complex distribution over the space of output graphs. We then develop an equivalent privacy implementation using a modified Erdős-Rényi model that constructs an output graph edge by edge, and it is efficient and easily implementable, even on large complex networks. Experiments implement $\varepsilon$-differential privacy with $\varepsilon=2.5$ when computing graph Laplacian spectra, and these results show the proposed mechanism incurs $49.34\%$ less error than the current state of the art.

Paperid: 1544, https://arxiv.org/pdf/2509.24598.pdf

Abstract:
This paper presents a new method for achieving dynamic consensus in linear discrete-time homogeneous multi-agent systems (MAS) with marginally stable or unstable dynamics. The guarantee of consensus in this setting involves a set of constraints based on the graph's spectral properties, complicating the design of the coupling gains. This challenge intensifies for large-scale systems with diverse graph Laplacian spectra. The proposed approach reformulates the dynamic consensus problem with a prescribed convergence rate using a state-action value function framework inspired by optimal control theory. Specifically, a synthetic linear quadratic regulation (LQR) formulation is introduced to encode the consensus objective, enabling its translation into a convex semidefinite programming (SDP) problem. The resulting SDP is applicable in both model-based and model-free settings for jointly designing the local feedback and coupling gains. To handle the inherent non-convex feasibility conditions, a convex-concave decomposition strategy is employed. Adaptation of the method in a completely model-free set-up eliminates the need for system identification or knowledge of the agents' dynamics. Instead, it relies on input-state data collection and offers an entirely data-driven equivalent SDP formulation. Finally, a new algorithm balancing feasibility, convergence rate, robustness, and energy efficiency, is established to provide design flexibility. Numerical simulations validate the method's effectiveness in various scenarios.

Paperid: 1545, https://arxiv.org/pdf/2509.24399.pdf

Abstract:
This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and collaboratively achieve full coverage. Once an agent detects a part of the target region within its sensor range, a dynamically constructed density function is generated to attract nearby agents. By integrating this density-driven mechanism with Centroidal Voronoi Tessellation (CVT), the agents are guided to achieve optimal spatial distribution. Additionally, Control Barrier Functions (CBFs) are employed to ensure collision avoidance and maintain non-overlapping sensor coverage, enhancing both safety and efficiency. Simulation results verify that agents can independently locate and effectively cover the target area.

Paperid: 1546, https://arxiv.org/pdf/2509.24277.pdf

Abstract:
This paper studies gradient dynamics subject to additive random noise, which may arise from sources such as stochastic gradient estimation, measurement noise, or stochastic sampling errors. To analyze the robustness of such stochastic gradient systems, the concept of small-covariance noise-to-state stability (NSS) is introduced, along with a Lyapunov-based characterization. Furthermore, the classical Polyak-Lojasiewicz (PL) condition on the objective function is generalized to the $\mathcal{K}$-PL condition via comparison functions, thereby extending its applicability to a broader class of optimization problems. It is shown that the stochastic gradient dynamics exhibit small-covariance NSS if the objective function satisfies the $\mathcal{K}$-PL condition and possesses a globally Lipschitz continuous gradient. This result implies that the trajectories of stochastic gradient dynamics converge to a neighborhood of the optimum with high probability, with the size of the neighborhood determined by the noise covariance. Moreover, if the $\mathcal{K}$-PL condition is strengthened to a $\mathcal{K}_\infty$-PL condition, the dynamics are NSS; whereas if it is weakened to a general positive-definite-PL condition, the dynamics exhibit integral NSS. The results further extend to objectives without globally Lipschitz gradients through appropriate step-size tuning. The proposed framework is further applied to the robustness analysis of policy optimization for the linear quadratic regulator (LQR) and logistic regression.

Paperid: 1547, https://arxiv.org/pdf/2509.23493.pdf

Abstract:
This article shows that distributionally robust controller synthesis as investigated in \cite{taskesen2024distributionally} can be formulated as a convex linear matrix inequality (LMI) synthesis problem. To this end, we rely on well-established convexification techniques from robust control. The LMI synthesis problem we propose has the advantage that it can be solved efficiently using off-the-shelf semi-definite programming (SDP) solvers. In addition, our formulation exposes the studied distributionally robust controller synthesis problem as an instance of robust $H_2$ synthesis.

Paperid: 1548, https://arxiv.org/pdf/2509.23003.pdf

Abstract:
From metronomes to celestial bodies, mechanics underpins how the world evolves in time and space. With consideration of this, a number of recent neural network models leverage inductive biases from classical mechanics to encourage model interpretability and ensure forecasted states are physical. However, in general, these models are designed to capture the dynamics of a single system with fixed physical parameters, from state-space measurements of a known configuration space. In this paper we introduce Symplectic Phase Space GAN (SPS-GAN) which can capture the dynamics of multiple systems, and generalize to unseen physical parameters from. Moreover, SPS-GAN does not require prior knowledge of the system configuration space. In fact, SPS-GAN can discover the configuration space structure of the system from arbitrary measurement types (e.g., state-space measurements, video frames). To achieve physically plausible generation, we introduce a novel architecture which embeds a Hamiltonian neural network recurrent module in a conditional GAN backbone. To discover the structure of the configuration space, we optimize the conditional time-series GAN objective with an additional physically motivated term to encourages a sparse representation of the configuration space. We demonstrate the utility of SPS-GAN for trajectory prediction, video generation and symmetry discovery. Our approach captures multiple systems and achieves performance on par with supervised models designed for single systems.

Paperid: 1549, https://arxiv.org/pdf/2509.18749.pdf

Abstract:
This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking. We develop an extended Kalman filter (EKF) for real-time state estimation, with the measurement noise modeled as an infinite-dimensional random field. When applied to vision-based state estimation, the measurement Jacobians required to implement the EKF are shown to correspond to image gradients. This result provides a novel system-theoretic justification for the use of image gradients as features for vision-based state estimation, contrasting with their (often heuristic) introduction in many computer-vision pipelines. We demonstrate the practical utility of the EKF on a public real-world dataset involving the localization of an aerial drone using video from a downward-facing monocular camera. The EKF is shown to outperform VINS-MONO, an established visual-inertial odometry algorithm, in some cases achieving mean squared error reductions of up to an order of magnitude.

Paperid: 1550, https://arxiv.org/pdf/2509.18624.pdf

Abstract:
Lane changes (LCs) in congested traffic are complex, multi-vehicle interactive events that pose significant safety concerns. Providing early warnings can enable more proactive driver assistance system and support more informed decision-making for drivers under LCs. This paper presents an interaction-aware Lane-Changing Early Warning (LCEW) system designed to issue reliable early warning signals based on future trajectory predictions. We first investigate the stochastic nature of LCs, characterized by (i) variable-size multi-vehicle interactions and (ii) the direct and indirect risks resulting from these interactions. To model these stochastic interactions, a Social Spatio-Temporal Graph Convolutional Neural Network framework informed by mutual information (STGCNN-MI) is introduced to predict multi-vehicle trajectories. By leveraging a MI-based adjacency matrix, the framework enhances trajectory prediction accuracy while providing interpretable representations of vehicle interactions. Then, potential collisions between the LC vehicle and adjacent vehicles (direct risks) or among the non-adjacent vehicles (indirect risks) are identified using oriented bounding box detection applied to the predicted trajectories. Finally, a warning signal is generated to inform the LC driver of location of potential collisions within the predicted time window. Traffic simulation experiments conducted in SUMO demonstrate that the proposed interaction-aware LCEW improves both vehicle-level safety and overall traffic efficiency, while also promoting more natural behavioral adaptation.

Paperid: 1551, https://arxiv.org/pdf/2509.18043.pdf

Abstract:
Imitation learning (IL) has proven effective across a wide range of manipulation tasks. However, IL policies often struggle when faced with out-of-distribution observations; for instance, when the target object is in a previously unseen position or occluded by other objects. In these cases, extensive demonstrations are needed for current IL methods to reach robust and generalizable behaviors. But when humans are faced with these sorts of atypical initial states, we often rearrange the environment for more favorable task execution. For example, a person might rotate a coffee cup so that it is easier to grasp the handle, or push a box out of the way so they can directly grasp their target object. In this work we seek to equip robot learners with the same capability: enabling robots to prepare the environment before executing their given policy. We propose ReSET, an algorithm that takes initial states -- which are outside the policy's distribution -- and autonomously modifies object poses so that the restructured scene is similar to training data. Theoretically, we show that this two step process (rearranging the environment before rolling out the given policy) reduces the generalization gap. Practically, our ReSET algorithm combines action-agnostic human videos with task-agnostic teleoperation data to i) decide when to modify the scene, ii) predict what simplifying actions a human would take, and iii) map those predictions into robot action primitives. Comparisons with diffusion policies, VLAs, and other baselines show that using ReSET to prepare the environment enables more robust task execution with equal amounts of total training data. See videos at our project website: https://reset2025paper.github.io/

Paperid: 1552, https://arxiv.org/pdf/2509.17928.pdf

Abstract:
This study proposes the application of a backcasting approach to a mobility model with the aim of defining an optimal decarbonization roadmap. The selected decision variable is the introduction of a fleet of shared autonomous vehicles. The mobility model developed is composed of six interconnected sub-models. After presenting each of these models in detail, a method is introduced to analyze the direct and indirect effects of the measure, and a necessary condition for the occurrence of an undesirable effect is identified. Simulations in both forecasting and backcasting frameworks are then conducted, demonstrating the relevance of backcasting: it enables a 10% reduction in operator costs compared to forecasting results, while maintaining the same level of emissions.

Paperid: 1553, https://arxiv.org/pdf/2509.17865.pdf

Abstract:
The ongoing energy transition places significant pressure on the transmission network due to increasing shares of renewables and electrification. To mitigate grid congestion, transmission system operators need decision support tools to suggest remedial actions, such as transmission network reconfigurations or redispatch. However, these tools are prone to model inaccuracies and may not provide relevant suggestions with regard to important unmodeled constraints or operator preferences. We propose a human-in-the-loop modeling-to-generate alternatives (HITL-MGA) approach to address these shortcomings by generating diverse topology reconfiguration alternatives. Case studies on the IEEE 57-bus and IEEE 118-bus systems show the method can leverage expert feedback and improve the quality of the suggested remedial actions.

Paperid: 1554, https://arxiv.org/pdf/2509.16812.pdf

Abstract:
This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast moving obstacles. SMART-3D morphs the underlying tree to find a new path in real-time whenever the current path is blocked by obstacles. SMART-3D removed the grid decomposition requirement of the SMART algorithm by replacing the concept of hot-spots with that of hot-nodes, thus making it computationally efficient and scalable to 3D environments. The hot-nodes are nodes which allow for efficient reconnections to morph the existing tree to find a new safe and reliable path. The performance of SMART-3D is evaluated by extensive simulations in 2D and 3D environments populated with randomly moving dynamic obstacles. The results show that SMART-3D achieves high success rates and low replanning times, thus highlighting its suitability for real-time onboard applications.

Paperid: 1555, https://arxiv.org/pdf/2509.16370.pdf

Abstract:
We derive a closed-form extension of Riccati's recursion for solving regularized LQR problems. We also show how this can be used to solve general constrained, non-convex, discrete-time optimal control problems via a regularized interior point method, while guaranteeing that each step is a descent direction of an Augmented Barrier-Lagrangian merit function. We also provide MIT-licensed implementations of our method in C++ and JAX.

Paperid: 1556, https://arxiv.org/pdf/2509.16114.pdf

Abstract:
Laser Powder Bed Fusion (L-PBF) is a widely adopted additive manufacturing process for fabricating complex metallic parts layer by layer. Effective thermal management is essential to ensure part quality and structural integrity, as thermal gradients and residual stresses can lead to defects such as warping and cracking. However, existing experimental or computational techniques lack the ability to forecast future temperature distributions in real time, an essential capability for proactive process control. This paper presents a real-time thermal state forecasting framework for L-PBF, based on a physics-informed reduced-order thermal model integrated with a Kalman filtering scheme. The proposed approach efficiently captures inter-layer heat transfer dynamics and enables accurate tracking and forecasting of spatial and temporal temperature evolution. Validation across multiple part geometries using measured data demonstrates that the method reliably estimates and forecasts peak temperatures and cooling trends. By enabling predictive thermal control, this framework offers a practical and computationally efficient solution for thermal management in L-PBF, paving the way toward closed-loop control in L-PBF.

Paperid: 1557, https://arxiv.org/pdf/2509.15933.pdf

Abstract:
Scientific Machine Learning (SciML) integrates physics and data into the learning process, offering improved generalization compared with purely data-driven models. Despite its potential, applications of SciML in prognostics remain limited, partly due to the complexity of incorporating partial differential equations (PDEs) for ageing physics and the scarcity of robust uncertainty quantification methods. This work introduces a Bayesian Physics-Informed Neural Network (B-PINN) framework for probabilistic prognostics estimation. By embedding Bayesian Neural Networks into the PINN architecture, the proposed approach produces principled, uncertainty-aware predictions. The method is applied to a transformer ageing case study, where insulation degradation is primarily driven by thermal stress. The heat diffusion PDE is used as the physical residual, and different prior distributions are investigated to examine their impact on predictive posterior distributions and their ability to encode a priori physical knowledge. The framework is validated against a finite element model developed and tested with real measurements from a solar power plant. Results, benchmarked against a dropout-PINN baseline, show that the proposed B-PINN delivers more reliable prognostic predictions by accurately quantifying predictive uncertainty. This capability is crucial for supporting robust and informed maintenance decision-making in critical power assets.

Paperid: 1558, https://arxiv.org/pdf/2509.15533.pdf

Abstract:
Predicting the distribution of future states in a stochastic system, known as belief propagation, is fundamental to reasoning under uncertainty. However, nonlinear dynamics often make analytical belief propagation intractable, requiring approximate methods. When the system model is unknown and must be learned from data, a key question arises: can we learn a model that (i) universally approximates general nonlinear stochastic dynamics, and (ii) supports analytical belief propagation? This paper establishes the theoretical foundations for a class of models that satisfy both properties. The proposed approach combines the expressiveness of normalizing flows for density estimation with the analytical tractability of Bernstein polynomials. Empirical results show the efficacy of our learned model over state-of-the-art data-driven methods for belief propagation, especially for highly non-linear systems with non-additive, non-Gaussian noise.

Paperid: 1559, https://arxiv.org/pdf/2509.14466.pdf

Abstract:
We study the problem of pure exploration in matching markets under uncertain preferences, where the goal is to identify a stable matching with confidence parameter $Î´$ and minimal sample complexity. Agents learn preferences via stochastic rewards, with expected values indicating preferences. This finds use in labor market platforms like Upwork, where firms and freelancers must be matched quickly despite noisy observations and no prior knowledge, in a stable manner that prevents dissatisfaction. We consider markets with unique stable matching and establish information-theoretic lower bounds on sample complexity for (1) one-sided learning, where one side of the market knows its true preferences, and (2) two-sided learning, where both sides are uncertain. We propose a computationally efficient algorithm and prove that it asymptotically ($Î´\to 0$) matches the lower bound to a constant for one-sided learning. Using the insights from the lower bound, we extend our algorithm to the two-sided learning setting and provide experimental results showing that it closely matches the lower bound on sample complexity. Finally, using a system of ODEs, we characterize the idealized fluid path that our algorithm chases.

Paperid: 1560, https://arxiv.org/pdf/2509.14290.pdf

Abstract:
We propose QLook, a quantum-driven predictive framework to improve viewport prediction accuracy in immersive virtual reality (VR) environments. The framework utilizes quantum neural networks (QNNs) to model the user movement data, which has multiple interdependent dimensions and is collected in six-degree-of-freedom (6DoF) VR settings. QNN leverages superposition and entanglement to encode and process complex correlations among high-dimensional user positional data. The proposed solution features a cascaded hybrid architecture that integrates classical neural networks with variational quantum circuits (VQCs)-enhanced quantum long short-term memory (QLSTM) networks. We utilize identity block initialization to mitigate training challenges commonly associated with VQCs, particularly those encountered as barren plateaus. Empirical evaluation of QLook demonstrates a 37.4% reduction in mean squared error (MSE) compared to state-of-the-art (SoTA), showcasing superior viewport prediction.

Paperid: 1561, https://arxiv.org/pdf/2509.13166.pdf

Abstract:
We study data-driven least squares (LS) problems with semidefinite (SD) constraints and derive finite-sample guarantees on the spectrum of their optimal solutions when these constraints are relaxed. In particular, we provide a high confidence bound allowing one to solve a simpler program in place of the full SDLS problem, while ensuring that the eigenvalues of the resulting solution are $\varepsilon$-close of those enforced by the SD constraints. The developed certificate, which consistently shrinks as the number of data increases, turns out to be easy-to-compute, distribution-free, and only requires independent and identically distributed samples. Moreover, when the SDLS is used to learn an unknown quadratic function, we establish bounds on the error between a gradient descent iterate minimizing the surrogate cost obtained with no SD constraints and the true minimizer.

Paperid: 1562, https://arxiv.org/pdf/2509.12695.pdf

Abstract:
This paper proposes Mode-Aware Probabilistic Scheduling (MAPS), a novel adaptive control framework tailored for DC motor systems experiencing varying friction. MAPS uniquely integrates an Interacting Multiple Model (IMM) estimator with a Linear Parameter-Varying (LPV) based control strategy, leveraging real-time mode probability estimates to perform probabilistic gain scheduling. A key innovation of MAPS lies in directly using the updated mode probabilities as the interpolation weights for online gain synthesis in the LPV controller, thereby tightly coupling state estimation with adaptive control. This seamless integration enables the controller to dynamically adapt control gains in real time, effectively responding to changes in frictional operating modes without requiring explicit friction model identification. Validation on a Hardware-in-the-Loop Simulation (HILS) environment demonstrates that MAPS significantly enhances both state estimation accuracy and reference tracking performance compared to Linear Quadratic Regulator (LQR) controllers relying on predefined scheduling variables. These results establish MAPS as a robust, generalizable solution for friction-aware adaptive control in uncertain, time-varying environments, with practical real-time applicability.

Paperid: 1563, https://arxiv.org/pdf/2509.10734.pdf

Abstract:
Policies focused on deep decarbonization of regional economies emphasize electricity sector decarbonization alongside electrification of end-uses. There is growing interest in utilizing hydrogen (H2) produced via electricity to displace fossil fuels in difficult-to-electrify sectors. One such case is heavy-duty vehicles (HDV), which represent a substantial and growing share of transport emissions as light-duty vehicles electrify. Here, we assess the bulk energy system impact of decarbonizing the HDV segment via either H2, or drop-in synthetic liquid fuels produced from H2 and CO2. Our analysis soft-links two modeling approaches: (a) a bottom-up transport demand model producing a variety of final energy demand scenarios for the same service demand and (b) a multi-sectoral capacity expansion model that co-optimizes power, H2 and CO2 supply chains under technological and policy constraints to meet exogenous final energy demands. Through a case study of Western Europe in 2040 under deep decarbonization constraints, we quantify the energy system implications of different levels of H2 and synthetic fuels adoption in the HDV sector under scenarios with and without CO2 sequestration. In the absence of CO2 storage, substitution of liquid fossil fuels in HDVs is essential to meet the deep decarbonization constraint across the modeled power, H2 and transport sectors. Additionally, utilizing H2 HDVs reduces decarbonization costs and fossil liquids demand, but could increase natural gas consumption. While H2 HDV adoption reduces the need for direct air capture (DAC), synthetic fuel adoption increases DAC investments and total system costs. The study highlights the trade-offs across transport decarbonization pathways, and underscores the importance of multi-sectoral consideration in decarbonization studies.

Paperid: 1564, https://arxiv.org/pdf/2509.10722.pdf

Abstract:
We present a GPU-accelerated proximal message passing algorithm for large-scale network utility maximization (NUM). NUM is a fundamental problem in resource allocation, where resources are allocated across various streams in a network to maximize total utility while respecting link capacity constraints. Our method, a variant of ADMM, requires only sparse matrix-vector multiplies with the link-route matrix and element-wise proximal operator evaluations, enabling fully parallel updates across streams and links. It also supports heterogeneous utility types, including logarithmic utilities common in NUM, and does not assume strict concavity. We implement our method in PyTorch and demonstrate its performance on problems with tens of millions of variables and constraints, achieving 4x to 20x speedups over existing CPU and GPU solvers and solving problem sizes that exhaust the memory of baseline methods. Additionally, we show that our algorithm is robust to congestion and link-capacity degradation. Finally, using a time-expanded transit seat allocation case study, we illustrate how our approach yields interpretable allocations in realistic networks.

Paperid: 1565, https://arxiv.org/pdf/2509.07304.pdf

Abstract:
A distributed adaptive control strategy is developed for heterogeneous multiagent systems in nonlinear Brunovsky form with ${\pd}$-dimensional $n^{\text{th}}$-order dynamics, operating under time-triggered switching communication topologies. The approach uses repulsive potential functions to ensure agent-agent and obstacle safety, while neural network estimators compensate for system uncertainties and disturbances. A high-order control barrier function framework is then employed to certify the positive invariance of the safe sets and the boundedness of the proposed control inputs. The resulting distributed control and adaptive laws, together with dwell-time requirements for topology transitions, achieve leader-following consensus. This integrated design provides synchronized formation and robust disturbance rejection in evolving network configurations, and its effectiveness is demonstrated through numerical simulations.

Paperid: 1566, https://arxiv.org/pdf/2509.06092.pdf

Abstract:
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the target within a sensing radius so that the attacker can capture the target, whereas the target seeks to escape by reaching beyond the sensing radius from the sensor without getting captured by the attacker. We assume that as long as the target is within the sensing radius from the sensor, the sensor-attacker team is able to measure the target's instantaneous position and velocity. We pose and solve this problem as a \emph{game of kind} in which the target uses an open-loop strategy (passive target). Aside from the novel formulation, our contributions are four-fold. First, we present optimal strategies for both the sensor and the attacker, according to their respective objectives. Specifically, we design a sensor strategy that maximizes the duration for which the target remains within its sensing range, while the attacker uses proportional navigation to capture the target. Second, we characterize the \emph{sensable region} -- the region in the plane in which the target remains within the sensing radius of the sensor during the game -- and show that capture is guaranteed {if and only if} the Apollonius circle between the attacker and the target is fully contained within this region. Third, we {derive a lower bound} on the target's speed below which capture is guaranteed, and an upper bound on the target speed above which there exists an escape strategy for the target, from an arbitrary initial orientation between the agents. Fourth, for a given initial orientation between the agents, we present a sharper upper bound on the target speed above which there exists an escape strategy for the target.

Paperid: 1567, https://arxiv.org/pdf/2509.04308.pdf

Abstract:
Post-disaster crew dispatch is a critical but computationally intensive task. Traditional mixed-integer linear programming methods often require minutes to several hours to compute solutions, leading to delays that hinder timely decision-making in highly dynamic restoration environments. To address this challenge, we propose a novel learning-based framework that integrates transformer architectures with deep reinforcement learning (DRL) to deliver near real-time decision support without compromising solution quality. Crew dispatch is formulated as a sequential decision-making problem under uncertainty, where transformers capture high-dimensional system states and temporal dependencies, while DRL enables adaptive and scalable decision-making. Earthquake-induced distribution network damage is first characterized using established seismic standards, followed by a scenario generation and reduction pipeline that aggregates probable outcomes into a single geospatial impact map. Conditioned on this map, the proposed framework generates second-level dispatch strategies, trained offline on simulated and historical events and deployed online for rapid response. In addition to substantial runtime improvements, the proposed method enhances system resilience by enabling faster and more effective recovery and restoration. Case studies, particularly on the 2869-bus European gas and power network, demonstrate that the method substantially accelerates restoration while maintaining high-quality solutions, underscoring its potential for practical deployment in large-scale disaster response.

Paperid: 1568, https://arxiv.org/pdf/2509.03839.pdf

Abstract:
Neural networks capable of approximating complex nonlinearities have found extensive application in data-driven control of nonlinear dynamical systems. However, fast online identification and control of unknown dynamics remain central challenges. This paper integrates echo-state networks (ESNs) -- reservoir computing models implemented with recurrent neural networks -- and model predictive path integral (MPPI) control -- sampling-based variants of model predictive control -- to meet these challenges. The proposed reservoir predictive path integral (RPPI) enables fast learning of nonlinear dynamics with ESN and exploits the learned nonlinearities directly in parallelized MPPI control computation without linearization approximations. The framework is further extended to uncertainty-aware RPPI (URPPI), which leverages ESN uncertainty to balance exploration and exploitation: exploratory inputs dominate during early learning, while exploitative inputs prevail as model confidence grows. Experiments on controlling the Duffing oscillator and four-tank systems demonstrate that URPPI improves control performance, reducing control costs by up to 60% compared to traditional quadratic programming-based model predictive control methods.

Paperid: 1569, https://arxiv.org/pdf/2509.03694.pdf

Abstract:
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures. Lateral trajectory planning often employs an optimal control formulation to maintain lane position and minimize steering effort. The parameters are often tuned manually, which is a time-intensive procedure. This paper presents an automatic parameter tuning method for lateral planning in lane-keeping scenarios based on recorded data, while taking into account noisy road estimates. By simulating the lateral vehicle behavior along a reference curve, our approach efficiently optimizes planner parameters for automated driving and demonstrates improved performance on previously unseen test data.

Paperid: 1570, https://arxiv.org/pdf/2509.03443.pdf

Abstract:
In this work, we revisit a classical distributed gradient-descent algorithm, introducing an interesting class of perturbed multi-agent systems. The state of each subsystem represents a local estimate of a solution to the global optimization problem. Thereby, the network is required to minimize local cost functions, while gathering the local estimates around a common value. Such a complex task suggests the interplay of consensus-based dynamics with gradient-descent dynamics. The latter descent dynamics involves the projection operator, which is assumed to provide corrupted projections of a specific form, reminiscent of existing (fast) projection algorithms. Hence, for the resulting class of perturbed networks, we are able to adaptively tune some gains in a fully distributed fashion, to approach the optimal consensus set up to arbitrary-desired precision.

Paperid: 1571, https://arxiv.org/pdf/2509.03049.pdf

Abstract:
In the upcoming 6G era, the communication networks are expected to face unprecedented challenges in terms of complexity and dynamics. Digital Twin (DT) technology, with its various digital capabilities, holds great potential to facilitate the transformation of the communication network from passive responding to proactive adaptation. Thus, in this paper, we propose a multi-layer DT system that coordinates local DT, edge DT, and cloud DT for future network architecture and functions. In our vision, the proposed DT system will not only achieve real-time data-driven decision-making and digital agent functions previously handled by centralized DT, but will do so in a more distributed, mobile, layer-by-layer manner. Moreover, it will supply essential data, pre-trained models, and open interfaces for future metaverse applications, enabling creators and users to efficiently develop and experience metaverse services.

Paperid: 1572, https://arxiv.org/pdf/2509.01576.pdf

Abstract:
With artificial intelligence (AI) being applied to bring autonomy to decision-making in safety-critical domains such as the ones typified in the aerospace and emergency-response services, there has been a call to address the ethical implications of structuring those decisions, so they remain reliable and justifiable when human lives are at stake. This paper contributes to addressing the challenge of decision-making by proposing a structured decision-making framework as a foundational step towards responsible AI. The proposed structured decision-making framework is implemented in autonomous decision-making, specifically within disaster management. By introducing concepts of Enabler agents, Levels and Scenarios, the proposed framework's performance is evaluated against systems relying solely on judgement-based insights, as well as human operators who have disaster experience: victims, volunteers, and stakeholders. The results demonstrate that the structured decision-making framework achieves 60.94% greater stability in consistently accurate decisions across multiple Scenarios, compared to judgement-based systems. Moreover, the study shows that the proposed framework outperforms human operators with a 38.93% higher accuracy across various Scenarios. These findings demonstrate the promise of the structured decision-making framework for building more reliable autonomous AI applications in safety-critical contexts.

Paperid: 1573, https://arxiv.org/pdf/2509.00865.pdf

Abstract:
This paper investigates a passivity-based approach to output consensus analysis in heterogeneous networks composed of non-identical agents coupled via nonlinear interactions, in the presence of measurement and/or communication noise. Focusing on agents that are input-feedforward passive (IFP), we first examine whether a shortage of passivity in some agents can be compensated by a passivity surplus in others, in the sense of preserving the passivity of the transformed open-loop system defined by the agent dynamics and network topology. We show that such compensation is only feasible when at most one agent lacks passivity, and we characterise how this deficit can be offset using the excess passivity within the group of agents. For general networks, we then investigate passivity compensation within the feedback interconnection by leveraging the passivity surplus in the coupling links to locally compensate for the lack of passivity in the adjacent agents. In particular, a distributed condition, expressed in terms of passivity indices and coupling gains, is derived to ensure output consensus of the interconnected network.

Paperid: 1574, https://arxiv.org/pdf/2509.00801.pdf

Abstract:
This paper proposes an adaptation mechanism for heterogeneous multi-agent systems to align the agents' internal parameters, based on enforced consensus through strong couplings. Unlike homogeneous systems, where exact consensus is attainable, the heterogeneity in node dynamics precludes perfect synchronization. Nonetheless, previous work has demonstrated that strong coupling can induce approximate consensus, whereby the agents exhibit emergent collective behavior governed by the so-called blended dynamics. Building on this observation, we introduce an adaptation law that gradually aligns the internal parameters of agents without requiring direct parameter communication. The proposed method reuses the same coupling signal employed for state synchronization, which may result in a biologically or sociologically plausible adaptation process. Under a persistent excitation condition, we prove that the linearly parametrized vector fields of the agents converge to each other, thereby making the dynamics asymptotically homogeneous, and leading to exact consensus of the state variables.

Paperid: 1575, https://arxiv.org/pdf/2509.00530.pdf

Abstract:
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this procedure has two main limitations: 1) Manual sampling through tissue biopsy is prone to inaccuracies; 2) The extraction process is followed by a time-consuming pathology test. To address these limitations, we present a compact, accurate, and maneuverable robotic insertion platform to overcome the limitations in traditional histopathology. Our platform is capable of steering a variety of tools with different sizes, including needle for tissue extraction and optical fibers for vibrational spectroscopy applications. This system facilitates the guidance of end-effector to the tissue and assists surgeons in navigating to the biopsy target area for multi-modal diagnosis. In this paper, we outline the general concept of our device, followed by a detailed description of its mechanical design and control scheme. We conclude with the validation of the system through a series of tests, including positioning accuracy, admittance performance, and tool insertion efficacy.

Paperid: 1576, https://arxiv.org/pdf/2508.21610.pdf

Abstract:
Accurate state of charge (SOC) estimation is critical for ensuring the safety, reliability, and efficiency of lithium-ion batteries in electric vehicles and energy storage systems. Electrochemical models provide high fidelity for SOC estimation but introduce challenges due to parameter variations, nonlinearities, and computational complexity. To address these issues, this paper proposes an adaptive dead-zone dual sliding mode observer(SMO) based on an improved electrochemical single-particle model. The algorithm integrates a state observer for SOC estimation and a parameter observer for online parameter adaptation. A Lyapunov-derived adaptive dead-zone is introduced to ensure stability, activating parameter updates only when the terminal voltage error lies within a rigorously defined bound. The proposed method was validated under constant-current and UDDS dynamic conditions. Results demonstrate that the adaptive dead-zone dual SMO achieves superior accuracy compared with conventional dual SMO and equivalent circuit model-based EKF methods, maintaining SOC estimation errors within 0.2% under correct initialization and below 1% under a 30% initial SOC error, with rapid convergence. Computational efficiency analysis further shows that the adaptive dead-zone dual sliding mode observer reduces execution time compared with the conventional dual SMO by limiting unnecessary parameter updates, highlighting its suitability for real-time battery management applications. Moreover, robustness under battery aging was confirmed using a cycle-aging model, where the adaptive dead-zone dual SMO maintained stable SOC estimation despite parameter drift. These findings indicate that the proposed method offers a reliable, accurate, and computationally efficient solution for SOC estimation.

Paperid: 1577, https://arxiv.org/pdf/2508.21443.pdf

Abstract:
Reinforcement learning (RL) algorithms typically optimize the expected cumulative reward, i.e., the expected value of the sum of scalar rewards an agent receives over the course of a trajectory. The expected value averages the performance over an infinite number of trajectories. However, when deploying the agent in the real world, this ensemble average may be uninformative for the performance of individual trajectories. Thus, in many applications, optimizing the long-term performance of individual trajectories might be more desirable. In this work, we propose a novel RL algorithm that combines the standard ensemble average with the time-average growth rate, a measure for the long-term performance of individual trajectories. We first define the Bellman operator for the time-average growth rate. We then show that, under multiplicative reward dynamics, the geometric mean aligns with the time-average growth rate. To address more general and unknown reward dynamics, we propose a modified geometric mean with $N$-sliding window that captures the path-dependency as an estimator for the time-average growth rate. This estimator is embedded as a regularizer into the objective, forming a practical algorithm and enabling the policy to benefit from ensemble average and time-average simultaneously. We evaluate our algorithm in challenging simulations, where it outperforms conventional RL methods.

Paperid: 1578, https://arxiv.org/pdf/2508.21299.pdf

Abstract:
Replicator dynamics have widely been used in evolutionary game theory to model how strategy frequencies evolve over time in large populations. The so-called payoff matrix encodes the pairwise fitness that each strategy obtains when interacting with every other strategy, and it solely determines the replicator dynamics. If the payoff matrix is unknown, we show in this paper that it cannot be inferred from observed strategy frequencies alone -- distinct payoff matrices can induce the same replicator dynamics. We thus look for a canonical representative of the payoff matrix in the equivalence class. The main result of the paper is to show that for every polynomial replicator dynamics (i.e., the vector field is a polynomial), there always exists a skew-symmetric, polynomial payoff matrix that can induce the given dynamics.

Paperid: 1579, https://arxiv.org/pdf/2508.21138.pdf

Abstract:
This paper presents a traffic state estimation (TSE) method in congestion for distributed fiber-optic sensing (DFOS). DFOS detects vehicle driving vibrations along the optical fiber and obtains their trajectories in the spatiotemporal plane. From these trajectories, DFOS provides mean velocities for real-time spatially continuous traffic monitoring without dead zones. However, when vehicle vibration intensities are insufficiently low due to slow speed, trajectories cannot be obtained, leading to missing values in mean velocity data. It restricts DFOS applicability in severe congestion. Therefore, this paper proposes a missing value imputation method based on data assimilation. Our proposed method is validated on two expressways in Japan with the reference data. The results show that the mean absolute error (MAE) of the imputed mean velocities to the reference increases only by 1.5 km/h as compared with the MAE of non-missing values. This study enhances the wide-range applicability of DFOS in practical cases.

Paperid: 1580, https://arxiv.org/pdf/2508.20203.pdf

Abstract:
This paper presents a regulation-aware motion planning framework for autonomous racing scenarios. Each agent solves a Regulation-Compliant Model Predictive Control problem, where racing rules - such as right-of-way and collision avoidance responsibilities - are encoded using Mixed Logical Dynamical constraints. We formalize the interaction between vehicles as a Generalized Nash Equilibrium Problem (GNEP) and approximate its solution using an Iterative Best Response scheme. Building on this, we introduce the Regulation-Aware Game-Theoretic Planner (RA-GTP), in which the attacker reasons over the defender's regulation-constrained behavior. This game-theoretic layer enables the generation of overtaking strategies that are both safe and non-conservative. Simulation results demonstrate that the RA-GTP outperforms baseline methods that assume non-interacting or rule-agnostic opponent models, leading to more effective maneuvers while consistently maintaining compliance with racing regulations.

Paperid: 1581, https://arxiv.org/pdf/2508.19146.pdf

Abstract:
This paper proposes a feasibility-guaranteed learning interior point method (L-IPM) to solve both AC and DC optimal power flow (OPF) problems. Given the criticality of OPF, the proposed L-IPM uses a hybrid learning model approach rather than relying solely on a simple black-box prediction. The traditional IPM follows a central path from an initial point to the optimal solution. However, each iteration involves solving large linear systems, which becomes increasingly expensive as the matrices grow more ill-conditioned in later steps. To address this, we model the IPM trajectory as a time series and train a Long Short-Term Memory (LSTM) network to project the IPM central path using only the first few stable iterations, which carry the most informative features about the path to optimality. We introduce a grid-informed methodology that enforces operational constraints on generation, voltage magnitudes, and line flows to ensure feasibility. The grid-informed LSTM serves as a tool for the IPM central path projection and, followed by a final IPM refinement step, significantly reduces the total number of iterations and time required for convergence. We use a sampling method to generate a wide range of load scenarios to improve generalization across diverse operating conditions, efficiently covering the power system's operational space. Simulation results on a 2869-bus European high-voltage transmission system show that the proposed L-IPM significantly reduces solution time by up to 94\%, while maintaining accuracy and feasibility of the solution. By leveraging early iterations and bypassing the final ill-conditioned and computationally demanding steps of traditional IPM, the proposed L-IPM reduces the number of required iterations by up to 85.5\%. Since solution feasibility is also guaranteed, L-IPM outperforms the conventional IPM in both computational efficiency and robustness.

Paperid: 1582, https://arxiv.org/pdf/2508.18915.pdf

Abstract:
This Letter presents a novel hybrid underwater wireless optical communication (UWOC) system that integrates underwater optical access points (UOAPs) with a passive optical network (PON)-based fiber-optic backhaul to provide a resilient backbone. A hard switching mechanism is employed between direct and optical reconfigurable intelligent surface (O-RIS)-assisted links to ensure reliable connectivity. Unlike previous studies, the proposed system is evaluated under both active and multiple passive O-RIS configurations. To enhance reliability, the Selection Combining (SC) and Maximal Ratio Combining (MRC) schemes are applied. Analytical and simulation results demonstrate that optimal O-RIS placement significantly enhances system performance. However, in the linear regime, placing it too close to the receiver causes degradation due to increased path loss and beam jitter in an identical water type. Moreover, increasing the number of O-RIS elements within practical limits further improves overall system performance and enhances adaptability to variations in the underwater channel.

Paperid: 1583, https://arxiv.org/pdf/2508.18813.pdf

Abstract:
In many applications, system identification experiments must be performed under output feedback to ensure safety or to maintain system operation. In this paper, we consider the online design of informative experiments for ARMAX models by applying a bounded perturbation to the input signal generated by a fixed output feedback controller. Specifically, the design constrains the resulting output perturbation within user-specified limits and can be efficiently computed in closed form. We demonstrate the effectiveness of the method in two numerical experiments.

Paperid: 1584, https://arxiv.org/pdf/2508.18501.pdf

Abstract:
This article presents a feedback control algorithm for electromagnetic formation flying with constraints on the satellites' states and control inputs. The algorithm combines several key techniques. First, we use alternating magnetic field forces to decouple the electromagnetic forces between each pair of satellites in the formation. Each satellite's electromagnetic actuation system is driven by a sum of amplitude-modulated sinusoids, where amplitudes are controlled in order to prescribe the time-averaged force between each pair of satellites. Next, the desired time-averaged force is computed from a optimal control that satisfies state constraints (i.e., no collisions and an upper limit on intersatellite speeds) and input constraints (i.e., not exceeding satellite's apparent power capability). The optimal time-averaged force is computed using a single relaxed control barrier function that is obtained by composing multiple control barrier functions that are designed to enforce each state and input constraint. Finally, we demonstrate the satellite formation control method in numerical simulations.

Paperid: 1585, https://arxiv.org/pdf/2508.18246.pdf

Abstract:
This paper presents the full requirements analysis, design, development, and testing of high-precision navigation flight software for Distributed Space Systems (DSS) using Carrier Phase Differential GNSS (CDGNSS). Five main contributions are made. First, a survey of flown and upcoming DSS missions with stringent precision requirements is conducted, from which a thorough requirements analysis is distilled to guide development and testing. Second, a real-time navigation functional architecture is designed, and adopts a sparse and regularized Consider Kalman Filter with options for numerical stability in-flight. The filter rigorously accounts for uncertainties in process noise, measurement noise, and biases. It tracks float ambiguities with integer resolution where possible. The covariance correlation structure is preserved under all navigation modes, including contingencies and outages. Third, a lightweight, memoryless Fault Detection, Isolation, and Recovery (FDIR) module is developed to guard against anomalous measurements, providing statistical screening and ensuring robust navigation. Fourth, the software architecture is proposed for ease of integration, with strategies presented for modularity and computational efficiency tailored to constrained flight systems. Fifth, a comprehensive test campaign is conducted, mapped to a requirements verification matrix, spanning unit, interface, software-in-the-loop, and real-time hardware-in-the-loop tests, emphasizing gradual test fidelity for efficient fault isolation. Finally, flight-like results are demonstrated using the VISORS mission, due to the generalizability of the VISORS navigation operations, and the stringency which demands sub-centimeter relative position and sub-millimeter-per-second velocity accuracy. This architecture aims to serve as a reference for next-generation DSS missions adopting CDGNSS.

Paperid: 1586, https://arxiv.org/pdf/2508.17473.pdf

Abstract:
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The standard Laplacian flow consensus algorithm for double integrator systems evolving on Euclidean spaces is extended to a general Lie group. A tracking error function is defined on a general smooth manifold for measuring the error between the configurations of two interacting agents. The stability of the desired consensus equilibrium is proved using a generalized version of Lyapunov theory and LaSalle's invariance principle applicable for systems evolving on a smooth manifold. The proposed consensus control input requires only the configuration information of the neighboring agents and does not require their velocities and inertia tensors. The design of tracking error function and consensus control inputs are demonstrated through an application of attitude consensus problem for multiple communicating rigid bodies. The consensus algorithm is numerically validated by demonstrating the attitude consensus problem.

Paperid: 1587, https://arxiv.org/pdf/2508.17226.pdf

Abstract:
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true state, a requirement that is often violated in real-world applications where only noisy or estimated state information is available. This paper introduces the notion of Robust Control Barrier Functions (R-CBF) for ensuring safety under such state uncertainty without requiring prior knowledge of the magnitude of uncertainty. We formally characterize the class of robustifying terms that ensure robust closed-loop safety and show how a robustly safe controller can be constructed. We demonstrate the effectiveness of this approach through simulations and compare it to existing methods, highlighting the additional robustness and convergence guarantees it provides.

Paperid: 1588, https://arxiv.org/pdf/2508.17149.pdf

Abstract:
This paper investigates a low Earth orbit (LEO) satellite communication system enhanced by an active stacked intelligent metasurface (ASIM), mounted on the backplate of the satellite solar panels to efficiently utilize limited onboard space and reduce the main satellite power amplifier requirements. The system serves multiple ground users via rate-splitting multiple access (RSMA) and IoT devices through a symbiotic radio network. Multi-layer sequential processing in the ASIM improves effective channel gains and suppresses inter-user interference, outperforming active RIS and beyond-diagonal RIS designs. Three optimization approaches are evaluated: block coordinate descent with successive convex approximation (BCD-SCA), model-assisted multi-agent constraint soft actor-critic (MA-CSAC), and multi-constraint proximal policy optimization (MCPPO). Simulation results show that BCD-SCA converges fast and stably in convex scenarios without learning, MCPPO achieves rapid initial convergence with moderate stability, and MA-CSAC attains the highest long-term spectral and energy efficiency in large-scale networks. Energy-spectral efficiency trade-offs are analyzed for different ASIM elements, satellite antennas, and transmit power. Overall, the study demonstrates that integrating multi-layer ASIM with suitable optimization algorithms offers a scalable, energy-efficient, and high-performance solution for next-generation LEO satellite communications.

Paperid: 1589, https://arxiv.org/pdf/2508.17096.pdf

Abstract:
In this study, we explore the use of Convolutional Neural Networks for improving train speed estimation accuracy, addressing the complex challenges of modern railway systems. We investigate three CNN architectures - single-branch 2D, single-branch 1D, and multiple-branch models - and compare them with the Adaptive Kalman Filter. We analyse their performance using simulated train operation datasets with and without Wheel Slide Protection activation. Our results reveal that CNN-based approaches, especially the multiple-branch model, demonstrate superior accuracy and robustness compared to traditional methods, particularly under challenging operational conditions. These findings highlight the potential of deep learning techniques to enhance railway safety and operational efficiency by more effectively capturing intricate patterns in complex transportation datasets.

Paperid: 1590, https://arxiv.org/pdf/2508.14840.pdf

Abstract:
Physical processes evolving in both time and space are often modeled using Partial Differential Equations (PDEs). Recently, it has been shown how stability analysis and control of coupled PDEs in a single spatial variable can be more conveniently performed using an equivalent Partial Integral Equation (PIE) representation. The construction of this PIE representation is based on an analytic expression for the inverse of the spatial differential operator, $\partial_s^{d}$, on the domain defined by boundary conditions. In this paper, we show how this univariate representation may be extended inductively to multiple spatial variables by representing the domain as the intersection of lifted univariate domains. Specifically, we show that if each univariate domain is well-posed, then there exists a readily verified consistency condition which is necessary and sufficient for existence of an inverse to the multivariate spatial differential operator, $D^Î±=\partial_{s_1}^{Î±_1}\cdots\partial_{s_N}^{Î±_N}$, on the PDE domain. Furthermore, we show that this inverse is an element of a $*$-algebra of Partial Integral (PI) operators defined by polynomial semi-separable kernels. Based on this operator algebra, we show that the evolution of any suitably well-posed linear multivariate PDE may be described by a PIE, parameterized by elements of the PI algebra. A convex computational test for PDE stability is then proposed using a positive matrix parameterization of positive PI operators, and software (PIETOOLS) is provided which automates the process of representation and stability analysis of such PDEs. This software is used to analyze stability of 2D heat, wave, and plate equations, obtaining accurate bounds on the rate of decay.

Paperid: 1591, https://arxiv.org/pdf/2508.14715.pdf

Abstract:
In this paper, we present an extension to the recursive Gaussian Process (RGP) regression that enables the satisfaction of inequality constraints and is well suited for a real-time execution in control applications. The soft inequality constraints are integrated by introducing an additional extended Kalman Filter (EKF) update step using pseudo-measurements. The sequential formulation of the algorithm and several developed heuristics ensure both the performance and a low computational effort of the algorithm. A special focus lies on an efficient consideration of monotonicity assumptions for GPs in the form of inequality constraints. The algorithm is statistically validated in simulations, where the possible advantages in comparison with the standard RGP algorithm become obvious. The paper is concluded with a successful experimental validation of the developed algorithm for the monotonicity-preserving learning of heat transfer values for the control of a vapor compression cycle evaporator, leveraging a previously published partial input output linearization (IOL).

Paperid: 1592, https://arxiv.org/pdf/2508.14297.pdf

Abstract:
This review analysis presents a comprehensive exploration of energy flexibility in modern power systems. It examines the roles and mechanisms of flexible technologies across three main categories: generators, energy storage systems (ESS), and loads. Energy flexibility is defined as the ability to dynamically adjust supply and/or demand in response to grid conditions to maintain balance and stability. This is of particular importance to facilitate the integration of the growing variable renewable energy sources (RES) into modern power grids. Additionally, traditional supply-side mechanisms to maintain balance and stability are complemented by advancements in demand-side management and demand response strategies, which enable loads to adjust consumption patterns and schedules in response to grid requirements. ESS are also explored to further enhance flexibility by absorbing excess generation and/or supplying large load increases that are not able to be met by the less flexible resources. This paper also explores specific flexibility technologies, examining their characteristics, control strategies, advantages, and limitations. Energy flexibility services are also categorized into intermittency mitigation, peak shaving, and energy reserve provisioning. Each service is supported by case studies and examples demonstrating how different resources respond to varying conditions. Ultimately, the findings and reviews of the various flexible resources in this paper provide a roadmap for optimizing energy flexibility across diverse resource types, paving the way for a more sustainable and resilient energy future.

Paperid: 1593, https://arxiv.org/pdf/2508.13306.pdf

Abstract:
Extended outages in distributed systems (DSs) dominated by distributed energy resources (DERs) require innovative strategies to efficiently and securely deploy black start (BS) resources. To address the need, this paper proposes a two-stage stochastic resource allocation method within synchronizing dynamic microgrids (MGs) for black start (SDMG-BS), enabling risk-averse and adaptive restoration across various scenarios while ensuring frequency security. Virtual synchronous generator (VSG)-controlled grid-forming inverters (GFMIs) equipped with primary frequency governors (PFGs) are modeled as BS resources. Their frequency response is characterized by three transient indices, which are deployed as frequency dynamic constraints on load pick-up events to ensure frequency stability during the BS process. SDMG-BS framework facilitates location-independent synchronization among restored MGs and with the transmission grid (TG) with the help of smart switches (SSWs). The model incorporates scenario-based stochastic programming to address multi-source uncertainties, including season-dependent operational conditions and unpredictable TG outage durations, ensuring a resilient allocation plan. The proposed approach is validated on a modified IEEE 123-node feeder with three study cases designed across sixteen uncertainty scenarios.

Paperid: 1594, https://arxiv.org/pdf/2508.13151.pdf

Abstract:
Mobile manipulation in dynamic environments is challenging due to movable obstacles blocking the robot's path. Traditional methods, which treat navigation and manipulation as separate tasks, often fail in such 'manipulate-to-navigate' scenarios, as obstacles must be removed before navigation. In these cases, active interaction with the environment is required to clear obstacles while ensuring sufficient space for movement. To address the manipulate-to-navigate problem, we propose a reinforcement learning-based approach for learning manipulation actions that facilitate subsequent navigation. Our method combines manipulability priors to focus the robot on high manipulability body positions with affordance maps for selecting high-quality manipulation actions. By focusing on feasible and meaningful actions, our approach reduces unnecessary exploration and allows the robot to learn manipulation strategies more effectively. We present two new manipulate-to-navigate simulation tasks called Reach and Door with the Boston Dynamics Spot robot. The first task tests whether the robot can select a good hand position in the target area such that the robot base can move effectively forward while keeping the end effector position fixed. The second task requires the robot to move a door aside in order to clear the navigation path. Both of these tasks need first manipulation and then navigating the base forward. Results show that our method allows a robot to effectively interact with and traverse dynamic environments. Finally, we transfer the learned policy to a real Boston Dynamics Spot robot, which successfully performs the Reach task.

Paperid: 1595, https://arxiv.org/pdf/2508.12937.pdf

Abstract:
The growing proliferation of distributed energy resources (DERs) is significantly enhancing the resilience and reliability of distribution systems. However, a substantial portion of behind-the-meter (BTM) DERs is often overlooked during black start (BS) and restoration processes. Existing BS strategies that utilize grid-forming (GFM) battery energy storage systems (BESS) frequently ignore critical frequency security and synchronization constraints. To address these limitations, this paper proposes a predictive framework for bottom-up BS that leverages the flexibility of BTM DERs through Grid Edge Intelligence (GEI). A predictive model is developed for GEI to estimate multi-period flexibility ranges and track dispatch signals from the utility. A frequency-constrained BS strategy is then introduced, explicitly incorporating constraints on frequency nadir, rate-of-change-of-frequency (RoCoF), and quasi-steady-state (QSS) frequency. The framework also includes synchronizing switches to enable faster and more secure load restoration. Notably, it requires GEI devices to communicate only their flexibility ranges and the utility to send dispatch signals without exchanging detailed asset information. The proposed framework is validated using a modified IEEE 123-bus test system, and the impact of GEI is demonstrated by comparing results across various GEI penetration scenarios.

Paperid: 1596, https://arxiv.org/pdf/2508.12408.pdf

Abstract:
This paper presents a data-driven approach for quantifying the resilience of distribution power grids to extreme weather events using two key metrics: (a) the number of outages and (b) restoration time. The method leverages historical outage records maintained by power utilities and weather measurements collected by the National Oceanic and Atmospheric Administration (NOAA) to evaluate resilience across a utility's service territory. The proposed framework consists of three stages. First, outage events are systematically extracted from the outage records by temporally and spatially aggregating coincident component outages. In the second stage, weather zones across the service territory are delineated using a Voronoi polygon approach, based on the locations of NOAA weather sensors. Finally, data-driven models for outage fragility and restoration time are developed for each weather zone. These models enable the quantification and visualization of resilience metrics under varying intensities of extreme weather events. The proposed method is demonstrated using real-world data from a US distribution utility, located in Indianapolis, focused on wind- and precipitation-related events. The dataset spans two decades and includes over 160,000 outage records.

Paperid: 1597, https://arxiv.org/pdf/2508.11858.pdf

Abstract:
We study a generalization of the classical discrete-time, Linear-Quadratic-Gaussian (LQG) control problem where the noise distributions affecting the states and observations are unknown and chosen adversarially from divergence-based ambiguity sets centered around a known nominal distribution. For a finite horizon model with Gaussian nominal noise and a structural assumption on the divergence that is satisfied by many examples -- including 2-Wasserstein distance, Kullback-Leibler divergence, moment-based divergences, entropy-regularized optimal transport, or Fisher (score-matching) divergence -- we prove that a control policy that is affine in the observations is optimal and the adversary's corresponding worst-case optimal distribution is Gaussian. When the nominal means are zero (as in the classical LQG model), we show that the adversary should optimally set the distribution's mean to zero and the optimal control policy becomes linear. Moreover, the adversary should optimally ``inflate" the noise by choosing covariance matrices that dominate the nominal covariance in Loewner order. Exploiting these structural properties, we develop a Frank-Wolfe algorithm whose inner step solves standard LQG subproblems via Kalman filtering and dynamic programming and show that the implementation consistently outperforms semidefinite-programming reformulations of the problem. All structural and algorithmic results extend to an infinite-horizon, average-cost formulation, yielding stationary linear policies and a time-invariant Gaussian distribution for the adversary. Lastly, we show that when the divergence is 2-Wasserstein, the entire framework remains valid when the nominal distributions are elliptical rather than Gaussian.

Paperid: 1598, https://arxiv.org/pdf/2508.11612.pdf

Abstract:
This work presents a new method for generating impulsive trajectories in restricted two-body systems by leveraging Riemannian geometry. The proposed method transforms the standard trajectory optimization problem into a purely geometric one that involves computing a set of geodesics for a suitable Riemannian metric. This transformation is achieved by defining a metric, specifically the Jacobi metric, that embeds the dynamics directly into the metric, so any geodesic of the metric is also a dynamically feasible trajectory. The method finds the fuel-optimal transfer trajectory by sampling candidate energy ($ÎV$) changes for different points on the current and desired orbit, and efficiently computing and evaluating each candidate geodesic, which are equivalent to candidate orbit transfer trajectories via the Jacobi metric. The method bypasses the known issues of optimization-based methods, e.g., sensitivity to the initial guess, and can be applied to more complex two-body systems. The approach is demonstrated on the minimum-$ÎV$ two-impulse phase-free orbit transfer problem, first on a Keplerian system and second on a system with a modeled $J_2$ perturbation. The proposed method is shown to meet or exceed the state-of-the-art methods in the minimum-$ÎV$ problem in the Keplerian system. The generality and versatility of the approach is demonstrated by seamlessly including the $J_2$ perturbation, a case that many existing methods cannot handle. Numerical simulations and performance comparisons showcase the effectiveness of the approach.

Paperid: 1599, https://arxiv.org/pdf/2508.11561.pdf

Abstract:
Sub- and super-synchronous control interactions (SSCIs) are oscillations arising from adverse interactions between inverter-based resource (IBR) controls and the power network. SSCIs often involve multiple frequencies and propagate through complex, interconnected paths, making it difficult for model-based approaches to identify both the sources and the paths of oscillatory energy flow. This paper extends the Dissipative Energy Flow (DEF) method, originally developed for low-frequency electromechanical oscillations, to identify SSCI sources and dynamic interaction paths across multiple frequencies using three-phase voltage and current measurements. The approach operates in the dq frame using dynamic phasors, enabling mode-specific DEF computation from bandpass-filtered signals. An electromagnetic transient (EMT) case study on a meshed network with synchronous generator and type-3 wind farm resources under series-compensated conditions demonstrates the method's capability to distinguish frequency-dependent source and sink roles, including cases where the same resource acts as a source at one frequency and a sink at another. The results show DEF can provide a physics-based and automation-friendly tool for SSCI diagnosis in IBR-rich grids.

Paperid: 1600, https://arxiv.org/pdf/2508.11520.pdf

Abstract:
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the choice of floating-base space parameterization affects performance, especially for agile behaviors involving complex contact dynamics. In this paper, we present a comparative study of different parameterizations for direct transcription-based trajectory optimization of agile motions in legged systems. We systematically evaluate several common choices under identical optimization settings to ensure a fair comparison. Furthermore, we introduce a novel formulation based on the tangent space of SE(3) for representing the robot's floating-base pose, which, to our knowledge, has not received attention from the literature. This approach enables the use of mature off-the-shelf numerical solvers without requiring specialized manifold optimization techniques. We hope that our experiments and analysis will provide meaningful insights for selecting the appropriate floating-based representation for agile whole-body motion generation.

Paperid: 1601, https://arxiv.org/pdf/2508.04288.pdf

Abstract:
Applying near-term variational quantum algorithms to the problem of dynamic satellite network routing represents a promising direction for quantum computing. In this work, we provide a critical evaluation of two major approaches: static quantum optimizers such as the Variational Quantum Eigensolver (VQE) and the Quantum Approximate Optimization Algorithm (QAOA) for offline route computation, and Quantum Reinforcement Learning (QRL) methods for online decision-making. Using ideal, noise-free simulations, we find that these algorithms face significant challenges. Specifically, static optimizers are unable to solve even a classically easy 4-node shortest path problem due to the complexity of the optimization landscape. Likewise, a basic QRL agent based on policy gradient methods fails to learn a useful routing strategy in a dynamic 8-node environment and performs no better than random actions. These negative findings highlight key obstacles that must be addressed before quantum algorithms can offer real advantages in communication networks. We discuss the underlying causes of these limitations, including barren plateaus and learning instability, and suggest future research directions to overcome them.

Paperid: 1602, https://arxiv.org/pdf/2508.02912.pdf

Abstract:
We compare the efficacy of learned versus engineered communication strategies in a cooperative multi-agent reinforcement learning (MARL) environment. For the learned approach, we introduce Learned Direct Communication (LDC), where agents generate messages and actions concurrently via a neural network. Our engineered approach, Intention Communication, employs an Imagined Trajectory Generation Module (ITGM) and a Message Generation Network (MGN) to formulate messages based on predicted future states. Both strategies are evaluated on their success rates in cooperative tasks under fully and partially observable conditions. Our findings indicate that while emergent communication is viable, the engineered approach demonstrates superior performance and scalability, particularly as environmental complexity increases.

Paperid: 1603, https://arxiv.org/pdf/2508.02887.pdf

Abstract:
Edge Digital Twins (EDTs) are crucial for monitoring and control of Power Electronics Systems (PES). However, existing modeling approaches struggle to consistently capture continuously evolving hybrid dynamics that are inherent in PES, degrading Sim-to-Real generalization on resource-constrained edge devices. To address these challenges, this paper proposes a Physics-Embedded Neural ODEs (PENODE) that (i) embeds the hybrid operating mechanism as an event automaton to explicitly govern discrete switching and (ii) injects known governing ODE components directly into the neural parameterization of unmodeled dynamics. This unified design yields a differentiable end-to-end trainable architecture that preserves physical interpretability while reducing redundancy, and it supports a cloud-to-edge toolchain for efficient FPGA deployment. Experimental results demonstrate that PENODE achieves significantly higher accuracy in benchmarks in white-box, gray-box, and black-box scenarios, with a 75% reduction in neuron count, validating that the proposed PENODE maintains physical interpretability, efficient edge deployment, and real-time control enhancement.

Paperid: 1604, https://arxiv.org/pdf/2508.00692.pdf

Abstract:
For conducting resource adequacy studies, we synthesize multiple long-term wind power scenarios of distributed wind farms simultaneously by using the spatio-temporal features: spatial and temporal correlation, waveforms, marginal and ramp rates distributions of waveform, power spectral densities, and statistical characteristics. Generating the spatial correlation in scenarios requires the design of common factors for neighboring wind farms and antithetical factors for distant wind farms. The generalized dynamic factor model (GDFM) can extract the common factors through cross spectral density analysis, but it cannot closely imitate waveforms. The GAN can synthesize plausible samples representing the temporal correlation by verifying samples through a fake sample discriminator. To combine the advantages of GDFM and GAN, we use the GAN to provide a filter that extracts dynamic factors with temporal information from the observation data, and we then apply this filter in the GDFM to represent both spatial and frequency correlations of plausible waveforms. Numerical tests on the combination of GDFM and GAN have demonstrated performance improvements over competing alternatives in synthesizing wind power scenarios from Australia, better realizing plausible statistical characteristics of actual wind power compared to alternatives such as the GDFM with a filter synthesized from distributions of actual dynamic filters and the GAN with direct synthesis without dynamic factors.

Paperid: 1605, https://arxiv.org/pdf/2507.22496.pdf

Abstract:
This paper compares the participation of Renewable-only Virtual Power Plants (RVPPs) and grid-scale Electrical Storage Systems (ESSs) in energy and reserve markets, evaluating their technical performance, market strategies, and economic outcomes. To ensure a fair comparison, scheduling is analyzed over representative sample days that capture seasonal operating regimes, and the associated uncertainties are explicitly modeled. Two-stage robust optimization frameworks are employed: the RVPP model addresses price, generation, and demand uncertainties, whereas the ESS model considers price uncertainty only. In addition, an algorithm is proposed for sizing the ESS so that its market performance matches that of the RVPP. Simulations cover both favorable and unfavorable scenarios, reflecting seasonal energy limits for dispatchable resources, varying forecast errors for nondispatchable resources, and alternative uncertainty-management strategies. The results provide operators with quantitative guidance on the relative value of each approach.

Paperid: 1606, https://arxiv.org/pdf/2507.21865.pdf

Abstract:
We demonstrate the first SCL-band long-haul transmission using G.654.E-compliant fibre, achieving 100.8 Tb/s (GMI) over 1552 km, despite its 1520 nm cutoff wavelength. Due to the fibre's ultra-low loss and low nonlinearity, the achievable-information-rate with lumped amplification is comparable to that of G.652.D-compliant fibre links with distributed-Raman-amplification.

Paperid: 1607, https://arxiv.org/pdf/2507.21479.pdf

Abstract:
Any agents we can possibly build are subject to capacity constraints, as memory and compute resources are inherently finite. However, comparatively little attention has been dedicated to understanding how agents with limited capacity should allocate their resources for optimal performance. The goal of this paper is to shed some light on this question by studying a simple yet relevant continual learning problem: the capacity-constrained linear-quadratic-Gaussian (LQG) sequential prediction problem. We derive a solution to this problem under appropriate technical conditions. Moreover, for problems that can be decomposed into a set of sub-problems, we also demonstrate how to optimally allocate capacity across these sub-problems in the steady state. We view the results of this paper as a first step in the systematic theoretical study of learning under capacity constraints.

Paperid: 1608, https://arxiv.org/pdf/2507.19918.pdf

Abstract:
This paper presents a unified framework based on Davis-Wielandt (DW) shell for graphical stability analysis of multi-input and multi-output linear time-invariant feedback systems. Connections between DW shells and various graphical descriptions, as well as gain and phase measures, are established through an intuitive geometric perspective. Within this framework, we examine the relationships and relative conservatism among various separation conditions. A rotated Scaled Relative Graph (SRG) concept is proposed as a mixed gain-phase representation, from which a closed-loop stability criterion is derived and shown to be the least conservative among the existing 2-D graphical conditions for bi-component feedback loops. We also propose a reliable algorithm for visualizing the rotated SRGs and include an example to demonstrate the non-conservatism of the proposed condition.

Paperid: 1609, https://arxiv.org/pdf/2507.19049.pdf

Abstract:
In the highly complex and stochastic global, supply chain environments, local enterprise agents seek distributed and dynamic strategies for agile responses to disruptions. Existing literature explores both centralized and distributed approaches, while most work neglects temporal dynamics and the heterogeneity of the risk management of individual agents. To address this gap, this letter presents a heterogeneous risk management mechanism to incorporate uncertainties and risk attitudes into agent communication and decision-making strategy. Hence, this approach empowers enterprises to handle disruptions in stochastic environments in a distributed way, and in particular in the context of multi-agent control and management. Through a simulated case study, we showcase the feasibility and effectiveness of the proposed approach under stochastic settings and how the decision of disruption responses changes when agents hold various risk attitudes.

Paperid: 1610, https://arxiv.org/pdf/2507.19043.pdf

Abstract:
The COVID-19 pandemic brings many unexpected disruptions, such as frequently shifting markets and limited human workforce, to manufacturers. To stay competitive, flexible and real-time manufacturing decision-making strategies are needed to deal with such highly dynamic manufacturing environments. One essential problem is dynamic resource allocation to complete production tasks, especially when a resource disruption (e.g., machine breakdown) occurs. Though multi-agent methods have been proposed to solve the problem in a flexible and agile manner, the agent internal decision-making process and resource uncertainties have rarely been studied. This work introduces a model-based resource agent (RA) architecture that enables effective agent coordination and dynamic agent decision-making. Based on the RA architecture, a rescheduling strategy that incorporates risk assessment via a clustering agent coordination strategy is also proposed. A simulation-based case study is implemented to demonstrate dynamic rescheduling using the proposed multi-agent framework. The results show that the proposed method reduces the computational efforts while losing some throughput optimality compared to the centralized method. Furthermore, the case study illustrates that incorporating risk assessment into rescheduling decision-making improves the throughput.

Paperid: 1611, https://arxiv.org/pdf/2507.19038.pdf

Abstract:
In recent years, the frequent occurrence of disruptions has had a negative impact on global supply chains. To stay competitive, enterprises strive to remain agile through the implementation of efficient and effective decision-making strategies in reaction to disruptions. A significant effort has been made to develop these agile disruption mitigation approaches, leveraging both centralized and distributed decision-making strategies. Though trade-offs of centralized and distributed approaches have been analyzed in existing studies, no related work has been found on understanding supply chain performance based on the network attributes of the disrupted supply chain entities. In this paper, we characterize supply chains from a capability and network topological perspective and investigate the use of a distributed decision-making approach based on classical multi-agent frameworks. The performance of the distributed framework is evaluated through a comprehensive case study that investigates the performance of the supply chain as a function of the network structure and agent attributes within the network in the presence of a disruption. Comparison to a centralized decision-making approach highlights trade-offs between performance, computation time, and network communication based on the decision-making strategy and network architecture. Practitioners can use the outcomes of our studies to design response strategies based on agent capabilities, network attributes, and desired supply chain performance.

Paperid: 1612, https://arxiv.org/pdf/2507.18110.pdf

Abstract:
High renewable penetration has been witnessed in power systems, resulting in reduced system inertia and increasing requirements for frequency response services. Electric vehicles (EVs), owing to their vehicle-to-grid (V2G) capabilities, can provide cost-effective frequency services for transmission system operators (TSOs). However, EVs that are inherently connected to distribution networks may pose voltage security issues for distribution system operators (DSOs) when supporting TSO frequency. To coordinate both TSO frequency and DSO voltage, this paper proposes a two-stage service provision framework for multi-EVs. At stage one, EVs participate in day-ahead TSO-DSO interactions for frequency reserve schedules; at stage two, EVs make real-time dispatching behaviors in distribution networks for reserve delivery while supporting DSO voltage. Considering the potentially large EV number and environment complexity, a decentralized operation paradigm is introduced for real-time EV dispatches at stage two, while a communication-efficient reinforcement learning (RL) algorithm is proposed to reduce the communication overhead during large-scale multi-agent RL training without compromising policy performance. Case studies are carried out on a 6-bus transmission and 33-bus distribution network as well as a 69-bus distribution network to evaluate the effectiveness and scalability of the proposed method in enabling EVs for frequency service and voltage support.

Paperid: 1613, https://arxiv.org/pdf/2507.18095.pdf

Abstract:
Mobile power sources (MPSs) have been gradually deployed in microgrids as critical resources to coordinate with repair crews (RCs) towards resilience enhancement owing to their flexibility and mobility in handling the complex coupled power-transport systems. However, previous work solves the coordinated dispatch problem of MPSs and RCs in a centralized manner with the assumption that the communication network is still fully functioning after the event. However, there is growing evidence that certain extreme events will damage or degrade communication infrastructure, which makes centralized decision making impractical. To fill this gap, this paper formulates the resilience-driven dispatch problem of MPSs and RCs in a decentralized framework. To solve this problem, a hierarchical multi-agent reinforcement learning method featuring a two-level framework is proposed, where the high-level action is used to switch decision-making between power and transport networks, and the low-level action constructed via a hybrid policy is used to compute continuous scheduling and discrete routing decisions in power and transport networks, respectively. The proposed method also uses an embedded function encapsulating system dynamics to enhance learning stability and scalability. Case studies based on IEEE 33-bus and 69-bus power networks are conducted to validate the effectiveness of the proposed method in load restoration.

Paperid: 1614, https://arxiv.org/pdf/2507.17526.pdf

Abstract:
Building energy modeling is a key tool for optimizing the performance of building energy systems. Historically, a wide spectrum of methods has been explored -- ranging from conventional physics-based models to purely data-driven techniques. Recently, hybrid approaches that combine the strengths of both paradigms have gained attention. These include strategies such as learning surrogates for physics-based models, modeling residuals between simulated and observed data, fine-tuning surrogates with real-world measurements, using physics-based outputs as additional inputs for data-driven models, and integrating the physics-based output into the loss function the data-driven model. Despite this progress, two significant research gaps remain. First, most hybrid methods focus on deterministic modeling, often neglecting the inherent uncertainties caused by factors like weather fluctuations and occupant behavior. Second, there has been little systematic comparison within a probabilistic modeling framework. This study addresses these gaps by evaluating five representative hybrid approaches for probabilistic building energy modeling, focusing on quantile predictions of building thermodynamics in a real-world case study. Our results highlight two main findings. First, the performance of hybrid approaches varies across different building room types, but residual learning with a Feedforward Neural Network performs best on average. Notably, the residual approach is the only model that produces physically intuitive predictions when applied to out-of-distribution test data. Second, Quantile Conformal Prediction is an effective procedure for calibrating quantile predictions in case of indoor temperature modeling.

Paperid: 1615, https://arxiv.org/pdf/2507.14450.pdf

Abstract:
With the increasing integration of renewable energy, the reliability and resilience of modern power systems are of vital significance. However, large-scale blackouts caused by natural disasters or equipment failures remain a significant threat, necessitating effective restoration strategies. This study proposes novel black start models for modern power systems that integrate fuel cells and battery storage, recognizing their distinct characteristics and contributions to grid resilience. These models specifically address the restoration of electrical grids, including the energization paths and time of the transmission network, while accounting for the unique power output traits of fuel cells and the energy storage capacity of batteries as black start resources. Black start simulations, comparing the generator startup sequence (GSUS) with fuel cell versus battery systems, are performed on the IEEE 39-bus system. We conduct sensitivity analyses on fuel cell capacity, battery storage capacity, initial state of charge (SOC), and resource locations to identify optimal scenarios for black start operations.

Paperid: 1616, https://arxiv.org/pdf/2507.14409.pdf

Abstract:
This paper presents a novel approach to solving the indirect influence problem in networked systems, in which cooperative nodes must regulate a target node with uncertain dynamics to follow a desired trajectory. We leverage the message-passing structure of a graph neural network (GNN), allowing nodes to collectively learn the unknown target dynamics in real time. We develop a novel GNN-based backstepping control strategy with formal stability guarantees derived from a Lyapunov-based analysis. Numerical simulations are included to demonstrate the performance of the developed controller.

Paperid: 1617, https://arxiv.org/pdf/2507.12703.pdf

Abstract:
Demand charge often constitutes a significant portion of electricity costs for commercial electric vehicle charging station operators. This paper explores control methods to reduce peak power consumption at workplace EV charging stations in a joint price and power optimization framework. We optimize a menu of price options to incentivize users to select controllable charging service. Using this framework, we propose several solutions to achieve a reduction in both demand charge and overall operator costs. Through a Monte Carlo simulation, we find that model predictive control using a time series forecast can significantly reduce station operator costs.

Paperid: 1618, https://arxiv.org/pdf/2507.12569.pdf

Abstract:
Black start (BS) of the distribution system (DS) with high penetration of distributed energy resources (DERs) requires advanced control frameworks to ensure secure and efficient restoration. This paper proposes a model predictive black start (MPBS) framework incorporating an inrush current feasibility module to dynamically generate real-time feasible and optimal restoration sequences. Short-term forecasts of DER output and transmission grid (TG) availability are utilized to construct adaptive cranking paths. The inrush current feasibility module analytically estimates the transient inrush current caused by energizing no-load distribution transformers (DTs). To mitigate excessive inrush current and avoid potential misoperations of protection devices, an emergency operation-inspired voltage control strategy and a switch blocking mechanism are developed. The proposed inrush model is validated against electromagnetic transient (EMT) simulations in PowerFactory with estimation accuracies exceeding 90 %. Case studies on a modified IEEE 123-node feeder demonstrate that the MPBS framework prevents misoperations of fuses and reclosers, reduces unnecessary DER energy consumption, and enhances load restoration efficiency during DER-led BS processes.

Paperid: 1619, https://arxiv.org/pdf/2507.11935.pdf

Abstract:
As the path toward 6G networks is being charted, the emerging applications have motivated evolutions of network architectures to realize the efficient, reliable, and flexible wireless networks. Among the potential architectures, the non-terrestrial network (NTN) and open radio access network (ORAN) have received increasing interest from both academia and industry. Although the deployment of NTNs ensures coverage, enhances spectral efficiency, and improves the resilience of wireless networks. The high altitude and mobility of NTN present new challenges in the development and operations (DevOps) lifecycle, hindering intelligent and scalable network management due to the lack of native artificial intelligence (AI) capability. With the advantages of ORAN in disaggregation, openness, virtualization, and intelligence, several works propose integrating ORAN principles into the NTN, focusing mainly on ORAN deployment options based on transparent and regenerative systems. However, a holistic view of how to effectively combine ORAN and NTN throughout the DevOps lifecycle is still missing, especially regarding how intelligent ORAN addresses the scalability challenges in NTN. Motivated by this, in this paper, we first provide the background knowledge about ORAN and NTN, outline the state-of-the-art research on ORAN for NTNs, and present the DevOps challenges that motivate the adoption of ORAN solutions. We then propose the ORAN-based NTN framework, discussing its features and architectures in detail. These include the discussion about flexible fronthaul split, RAN intelligent controllers (RICs) enhancement for distributed learning, scalable deployment architecture, and multi-domain service management. Finally, the future research directions, including combinations of the ORAN-based NTN framework and other enabling technologies and schemes, as well as the candidate use cases, are highlighted.

Paperid: 1620, https://arxiv.org/pdf/2507.11021.pdf

Abstract:
Autonomous vehicles must balance ranked objectives, such as minimizing travel time, ensuring safety, and coordinating with traffic. Games of ordered preference effectively model these interactions but become computationally intractable as the time horizon, number of players, or number of preference levels increase. While receding horizon frameworks mitigate long-horizon intractability by solving sequential shorter games, often warm-started, they do not resolve the complexity growth inherent in existing methods for solving games of ordered preference. This paper introduces a solution strategy that avoids excessive complexity growth by approximating solutions using lexicographic iterated best response (IBR) in receding horizon, termed "lexicographic IBR over time." Lexicographic IBR over time uses past information to accelerate convergence. We demonstrate through simulated traffic scenarios that lexicographic IBR over time efficiently computes approximate-optimal solutions for receding horizon games of ordered preference, converging towards generalized Nash equilibria.

Paperid: 1621, https://arxiv.org/pdf/2507.10849.pdf

Abstract:
Gain Cell memory (GCRAM) offers higher density and lower power than SRAM, making it a promising candidate for on-chip memory in domain-specific accelerators. To support workloads with varying traffic and lifetime metrics, GCRAM also offers high bandwidth, ultra low leakage power and a wide range of retention times, which can be adjusted through transistor design (like threshold voltage and channel material) and on-the-fly by changing the operating voltage. However, designing and optimizing GCRAM sub-systems can be time-consuming. In this paper, we present OpenGCRAM, an open-source GCRAM compiler capable of generating GCRAM bank circuit designs and DRC- and LVS-clean layouts for commercially available foundry CMOS, while also providing area, delay, and power simulations based on user-specified configurations (e.g., word size and number of words). OpenGCRAM enables fast, accurate, customizable, and optimized GCRAM block generation, reduces design time, ensure process compliance, and delivers performance-tailored memory blocks that meet diverse application requirements.

Paperid: 1622, https://arxiv.org/pdf/2507.09942.pdf

Abstract:
This letter investigates the optimal allocation of large language model (LLM) inference workloads across heterogeneous edge data centers (DCs) over time. Each DC features on-site renewable generation and faces dynamic electricity prices and spatiotemporal variability in renewable availability. The central question is: how can inference workloads be optimally distributed to the DCs to minimize energy consumption, carbon emissions, and water usage while enhancing user experience? This letter proposes a novel optimization model for LLM service providers to reduce operational costs and environmental impacts. Numerical results validate the efficacy of the proposed approach.

Paperid: 1623, https://arxiv.org/pdf/2507.07841.pdf

Abstract:
Events such as catastrophes and disasters are, in most cases, unpredictable. Consequently, reusing existing infrastructures to develop alternative communication strategies after disasters is essential to minimise the impact of these events on the population's ability to communicate and promptly receive alerts from authorities. In this context, the emergence of smart cities, characterised by dense and geographically distributed IoT networks, presents significant potential for such reuse. This work proposes HaLert, a resilient architecture for smart cities based on a Wi-Fi HaLow IEEE 802.11s mesh network, whose resources can be readily reallocated to support a emergency communication system to exchange messages (including text, location, image, audio, and video) between citizens, authorities, and between both parties. To facilitate remote monitoring and configuration of the network, the architecture incorporates the SDN (Software-Defined Networking) paradigm, supported by a LoRa controlled flooding mesh network. A prototype was developed based on this architecture and tested in a real urban scenario comprising both indoor and outdoor environments. The results demonstrated that, despite the significant impact of obstacles, lack of line-of-sight, and terrain slopes on the latency (average latency between 15 and 54.8 ms) and throughput (upload bitrates between 134 and 726 Kbps and download bitrates between 117 and 682 Kbps) of the Wi-Fi HaLow network, it remained stable and resilient, successfully providing all functionalities associated with the HaLert architecture. The tests conducted on the LoRa network revealed a high average message success rate of 94.96%.

Paperid: 1624, https://arxiv.org/pdf/2507.07769.pdf

Abstract:
Recent years have seen significant advancements in designing reinforcement learning (RL)-based agents for building energy management. While individual success is observed in simulated or controlled environments, the scalability of RL approaches in terms of efficiency and generalization across building dynamics and operational scenarios remains an open question. In this work, we formally characterize the generalization space for the cross-environment, multi-objective building energy management task, and formulate the multi-objective contextual RL problem. Such a formulation helps understand the challenges of transferring learned policies across varied operational contexts such as climate and heat convection dynamics under multiple control objectives such as comfort level and energy consumption. We provide a principled way to parameterize such contextual information in realistic building RL environments, and construct a novel benchmark to facilitate the evaluation of generalizable RL algorithms in practical building control tasks. Our results show that existing multi-objective RL methods are capable of achieving reasonable trade-offs between conflicting objectives. However, their performance degrades under certain environment variations, underscoring the importance of incorporating dynamics-dependent contextual information into the policy learning process.

Paperid: 1625, https://arxiv.org/pdf/2507.06694.pdf

Abstract:
Accurate short-term state forecasting is essential for efficient and stable operation of modern power systems, especially in the context of increasing variability introduced by renewable and distributed energy resources. As these systems evolve rapidly, it becomes increasingly important to reliably predict their states in the short term to ensure operational stability, support control decisions, and enable interpretable monitoring of sensor and machine behavior. Modern power systems often span multiple physical domains - including electrical, mechanical, hydraulic, and thermal - posing significant challenges for modeling and prediction. Graph Neural Networks (GNNs) have emerged as a promising data-driven framework for system state estimation and state forecasting in such settings. By leveraging the topological structure of sensor networks, GNNs can implicitly learn inter-sensor relationships and propagate information across the network. However, most existing GNN-based methods are designed under the assumption of homogeneous sensor relationships and are typically constrained to a single physical domain. This limitation restricts their ability to integrate and reason over heterogeneous sensor data commonly encountered in real-world energy systems, such as those used in energy conversion infrastructure. In this work, we propose the use of Heterogeneous Graph Attention Networks to address these limitations. Our approach models both homogeneous intra-domain and heterogeneous inter-domain relationships among sensor data from two distinct physical domains - hydraulic and electrical - which exhibit fundamentally different temporal dynamics. Experimental results demonstrate that our method significantly outperforms conventional baselines on average by 35.5% in terms of normalized root mean square error, confirming its effectiveness in multi-domain, multi-rate power system state forecasting.

Paperid: 1626, https://arxiv.org/pdf/2507.05494.pdf

Abstract:
Digital twins, used to represent physical systems, have been lauded as tools for understanding reality. Complex system behavior is typically captured in domain-specific models crafted by subject experts. Contemporary methods for employing models in a digital twin require prescriptive interfaces, resulting in twins that are difficult to connect, redeploy, and modify. The limited interoperability of these twins has prompted calls for a universal framework enabling observability across model aggregations. Here we show how a new mathematical formalism called a constraint hypergraph serves as such a framework by representing system behavior as the composition of set-based functions. A digital twin is shown to be the second of two coupled systems where both adhere to the same constraint hypergraph, permitting the properties of the first to be observable from the second. Interoperability is given by deconstructing models into a structure enabling autonomous, white-box simulation of system properties. The resulting digital twins can interact immediately with both human and autonomous agents. This is demonstrated in a case study of a microgrid, showing how both measured and simulated data from the aggregated twins can be provided regardless of the operating environment. By connecting models, constraint hypergraphs supply scientists and modelers robust means to capture, communicate, and combine digital twins across all fields of study. We expect this framework to expand the use of digital twins, enriching scientific insights and collaborations by providing a structure for characterizing complex systems.

Paperid: 1627, https://arxiv.org/pdf/2507.05268.pdf

Abstract:
Brain-computer interface (BCI) based on motor imagery (MI) enables direct control of external devices by decoding the electroencephalogram (EEG) generated in the brain during imagined movements. However, due to inter-individual variability in brain activity, existing BCI models exhibit poor adaptability across subjects, thereby limiting their generalizability and widespread application. To address this issue, this paper proposes a cross-subject BCI algorithm named Cross-Subject DD (CSDD), which constructs a universal BCI model by extracting common features across subjects. The specific methods include: 1) training personalized models for each subject; 2) transforming personalized models into relation spectrums; 3) identifying common features through statistical analysis; and 4) constructing a cross-subject universal model based on common features. The experiments utilized the BCIC IV 2a dataset, involving nine subjects. Eight of these subjects were selected for training and extracing the common features, and the cross-subject decoding performance of the model was validated on the remaining subject. The results demonstrate that, compared with existing similar methods, our approach achieves a 3.28% improvement in performance. This paper introduces for the first time a novel method for extracting pure common features and constructing a universal cross-subject BCI model, thereby facilitating broader applications of BCI technology.

Paperid: 1628, https://arxiv.org/pdf/2507.04140.pdf

Abstract:
Humans naturally swing their arms during locomotion to regulate whole-body dynamics, reduce angular momentum, and help maintain balance. Inspired by this principle, we present a limb-level multi-agent reinforcement learning (RL) framework that enables coordinated whole-body control of humanoid robots through emergent arm motion. Our approach employs separate actor-critic structures for the arms and legs, trained with centralized critics but decentralized actors that share only base states and centroidal angular momentum (CAM) observations, allowing each agent to specialize in task-relevant behaviors through modular reward design. The arm agent guided by CAM tracking and damping rewards promotes arm motions that reduce overall angular momentum and vertical ground reaction moments, contributing to improved balance during locomotion or under external perturbations. Comparative studies with single-agent and alternative multi-agent baselines further validate the effectiveness of our approach. Finally, we deploy the learned policy on a humanoid platform, achieving robust performance across diverse locomotion tasks, including flat-ground walking, rough terrain traversal, and stair climbing.

Paperid: 1629, https://arxiv.org/pdf/2507.03144.pdf

Abstract:
Advancing the dynamics inference of power electronic systems (PES) to the real-time edge-side holds transform-ative potential for testing, control, and monitoring. How-ever, efficiently inferring the inherent hybrid continu-ous-discrete dynamics on resource-constrained edge hardware remains a significant challenge. This letter pro-poses a neural substitute solver (NSS) approach, which is a neural-network-based framework aimed at rapid accurate inference with significantly reduced computational costs. Specifically, NSS leverages lightweight neural networks to substitute time-consuming matrix operation and high-order numerical integration steps in traditional solvers, which transforms sequential bottlenecks into highly parallel operation suitable for edge hardware. Experimental vali-dation on a multi-stage DC-DC converter demonstrates that NSS achieves 23x speedup and 60% hardware resource reduction compared to traditional solvers, paving the way for deploying edge inference of high-fidelity PES dynamics.

Paperid: 1630, https://arxiv.org/pdf/2507.02131.pdf

Abstract:
This article investigates the robustness of gradient descent algorithms under perturbations. The concept of small-disturbance input-to-state stability (ISS) for discrete-time nonlinear dynamical systems is introduced, along with its Lyapunov characterization. The conventional linear Polyak-Lojasiewicz (PL) condition is then extended to a nonlinear version, and it is shown that the gradient descent algorithm is small-disturbance ISS provided the objective function satisfies the generalized nonlinear PL condition. This small-disturbance ISS property guarantees that the gradient descent algorithm converges to a small neighborhood of the optimum under sufficiently small perturbations. As a direct application of the developed framework, we demonstrate that the LQR cost satisfies the generalized nonlinear PL condition, thereby establishing that the policy gradient algorithm for LQR is small-disturbance ISS. Additionally, other popular policy gradient algorithms, including natural policy gradient and Gauss-Newton method, are also proven to be small-disturbance ISS.

Paperid: 1631, https://arxiv.org/pdf/2507.01211.pdf

Abstract:
In recent decades, society has witnessed significant advancements in emerging mobility systems. These systems refer to transportation solutions that incorporate digital technologies, automation, connectivity, and sustainability to create safer, more efficient, and user-centered mobility. Examples include connected and automated vehicles (CAVs), shared mobility services (car-pooling), electric vehicles, and mobility-as-a-service platforms. These innovations have the potential to greatly impact areas such as safety, pollution, comfort, travel time, and fairness. In this article, we explore the current landscape of CAVs. We discuss their role in daily life and their future potential, while also addressing the challenges they may introduce. Following, we also examine the practical difficulties in research associated with CAVs especially simulating and testing CAV-related algorithms in real-world settings. We present existing solutions that aim to overcome these limitations. Finally, we provide an accessible introduction to modeling CAVs using basic kinematic principles and offer an open-source tutorial to help interested students begin exploring the field.

Paperid: 1632, https://arxiv.org/pdf/2512.22419.pdf

Abstract:
Efficiently solving large-scale optimal power flow (OPF) problems is challenging due to the high dimensionality and interconnectivity of modern power systems. Decomposition methods offer a promising solution via partitioning large problems into smaller subproblems that can be solved in parallel, often with local information. These approaches reduce computational burden and improve flexibility by allowing agents to manage their local models. This article introduces a decomposition method that enables a distributed solution to OPF problems. The proposed method solves OPF problems with a sensitivity-based formulation using the alternating direction method of multipliers (ADMM) algorithm. We also propose a distributed method to compute system-wide sensitivities without sharing local parameters. This approach facilitates scalable optimization while satisfying global constraints and limiting data sharing. We demonstrate the effectiveness of the proposed approach using a large set of test systems and compare its performance against existing decomposition methods. The results show that the proposed method significantly outperforms the typical phase-angle formulation with a 14-times faster computation speed on average.

Paperid: 1633, https://arxiv.org/pdf/2512.20518.pdf

Abstract:
Most current assessments use ex post proxies that miss uncertainty and fail to consistently capture the rapid change in bitcoin mining. We introduce a unified, ex ante statistical model that derives expected return, downside risk, and upside potential profit from the first principles of mining: Each hash is a Bernoulli trial with a Bitcoin block difficulty-based success probability. The model yields closed-form expected revenue per hash-rate unit, risk metrics in different scenarios, and upside-profit probabilities for different fleet sizes. Empirical calibration closely matches previously reported observations, yielding a unified, faithful quantification across hardware, pools, and operating conditions. This foundation enables more reliable analysis of mining impacts and behavior.

Paperid: 1634, https://arxiv.org/pdf/2512.20076.pdf

Abstract:
In this work, we propose a data-driven divide and conquer strategy for the stability analysis of interconnected homogeneous nonlinear networks of degree one with unknown models and a fully unknown topology. The proposed scheme leverages joint dissipativity-type properties of subsystems described by storage functions, while providing a stability certificate over unknown interconnected networks. In our data-driven framework, we begin by formulating the required conditions for constructing storage functions as a robust convex program (RCP). Given that unknown models of subsystems are integrated into one of the constraints of the RCP, we collect data from trajectories of each unknown subsystem and provide a scenario convex program (SCP) that aligns with the original RCP. We solve the SCP as a linear program and construct a storage function for each subsystem with unknown dynamics. Under some newly developed data-driven compositionality conditions, we then construct a Lyapunov function for the fully unknown interconnected network utilizing storage functions derived from data of individual subsystems. We show that our data-driven {divide and conquer strategy} provides correctness guarantees (as opposed to probabilistic confidence) while significantly mitigating the sample complexity problem existing in data-driven approaches. To illustrate the effectiveness of our proposed results, we apply our approaches to three different case studies involving interconnected homogeneous (nonlinear) networks with unknown models. We collect data from trajectories of unknown subsystems and verify the global asymptotic stability (GAS) of the interconnected system with a guaranteed confidence.

Paperid: 1635, https://arxiv.org/pdf/2512.16263.pdf

Abstract:
This paper proposes a black-start method for an off-grid wind-to-hydrogen (W2H) system comprising a wind farm based on Doubly-Fed Induction Generators (DFIGs), proton exchange membrane fuel cells (PEMFCs) serving as the black-start power source, and a hydrogen production industry. The PEMFC is installed within the hydrogen industry to facilitate direct access to hydrogen fuel. Based on the microgrid topology and black-start scheme, this study innovatively sizes the rated capacity of the PEMFC through power flow analysis. The capacity must be sufficient to charge passive components such as transmission lines and transformers, provide rotor excitation, and supply wind turbine (WT) and electrolyzer (ELZ) auxiliaries during startup. The proposed system integrates wind-hydrogen coordinated control (WHCC) and hydrogen-storage coordinated control (HSCC). Under maximum power point tracking (MPPT) of the WTs, the ELZ follows power fluctuations to absorb wind output, ensuring stable voltage and frequency. Fixed-frequency control applied to either the DFIG or PEMFC converters enables DFIGs to retain conventional grid-following (GFL) operation, reducing converter development costs. For both control modes, this paper establishes the black-start sequence and formulates a comprehensive coordinated control strategy for the entire system. The entire control system is validated through simulations in MATLAB/Simulink. Results confirm that the calculated PEMFC capacity supports reliable black-start, while the black-start control strategy ensures smooth system self-startup. Furthermore, the coordinated control strategy maintains stable frequency and voltage under fluctuating wind power, demonstrating the practicality and robustness of the proposed approach.

Paperid: 1636, https://arxiv.org/pdf/2512.15452.pdf

Abstract:
In manufacturing, digital twins, realized as Asset Administration Shells (AAS), have emerged as a prevalent practice. These digital replicas, often utilized as structured repositories of asset-related data, facilitate interoperability across diverse systems. However, extant approaches treat the AAS as a static information model, lacking support for dynamic service integration and system adaptation. The existing body of literature has not yet thoroughly explored the potential for integrating executable behavior, particularly in the form of containerized services, into or from the AAS. This integration could serve to enable proactive functionality. In this paper, we propose a submodel-based architecture that introduces a structured service notion to the AAS, enabling services to dynamically interact with and adapt AAS instances at runtime. This concept is implemented through the extension of a submodel with behavioral definitions, resulting in a modular event-driven architecture capable of deploying containerized services based on embedded trigger conditions. The approach is illustrated through a case study on a 3-axis milling machine. Our contribution enables the AAS to serve not only as a passive digital representation but also as an active interface for executing added-value services.%, thereby laying the foundation for future AI-driven adaptation and system-level intelligence in digital twin environments.

Paperid: 1637, https://arxiv.org/pdf/2512.14349.pdf

Abstract:
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task $η=J(q)\dot{q}$, where $q$ is a point on the configuration manifold, $η$ is a velocity-like task space variable, and $J(q)$ is a linear map representing the task, for example the classical analytic or geometric manipulator Jacobian matrix. The proposed model emerges from a change of coordinates from canonical Hamiltonian dynamics, and splits the standard Hamiltonian momentum variable into a task-space momentum variable and a null-space momentum variable. Properties of this model and relation to Lagrangian formulations present in the literature are highlighted. Finally, we apply the proposed model in an \textit{Interconnection and Damping Assignment Passivity-Based Control} (IDA-PBC) design to stabilize and shape the impedance of a 7-DOF Emika Panda robot in simulation.

Paperid: 1638, https://arxiv.org/pdf/2512.12081.pdf

Abstract:
Growing EV adoption can worsen traffic conditions if chargers are sited without regard to their impact on congestion. We study how to strategically place EV chargers to reduce congestion using two equilibrium models: one based on congestion games and one based on an atomic queueing simulation. We apply both models within a scalable greedy station-placement algorithm. Experiments show that this greedy scheme yields optimal or near-optimal congestion outcomes in realistic networks, even though global optimality is not guaranteed as we show with a counterexample. We also show that the queueing-based approach yields more realistic results than the congestion-game model, and we present a unified methodology that calibrates congestion delays from queue simulation and solves equilibrium in link-space.

Paperid: 1639, https://arxiv.org/pdf/2512.11858.pdf

Abstract:
Diffusion-based samplers -- Score Based Diffusions, Bridge Diffusions and Path Integral Diffusions -- match a target at terminal time, but the real leverage comes from choosing the schedule that governs the intermediate-time dynamics. We develop a path-wise schedule -- selection gramework for Harmonic PID with a time-varying stiffness, exploiting Piece-Wise-Constant(PWC) parametrizations and a simple hierarchical refinement. We introduce schedule-sensitive Quality-of-Sampling (QoS) diagnostics. Assuming a Gaussian-Mixture (GM) target, we retain closed-form Green functions' ration and numerically stable, Neural-Network free oracles for predicted-state maps and score. Experiments in 2D show that QoS driven PWC schedules consistently improve early-exit fidelity, tail accuracy, conditioning of the dynamics, and speciation (label-selection) timing at fixed integration budgets.

Paperid: 1640, https://arxiv.org/pdf/2512.11580.pdf

Abstract:
Safe Bayesian optimization (BO) with Gaussian processes is an effective tool for tuning control policies in safety-critical real-world systems, specifically due to its sample efficiency and safety guarantees. However, most safe BO algorithms assume homoscedastic sub-Gaussian measurement noise, an assumption that does not hold in many relevant applications. In this article, we propose a straightforward yet rigorous approach for safe BO across noise models, including homoscedastic sub-Gaussian and heteroscedastic heavy-tailed distributions. We provide a high-probability bound on the measurement noise via the scenario approach, integrate these bounds into high probability confidence intervals, and prove safety and optimality for our proposed safe BO algorithm. We deploy our algorithm in synthetic examples and in tuning a controller for the Franka Emika manipulator in simulation.

Paperid: 1641, https://arxiv.org/pdf/2512.10392.pdf

Abstract:
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large domains under resource constraints, making both coverage efficiency and safety essential. To address the efficiency aspect, we adopt the Density-Driven Control (D$^2$C) framework, which uses optimal transport theory to steer agents according to a reference distribution that encodes spatial coverage priorities. To ensure safety, we incorporate Control Barrier Functions (CBFs) into the framework. While CBFs are commonly used for collision avoidance, we extend their applicability by introducing obstacle-specific formulations for both circular and rectangular shapes. In particular, we analytically derive a unit normal vector based on the agent's position relative to the nearest face of a rectangular obstacle, improving safety enforcement in environments with non-smooth boundaries. Additionally, a velocity-dependent term is incorporated into the CBF to enhance collision avoidance. Simulation results validate the proposed method by demonstrating smoother navigation near obstacles and more efficient area coverage than the existing method, while still ensuring collision-free operation.

Paperid: 1642, https://arxiv.org/pdf/2512.10117.pdf

Abstract:
Learning the flows of hybrid systems that have both continuous and discrete time dynamics is challenging. The existing method learns the dynamics in each discrete mode, which suffers from the combination of mode switching and discontinuities in the flows. In this work, we propose CHyLL (Continuous Hybrid System Learning in Latent Space), which learns a continuous neural representation of a hybrid system without trajectory segmentation, event functions, or mode switching. The key insight of CHyLL is that the reset map glues the state space at the guard surface, reformulating the state space as a piecewise smooth quotient manifold where the flow becomes spatially continuous. Building upon these insights and the embedding theorems grounded in differential topology, CHyLL concurrently learns a singularity-free neural embedding in a higher-dimensional space and the continuous flow in it. We showcase that CHyLL can accurately predict the flow of hybrid systems with superior accuracy and identify the topological invariants of the hybrid systems. Finally, we apply CHyLL to the stochastic optimal control problem.

Paperid: 1643, https://arxiv.org/pdf/2512.07757.pdf

Abstract:
Due the complexity of modern power systems, modeling based on first-order principles becomes increasingly difficult. As an alternative, dynamical models for simulation and control design can be obtained by black-box identification techniques. One such technique for the identification of continuous-time systems are neural ordinary differential equations. For training and inference, they require initial values of system states, such as phase angles and frequencies. While frequencies can typically be measured, phase angle measurements are usually not available. To tackle this problem, we propose a novel structure based on augmented neural ordinary differential equations, learning latent phase angle representations on historic observations with temporal convolutional networks. Our approach combines state-of-the art deep learning techniques, avoiding the necessity of phase angle information for the power system identification. Results show, that our approach clearly outperforms simpler augmentation techniques.

Paperid: 1644, https://arxiv.org/pdf/2512.07395.pdf

Abstract:
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and theoretically validate two classes of ZCBFs. The first enforces kinematic constraints, suitable for implementing obstacle avoidance algorithms. The second enforces kinetic energy limits along prescribed inertial-frame translational and rotational directions, relevant for ensuring safe physical interaction. Numerical simulations involving slit traversal and safe landing scenarios are presented to validate the effectiveness and versatility of the proposed methodology.

Paperid: 1645, https://arxiv.org/pdf/2512.07219.pdf

Abstract:
Characterizing and understanding lane-changing behavior in the presence of automated vehicles (AVs) is crucial to ensuring safety and efficiency in mixed traffic. Accordingly, this study aims to characterize the interactions between the lane-changing vehicle (active vehicle) and the vehicle directly impacted by the maneuver in the target lane (passive vehicle). Utilizing real-world trajectory data from the Waymo Open Motion Dataset (WOMD), this study explores patterns in lane-changing behavior and provides insight into how these behaviors evolve under different AV market penetration rates (MPRs). In particular, we propose a game-theoretic framework to analyze cooperative and defective behaviors in mixed traffic, applied to the 7,636 observed lane-changing events in the WOMD. First, we utilize k-means clustering to classify vehicles as cooperative or defective, revealing that the proportions of cooperative AVs are higher than those of HDVs in both active and passive roles. Next, we jointly estimate the utilities of active and passive vehicles to model their behaviors using the quantal response equilibrium framework. Empirical payoff tables are then constructed based on these utilities. Using these payoffs, we analyze the presence of social dilemmas and examine the evolution of cooperative behaviors using evolutionary game theory. Our results reveal the presence of social dilemmas in approximately 4% and 11% of lane-changing events for active and passive vehicles, respectively, with most classified as Stag Hunt or Prisoner's Dilemma (Chicken Game rarely observed). Moreover, the Monte Carlo simulation results show that repeated lane-changing interactions consistently lead to increased cooperative behavior over time, regardless of the AV penetration rate.

Paperid: 1646, https://arxiv.org/pdf/2512.06733.pdf

Abstract:
This work develops a symmetry-based framework for formation control on cycle graphs using Dihedral point-group constraints. We show that enforcing inter-agent reflection symmetries, together with anchoring a single designated agent to its prescribed mirror axis, is sufficient to realize every $\mathcal{C}_{nv}$-symmetric configuration using only $n-1$ communication links. The resulting control laws have a matrix-weighted Laplacian structure and guarantee exponential convergence to the desired symmetric configuration. Furthermore, we extend the method to enable coordinated maneuvers along a time-varying reference trajectory. Simulation results are provided to support the theoretical analysis.

Paperid: 1647, https://arxiv.org/pdf/2512.06286.pdf

Abstract:
In this work, we propose a noise-centric formulation of the distributionally robust Kalman filter (DRKF) for discrete-time linear stochastic systems with uncertain noise statistics. By placing Wasserstein ambiguity sets directly on the process and measurement noise distributions, the proposed DRKF preserves the analytical structure of the classical Kalman filter while providing a priori spectral bounds on all feasible covariances. In the time-invariant setting, we derive a steady-state DRKF from a single stationary semidefinite program, yielding a constant-gain estimator with the same per-step computational complexity as the standard Kalman filter. We establish conditions guaranteeing the existence, uniqueness, and convergence of this steady-state solution, and we prove its asymptotic minimax optimality with respect to the worst-case mean-square error. Numerical experiments validate the theory and demonstrate that the proposed DRKF improves estimation accuracy under unknown or uncertain noise models while offering computational advantages over existing robust and distributionally robust filters.

Paperid: 1648, https://arxiv.org/pdf/2512.06182.pdf

Abstract:
To enable autonomous driving in interactive traffic scenarios, various model predictive control (MPC) formulations have been proposed, each employing different interaction models. While higher-fidelity models enable more intelligent behavior, they incur increased computational cost. Since strong interactions are relatively infrequent in traffic, a practical strategy for balancing performance and computational overhead is to invoke an appropriate controller based on situational demands. To achieve this approach, we first conduct a comparative study to assess and hierarchize the interactive capabilities of different MPC formulations. Furthermore, we develop a neural network-based classifier to enable situation-aware switching among controllers with different levels of interactive capability. We demonstrate that this situation-aware switching can both substantially improve overall performance by activating the most advanced interactive MPC in rare but critical situations, and significantly reduce computational load by using a basic MPC in the majority of scenarios.

Paperid: 1649, https://arxiv.org/pdf/2512.05876.pdf

Abstract:
The transition toward power grids with high renewable penetration demands context-aware decision making frameworks. Traditional operational paradigms, which rely on static optimization of history-based load forecasting, often fail to capture the complex nature of real-time operational conditions, such as operator-issued maintenance mandates, emergency topology changes, or event-driven load surges. To address this challenge, we introduce InstructMPC, a closed-loop framework that integrates Large Language Models~(LLMs) to generate context-aware predictions, enabling the controller to optimize power system operation. Our method employs a Contextual Disturbances Predictor~(CDP) module to translate contextual information into predictive disturbance trajectories, which are then incorporated into the Model Predictive Control~(MPC) optimization. Unlike conventional open-loop forecasting frameworks, InstructMPC features an online tuning mechanism where the predictor's parameters are continuously updated based on the realized control cost with a theoretical guarantee, achieving a regret bound of $O(\sqrt{T \log T})$ for linear dynamics when optimized via a tailored loss function, ensuring task-aware learning and adaption to non-stationary grid conditions.

Paperid: 1650, https://arxiv.org/pdf/2512.05780.pdf

Abstract:
The impedance criterion has emerged as an alternative way to stability assessment of grid-connected power electronic converters. However, the lack of physical meaning of impedance and admittance matrices hinders the ability to understand the root cause of instabilities. To address this issue, this paper proposes the application of Pauli decomposition to the impedance matrices and the minor loop of grid-connected power electronic converters. The application of this methodology simplifies establishing the link between impedance matrix terms and closed-loop stability properties. Moreover, Pauli decomposition transforms impedance matrices in a quaternion-like form that is helpful to assess the root cause of instabilities. The theoretical contributions are validated using a case study consisting of a power electronic converter connected to a weak grid that has been previously analysed in the literature using existing techniques.

Paperid: 1651, https://arxiv.org/pdf/2512.05473.pdf

Abstract:
Although distributed Gaussian process regression (GPR) enables multiple agents with separate datasets to jointly learn a model of the target function, its collaborative nature poses risks of private data leakage. To address this, we propose a privacy-preserving fully distributed GPR protocol based on secure multi-party computation (SMPC) that preserves the confidentiality of each agent's local dataset. Building upon a secure distributed average consensus algorithm, the protocol guarantees that each agent's local model practically converges to the same global model that would be obtained by the standard distributed GPR. Further, we adopt the paradigm of simulation based security to provide formal privacy guarantees, and extend the proposed protocol to enable kernel hyperparameter optimization, which is critical yet often overlooked in the literature. Experimental results demonstrate the effectiveness and practical applicability of the proposed method.

Paperid: 1652, https://arxiv.org/pdf/2512.04565.pdf

Abstract:
This paper focuses on adaptive control of the discrete-time linear quadratic regulator (adaptive LQR). Recent literature has made significant contributions in proving non-asymptotic convergence rates, but existing approaches have a few drawbacks that pose barriers for practical implementation. These drawbacks include (i) a requirement of an initial stabilizing controller, (ii) a reliance on exploration for closed-loop stability, and/or (iii) computationally intensive algorithms. This paper proposes a new algorithm that overcomes these drawbacks for a particular class of discrete-time systems. This algorithm leverages direct Model-Reference Adaptive Control (direct MRAC) and combines it with an epoch-based approach in order to address the drawbacks (i)-(iii) with a provable high-probability regret bound comparable to existing literature. Simulations demonstrate that the proposed approach yields regrets that are comparable to those from existing methods when the conditions (i) and (ii) are met, and yields regrets that are significantly smaller when either of these two conditions is not met.

Paperid: 1653, https://arxiv.org/pdf/2512.04312.pdf

Abstract:
Quantum transduction, which enables the coherent conversion of quantum information between disparate physical platforms, is a cornerstone for realizing scalable and interoperable quantum networks. Among various approaches, parametric frequency mixing processes such as four-wave mixing (FWM) offer a promising pathway toward efficient and low-noise transduction. In this work, we demonstrate the feasibility of coherent quantum state transfer by indirectly verifying high-fidelity wavefunction's phase mapping (>99%) from the input field to the generated output field wave. Using a gas-filled hollow-core capillary fiber, we systematically investigate spectral phase evolution across a broad range, including infrared (IR) to ultraviolet (UV) transitions, as well as conversions from telecom-band (1550 nm) to visible (516 nm) and deep-UV (308 nm) wavelengths. Our results reveal that strong phase coherence can be maintained throughout these diverse conversion regimes. Because quantum properties such as coherence and entanglement are intrinsically encoded in both the amplitude and phase of a photonic wavefunction, preserving spectral phase is essential for faithful quantum information transfer. We further show that efficient and phase-preserving transduction can be achieved by tuning system parameters, offering valuable insights into nonlinear coupling dynamics. These findings establish a promising foundation for advancing FWM-based quantum transduction schemes and open new avenues for integrating heterogeneous quantum systems across wide spectral domains within future quantum communication networks.

Paperid: 1654, https://arxiv.org/pdf/2512.04247.pdf

Abstract:
Considering a nonlinear system in Byrnes-Isidori form that is subject to unbounded perturbations, we apply Lyapunov redesign via feedback linearisation for trajectory tracking. Leveraging the ideas of tube-based geometric characterisation of the invariance properties of the closed loop, we generalise the classical stability criterion from the~literature from constant to nonconstant reference trajectories. The proposed analysis is tailored to the Lyapunov redesign and the tracking problem insofar as we incorporate the reference trajectory and the transient decrease of the tracking error enforced by the controller. In particular, we exploit that the Lyapunov function of the tracking error satisfies a differential inequality, thereby guaranteeing that the solution of the closed loop remains in a contracting tube along the reference trajectory.

Paperid: 1655, https://arxiv.org/pdf/2512.03434.pdf

Abstract:
Encrypted control has been extensively studied to ensure the confidentiality of system states and control inputs for networked control systems. This paper presents a computationally efficient encrypted control framework for networked systems enabled by quantum communication. A quantum channel between sensors and actuators is used to generate identical secret keys, whose security is further enhanced through quantum key distribution. These keys enable lightweight encryption and decryption while preserving confidentiality and control accuracy. We develop a novel encryption-decryption architecture for state-feedback control of linear systems based on quantum keys, and characterize the impact of quantum state errors on closed-loop stability. In particular, we establish the existence of a critical threshold on intrinsic quantum noise below which stability is guaranteed. In contrast to classical encrypted control schemes, which may collapse under a single key-bit error, the proposed quantum encrypted control exhibits strong robustness to key imperfections. We further adopt quantization techniques to address the scenarios with limited communication bits in practical situations, and implement privacy protection for quantum keys based on a stochastic quantizer. These results demonstrate that integrating quantum technologies into control systems in a nontrivial and principled manner, even at their current level of maturity, can yield substantial performance gains in reducing computational complexity and improving resilience to key errors while ensuring security against multiple eavesdropping sources.

Paperid: 1656, https://arxiv.org/pdf/2512.02893.pdf

Abstract:
Reachability analysis has been a prominent way to provide safety guarantees for neurally controlled autonomous systems, but its direct application to neural perception components is infeasible due to imperfect or intractable perception models. Typically, this issue has been bypassed by complementing reachability with statistical analysis of perception error, say with conformal prediction (CP). However, existing CP methods for time-series data often provide conservative bounds. The corresponding error accumulation over time has made it challenging to combine statistical bounds with symbolic reachability in a way that is provable, scalable, and minimally conservative. To reduce conservatism and improve scalability, our key insight is that perception error varies significantly with the system's dynamical state. This article proposes state-dependent conformal prediction, which exploits that dependency in constructing tight high-confidence bounds on perception error. Based on this idea, we provide an approach to partition the state space, using a genetic algorithm, so as to optimize the tightness of conformal bounds. Finally, since using these bounds in reachability analysis leads to additional uncertainty and branching in the resulting hybrid system, we propose a branch-merging reachability algorithm that trades off uncertainty for scalability so as to enable scalable and tight verification. The evaluation of our verification methodology on two complementary case studies demonstrates reduced conservatism compared to the state of the art.

Paperid: 1657, https://arxiv.org/pdf/2512.02367.pdf

Abstract:
This paper presents Density-based Predictive Control (DPC), a novel multi-agent control strategy for efficient non-uniform area coverage, grounded in optimal transport theory. In large-scale scenarios such as search and rescue or environmental monitoring, traditional uniform coverage fails to account for varying regional priorities. DPC leverages a pre-constructed reference distribution to allocate agents' coverage efforts, spending more time in high-priority or densely sampled regions. We analyze convergence conditions using the Wasserstein distance, derive an analytic optimal control law for unconstrained cases, and propose a numerical method for constrained scenarios. Simulations on first-order dynamics and linearized quadrotor models demonstrate that DPC achieves trajectories closely matching the non-uniform reference distribution, outperforming existing coverage methods.

Paperid: 1658, https://arxiv.org/pdf/2512.01984.pdf

Abstract:
Chaos is a fundamental feature of many complex dynamical systems, including weather systems and fluid turbulence. These systems are inherently difficult to predict due to their extreme sensitivity to initial conditions. Many chaotic systems are dissipative and ergodic, motivating data-driven models that aim to learn invariant statistical properties over long time horizons. While recent models have shown empirical success in preserving invariant statistics, they are prone to generating unbounded predictions, which prevent meaningful statistics evaluation. To overcome this, we introduce the Energy-Constrained Operator (ECO) that simultaneously learns the system dynamics while enforcing boundedness in predictions. We leverage concepts from control theory to develop algebraic conditions based on a learnable energy function, ensuring the learned dynamics is dissipative. ECO enforces these algebraic conditions through an efficient closed-form quadratic projection layer, which provides provable trajectory boundedness. To our knowledge, this is the first work establishing such formal guarantees for data-driven chaotic dynamics models. Additionally, the learned invariant level set provides an outer estimate for the strange attractor, a complex structure that is computationally intractable to characterize. We demonstrate empirical success in ECO's ability to generate stable long-horizon forecasts, capturing invariant statistics on systems governed by chaotic PDEs, including the Kuramoto--Sivashinsky and the Navier--Stokes equations.

Paperid: 1659, https://arxiv.org/pdf/2512.01897.pdf

Abstract:
Autonomous ground vehicles (AGVs) must navigate safely in cluttered environments while accounting for complex dynamics and environmental uncertainty. Hamilton-Jacobi Reachability (HJR) offers formal safety guarantees through the computation of forward and backward reachable sets, but its application is hindered by poor scalability in environments with numerous obstacles. In this paper, we present a novel framework called NeuroHJR that leverages Physics-Informed Neural Networks (PINNs) to approximate the HJR solution for real-time obstacle avoidance. By embedding system dynamics and safety constraints directly into the neural network loss function, our method bypasses the need for grid-based discretization and enables efficient estimation of reachable sets in continuous state spaces. We demonstrate the effectiveness of our approach through simulation results in densely cluttered scenarios, showing that it achieves safety performance comparable to that of classical HJR solvers while significantly reducing the computational cost. This work provides a new step toward real-time, scalable deployment of reachability-based obstacle avoidance in robotics.

Paperid: 1660, https://arxiv.org/pdf/2512.01814.pdf

Abstract:
The high penetration of inverter-based resources (IBRs) reduces system inertia, leading to frequency stability concerns, especially during synchronous generator (SG) outages. To maintain frequency dynamics within secure limits while ensuring economic efficiency, frequency-constrained optimal power flow (FCOPF) is employed. However, existing studies either neglect the frequency support capability and allocation of grid-forming (GFM) IBRs or suffer from limited accuracy in representing frequency dynamics due to model simplifications. To address this issue, this paper proposes a deep learning (DL)-based FCOPF (DL-FCOPF) framework. A DL model is first developed as a predictor to accurately estimate frequency-related metrics: the required reserved headroom and allocation of GFM IBRs, the rate of change of frequency and frequency nadir. After being trained with data obtained from electromagnetic transient simulations, the DL model is reformulated and incorporated into FCOPF. Case studies conducted on two test systems demonstrate the effectiveness of the proposed approach. Compared with the traditional OPF and linear FCOPF benchmarks, the DL-FCOPF can optimally coordinate SGs and IBRs with minimum cost, achieving desired frequency response, within an acceptable computing time. Further-more, sensitivity analyses are conducted to identify the most suit-able structure and linearization approach of the DL-based frequency predictor.

Paperid: 1661, https://arxiv.org/pdf/2512.01475.pdf

Abstract:
Extending data-driven algorithms based on Willems' fundamental lemma to stochastic data often requires empirical and customized workarounds. This work presents a unified Bayesian framework that provides a systematic and general method for handling stochastic data-driven tasks, including smoothing, prediction, and control, via maximum a posteriori estimation. This framework formulates a unified trajectory estimation problem for the three tasks by specifying different types of trajectory knowledge. Then, a Bayesian problem is solved that optimally combines trajectory knowledge with a data-driven characterization of the trajectory from offline data for a general class of stochastic disturbances. Under specific conditions, this problem is shown to generalize existing data-driven prediction and control algorithms. Numerical examples demonstrate the performance of the unified approach for all three tasks against other data-driven and system identification approaches.

Paperid: 1662, https://arxiv.org/pdf/2512.01182.pdf

Abstract:
This article develops an optical navigation (OPNAV) and station-keeping pipeline for the near-rectilinear halo orbit (NRHO) in high-fidelity ephemeris model dynamics. The pipeline involves synthetic images used by the non-iterative horizon-based OPNAV algorithm, fed into an extended Kalman filter. The state estimate is used by a controller to maintain the spacecraft's motion within the vicinity of a reference NRHO. We study differential correction-based and minimization-based implementations of the x-axis crossing control scheme, and propose an improved targeting prediction scheme by incorporating the filter's state covariance with an unscented transform. We also introduce a hysteresis mechanism, which improves station-keeping cost and provides insight into the difference in performance between the differential correction-based and minimization-based approaches. We perform Monte-Carlo experiments to assess the pipeline's tracking and ΔV performances. We report several key findings, including the variability of the filter performance with the sensor field of view and measurement locations, station-keeping cost reduction achieved by the unscented transform-based prediction and hysteresis, as well as variability of the cumulative ΔV as a function of maneuver location due to the periodic structure in the OPNAV-based filter's estimation accuracy.

Paperid: 1663, https://arxiv.org/pdf/2511.22368.pdf

Abstract:
This paper presents a unified and scalable framework for predictive and safe autonomous navigation in dynamic transportation environments by integrating model predictive control (MPC) with distributed Koopman operator learning. High-dimensional sensory data are employed to model and forecast the motion of surrounding dynamic obstacles. A consensus-based distributed Koopman learning algorithm enables multiple computational agents or sensing units to collaboratively estimate the Koopman operator without centralized data aggregation, thereby supporting large-scale and communication-efficient learning across a networked system. The learned operator predicts future spatial densities of obstacles, which are subsequently represented through Gaussian mixture models. Their confidence ellipses are approximated by convex polytopes and embedded as linear constraints in the MPC formulation to guarantee safe and collision-free navigation. The proposed approach not only ensures obstacle avoidance but also scales efficiently with the number of sensing or computational nodes, aligning with cooperative perception principles in intelligent transportation system (ITS) applications. Theoretical convergence guarantees and predictive constraint formulations are established, and extensive simulations demonstrate reliable, safe, and computationally efficient navigation performance in complex environments.

Paperid: 1664, https://arxiv.org/pdf/2511.19327.pdf

Abstract:
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to accurately track a dynamic/time-varying reference value of the leader while they may receive misinformation from adversarial neighbors. Our methodologies employ the mean subsequence reduced algorithm with agents engaging with neighbors using multi-hop communication. We accordingly derive a necessary and sufficient graph condition for our algorithms to succeed; also, our tracking error bounds are smaller than that of the existing method. Furthermore, it is emphasized that even when agents do not use relays, our condition is tighter than the sufficient conditions in the literature. With multi-hop relays, we can further obtain more relaxed graph requirements. Finally, we present numerical examples to verify the effectiveness of our algorithms.

Paperid: 1665, https://arxiv.org/pdf/2511.17186.pdf

Abstract:
This paper introduces a Koopman-enhanced distributed switched model predictive control (SMPC) framework for safe and scalable navigation of quadrotor unmanned aerial vehicles (UAVs) in dynamic environments with moving obstacles. The proposed method integrates switched motion modes and data-driven prediction to enable real-time, collision-free coordination. A localized Koopman operator approximates nonlinear obstacle dynamics as linear models based on online measurements, enabling accurate trajectory forecasting. These predictions are embedded into a distributed SMPC structure, where each UAV makes autonomous decisions using local and cluster-based information. This computationally efficient architecture is particularly promising for applications in surface transportation, including coordinated vehicle flows, shared infrastructure with pedestrians or cyclists, and urban UAV traffic. Simulation results demonstrate reliable formation control and real-time obstacle avoidance, highlighting the frameworks broad relevance for intelligent and cooperative mobility systems.

Paperid: 1666, https://arxiv.org/pdf/2511.17007.pdf

Abstract:
Machine learning (ML) has greatly advanced data-driven channel modeling and resource optimization in wireless communication systems. However, most existing ML-based methods rely on large, accurately labeled datasets with location information, which are often difficult and costly to obtain. This paper proposes a generative framework to recover location labels directly from sequences of sparse channel state information (CSI) measurements, without explicit location labels for radio map construction. Instead of directly storing raw CSI, we learn a compact low-dimensional radio map embedding and leverage a generative model to reconstruct the high-dimensional CSI. Specifically, to address the uncertainty of sparse CSI, a dual-scale feature extraction scheme is designed to enhance feature representation by jointly exploiting correlations from angular space and across neighboring samples. We develop a hybrid recurrent-convolutional encoder to learn mobility patterns, which combines a truncation strategy and multi-scale convolutions in the recurrent neural network (RNN) to ensure feature robustness against short-term fluctuations. Unlike conventional Gaussian priors in latent space, we embed a learnable radio map to capture the location information by encoding high-level positional features from CSI measurements. Finally, a diffusion-based generative decoder reconstructs the full CSI with high fidelity by conditioning on the positional features in the radio map. Numerical experiments demonstrate that the proposed model can improve localization accuracy by over 30% and achieve a 20% capacity gain in non-line-of-sight (NLOS) scenarios compared with model-based Kalman filter approaches.

Paperid: 1667, https://arxiv.org/pdf/2511.15629.pdf

Abstract:
We develop a GPU-accelerated dynamic programming (DP) method for valuing, operating, and bidding energy storage under multistage stochastic electricity prices. Motivated by computational limitations in existing models, we formulate DP backward induction entirely in tensor-based algebraic operations that map naturally onto massively parallel GPU hardware. Our method accommodates general, potentially non-concave payoff structures, by combining a discretized DP formulation with a convexification procedure that produces market-feasible, monotonic price-quantity bid curves. Numerical experiments using ISO-NE real-time prices demonstrate up to a 100x speedup by the proposed GPU-based DP method relative to CPU computation, and an 8,000x speedup compared to a commercial MILP solver, while retaining sub-0.3% optimality gaps compared to exact benchmarks.

Paperid: 1668, https://arxiv.org/pdf/2511.15624.pdf

Abstract:
Security-Constrained DC Optimal Power Flow (SC DCOPF) is an important tool for transmission system operators, enabling economically efficient and physically secure dispatch decisions. Although CPU-based commercial solvers (e.g., Gurobi) can efficiently solve SC-DCOPF problems with a reasonable number of security constraints, their performance degrades rapidly as both system size and the number of contingencies grow into thousands, leading to a significant computational burden. This introduces a bottleneck for system operators who seek timely decision-making across a wide range of potential threats. In this paper, we design a computational graph representation of the SC-DCOPF-based market-clearing problem, inspired by the third ARPA-E Grid Optimization Competition (GO3). We are able to quickly bound the optimal solution of large-scale SC-DCOPF problems using a GPU-accelerated Neural Network verification tool called Interval Bound Propagation (IBP). Using IBP, we compute certified bounds with a maximum gap of 6.53% for instances up to 617 buses, while demonstrating scalability on challenging systems up to 8,316 buses with a runtime of approximately 0.07 seconds. These results demonstrate that IBP can provide high-quality solution bounds at very fast speeds, and it can help identify infeasibility drivers in challenging SC-DCOPF instances.

Paperid: 1669, https://arxiv.org/pdf/2511.15477.pdf

Abstract:
We analyze contraction in conductance-based excitable systems and link it to reliable spike timing. For a Hodgkin-Huxley neuron with synaptic input, we prove the unforced dynamics is incrementally exponentially stable on a compact physiological set. With impulsive inputs, contraction persists under an average dwell-time condition, and for periodic spike trains we derive an explicit lower bound on the inter-impulse period. In the high-rate limit the synapse is effectively held open, the conductance is nearly constant, and self-sustained limit-cycle oscillations can arise, so contraction no longer holds. This continuous-time view explains when spike times extracted by an event detector remain robust across trials, and simulations confirm both regimes.

Paperid: 1670, https://arxiv.org/pdf/2511.14209.pdf

Abstract:
An increasing penetration of renewable energy resources, electric vehicle chargers, and energy storage systems into low-voltage power grids causes several power management and stability problems, such as reverse power flow, (local) overload lines, and over- / under-voltage. Previous power-flow and soft-open-point solutions are bulky and expensive. They need transformers and large magnetics, some on grid frequency, others more compact at high frequency. Even suggested circuits with high-frequency transformers still struggle with cost and size. We present a compact partial power-conversion high-current full-power-flow control circuit without a single transformer. We combine silicon and silicon-carbide, each with their specific advantages for current-dense direct injection. The circuit further needs fewer semiconductors than previous concepts. The circuit links a shunt converter through a non-isolated inverter bidirectionally with low-voltage series modules that practically float with their respective phases can serve between different feeders in low-voltage power grids. We analyze the circuit mathematically and evaluate the operation in simulation and experimental results.

Paperid: 1671, https://arxiv.org/pdf/2511.13595.pdf

Abstract:
This work addresses the full-information output regulation problem for nonlinear systems, assuming the states of both the plant and the exosystem are known. In this setting, perfect tracking or rejection is achieved by constructing a zero-regulation-error manifold $π(w)$ and a feedforward input $c(w)$ that render such manifold invariant. The pair $(π(w), c(w))$ is characterized by the regulator equations, i.e., a system of PDEs with an algebraic constraint. We focus on accurately solving the regulator equations introducing a physics-informed neural network (PINN) approach that directly approximates $π(w)$ and $c(w)$ by minimizing the residuals under boundary and feasibility conditions, without requiring precomputed trajectories or labeled data. The learned operator maps exosystem states to steady state plant states and inputs, enables real-time inference and, critically, generalizes across families of the exosystem with varying initial conditions and parameters. The framework is validated on a regulation task that synchronizes a helicopter's vertical dynamics with a harmonically oscillating platform. The resulting PINN-based solver reconstructs the zero-error manifold with high fidelity and sustains regulation performance under exosystem variations, highlighting the potential of learning-enabled solvers for nonlinear output regulation. The proposed approach is broadly applicable to nonlinear systems that admit a solution to the output regulation problem.

Paperid: 1672, https://arxiv.org/pdf/2511.12758.pdf

Abstract:
Boundedness is an important property of many physical systems. This includes incompressible fluid flows, which are often modeled by quadratic dynamics with an energy-preserving nonlinearity. For such systems, Schlegel and Noack proposed a sufficient condition for boundedness utilizing quadratic Lyapunov functions. They also propose a necessary condition for boundedness aiming to provide a more complete characterization of boundedness in this class of models. The sufficient condition is based on Lyapunov theory and is true. Our paper focuses on this necessary condition. We use an independent proof to show that the condition is true for two dimensional systems. However, we provide a three dimensional counterexample to illustrate that the necessary condition fails to hold in higher dimensions. Our results highlight a theoretical gap in boundedness analysis and suggest future directions to address the conservatism.

Paperid: 1673, https://arxiv.org/pdf/2511.12756.pdf

Abstract:
This paper addresses the fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are insufficient for realistic applications, and many non-uniform approaches either lack optimality guarantees or fail to incorporate crucial real-world constraints such as agent dynamics, limited operation time, the number of agents, and decentralized execution. To resolve these limitations, we propose a novel framework called Density-Driven Optimal Control (D2OC). The central idea of D2OC is the integration of optimal transport theory with multi-agent coverage control, enabling each agent to continuously adjust its trajectory to match a mission-specific reference density map. The proposed formulation establishes optimality by solving a constrained optimization problem that explicitly incorporates physical and operational constraints. The resulting control input is analytically derived from the Lagrangian of the objective function, yielding closed-form optimal solutions for linear systems and a generalizable structure for nonlinear systems. Furthermore, a decentralized data-sharing mechanism is developed to coordinate agents without reliance on global information. Comprehensive simulation studies demonstrate that D2OC achieves significantly improved non-uniform area coverage performance compared to existing methods, while maintaining scalability and decentralized implementability.

Paperid: 1674, https://arxiv.org/pdf/2511.12685.pdf

Abstract:
To study resilience with real data, it is necessary to group the individual outages recorded by utilities into events in which the outages bunch up and overlap due to extreme weather. We show how to automatically group utility outage data into resilience events based on their time and location. The methods work with both detailed utility outage data and EAGLE-I data.

Paperid: 1675, https://arxiv.org/pdf/2511.12678.pdf

Abstract:
Multi orbit low earth orbit (LEO) satellites communication is envisioned as a key infrastructure to deliver global coverage, enabling future services from space air ground integrated networks.However, the optimized design of LEO which jointly addresses satellite selection, association control, and resource scheduling while accounting for dynamic visibility in multi orbit constellations still remains open. Satellites moving along distinct orbital planes yield phase shifted ground tracks and heterogeneous, time varying coverage patterns that significantly complicate the optimization.To bridge the gap, we propose a dynamic visibility aware multi orbit satellite selection framework which can determine the optimal serving satellites across orbital layers. The framework is built upon Markov approximation and matching game theory. Specifically, we formulate a combinatorial optimization problem that maximizes the sum rate under per satellite power budgets. The problem is NP hard , combining discrete user association (UA) decisions with continuous power allocation, and an inherently non convex sum rate maximization objective. We address it through a problem specific Markov approximation. Moreover, we alternately solve UA or bandwidth allocation via a matching game and power allocation via a Lagrangian dual program, which together form a block coordinate descent method tailored to this problem. Simulation results show that the proposed algorithm converges to a suboptimal solution across all scenarios. Extensive experiments against four state of the art baselines further demonstrate that our algorithm achieves, on average, approximately 7.85% higher sum rate than the best performing baseline.

Paperid: 1676, https://arxiv.org/pdf/2511.12492.pdf

Abstract:
The growing scale of modern farms has increased the need for efficient and adaptive multi-agent coverage strategies for pest, weed, and disease management. Traditional methods such as manual inspection and blanket pesticide spraying often lead to excessive chemical use, resource waste, and environmental impact. While unmanned aerial vehicles (UAVs) offer a promising platform for precision agriculture through targeted spraying and improved operational efficiency, existing UAV-based approaches remain limited by battery life, payload capacity, and scalability, especially in large fields where single-UAV or uniformly distributed spraying is insufficient. Although multi-UAV coordination has been explored, many current frameworks still assume uniform spraying and do not account for infestation severity, UAV dynamics, non-uniform resource allocation, or energy-efficient coordination. To address these limitations, this paper proposes a Density-Driven Optimal Control (D2OC) framework that integrates Optimal Transport (OT) theory with multi-UAV coverage control for large-scale agricultural spraying. The method supports non-uniform, priority-aware resource allocation based on infestation intensity, reducing unnecessary chemical application. UAVs are modeled as a linear time-varying (LTV) system to capture variations in mass and inertia during spraying missions. The D2OC control law, derived using Lagrangian mechanics, enables efficient coordination, balanced workload distribution, and improved mission duration. Simulation results demonstrate that the proposed approach outperforms uniform spraying and Spectral Multiscale Coverage (SMC) in coverage efficiency, chemical reduction, and operational sustainability, providing a scalable solution for smart agriculture.

Paperid: 1677, https://arxiv.org/pdf/2511.12163.pdf

Abstract:
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature frequently addresses such problems using stochastic frameworks, this work proposes a deterministic methodology grounded in set-theoretic concepts. By leveraging the principles of set invariance, we adapt the theory of ultimate boundedness to the specific dynamics of displacement-based formations. This approach provides a rigorous method for analyzing the system's behavior under persistent disturbances. Furthermore, this set-theoretic framework allows for the optimized selection of the proposed control law parameters to guarantee pre-specified performance bounds. The efficacy of the synthesized controller is demonstrated in the challenging application of maintaining tight formations in a multi-obstacles environment.

Paperid: 1678, https://arxiv.org/pdf/2511.11417.pdf

Abstract:
We present an approach to compute stabilizing controllers for continuous-time linear time-invariant systems directly from an input-output trajectory affected by process and measurement noise. The proposed output-feedback design combines (i) an observer of a non-minimal realization of the plant and (ii) a feedback law obtained from a linear matrix inequality (LMI) that depends solely on the available data. Under a suitable interval excitation condition and knowledge of a noise energy bound, the feasibility of the LMI is shown to be necessary and sufficient for stabilizing all non-minimal realizations consistent with the data. We further provide a condition for the feasibility of the LMI related to the signal-to-noise ratio, guidelines to compute the noise energy bound, and numerical simulations that illustrate the effectiveness of the approach.

Paperid: 1679, https://arxiv.org/pdf/2511.10117.pdf

Abstract:
Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy and heterogeneous assistive device constraints. This paper introduces a novel cooperative control architecture based on dynamic allocation to address actuator redundancy in a hybrid FES-exoskeleton system. The proposed approach employs a modular control allocator that redistributes required control torques between FES and exoskeleton actuators in real time, accounting for device-specific limitations and user preferences (e.g., prioritizing one assistive device over another). Within this framework, the high-level controller determines the total assistance level, while the allocator dynamically distributes control effort based on these assistive device-specific considerations. Simulation results and experimental validation demonstrate the method's effectiveness in resolving actuator redundancy in the FES-exoskeleton system while reflecting actuator constraints, indicating its potential for deployment in clinical studies to assess patient acceptance and clinical efficacy.

Paperid: 1680, https://arxiv.org/pdf/2511.09427.pdf

Abstract:
We propose an optimization model where a parking lot manager (PLM) can aggregate parked EV batteries to provide virtual energy storage services that are provably robust under uncertain EV departures and state-of-charge caps. Our formulation yields a data-driven convex optimization problem where a prosumer community agrees on a contract with the PLM for the provision of storage services over a finite horizon. Leveraging recent results in the scenario approach, we certify out-of-sample constraint safety. Furthermore, we enable a tunable profit-risk trade-off through scenario relaxation and extend our model to account for robustness to adversarial perturbations and distributional shifts over Wasserstein-based ambiguity sets. All the approaches are accompanied by tight finite-sample certificates. Numerical studies demonstrate the out-of-sample and out-of-distribution constraint satisfaction of our proposed model compared to the developed theoretical guarantees, showing their effectiveness and potential in robust and efficient virtual energy services.

Paperid: 1681, https://arxiv.org/pdf/2511.08759.pdf

Abstract:
Data centers are facilities housing computing infrastructure for processing and storing digital information. The rapid expansion of artificial intelligence is driving unprecedented growth in data center capacity, with global electricity demand from data centers projected to double by 2026. This growth creates substantial challenges for power transmission networks, as large concentrated loads can cause congestion and threaten grid reliability. Meanwhile, the intermittent nature of solar and wind generation requires flexible resources to maintain grid reliability and minimize curtailment. This paper assesses whether data center spatial flexibility-the ability to migrate computational workloads geographically-can serve as a grid resource to address these challenges. An optimal power flow model is developed to co-optimize generation dispatch, security reserves, and flexible data center loads. Case studies on a modified IEEE 73-bus system show that inflexible data center placement can lead to severe transmission violations, with line overloads reaching 30.1%. Enabling spatial flexibility mitigates these violations in the studied scenarios and restores system feasibility. This flexibility also reduces solar curtailment by up to 61.0% by strategically reallocating load to solar-rich areas. The results suggest that spatial flexibility offers a viable approach to defer transmission upgrades and enhance renewable utilization.

Paperid: 1682, https://arxiv.org/pdf/2511.08623.pdf

Abstract:
Dryers play a central role in the processing of phosphate rock, where moisture removal is essential for downstream handling and energy efficiency. Due to the inherently nonlinear and multivariable nature of these systems, accurate modeling and control remain industrial challenges. This article presents a comprehensive nonlinear dynamic model of a phosphate-pebble rotary drying process, built from first principles to capture coupled heat and mass transfer, evaporation kinetics, and subsystem interactions.

Paperid: 1683, https://arxiv.org/pdf/2511.07907.pdf

Abstract:
A recently developed data-driven Kalman filter requires offline measurement of the process disturbance; a requirement that is often unmet for many practical applications. We propose a solution that parametrizes the Kalman filter exclusively using measured input and output data. The key idea is to use the innovations form which naturally accounts for the process disturbance and measurement noise into a single orthogonal stochastic process. Unlike process disturbances, the innovations process can be estimated directly from input-output data via a numerically efficient projection step. The performance of the method is demonstrated using a benchmark simulation.

Paperid: 1684, https://arxiv.org/pdf/2511.07822.pdf

Abstract:
This paper considers the problem of searching for a point of interest (POI) moving along an urban road network with an uncrewed aerial vehicle (UAV). The UAV is modeled as a variable-speed Dubins vehicle with a line-of-sight sensor in an urban environment that may occlude the sensor's view of the POI. A search strategy is proposed that exploits a probabilistic visibility volume (VV) to plan its future motion with iterative deepening $A^\ast$. The probabilistic VV is a time-varying three-dimensional representation of the sensing constraints for a particular distribution of the POI's state. To find the path most likely to view the POI, the planner uses a heuristic to optimistically estimate the probability of viewing the POI over a time horizon. The probabilistic VV is max-pooled to create a variable-timestep planner that reduces the search space and balances long-term and short-term planning. The proposed path planning method is compared to prior work with a Monte-Carlo simulation and is shown to outperform the baseline methods in cluttered environments when the UAV's sensor has a higher false alarm probability.

Paperid: 1685, https://arxiv.org/pdf/2511.07553.pdf

Abstract:
This paper aims to proactively diagnose and manage frequency instability risks from a steady-state perspective, without the need for derivative-dependent transient modeling. Specifically, we jointly address two questions (Q1) Survivability: following a disturbance and the subsequent primary frequency response, can the system settle into a healthy steady state (feasible with an acceptable frequency deviation $Δf$)? (Q2) Dominant Vulnerability: if found unstable, what critical vulnerabilities create instability and/or full collapse? To address these questions, we first augment steady-state power flow states to include frequency-dependent governor relationships (i.e., governor power flow). Afterwards, we propose a frequency-aware sparse optimization that finds the minimal set of bus locations with measurable compensations (corrective actions) to enforce power balance and maintain frequency within predefined/acceptable bounds. We evaluate our method on standard transmission systems to empirically validate its ability to localize dominant sources of vulnerabilities. For a 1354-bus large system, our method detects compensations to only four buses under N-1 generation outage (3424.8 MW) while enforcing a maximum allowable steady-state frequency drop of 0.06 Hz (otherwise, frequency drops by nearly 0.08 Hz). We further validate the scalability of our method, requiring less than four minutes to obtain sparse solutions for the 1354-bus system.

Paperid: 1686, https://arxiv.org/pdf/2511.06583.pdf

Abstract:
Traditional statistical optimization-based state estimation (DSSE) algorithms rely on detailed grid parameters and mathematical assumptions of all possible uncertainties. Furthermore, random data missing due to communication failures, congestion, and cyberattacks, makes these methods easily infeasible. Inspired by recent advances in digital twins (DTs), this paper proposes an interactive attention-based DSSE model for robust grid monitoring by integrating three core components: physical entities, virtual modeling, and data fusion. To enable robustness against various data missing in heterogeneous measurements, we first propose physics-informed data augmentation and transfer. Moreover, a state-of-the-art attention-based spatiotemporal feature learning is proposed, followed by a novel cross-interaction feature fusion for robust voltage estimation. A case study in a real-world unbalanced 84-bus distribution system with raw data validates the accuracy and robustness of the proposed DT model in estimating voltage states, with random locational, arbitrary ratios (up to 40% of total measurements) of data missing.

Paperid: 1687, https://arxiv.org/pdf/2511.06528.pdf

Abstract:
This paper aims to proactively diagnose and manage the voltage collapse risks, i.e., the risk of bus voltages violating the safe operational bounds, which can be caused by extreme events and contingencies. We jointly answer two resilience-related research questions: (Q1) Survivability: Upon having an extreme event/contingency, will the system remain feasible with voltage staying within a (preferred) safe range? (Q2) Dominant Vulnerability: If voltage collapses, what are the dominant sources of system vulnerabilities responsible for the failure? This highlights some key locations worth paying attention to in the planning or decision-making process. To address these questions, we propose a voltage-regulated sparse optimization that finds a minimal set of bus locations along with quantified compensations (corrective actions) that can simultaneously enforce AC network balance and voltage bounds. Results on transmission systems of varying sizes (30-bus to 2383-bus) demonstrate that the proposed method effectively mitigates voltage collapses by compensating at only a few strategically identified nodes, while scaling efficiently to large systems, taking on average less than 4 min for 2000+ bus cases. This work can further serve as a backbone for more comprehensive and actionable decision-making, such as reactive power planning to fix voltage issues.

Paperid: 1688, https://arxiv.org/pdf/2511.06335.pdf

Abstract:
The share of electronically converted power from renewable sources, loads, and storage is continuously growing in the low- and medium-voltage grids. These sources and loads typically rectify the grid AC to DC, e.g., for a DC link, so that a DC grid could eliminate hardware and losses of these conversion stages. However, extended DC grids lack the stabilizing nature of AC impedances so that the voltage is more fragile and power flows may need active control, particularly if redundancy as known from AC, such as rings and meshing, is desired. Furthermore, a DC infrastructure will not replace but will need to interface with the existing AC grid. This paper presents a partial-power energy router architecture that can interface multiple AC and DC lines to enable precise control of voltages and both active as well as reactive power flows. The proposed system uses modular low-voltage high-current series modules supplied through dual active bridges. These modules only need to process a small share of the voltage to control large power flows. The topology reduces component size, cost, energy losses, and reliability more than three times compared to conventional technology. The optional integration of battery energy storage can furthermore eliminate the need for the sum of the power flows of all inputs to be zero at all times. Through dynamic voltage injection relative to the line voltage, the modules effectively balance feeder currents, regulate reactive power, and improve the power factor in AC grids. Real-time hardware-in-the-loop and prototype measurements validate the proposed energy router's performance under diverse operating conditions. Experimental results confirm the series module's functionality in both AC and DC grids as an effective solution for controlling extended grids, including power sharing, voltage, and power quality.

Paperid: 1689, https://arxiv.org/pdf/2511.05391.pdf

Abstract:
This paper proposes a coherency control strategy for Inverter-Based Resources (IBRs) to establish coherence among power system devices. Using the equivalence of the Complex Frequency (CF) of the injected currents as the definition for coherency among devices, the control enforces an output current with a proportional magnitude and a constant phase shift relative to a reference. This formulation makes the control technology-agnostic, enabling coherency with any type of resource. Case studies based on the two-area and IEEE 39-bus systems demonstrate the controller's potential to improve damping and overall dynamic behavior. The paper further evaluates practical implementation aspects including delay/noise sensitivity and the trade-off between oscillation mitigation and disturbance propagation. This work establishes coherency as a viable direct control objective for IBRs in modern power systems.

Paperid: 1690, https://arxiv.org/pdf/2511.03494.pdf

Abstract:
As power systems evolve with the integration of renewable energy sources and the implementation of smart grid technologies, there is an increasing need for flexible and scalable modeling approaches capable of accurately capturing the complex dynamics of modern grids. To meet this need, various methods, such as the sparse identification of nonlinear dynamics and deep symbolic regression, have been developed to identify dynamical systems directly from data. In this study, we examine the application of a converter-based resource as a replacement for a traditional generator within a lossless transmission line linked to an infinite bus system. This setup is used to generate synthetic data in grid-following control mode, enabling the evaluation of these methods in effectively capturing system dynamics.

Paperid: 1691, https://arxiv.org/pdf/2511.03043.pdf

Abstract:
The increasing frequency and intensity of extreme weather events is significantly affecting the power grid, causing large-scale outages and impacting power system resilience. Yet limited work has been done on systematically modeling the impacts of weather parameters to quantify resilience. This study presents a framework using statistical and Bayesian learning approaches to quantitatively model the relationship between weather parameters and power system resilience metrics. By leveraging real-world publicly available outage and weather data, we identify key weather variables of wind speed, temperature, and precipitation influencing a particular region's resilience metrics. A case study of Cook County, Illinois, and Miami-Dade County, Florida, reveals that these weather parameters are critical factors in resiliency analysis and risk assessment. Additionally, we find that these weather variables have combined effects when studied jointly compared to their effects in isolation. This framework provides valuable insights for understanding how weather events affect power distribution system performance, supporting decision-makers in developing more effective strategies for risk mitigation, resource allocation, and adaptation to changing climatic conditions.

Paperid: 1692, https://arxiv.org/pdf/2511.03017.pdf

Abstract:
In recent years, several studies conducted by both industry and U.S. Department of Energy (DOE)-funded initiatives have proposed linking North America's Eastern and Western Interconnections (EI and WI) through a multiterminal DC (MTDC) macrogrid. These studies have explored the advantages and opportunities of the proposed configuration from the perspectives of capacity sharing and frequency support. However, the potential challenges of small-signal stability arising from this interconnection have not been thoroughly examined. To address this gap, detailed model-based simulation studies are performed in this paper to assess the risks of poorly damped inter-area oscillations in the proposed macrogrid. A custom-built dynamic model of the MTDC system is developed and integrated with industry-grade models of the EI and WI, incorporating high levels of inverter-based energy resources. Through model-based oscillation analysis, potential shifts in inter-area modes for both EI and WI, resulting from the MTDC integration are characterized, and modes with inadequate damping are identified. Furthermore, to mitigate the risks of unstable oscillations, supplementary damping controllers are designed for the MTDC system, leveraging wide-area feedback to modulate active power set points at selected converter stations. A frequency scanning approach is employed for data-driven model linearization and controller synthesis. The damping performance is evaluated under the designed operating conditions and selected contingency scenarios.

Paperid: 1693, https://arxiv.org/pdf/2511.02554.pdf

Abstract:
The animal nervous system offers a model of computation combining digital reliability and analog efficiency. Understanding how this sweet spot can be realized is a core question of neuromorphic engineering. To this aim, this paper explores the connection between reliability, contraction, and regulation in excitable systems. Using the FitzHugh-Nagumo model of excitable behavior as a proof-of-concept, it is shown that neuronal reliability can be formalized as an average trajectory contraction property induced by the input. In excitable networks, reliability is shown to enable regulation of the network to a robustly stable steady state. It is thus posited that regulation provides a notion of dynamical analog computation, and that stability makes such a computation model robust.

Paperid: 1694, https://arxiv.org/pdf/2511.02486.pdf

Abstract:
The paper proposes a novel general definition of coherency among power system devices of any type. The proposed approach is thus not limited to synchronous machines. With this aim, the paper shows that coherency can be formally based on the difference in the complex frequency of the current injections of any two devices electrically connected to the same grid. The proposed definition is model-agnostic, making it general and suitable for modern power systems composed of a heterogeneous mix of technologies. The paper also provides a systematic analytical procedure to study the properties that specific device models must satisfy to be coherent. Time-domain simulations are conducted in three case studies whose results illustrate the ability of our definition to evaluate coherency among any type of device.

Paperid: 1695, https://arxiv.org/pdf/2511.02250.pdf

Abstract:
The rapid growth of electric vehicle (EV) adoption poses operational and economic challenges for power distribution systems, including increased line loading levels and network congestions. This may require potential infrastructure reinforcement and expansion. As a fast inexpensive alternative solution, network topology reconfiguration (NTR) offers a practical means to redistribute power flows, reduce operational costs, and defer infrastructure upgrades. This paper presents a linear programming framework to evaluate the impact of varying EV penetration on operational costs under four configurations: standard distribution network (SDN), SDN with NTR (SDNTR), SDN with distributed energy resources (SDN-DER), and SDNTR with DERs (SDNTR-DER). Numerical simulations are conducted on the IEEE 33-bus system. The analysis demonstrates that integrating DERs reduces operational costs, while NTR further enhances system flexibility, enabling higher EV penetration levels without compromising feasibility. The combined SDNTR-DER approach offers the most cost-effective and reliable pathway for accommodating future EV growth while mitigating the need for immediate infrastructure upgrades.

Paperid: 1696, https://arxiv.org/pdf/2511.02147.pdf

Abstract:
Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to model, analyze, and design these multi-robot systems to realize the full benefits of collaboration, a challenging task since the domain of multi-robot autonomy encompasses both collective and individual behaviors. This paper introduces a layered model of multi-robot autonomy that uses the principle of census, or a weighted count of the inputs from neighbors, for collective decision-making about teaming, coupled with multi-objective behavior optimization for individual decision-making about actions. The census component is expressed as a nonlinear opinion dynamics model and the multi-objective behavior optimization is accomplished using interval programming. This model can be reduced to recover foundational algorithms in distributed optimization and control, while the full model enables new types of collective behaviors that are useful in real-world scenarios. To illustrate these points, a new method for distributed optimization of subgroup allocation is introduced where robots use a gradient descent algorithm to minimize portions of the cost functions that are locally known, while being influenced by the opinion states from neighbors to account for the unobserved costs. With this method the group can collectively use the information contained in the Hessian matrix of the total global cost. The utility of this model is experimentally validated in three categorically different experiments with fleets of autonomous surface vehicles: an adaptive sampling scenario, a high value unit protection scenario, and a competitive game of capture the flag.

Paperid: 1697, https://arxiv.org/pdf/2511.00623.pdf

Abstract:
Data centers play an increasingly critical role in societal digitalization, yet their rapidly growing energy demand poses significant challenges for sustainable operation. To enhance the energy efficiency of geographically distributed data centers, this paper formulates a multi-period optimization model that captures the interdependence of electricity, heat, and data flows. The optimization of such multicast flows inherently involves mixed-integer formulations and the access to proprietary or sensitive datasets, which correspondingly exacerbate computational complexity and raise data-privacy concerns. To address these challenges, an adaptive federated learning-to-optimization approach is proposed, accounting for the heterogeneity of datasets across distributed data centers. To safeguard privacy, cryptography techniques are leveraged in both the learning and optimization processes. A model acceptance criterion with convergence guarantee is developed to improve learning performance and filter out potentially contaminated data, while a verifiable double aggregation mechanism is further proposed to simultaneously ensure privacy and integrity of shared data during optimization. Theoretical analysis and numerical simulations demonstrate that the proposed approach preserves the privacy and integrity of shared data, achieves near-optimal performance, and exhibits high computational efficiency, making it suitable for large-scale data center optimization under privacy constraints.

Paperid: 1698, https://arxiv.org/pdf/2511.00582.pdf

Abstract:
Optimizing the topology of networks is an important challenge across engineering disciplines. In energy systems, network reconfiguration can substantially reduce losses and costs and thus support the energy transition. Unfortunately, many related optimization problems are NP hard, restricting practical applications. In this article, we address the problem of minimizing losses in radial networks, a problem that routinely arises in distribution grid operation. We show that even the computation of approximate solutions is computationally hard and propose quantum optimization as a promising alternative. We derive two quantum algorithmic primitives based on the Quantum Alternating Operator Ansatz (QAOA) that differ in the sampling of network topologies: a tailored sampling of radial topologies and simple sampling with penalty terms to suppress non-radial topologies. We show how to apply these algorithmic primitives to distribution grid reconfiguration and quantify the necessary quantum resources.

Paperid: 1699, https://arxiv.org/pdf/2511.00297.pdf

Abstract:
The escalating adoption of electric vehicles (EVs) and the growing demand for charging solutions are driving a surge in EV charger installations in distribution networks. However, this rising EV load strains the distribution grid, causing severe voltage drops, particularly at feeder extremities. This study proposes a proactive voltage management (PVM) framework that can integrate Monte Carlo-based simulations of varying EV charging loads to (i) identify potential voltage violations through a voltage violation analysis (VVA) model, and (ii) then mitigate those violations with optimally-invested battery energy storage systems (BESS) through an optimal expansion planning (OEP) model. A novel spatio-temporal adaptive targeting (STAT) strategy is proposed to alleviate the computational complexity of the OEP model by defining a targeted OEP (T-OEP) model, solved by applying the OEP model to (i) a reduced set of representative critical time periods and (ii) candidate BESS installation nodes. The efficacy and scalability of the proposed approach are validated on 33-bus, 69-bus, and a large-scale 240-bus system. Results demonstrate that the strategic sizing and placement of BESS not only effectively mitigate voltage violations but also yield substantial cost savings on electricity purchases under time-of-use tariffs. This research offers a cost-effective and scalable solution for integrating high penetrations of EVs, providing crucial insights for future distribution network planning.

Paperid: 1700, https://arxiv.org/pdf/2511.00208.pdf

Abstract:
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acting on the input of the function to be optimized, which is addressed using an anti-windup compensation strategy, and saturation affecting the gradient estimate. In both cases, the unknown Hessian matrix is represented using a polytopic uncertainty description, and sufficient conditions in the form of linear matrix inequalities (LMIs) are derived to design a stabilizing control gain. The proposed conditions guarantee exponential stability of the origin for the average closed-loop system under saturation constraints. With the proposed design conditions, non-diagonal control gain matrices can be obtained, generalizing conventional ESC designs that typically rely on diagonal structures. Stability and convergence are rigorously proven using the Averaging Theory for dynamical systems with Lipschitz continuous right-hand sides. Numerical simulations illustrate the effectiveness of the proposed ESC algorithms, confirming the convergence even in the presence of saturation.

Paperid: 1701, https://arxiv.org/pdf/2510.26397.pdf

Abstract:
We investigate the gain margin of a general nonlinear system under an inverse optimal input-to-state safe (ISSf) controller of the form u=u0(x)+u*(x,u0), where u0 is the nominal control and u* is the inverse optimal safety filter that minimally modifies the nominal controller's unsafe actions over the infinite horizon. By first establishing a converse ISSf-BF theorem, we reveal the equivalence among the achievability of ISSf by feedback, the achievability of inverse optimality, and the solvability of a Hamilton-Jacobi-Isaacs equation associated with the inverse optimal ISSf gain assignment. Then we develop a collection of safety margin results on the overall control u=u0+u*. In the absence of disturbances, we find that standard inverse optimal safe controllers have a certain degree of gain margin. Specifically, when f(x) acts safely but u0 acts unsafely, the gain can be decreased by up to half; and when f(x) acts unsafely, we establish that, if u0 acts safely, the gain can be increased arbitrarily, whereas if u0 acts unsafely, the control recovers the full gain margin [1/2,inf). It is shown, however, that under control gain variation, the safe set of these controllers is locally asymptotically stable, which implies that their safety is sensitive to large but bounded disturbances. To make inverse optimal ISSf controllers robust to gain variation, we propose a gain margin improvement approach at the expense of an increased control effort. This improvement allows the inverse optimal safe control to inherit the standard gain margin of [1/2,inf) without requiring prior knowledge of whether f(x) or u0 acts safely on the safety boundary, while simultaneously ensuring global asymptotic stability of the resulting safe set. In the presence of disturbances, this improvement idea renders inverse optimal ISSf controllers robust to gain variations with the same gain margin of [1/2,inf).

Paperid: 1702, https://arxiv.org/pdf/2510.26362.pdf

Abstract:
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation. Since these complex systems often have a very high number of degrees of freedom coordinating their movements is notoriously difficult to model. In this article, we present the derivation of the theoretical foundations for cooperative task spaces of multi-arm robotic systems based on geometric primitives defined using conformal geometric algebra. Based on the similarity transformations of these cooperative geometric primitives, we derive an abstraction of complex robotic systems that enables representing these systems in a way that directly corresponds to single-arm systems. By deriving the associated analytic and geometric Jacobian matrices, we then show the straightforward integration of our approach into classical control techniques rooted in operational space control. We demonstrate this using bimanual manipulators, humanoids and multi-fingered hands in optimal control experiments for reaching desired geometric primitives and in teleoperation experiments using differential kinematics control. We then discuss how the geometric primitives naturally embed nullspace structures into the controllers that can be exploited for introducing secondary control objectives. This work, represents the theoretical foundations of this cooperative manipulation control framework, and thus the experiments are presented in an abstract way, while giving pointers towards potential future applications.

Paperid: 1703, https://arxiv.org/pdf/2510.25564.pdf

Abstract:
Efficient truck platooning is a key strategy for reducing freight costs, lowering fuel consumption, and mitigating emissions. Deadlines are critical in this context, as trucks must depart within specific time windows to meet delivery requirements and avoid penalties. In this paper, we investigate the optimal formation and dispatch of truck platoons at a highway station with finite capacity $L$ and deadline constraints $T$. The system operates in discrete time, with each arriving truck assigned a deadline of $T$ slot units. The objective is to leverage the efficiency gains from forming large platoons while accounting for waiting costs and deadline violations. We formulate the problem as a Markov decision process and analyze the structure of the optimal policy $π^\star$ for $L = 3$, extending insights to arbitrary $L$. We prove that the $π^\star$ is monotone in the state space $\mathcal{S}$ and identify classes of unreachable states. Moreover, since $\mathcal{S}$ grows exponentially with $L$ and $T$, we propose heuristics-including conditional and deep-learning based approaches-that exploit these structural insights while maintaining low computational complexity.

Paperid: 1704, https://arxiv.org/pdf/2510.25386.pdf

Abstract:
This survey provides an analysis of current methodologies integrating legal and logical specifications into the perception, prediction, and planning modules of automated driving systems. We systematically explore techniques ranging from logic-based frameworks to computational legal reasoning approaches, emphasizing their capability to ensure regulatory compliance and interpretability in dynamic and uncertain driving environments. A central finding is that significant challenges arise at the intersection of perceptual reliability, legal compliance, and decision-making justifiability. To systematically analyze these challenges, we introduce a taxonomy categorizing existing approaches by their theoretical foundations, architectural implementations, and validation strategies. We particularly focus on methods that address perceptual uncertainty and incorporate explicit legal norms, facilitating decisions that are both technically robust and legally defensible. The review covers neural-symbolic integration methods for perception, logic-driven rule representation, and norm-aware prediction strategies, all contributing toward transparent and accountable autonomous vehicle operation. We highlight critical open questions and practical trade-offs that must be addressed, offering multidisciplinary insights from engineering, logic, and law to guide future developments in legally compliant autonomous driving systems.

Paperid: 1705, https://arxiv.org/pdf/2510.25243.pdf

Abstract:
A problem of achieving minimum time consensus for a set of $N$ second-order LTI system agents with bounded inputs and fuel constraints is considered. Unlike our other works, here the damping effect in agent dynamics is included. First, the attainable set for each agent with fuel budget constraints is characterized, and its boundary equations are derived. Then, using the convexity property, the minimum time at which attainable sets of all agents have a non-empty intersection is computed. By applying Helly's theorem, the computation reduces to finding the minimum time to consensus and the corresponding consensus point for each of the triplets separately.

Paperid: 1706, https://arxiv.org/pdf/2510.24723.pdf

Abstract:
Millimeter-wave (mmWave) multi-user MIMO systems are highly vulnerable to blockage, and reconfigurable intelligent surfaces (RIS) have been proposed as a remedy. However, RIS links may themselves be blocked, while most prior works assume ideal RIS availability. We propose an end-to-end blockage-aware multi-RIS weighted sum-rate (WSR) optimization framework. The BS transmits short per-RIS indexed synchronization signals, enabling each user to identify blocked panels through a simple energy detection test. Based on the detected feasible sets, we jointly optimize the BS precoder and RIS phases via a Closed-form Riemannian Phase Alignment (CRPA) algorithm. CRPA provides unit-modulus-preserving closed-form updates, requiring no projection or line search, and ensures monotone ascent. Simulations validate reliable blockage detection and notable WSR and convergence gains over existing baselines.

Paperid: 1707, https://arxiv.org/pdf/2510.24676.pdf

Abstract:
For amputees with powered transfemoral prosthetics, navigating obstacles or complex terrain remains challenging. This study addresses this issue by using an inertial sensor on the sound ankle to guide obstacle-crossing movements. A genetic algorithm computes the optimal neural network structure to predict the required angles of the thigh and knee joints. A gait progression prediction algorithm determines the actuation angle index for the prosthetic knee motor, ultimately defining the necessary thigh and knee angles and gait progression. Results show that when the standard deviation of Gaussian noise added to the thigh angle data is less than 1, the method can effectively eliminate noise interference, achieving 100\% accuracy in gait phase estimation under 150 Hz, with thigh angle prediction error being 8.71\% and knee angle prediction error being 6.78\%. These findings demonstrate the method's ability to accurately predict gait progression and joint angles, offering significant practical value for obstacle negotiation in powered transfemoral prosthetics.

Paperid: 1708, https://arxiv.org/pdf/2510.24457.pdf

Abstract:
This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and collision avoidance for both payload and rope. Our approach allows for aggressive movements by constraining payload swing only at the final point. A comparative simulation study validates our approach, demonstrating that neglecting dry friction leads to actuator saturation and collisions. The results show that friction modeling is a fundamental requirement for fast and safe crane trajectories.

Paperid: 1709, https://arxiv.org/pdf/2510.23491.pdf

Abstract:
We consider the problem of adaptive control of a class of feedback linearizable plants with matched parametric uncertainties whose states are accessible, subject to state constraints, which often arise due to safety considerations. In this paper, we combine adaptation and control barrier functions into a real-time control architecture that guarantees stability, ensures control performance, and remains safe even with the parametric uncertainties. Two problems are considered, differing in the nature of the parametric uncertainties. In both cases, the control barrier function is assumed to have an arbitrary relative degree. In addition to guaranteeing stability, it is proved that both the control objective and safety objective are met with near-zero conservatism. No excitation conditions are imposed on the command signal. Simulation results demonstrate the non-conservatism of all of the theoretical developments.

Paperid: 1710, https://arxiv.org/pdf/2510.23296.pdf

Abstract:
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system equipped with variable-length cable, promising broader application potential. Compared to systems with fixed-length cables, introducing the variable-length cable adds a new degree of freedom. However, it also results in increased nonlinearity and more complex dynamic coupling among the multirotor, the cable and the payload, posing significant challenges in control design. This paper introduces a backstepping control strategy tailored for aerial transportation systems with variable-length cable, designed to precisely track the payload trajectory while dynamically adjusting cable length. Then, a cable length generator has been developed that achieves online optimization of the cable length while satisfying state constraints, thus balancing the multirotor's motion and cable length changes without the need for manual trajectory planning. The asymptotic stability of the closed-loop system is guaranteed through Lyapunov techniques and the growth restriction condition. Finally, simulation results confirm the efficacy of the proposed method in managing trajectory tracking and cable length adjustments effectively.

Paperid: 1711, https://arxiv.org/pdf/2510.23226.pdf

Abstract:
A novel modular control framework for reconfigurable rigid multibody systems is proposed, motivated by the challenges of modular control of systems with closed kinematic chains. In the framework, modularity is defined in the sense of degrees of freedom, and the inertial properties of each body are partitioned with respect to how they are reflected in the kinetic energy of the system through the motion induced by each degree of freedom. This approach inherently handles closed chains in the same manner as tree-like structures, eliminating the need for explicit constraint force calculations or formulations based on differential-algebraic equations. The proposed framework is implemented via simulation on a three-degree-of-freedom series-parallel manipulator, with the results being consistent with the expected stability and tracking performance, and indicating the framework's potential for scalability in trajectory-tracking control of multibody systems.

Paperid: 1712, https://arxiv.org/pdf/2510.22517.pdf

Abstract:
Optimal sensor placement (OSP) is critical for efficient, accurate monitoring, control, and inference in complex real-world systems. We propose a machine-learning-based feature attribution framework to identify OSP for the prediction of quantities of interest. Feature attribution quantifies input contributions to a model's output; however, it struggles with highly correlated input data often encountered in real-world applications. To address this, we propose a Correlation-Aware Attribution Framework (CAAF), which introduces a clustering step before performing feature attribution to reduce redundancy and enhance generalizability. We first illustrate the core principles of the proposed framework through a series of validation cases, then demonstrate its effectiveness in real-world dynamical systems, such as structural health monitoring, airfoil lift prediction, and wall-normal velocity estimation for turbulent channel flow. The results show that the CAAF outperforms alternative approaches that typically struggle due to the presence of nonlinear dynamics, chaotic behavior, and multi-scale interactions, and enables the effective application of feature attribution for identifying OSP in real-world environments.

Paperid: 1713, https://arxiv.org/pdf/2510.21556.pdf

Abstract:
Generalized Nash equilibria are used in multi-agent control applications to model strategic interactions between agents that are coupled in the cost, dynamics, and constraints. We study the properties of open-loop GNE trajectories from a system-theoretic perspective. We show how strict dissipativity generates the turnpike phenomenon in GNE solutions. Moreover, we establish a converse turnpike result, i.e., the implication from turnpike to strict dissipativity. We derive conditions under which the steady-state GNE is the optimal operating point and, using a game value function, we give a local characterization of the geometry of storage functions. Finally, we design linear terminal penalties that ensure GNE open-loop trajectories converge to and remain at the steady-state GNE. These connections provide the foundation for future system-theoretic analysis of GNEs similar to those existing in optimal control.

Paperid: 1714, https://arxiv.org/pdf/2510.21238.pdf

Abstract:
As communication networks evolve towards greater complexity (e.g., 6G and beyond), a deep understanding of the wireless environment becomes increasingly crucial. When explicit knowledge of the environment is unavailable, geometry-aware feature extraction from channel state information (CSI) emerges as a pivotal methodology to bridge physical-layer measurements with network intelligence. This paper proposes to explore the received signal strength (RSS) data, without explicit 3D environment knowledge, to jointly construct the radio beam map and environmental geometry for a multiple-input multiple-output (MIMO) system. Unlike existing methods that only learn blockage structures, we propose an oriented virtual obstacle model that captures the geometric features of both blockage and reflection. Reflective zones are formulated to identify relevant reflected paths according to the geometry relation of the environment. We derive an analytical expression for the reflective zone and further analyze its geometric characteristics to develop a reformulation that is more compatible with deep learning representations. A physics-informed deep learning framework that incorporates the reflective-zone-based geometry model is proposed to learn the blockage, reflection, and scattering components, along with the beam pattern, which leverages physics prior knowledge to enhance network transferability. Numerical experiments demonstrate that, in addition to reconstructing the blockage and reflection geometry, the proposed model can construct a more accurate MIMO beam map with a 32%-48% accuracy improvement.

Paperid: 1715, https://arxiv.org/pdf/2510.21044.pdf

Abstract:
Achieving the flexibility from house heating, cooling, and ventilation systems (HVAC) has the potential to enable large-scale demand response by aggregating HVAC load adjustments across many homes. This demand response strategy helps distribution grid to flexibly ramp-up or ramp-down local load demand so that it can optimally match the bulk power system generation profile. However, achieving this capability requires house thermal models that are both computationally efficient and robust to operating conditions. In this work, parameters of the Resistance-Capacitance (RC) network thermal model for houses are estimated using three optimization algorithms: Nonlinear Least Squares (NLS), Batch Estimation (BE), and Maximum Likelihood Estimation (MLE). The resulting models are evaluated through a Forward-Simulation across four different seasons and three setpoints. The results illustrate a principled way of selecting reduced order models and estimation methods with respect to the robustness offered to seasonal and setpoint variations in training-testing datasets

Paperid: 1716, https://arxiv.org/pdf/2510.20682.pdf

Abstract:
This paper presents the design and deployment of a process-aware cyber-physical system that automates plant-level logistics, traceability, and sanitation in a centralized maple-syrup boiling center. The system replaces ad-hoc, manual operations with event-driven orchestration on a local server, employing reusable device abstractions and a centralized interlock with priority-based arbitration for shared piping. It implements deterministic routines for delivery, reverse osmosis integration, evaporator feed, and permeate management. The system is sensor rich: inline measurements of flow, temperature, and sugar concentration (degrees Brix) drive routing decisions and trigger systematic post-transfer rinses (cleaning-in-place), ensuring consistent hygiene and complete, immediate traceability up to the evaporator inlet. During the 2025 production season, the system queued 431 operations without incident; executed 908 \enquote{topstock} and \enquote{downstock} balancing cycles; increased usable permeate reserves from 22,712 to approximately 41,640 L through dynamic storage assignment; eliminated mid-season contamination incidents previously observed under manual practice; and reduced administrative effort for billing and reporting from more than 30 hours to roughly 1 hour through automatic documentation. These results demonstrate a practical path to modular, plant-scale automation beyond traditional architectures, and lay the groundwork for packaging reusable elements for similar plants or adjacent industries. This work is part of a larger project involving the first scientifically-documented integration of Industry 4.0 technologies in a maple syrup boiling center.

Paperid: 1717, https://arxiv.org/pdf/2510.20437.pdf

Abstract:
Predicting the motion of surrounding vehicles is key to safe autonomous driving, especially in unstructured environments without prior information. This paper proposes a novel online method to accurately predict the occupancy sets of surrounding vehicles based solely on motion observations. The approach is divided into two stages: first, an Extended Kalman Filter and a Linear Programming (LP) problem are used to estimate a compact zonotopic set of control actions; then, a reachability analysis propagates this set to predict future occupancy. The effectiveness of the method has been validated through simulations in an urban environment, showing accurate and compact predictions without relying on prior assumptions or prior training data.

Paperid: 1718, https://arxiv.org/pdf/2510.20408.pdf

Abstract:
Autonomous control of multi-stage industrial processes requires both local specialization and global coordination. Reinforcement learning (RL) offers a promising approach, but its industrial adoption remains limited due to challenges such as reward design, modularity, and action space management. Many academic benchmarks differ markedly from industrial control problems, limiting their transferability to real-world applications. This study introduces an enhanced industry-inspired benchmark environment that combines tasks from two existing benchmarks, SortingEnv and ContainerGym, into a sequential recycling scenario with sorting and pressing operations. We evaluate two control strategies: a modular architecture with specialized agents and a monolithic agent governing the full system, while also analyzing the impact of action masking. Our experiments show that without action masking, agents struggle to learn effective policies, with the modular architecture performing better. When action masking is applied, both architectures improve substantially, and the performance gap narrows considerably. These results highlight the decisive role of action space constraints and suggest that the advantages of specialization diminish as action complexity is reduced. The proposed benchmark thus provides a valuable testbed for exploring practical and robust multi-agent RL solutions in industrial automation, while contributing to the ongoing debate on centralization versus specialization.

Paperid: 1719, https://arxiv.org/pdf/2510.20116.pdf

Abstract:
This work investigates the reduction of phasor measurement unit (PMU) data through low-rank matrix approximations. To reconstruct a PMU data matrix from fewer measurements, we propose the framework of interpolatory matrix decompositions (IDs). In contrast to methods relying on principal component analysis or singular value decomposition, IDs recover the complete data matrix using only a few of its rows (PMU datastreams) and/or a few of its columns (snapshots in time). This compression enables the real-time monitoring of power transmission systems using a limited number of measurements, thereby minimizing communication bandwidth. The ID perspective gives a rigorous error bound on the quality of the data compression. We propose selecting rows and columns used in an ID via the discrete empirical interpolation method (DEIM), a greedy algorithm that aims to control the error bound. This bound leads to a computable estimate for the reconstruction error during online operations. A violation of this estimate suggests a change in the system's operating conditions, and thus serves as a tool for fault detection. Numerical tests using synthetic PMU data illustrate DEIM's excellent performance for data compression, and validate the proposed DEIM-based fault-detection method.

Paperid: 1720, https://arxiv.org/pdf/2510.19277.pdf

Abstract:
Wireless power transfer (WPT) with coupled resonators offers a promising solution for the seamless powering of electronic devices. Interactive design approaches that visualize the magnetic field and power transfer efficiency based on system geometry adjustments can facilitate the understanding and exploration of the behavior of these systems for dynamic applications. However, typical electromagnetic field simulation methods, such as the Method of Moments (MoM), require significant computational resources, limiting the rate at which computation can be performed for acceptable interactivity. Furthermore, the system's sensitivity to positional and geometrical changes necessitates a large number of simulations, and structures such as ferromagnetic shields further complicate these simulations. Here, we introduce a machine learning approach using Gaussian Process Regression (GPR), demonstrating for the first time the rapid estimation of the entire magnetic field and power transfer efficiency for near-field coupled systems. To achieve quick and accurate estimation, we develop 3D adaptive grid systems and an active learning strategy to effectively capture the nonlinear interactions between complex system geometries and magnetic fields. By training a regression model, our approach achieves magnetic field computation with sub-second latency and with an average error of less than 6% when validated against independent electromagnetic simulation results.

Paperid: 1721, https://arxiv.org/pdf/2510.18260.pdf

Abstract:
Although research on the control of networked systems has grown considerably, graph-theoretic and algorithmic studies on matrix-weighted graphs remain limited. To bridge this gap in the literature, this work introduces two algorithms-the brute-force search and the Warshall algorithm-for determining connectedness and clustering in undirected matrix-weighted graphs. The proposed algorithms, which are derived from a sufficient condition for connectedness, emphasize a key distinction between matrix-weighted and scalar-weighted graphs. While the existence of a path between two vertices guarantees connectedness in scalar-weighted graphs, connectedness in matrix-weighted graphs is a collective contribution of all paths joining the two vertices. Proofs of correctness and numerical examples are provided to illustrate and demonstrate the effectiveness of the algorithms.

Paperid: 1722, https://arxiv.org/pdf/2510.17762.pdf

Abstract:
We apply a physics-informed neural network (PINN) to solve the two-point boundary value problem (BVP) arising from the necessary conditions postulated by Pontryagin's Minimum Principle for optimal control. Such BVPs are known to be numerically difficult to solve by traditional shooting methods due to extremely high sensitivity to initial guesses. In the light of recent successes in applying PINNs for solving high-dimensional differential equations, we develop a PINN to solve the problem of finding trajectories with minimum exposure to a spatiotemporal threat for a vehicle kinematic model. First, we implement PINNs that are trained to solve the BVP for a given pair of initial and final states for a given threat field. Next, we implement a PINN conditioned on the initial state for a given threat field, which eliminates the need for retraining for each initial state. We demonstrate that the PINN outputs satisfy the necessary conditions with low numerical error.

Paperid: 1723, https://arxiv.org/pdf/2510.17333.pdf

Abstract:
Encrypted controllers using homomorphic encryption have proven to guarantee the privacy of measurement and control signals, as well as system and controller parameters, while regulating the system as intended. However, encrypting dynamic controllers has remained a challenge due to growing noise and overflow issues in the encoding. In this paper, we review recent approaches to dynamic encrypted control, such as bootstrapping, periodic resets of the controller state, integer reformulations, and FIR controllers, and equip them with a stability and performance analysis to evaluate their suitability. We complement the analysis with a numerical performance comparison on a benchmark system.

Paperid: 1724, https://arxiv.org/pdf/2510.15708.pdf

Abstract:
This paper presents a practical alternative to programmable-logic-controller-centric automation by implementing an event-driven architecture built with industrial Internet of Things tools. A layered design on a local edge server (i) abstracts actuators, (ii) enforces mutual exclusion of shared physical resources through an interlock with priority queueing, (iii) composes deterministic singular operations, and (iv) orchestrates complete workflows as state machines in Node-RED, with communication over MQTT. The device layer uses low-cost ESP32-based gateways to interface sensors and actuators, while all automation logic is offloaded to the server side. As part of a larger project involving the first scientifically-documented integration of Industry 4.0 technologies in a maple syrup boiling center, this work demonstrates the deployment of the proposed system as a case-study. Evaluation over an entire production season shows median message time of flight around one tenth of a second, command issuance-to-motion latencies of about two to three seconds, and command completion near six seconds dominated by actuator mechanics; operation runtimes span tens of seconds to minutes. These results indicate that network and orchestration overheads are negligible relative to process dynamics, enabling modular, distributed control without compromising determinism or fault isolation. The approach reduces material and integration effort, supports portable containerized deployment, and naturally enables an edge/cloud split in which persistence and analytics are offloaded while automation remains at the edge.

Paperid: 1725, https://arxiv.org/pdf/2510.14968.pdf

Abstract:
To tackle long-horizon tasks, recent hierarchical vision-language-action (VLAs) frameworks employ vision-language model (VLM)-based planners to decompose complex manipulation tasks into simpler sub-tasks that low-level visuomotor policies can easily handle. Typically, the VLM planner is finetuned to learn to decompose a target task. This finetuning requires target task demonstrations segmented into sub-tasks by either human annotation or heuristic rules. However, the heuristic subtasks can deviate significantly from the training data of the visuomotor policy, which degrades task performance. To address these issues, we propose a Retrieval-based Demonstration Decomposer (RDD) that automatically decomposes demonstrations into sub-tasks by aligning the visual features of the decomposed sub-task intervals with those from the training data of the low-level visuomotor policies. Our method outperforms the state-of-the-art sub-task decomposer on both simulation and real-world tasks, demonstrating robustness across diverse settings. Code and more results are available at rdd-neurips.github.io.

Paperid: 1726, https://arxiv.org/pdf/2510.14511.pdf

Abstract:
This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical simulations, we identify both delay-independent and delay-dependent stability criteria. The delay-independent criterion guarantees stability irrespective of the delay, whereas the delay-dependent criterion is characterised by a maximum tolerable delay before instability occurs. The criteria demonstrate dependence on controller and robot dynamic parameters, where increasing stiffness reduces the maximum tolerable delay in a non-linear manner, thereby heightening system vulnerability. The proposed criteria can be generalised to a wide range of robot-mediated interactions and serve as design guidelines for stable remote dyadic systems. Experiments with robots performing human-like movements further illustrate the correlation between stability and motor performance. The findings of this paper suggest the prerequisites for effective delay-compensation strategies.

Paperid: 1727, https://arxiv.org/pdf/2510.14120.pdf

Abstract:
Memristive crossbar arrays (MCA) are emerging as efficient building blocks for in-memory computing and neuromorphic hardware due to their high density and parallel analog matrix-vector multiplication capabilities. However, the physical properties of their nonvolatile memory elements introduce new attack surfaces, particularly under fault injection scenarios. This work explores Laser Fault Injection as a means of inducing analog perturbations in MCA-based architectures. We present a detailed threat model in which adversaries target memristive cells to subtly alter their physical properties or outputs using laser beams. Through HSPICE simulations of a large MCA on 45 nm CMOS tech. node, we show how laser-induced photocurrent manifests in output current distributions, enabling differential fault analysis to infer internal weights with up to 99.7% accuracy, replicate the model, and compromise computational integrity through targeted weight alterations by approximately 143%.

Paperid: 1728, https://arxiv.org/pdf/2510.13396.pdf

Abstract:
We perform a validation analysis on the multipolar model of opinion dynamics. A general methodology for using the model on datasets of two correlated variables is proposed and tested using data on the relationship between COVID-19 vaccination rates and political participation in Sweden. The model is shown to successfully capture the opinion segregation demonstrated by the data and spatial correlation of biases is demonstrated as necessary for the result. A mixing of the biases on the other hand leads to a more homogeneous opinion distribution, and greater penetration of the majority opinion, which here corresponds to a decision to vote or vaccinate.

Paperid: 1729, https://arxiv.org/pdf/2510.12897.pdf

Abstract:
As GPU-accelerated mathematical programming techniques mature, there is growing interest in utilizing them to address the computational challenges of power system optimization. This paper introduces ExaModelsPower.jl, an open-source modeling library for creating GPU-compatible nonlinear AC optimal power flow models. Built on ExaModels.jl, ExaModelsPower.jl provides a high-level interface that automatically generates all necessary callback functions for GPU solvers. The library is designed for large-scale problem instances, which may include multiple time periods and security constraints. Using ExaModelsPower.jl, we benchmark GPU and CPU solvers on open-source test cases. Our results show that GPU solvers can deliver up to two orders of magnitude speedups compared to alternative tools on CPU for problems with more than 20,000 variables and a solution precision of up to $10^{-4}$, while performance for smaller instances or tighter tolerances may vary.

Paperid: 1730, https://arxiv.org/pdf/2510.12478.pdf

Abstract:
The new SysMLv2 adds mechanisms for the built-in specification of domain-specific concepts and language extensions. This feature promises to facilitate the creation of Domain-Specific Languages (DSLs) and interfacing with existing system descriptions and technical designs. In this paper, we review these features and evaluate SysMLv2's capabilities using concrete use cases. We develop DarTwin DSL, a DSL that formalizes the existing DarTwin notation for Digital Twin (DT) evolution, through SysMLv2, thereby supposedly enabling the wide application of DarTwin's evolution templates using any SysMLv2 tool. We demonstrate DarTwin DSL, but also point out limitations in the currently available tooling of SysMLv2 in terms of graphical notation capabilities. This work contributes to the growing field of Model-Driven Engineering (MDE) for DTs and combines it with the release of SysMLv2, thus integrating a systematic approach with DT evolution management in systems engineering.

Paperid: 1731, https://arxiv.org/pdf/2510.12435.pdf

Abstract:
Electricity distribution companies deploy battery storage to defer grid upgrades by reducing peak demand. In deregulated jurisdictions, such storage often sits idle because regulatory constraints bar participation in electricity markets. Here, we develop an optimization framework that, to our knowledge, provides the first formal model of market participation constraints within storage investment and operation planning. Applying the framework to a Massachusetts case study, we find that market participation could deliver similar savings as peak demand reduction. Under current conditions, market participation does not increase storage investment, but at very low storage costs, could incentivize deployment beyond local distribution needs. This might run contrary to the separation of distribution from generation in deregulated markets. Our framework can identify investment levels appropriate for local distribution needs.

Paperid: 1732, https://arxiv.org/pdf/2510.12338.pdf

Abstract:
We propose a non-parametric frequency-domain method to identify small-signal $dq$-asymmetric grid impedances, over a wide frequency band, using grid-connected converters. Existing identification methods are faced with significant trade-offs: e.g., passive approaches rely on ambient harmonics and rare grid events and thus can only provide estimates at a few frequencies, while many active approaches that intentionally perturb grid operation require long time series measurement and specialized equipment. Although active time-domain methods reduce the measurement time, they either make crude simplifying assumptions or require laborious model order tuning. Our approach effectively addresses these challenges: it does not require specialized excitation signals or hardware and achieves ultrafast ($<1$ s) identification, drastically reducing measurement time. Being non-parametric, our approach also makes no assumptions on the grid structure. A detailed electromagnetic transient simulation is used to validate the method and demonstrate its clear superiority over existing alternatives.

Paperid: 1733, https://arxiv.org/pdf/2510.10215.pdf

Abstract:
Local bifurcation analysis plays a central role in understanding qualitative transitions in networked nonlinear dynamical systems, including dynamic neural network and opinion dynamics models. In this article we establish explicit bounds of validity for the classification of bifurcation diagrams in two classes of continuous-time networked dynamical systems, analogous in structure to the Hopfield and the Firing Rate dynamic neural network models. Our approach leverages recent advances in computing the bounds for the validity of Lyapunov-Schmidt reduction, a reduction method widely employed in nonlinear systems analysis. Using these bounds we rigorously characterize neighborhoods around bifurcation points where predictions from reduced-order models remain reliable. We further demonstrate how these bounds can be applied to an illustrative family of nonlinear opinion dynamics on k-regular graphs, which emerges as a special case of the general framework. These results provide new analytical tools for quantifying the robustness of bifurcation phenomena in dynamics over networked systems and highlight the interplay between network structure and nonlinear dynamical behavior.

Paperid: 1734, https://arxiv.org/pdf/2510.10214.pdf

Abstract:
Wasserstein distributionally robust control (DRC) recently emerges as a principled paradigm for handling uncertainty in stochastic dynamical systems. However, it constructs data-driven ambiguity sets via uniform distribution shifts before sequentially incorporating them into downstream control synthesis. This segregation between ambiguity set construction and control objectives inherently introduces a structural misalignment, which undesirably leads to conservative control policies with sub-optimal performance. To address this limitation, we propose a novel end-to-end finite-horizon Wasserstein DRC framework that integrates the learning of anisotropic Wasserstein metrics with downstream control tasks in a closed-loop manner, thus enabling ambiguity sets to be systematically adjusted along performance-critical directions and yielding more effective control policies. This framework is formulated as a bilevel program: the inner level characterizes dynamical system evolution under DRC, while the outer level refines the anisotropic metric leveraging control-performance feedback across a range of initial conditions. To solve this program efficiently, we develop a stochastic augmented Lagrangian algorithm tailored to the bilevel structure. Theoretically, we prove that the learned ambiguity sets preserve statistical finite-sample guarantees under a novel radius adjustment mechanism, and we establish the well-posedness of the bilevel formulation by demonstrating its continuity with respect to the learnable metric. Furthermore, we show that the algorithm converges to stationary points of the outer level problem, which are statistically consistent with the optimal metric at a non-asymptotic convergence rate. Experiments on both numerical and inventory control tasks verify that the proposed framework achieves superior closed-loop performance and robustness compared against state-of-the-art methods.

Paperid: 1735, https://arxiv.org/pdf/2510.09862.pdf

Abstract:
Electric power systems are undergoing fundamental change. The shift to inverter-based generation challenges frequency stability, while growing digitalisation heightens vulnerability to errors and attacks. Here we identify an emerging risk at the intersection of cyber-physical coupling and control system design. We show that grid frequency time series worldwide exhibit a persistent one-minute oscillatory pattern, whose origin has remained largely unexplained. We trace this pattern back to the energy management systems of battery electric storage systems and demonstrate that the pattern amplitude has increased substantially in the Nordic and British grids. We argue that this effect is a potential burden for stability in future grids with low inertia and an increasing penetration with batteries and smart devices, though it can be mitigated by a revision of battery control algorithms.

Paperid: 1736, https://arxiv.org/pdf/2510.09826.pdf

Abstract:
Stability evaluation of black-box grid-tied inverters is vital for grid reliability, yet identification techniques are both data-hungry and blocked by proprietary internals. {To solve this, this letter proposes a latent-feature-informed neural ordinary differential equation (LFI-NODE) modeling method that can achieve lightweight stability evaluation directly from trajectory data.} LFI-NODE parameterizes the entire system ODE with a single continuous-time neural network, allowing each new sample to refine a unified global model. It faithfully captures nonlinear large-signal dynamics to preserve uniform predictive accuracy as the inverter transitions between operating points. Meanwhile, latent perturbation features distilled from every trajectory steer the learning process and concurrently reveal the small-signal eigenstructure essential for rigorous stability analysis. Validated on a grid-forming inverter, {The LFI-NODE requires one to two orders of magnitude fewer training samples compared with traditional methods, collected from short time-domain trajectories instead of extensive frequency-domain measurements.} {Furthermore, the LFI-NODE requires only 48 short transients to achieve a trajectory prediction error at the hundredth level and an eigenvalue estimation error at the tenth level, outperforming benchmark methods by one to two orders of magnitude.} This makes LFI-NODE a practical and lightweight approach for achieving high-fidelity stability assessment of complex black-box power-electronic systems.

Paperid: 1737, https://arxiv.org/pdf/2510.09810.pdf

Abstract:
This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspiration from the reference governor literature, the proposed method defines a family of backup policies, parametrized by the equilibrium manifold of the system. The control barrier function is defined on the augmented state-and-reference space: given a state-reference pair, the approach quantifies the distance to constraint violation at any time in the future, should the current backup policy reference remain constant. Sensitivity analysis is then used to compute the (possibly nonsmooth) Jacobian with respect to the augmented state vector. To showcase its simple yet general nature, the proposed method is applied to an inverted pendulum on cart.

Paperid: 1738, https://arxiv.org/pdf/2510.09411.pdf

Abstract:
This study explores data-driven modeling techniques to capture the dynamics of a grid-forming converter-based infinite bus system, critical for renewable-integrated power grids. Using sparse identification of nonlinear dynamics and deep symbolic regression, models were generated from synthetic data simulating key disturbances in active power, reactive power, and voltage references. Deep symbolic regression demonstrated more accuracy in capturing complex system dynamics, though it required substantially more computational time than sparse identification of nonlinear dynamics. These findings suggest that while deep symbolic regression offers high fidelity, sparse identification of nonlinear dynamics provides a more computationally efficient approach, balancing accuracy and runtime for real-time grid applications.

Paperid: 1739, https://arxiv.org/pdf/2510.05706.pdf

Abstract:
Cross-entropy method model predictive control (CEM--MPC) is a powerful gradient-free technique for nonlinear optimal control, but its performance is often limited by the reliance on random sampling. This conventional approach can lead to inefficient exploration of the solution space and non-smooth control inputs, requiring a large number of samples to achieve satisfactory results. To address these limitations, we propose deterministic sampling CEM (dsCEM), a novel framework that replaces the random sampling step with deterministic samples derived from localized cumulative distributions (LCDs). Our approach introduces modular schemes to generate and adapt these sample sets, incorporating temporal correlations to ensure smooth control trajectories. This method can be used as a drop-in replacement for the sampling step in existing CEM-based controllers. Experimental evaluations on two nonlinear control tasks demonstrate that dsCEM consistently outperforms state-of-the-art iCEM in terms of cumulative cost and control input smoothness, particularly in the critical low-sample regime.

Paperid: 1740, https://arxiv.org/pdf/2510.03948.pdf

Abstract:
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on large-scale maps and fail to account for critical factors such as real-time performance, kinematic feasibility, and memory efficiency. This paper introduces a novel global path-planning method specifically designed for off-road environments, addressing these essential factors. The method begins by constructing an intermediate map within the pixel coordinate system, incorporating geographical features like off-road trails, waterways, restricted and passable areas, and trees. The planning problem is then divided into three sub-problems: graph-based path planning, kinematic feasibility checking, and path smoothing. This approach effectively meets real-time performance requirements while ensuring kinematic feasibility and efficient memory use. The method was tested in various off-road environments with large-scale maps up to several square kilometers in size, successfully identifying feasible paths in an average of 1.5 seconds and utilizing approximately 1.5GB of memory under extreme conditions. The proposed framework is versatile and applicable to a wide range of off-road autonomous navigation tasks, including search and rescue missions and agricultural operations.

Paperid: 1741, https://arxiv.org/pdf/2510.03484.pdf

Abstract:
We present CANOPI, a novel algorithmic framework, for solving the Contingency-Aware Nodal Power Investments problem, a large-scale nonlinear optimization problem that jointly optimizes generation, storage, and transmission expansion. The underlying problem is nonlinear due to the impact of transmission upgrades on impedances, and the problem's large scale arises from the confluence of spatial and temporal resolutions. We propose algorithmic approaches to address these computational challenges. We pose a linear approximation of the overall nonlinear model, and develop a fixed-point algorithm to adjust for the nonlinear impedance feedback effect. We solve the large-scale linear expansion model with a specialized level-bundle method leveraging a novel interleaved approach to contingency constraint generation. We introduce a minimal cycle basis algorithm that improves the numerical sparsity of cycle-based DC power flow formulations, accelerating solve times for the operational subproblems. CANOPI is demonstrated on a 1493-bus Western Interconnection test system built from realistic-geography network data, with hourly operations spanning 52 week-long scenarios and a total possible set of 20 billion individual transmission contingency constraints. Numerical results quantify the reliability and economic benefits of fully incorporating transmission contingencies in integrated planning models and highlight the computational advantages of the proposed methods.

Paperid: 1742, https://arxiv.org/pdf/2510.02385.pdf

Abstract:
Vacuum disc filtration is critical in pulp mills for white liquor clarification and pulp washing, involving tightly coupled dynamics between rotational speed, vacuum pressure, slurry concentration, filtrate flow, and cake thickness. These nonlinear interactions are often regulated using empirical methods, lacking formal modeling and control. This article develops a dynamic, multivariable model of a continuous-disc filter (CD-filter) system based on first principles, simplified to a single representative disc for tractability. A linearized state-space model supports the design of two control strategies: a decentralized PI-based scheme and a centralized model predictive control (MPC). MATLAB-Simulink simulations reveal that MPC outperforms PI in tracking accuracy, overshoot reduction, and disturbance rejection. A 3D efficiency surface illustrates the importance of coordinating inlet flow and solids concentration. Results highlight the need for advanced multivariable control in optimizing CD-filter performance.

Paperid: 1743, https://arxiv.org/pdf/2510.01854.pdf

Abstract:
As the role of distribution system (DS) flexibility in transmission system operator (TSO) network management becomes increasingly vital, data privacy concerns hinder seamless interoperability. The notion of the feasible operating region (FOR), defined in the PQ domain, has emerged as a promising privacy-preserving approach. However, effectively leveraging FOR in TSO operations remains challenging due to three key factors: its accurate determination in large-scale, meshed DS networks; its tractable analytical representation; and its economic valuation. In the present paper, we propose a novel AC optimal power flow (OPF)-based method to construct a three-dimensional PQV-FOR, explicitly accounting for voltage variability and diverse flexibility-providing unit (FPU) characteristics. The construction process employs a two-stage sampling strategy that combines bounding box projection and Fibonacci direction techniques to efficiently capture the FOR. We then introduce an implicit polynomial fitting approach to analytically represent the FOR. Furthermore, we derive a quadratic cost function over the PQV domain to monetize the FOR. Thus, the proposed framework enables single-round TSO-DSO coordination: the DSO provides an analytical FOR and cost model; the TSO determines operating point at the point of common coupling (PCC) within the FOR-based AC-OPF; and the DSO computes FPU dispatch by solving its local OPF, without computationally intensive disaggregation or iterative coordination. Case studies on meshed DS with up to 533 buses, integrated into TS, demonstrates the method's efficiency compared to standard AC-OPF. On average, the proposed approach yields negligible cost deviations of at most 0.058% across test cases, while reducing computation times by up to 58.11%.

Paperid: 1744, https://arxiv.org/pdf/2510.01570.pdf

Abstract:
We study a bi-virus susceptible-infected-susceptible (SIS) epidemic model in which individuals are either susceptible or infected with one of two virus strains, and consider mutation-driven transitions between strains. The general case of bi-directional mutation is first analyzed, where we characterize the disease-free equilibrium and establish its global asymptotic stability, as well as the existence, uniqueness, and stability of an endemic equilibrium. We then present a game-theoretic framework where susceptible individuals strategically choose whether to adopt protection or remain unprotected, to maximize their instantaneous payoffs. We derive Nash strategies under bi-directional mutation, and subsequently consider the special case of unidirectional mutation. In the latter case, we show that coexistence of both strains is impossible when mutation occurs from the strain with lower reproduction number and transmission rate to the other strain. Furthermore, we fully characterize the stationary Nash equilibrium (SNE) in the setting permitting coexistence, and examine how mutation rates influence protection adoption and infection prevalence at the SNE. Numerical simulations corroborate the analytical results, demonstrating that infection levels decrease monotonically with higher protection adoption, and highlight the impact of mutation rates and protection cost on infection state trajectories.

Paperid: 1745, https://arxiv.org/pdf/2510.01350.pdf

Abstract:
Memristive crossbar arrays enable in-memory computing by performing parallel analog computations directly within memory, making them well-suited for machine learning, neural networks, and neuromorphic systems. However, despite their advantages, non-volatile memristors are vulnerable to security threats (such as adversarial extraction of stored weights when the hardware is compromised. Protecting these weights is essential since they represent valuable intellectual property resulting from lengthy and costly training processes using large, often proprietary, datasets. As a solution we propose two security mechanisms: Keyed Permutor and Watermark Protection Columns; where both safeguard critical weights and establish verifiable ownership (even in cases of data leakage). Our approach integrates efficiently with existing memristive crossbar architectures without significant design modifications. Simulations across 45nm, 22nm, and 7nm CMOS nodes, using a realistic interconnect model and a large RF dataset, show that both mechanisms offer robust protection with under 10% overhead in area, delay and power. We also present initial experiments employing the widely known MNIST dataset; further highlighting the feasibility of securing memristive in-memory computing systems with minimal performance trade-offs.

Paperid: 1746, https://arxiv.org/pdf/2510.00676.pdf

Abstract:
We present a distributed formation control strategy for multi-agent systems based only on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, with its gradient defining the control law driving the agents toward a desired symmetric and planar configuration. We show that only $(n-1)$ edges, the minimal connectivity requirement, are sufficient to implement the control strategy, where $n$ is the number of agents. We further augment the design to address the \textbf{maneuvering problem}, enabling the formation to undergo coordinated translations, rotations, and scalings along a predefined virtual trajectory. Numerical simulations demonstrate the effectiveness and flexibility of the proposed method.

Paperid: 1747, https://arxiv.org/pdf/2510.00602.pdf

Abstract:
In many real-world applications such as recommendation systems, multiple learning agents must balance exploration and exploitation while maintaining safety guarantees to avoid catastrophic failures. We study the stochastic linear bandit problem in a multi-agent networked setting where agents must satisfy stage-wise conservative constraints. A network of $N$ agents collaboratively maximizes cumulative reward while ensuring that the expected reward at every round is no less than $(1-α)$ times that of a baseline policy. Each agent observes local rewards with unknown parameters, but the network optimizes for the global parameter (average of local parameters). Agents communicate only with immediate neighbors, and each communication round incurs additional regret. We propose MA-SCLUCB (Multi-Agent Stage-wise Conservative Linear UCB), an episodic algorithm alternating between action selection and consensus-building phases. We prove that MA-SCLUCB achieves regret $\tilde{O}\left(\frac{d}{\sqrt{N}}\sqrt{T}\cdot\frac{\log(NT)}{\sqrt{\log(1/|λ_2|)}}\right)$ with high probability, where $d$ is the dimension, $T$ is the horizon, and $|λ_2|$ is the network's second largest eigenvalue magnitude. Our analysis shows: (i) collaboration yields $\frac{1}{\sqrt{N}}$ improvement despite local communication, (ii) communication overhead grows only logarithmically for well-connected networks, and (iii) stage-wise safety adds only lower-order regret. Thus, distributed learning with safety guarantees achieves near-optimal performance in reasonably connected networks.

Paperid: 1748, https://arxiv.org/pdf/2510.00559.pdf

Abstract:
This work proposes a novel Alternating Direction Method of Multipliers (ADMM)-based Ensemble Kalman Inversion (EKI) algorithm for solving constrained nonlinear model predictive control (NMPC) problems. First, the stage-wise nonlinear inequality constraints in the NMPC problem are embedded via an augmented Lagrangian with nonnegative slack variables. We then show that the unconstrained augmented Lagrangian formulation of the NMPC admits a Bayesian interpretation: under a Gaussian observation model, its minimizers coincide with MAP estimators, enabling solution via EKI. However, since the nonnegativity constraint on the slacks cannot be enforced via Gaussian noise, our proposed algorithm results in a two-block ADMM that alternates between (i) a primal step that minimizes the unconstrained augmented Lagrangian, (ii) a nonnegativity projection for the slacks, and (iii) a dual ascent step. To balance exploration and convergence, an annealing schedule tempers covariances and penalty weights, thereby encouraging global search early and precise constraint satisfaction later. To demonstrate the performance of the proposed method, we compare it with another iterative sampling-based approach based on Model Predictive Path Integral (MPPI) control, called DIAL-MPC.

Paperid: 1749, https://arxiv.org/pdf/2509.25120.pdf

Abstract:
The increasing decentralization of power systems driven by a large number of renewable energy sources poses challenges in power flow optimization. Partially unknown power line properties can render model-based approaches unsuitable. With increasing deployment of sensors, data-driven methods rise as a promising alternative. They offer the flexibility to adapt to varying grid structures and unknown line properties. In this paper, we propose a novel data-driven representation of nonlinear power flow equations for radial grids based on Willems' Fundamental Lemma. The approach allows for direct integration of input/output data into power flow optimisation, enabling cost minimization and constraint enforcement without requiring explicit knowledge of the electrical properties or the topology of the grid. Moreover, we formulate a convex relaxation to ensure compatibility with state-of-the-art solvers. In a numerical case study, we demonstrate that the novel approach performs similar to state-of-the-art methods, without the need for an explicit system identification step.

Paperid: 1750, https://arxiv.org/pdf/2509.24051.pdf

Abstract:
Heat pumps have the capability for fast adjustments in power consumption with potential connections to large heating-inertia district heating networks, and are thus a very important resource for providing frequency support in low-inertia power systems. Nevertheless, the coupling of power networks with district heating systems renders the underlying dynamics much more involved. It is therefore important to ensure that system stability and appropriate power sharing are maintained. In this paper, we consider the problem of leveraging district heating systems as ancillary services for primary frequency control in power networks via heat pumps. We propose a novel power sharing scheme for heating systems based on the average temperature. This enables an optimal power allocation among diverse energy sources without requiring load disturbances information. 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. We also discuss how various generation dynamics can be incorporated into our framework with guaranteed stability and optimality. Finally, we conduct simulations that demonstrate various tradeoffs in the transient response and the practical potential of the proposed approaches.

Paperid: 1751, https://arxiv.org/pdf/2509.23391.pdf

Abstract:
Machine learning has become a fundamental approach for modeling, prediction, and control, enabling systems to learn from data and perform complex tasks. Reservoir computing is a machine learning tool that leverages high-dimensional dynamical systems to efficiently process temporal data for prediction and observation tasks. Traditionally, the connectivity of a reservoir computer (RC) is generated at random, lacking a principled design. Here, we focus on optimizing the topology of a linear RC to improve its performance and interpretability, which we achieve by decoupling the RC dynamics into a number of independent modes. We then proceed to optimize each one of these modes to perform a given task, which corresponds to selecting an optimal RC connectivity in terms of a given set of eigenvalues of the RC adjacency matrix. Simulations on networks of varying sizes show that the optimized RC significantly outperforms randomly constructed reservoirs in both the training and testing phases and also often surpasses nonlinear reservoirs of comparable size. This approach provides both practical performance advantages and theoretical guidelines for designing efficient, task-specific, and analytically transparent RC architectures.

Paperid: 1752, https://arxiv.org/pdf/2509.22709.pdf

Abstract:
The EU Artificial Intelligence (AI) Act directs businesses to assess their AI systems to ensure they are developed in a way that is human-centered and trustworthy. The rapid adoption of AI in the industry has outpaced ethical evaluation frameworks, leading to significant challenges in accountability, governance, data quality, human oversight, technological robustness, and environmental and societal impacts. Through structured interviews with fifteen industry professionals, paired with a literature review conducted on each of the key interview findings, this paper investigates practical approaches and challenges in the development and assessment of Trustworthy AI (TAI). The findings from participants in our study, and the subsequent literature reviews, reveal complications in risk management, compliance and accountability, which are exacerbated by a lack of transparency, unclear regulatory requirements and a rushed implementation of AI. Participants reported concerns that technological robustness and safety could be compromised by model inaccuracies, security vulnerabilities, and an overreliance on AI without proper safeguards in place. Additionally, the negative environmental and societal impacts of AI, including high energy consumption, political radicalisation, loss of culture and reinforcement of social inequalities, are areas of concern. There is a pressing need not just for risk mitigation and TAI evaluation within AI systems but for a wider approach to developing an AI landscape that aligns with the social and cultural values of the countries adopting those technologies.

Paperid: 1753, https://arxiv.org/pdf/2509.21814.pdf

Abstract:
This paper proposes a novel distributed optimization framework that addresses time-varying optimization problems without requiring explicit derivative information of the objective functions. Traditional distributed methods often rely on derivative computations, limiting their applicability when only real-time objective function measurements are available. Leveraging unbiased extremum seeking, we develop continuous-time algorithms that utilize local measurements and neighbor-shared data to collaboratively track time-varying optima. Key advancements include compatibility with directed communication graphs, customizable convergence rates (asymptotic, exponential, or prescribed-time), and the ability to handle dynamically evolving objectives. By integrating chirpy probing signals with time-varying frequencies, our unified framework achieves accelerated convergence while maintaining stability under mild assumptions. Theoretical guarantees are established through Lie bracket averaging and Lyapunov-based analysis, with linear matrix inequality conditions ensuring rigorous convergence. Numerical simulations validate the effectiveness of the algorithms.

Paperid: 1754, https://arxiv.org/pdf/2509.20960.pdf

Abstract:
We consider an 1D partial integro-differential equation (PIDE) comprising of an 1D parabolic partial differential equation (PDE) and a nonlocal integral term. The control input is applied on one of the boundaries of the PIDE. Partitioning the spatial interval into $n+1$ subintervals and approximating the spatial derivatives and the integral term with their finite-difference approximations and Riemann sum, respectively, we derive an $n^{\rm th}$-order semi-discrete approximation of the PIDE. The $n^{\rm th}$-order semi-discrete approximation of the PIDE is an $n^{\rm th}$-order ordinary differential equation (ODE) in time. We establish some of its salient properties and using them prove that the solution of the semi-discrete approximation converges to the solution of the PIDE as $n\to\infty$. We illustrate our convergence results using numerical examples. The results in this work are useful for establishing the null controllability of the PIDE considered.

Paperid: 1755, https://arxiv.org/pdf/2509.20892.pdf

Abstract:
In this letter, a single-layer dual-band flexible conformal filtering endfire antenna is presented. The proposed antenna is based on two co-designed folded dipoles (FDs) working at two frequencies, where the lower-frequency FD acts as a reflector for the higher-frequency one. Then, by devising an additional reflector for lower-frequency FD, dual-band endfire radiation is realized. Parasitic strips are deliberately introduced around the FDs to generate electric coupling and magnetic coupling in the two operating bands, resulting in significant filtering performance with four radiation nulls. With flexible structure and single-layer configuration, the antenna design exhibits flexible conformability with cylindrical surfaces of diverse diameters, thereby enabling seamless integration into scalable emergency communication systems. To verify our design concept, an antenna prototype is fabricated and measured. The measured working frequency ranges from 1.37 to 1.45 GHz and 1.89 to 2.07 GHz. Out-of-band radiation suppression more than 11 dB is achieved under different bending radii. The proposed design offers several advantages including dual-band endfire filtering radiation, flexible conformability and low-profile.

Paperid: 1756, https://arxiv.org/pdf/2509.20071.pdf

Abstract:
This paper presents a distributed Koopman operator learning framework for modeling unknown nonlinear dynamics using sequential observations from multiple agents. Each agent estimates a local Koopman approximation based on lifted data and collaborates over a communication graph to reach exponential consensus on a consistent distributed approximation. The approach supports distributed computation under asynchronous and resource-constrained sensing. Its performance is demonstrated through simulation results, validating convergence and predictive accuracy under sensing-constrained scenarios and limited communication.

Paperid: 1757, https://arxiv.org/pdf/2509.19976.pdf

Abstract:
Topology optimization is a promising approach for mitigating congestion and managing changing grid conditions, but it is computationally challenging and requires approximations. Conventional distribution factors like PTDFs and LODFs, based on DC power flow, fail to capture voltage variations, reactive power, and losses - limiting their use in detailed optimization tasks such as busbar splitting. This paper introduces generalized distribution factors derived from a voltage-sensitive linearization of the full AC power flow equations. The proposed formulation accurately reflects reactive power flows, Ohmic losses, and voltage deviations while remaining computationally efficient. We derive and evaluate generalized PTDFs, LODFs, and topology modification factors using matrix identities. We discuss potential applications including voltage-aware N-1 security analysis, and topology optimization with a focus on busbar splitting. Numerical experiments demonstrate close agreement with full AC solutions, significantly outperforming the traditional DC approximation.

Paperid: 1758, https://arxiv.org/pdf/2509.19597.pdf

Abstract:
The widespread deployment of autonomous systems in safety-critical environments such as urban air mobility hinges on ensuring reliable, performant, and safe operation under varying environmental conditions. One such approach, value function-based safety filters, minimally modifies a nominal controller to ensure safety. Recent advances leverage offline learned value functions to scale these safety filters to high-dimensional systems. However, these methods assume detailed priors on all possible sources of model mismatch, in the form of disturbances in the environment -- information that is rarely available in real world settings. Even in well-mapped environments like urban canyons or industrial sites, drones encounter complex, spatially-varying disturbances arising from payload-drone interaction, turbulent airflow, and other environmental factors. We introduce SPACE2TIME, which enables safe and adaptive deployment of offline-learned safety filters under unknown, spatially-varying disturbances. The key idea is to reparameterize spatial variations in disturbance as temporal variations, enabling the use of precomputed value functions during online operation. We validate SPACE2TIME on a quadcopter through extensive simulations and hardware experiments, demonstrating significant improvement over baselines.

Paperid: 1759, https://arxiv.org/pdf/2509.19107.pdf

Abstract:
This research presents a smart urinary health monitoring system incorporating a coplanar waveguide (CPW)-fed slot-loop antenna biosensor designed to analyse various urine samples. The antenna demonstrates distinct resonant frequency shifts when exposed to five specific urine conditions, deviating from its baseline 1.42 GHz operation. These measurable frequency variations enable the antenna to function as an effective microwave sensor for urinary biomarker detection. A potential artificial intelligence-based Convolutional Neural Networks Long Short-Term Memory (CNN-LSTM) framework is also discussed to overcome the limitations of overlapping frequency responses, aiming to improve the accuracy of health condition detection. These components contribute to the development of a smart toilet system that displays real-time health information on a wall-mounted urinal screen, without requiring any user effort or behavioural change.

Paperid: 1760, https://arxiv.org/pdf/2509.18988.pdf

Abstract:
This paper considers the problem of adaptively overriding unsafe actions of a nominal controller in the presence of high-relative-degree nonovershooting constraints and parametric uncertainties. To prevent the design from being coupled with high-order derivatives of the parameter estimation error, we adopt a modular design approach in which the controller and the parameter identifier are designed separately. The controller module ensures that any safety violations caused by parametric uncertainties remain bounded, provided that the parameter estimation error and its first-order derivative are either bounded or square-integrable. The identifier module, in turn, guarantees that these requirements on the parameter estimation error are satisfied. Both theoretical analysis and simulation results demonstrate that the closed-loop safety violation is bounded by a tunable function of the initial estimation error. Moreover, as time increases, the parameter estimate converges to the true value, and the amount of safety violation decreases accordingly.

Paperid: 1761, https://arxiv.org/pdf/2509.18526.pdf

Abstract:
The vision of 6G communication demands autonomous and resilient networking in environments without fixed infrastructure. Yet most multi-agent reinforcement learning (MARL) approaches focus on isolated stages - exploration, relay formation, or access - under static deployments and centralized control, limiting adaptability. We propose the AI Agent Access (A\^3) Network, a unified, embodied intelligence-driven framework that transforms multi-agent networking into a dynamic, decentralized, and end-to-end system. Unlike prior schemes, the A\^3 Network integrates exploration, target user access, and backhaul maintenance within a single learning process, while supporting on-demand agent addition during runtime. Its decentralized policies ensure that even a single agent can operate independently with limited observations, while coordinated agents achieve scalable, communication-optimized coverage. By embedding link-level communication metrics into actor-critic learning, the A\^3 Network couples topology formation with robust decision-making. Numerical simulations demonstrate that the A\^3 Network not only balances exploration and communication efficiency but also delivers system-level adaptability absent in existing MARL frameworks, offering a new paradigm for 6G multi-agent networks.

Paperid: 1762, https://arxiv.org/pdf/2509.18475.pdf

Abstract:
This work establishes a robust mathematical foundation for compositional System Dynamics modeling, leveraging category theory to formalize and enhance the representation, analysis, and composition of system models. Here, System Dynamics diagrams, such as stock & flow diagrams, system structure diagrams, and causal loop diagrams, are formulated as categorical constructs, enabling scalable, transparent, and systematic reasoning. By encoding these diagrams as data using attributed C-sets and utilizing advanced categorical tools like structured cospans, pushouts, pullbacks, and functor mappings, the framework supports modular composition, stratification, and seamless mapping between syntax and semantics. The approach underwrites traditional practice with firm mathematical structure, facilitates the identification of certain forms of pathways and feedback loops, the detection of simple patterns within complex diagrams, common structure between diagrams, and structure-preserving mappings between diverse diagram types. Additionally, this framework supports alternative semantics, such as stochastic transition dynamics, extending beyond traditional ordinary differential equation (ODE) representations. Applications in compositional modeling, modularity, and team-based collaboration demonstrate the practical advantages of this advanced framework. Future directions include integrating dimensional annotations, supporting hybrid and agent-based modeling paradigms, and expanding the framework's applicability to global and local temporal reasoning through temporal sheaves. By revealing and formalizing the hidden mathematical structure of System Dynamics diagrams, this work empowers practitioners to tackle complex systems with clarity, scalability, and rigor.

Paperid: 1763, https://arxiv.org/pdf/2509.16665.pdf

Abstract:
The cyclic output-to-output gain is a security metric for control systems. Commonly, it is computed by solving a semi-definite program, which scales badly and inhibits its use for large-scale systems. We propose a method for computing the cyclic output-to-output gain using Hamiltonian matrices, similar to existing methods for the $H_\infty$-norm. In contrast to existing methods for the $H_{\infty}$-norm, the proposed method considers generalized singular values rather than regular singular values. Moreover, to ensure that the Hamiltonian matrices exist, we introduce a regularized version of the cyclic output-to-output gain. Through numerical experiments, we show that the proposed method is more efficient, scalable, and reliable than semi-definite programming approaches.

Paperid: 1764, https://arxiv.org/pdf/2509.16614.pdf

Abstract:
Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of learning-based approaches. Yet, issues such as suboptimal safe sets, applicability in partially observable environments, and lack of rigorous safety guarantees persist. In this work, we propose observation-conditioned neural CBFs based on Hamilton-Jacobi (HJ) reachability analysis, which approximately recover the maximal safe sets. We exploit certain mathematical properties of the HJ value function, ensuring that the predicted safe set never intersects with the observed failure set. Moreover, we leverage a hypernetwork-based architecture that is particularly suitable for the design of observation-conditioned safety filters. The proposed method is examined both in simulation and hardware experiments for a ground robot and a quadcopter. The results show improved success rates and generalization to out-of-domain environments compared to the baselines.

Paperid: 1765, https://arxiv.org/pdf/2509.16296.pdf

Abstract:
Designing socially optimal policies in multi-agent environments is a fundamental challenge in both economics and artificial intelligence. This paper studies a general framework for learning Stackelberg equilibria in dynamic and uncertain environments, where a single leader interacts with a population of adaptive followers. Motivated by pressing real-world challenges such as equitable electricity tariff design for consumers with distributed energy resources (such as rooftop solar and energy storage), we formalize a class of Stackelberg Markov games and establish the existence and uniqueness of stationary Stackelberg equilibria under mild continuity and monotonicity conditions. We then extend the framework to incorporate a continuum of agents via mean-field approximation, yielding a tractable Stackelberg-Mean Field Equilibrium (S-MFE) formulation. To address the computational intractability of exact best-response dynamics, we introduce a softmax-based approximation and rigorously bound its error relative to the true Stackelberg equilibrium. Our approach enables scalable and stable learning through policy iteration without requiring full knowledge of follower objectives. We validate the framework on an energy market simulation, where a public utility or a state utility commission sets time-varying rates for a heterogeneous population of prosumers. Our results demonstrate that learned policies can simultaneously achieve economic efficiency, equity across income groups, and stability in energy systems. This work demonstrates how game-theoretic learning frameworks can support data-driven policy design in large-scale strategic environments, with applications to real-world systems like energy markets.

Paperid: 1766, https://arxiv.org/pdf/2509.15820.pdf

Abstract:
We address fair sensor scheduling over bandwidth-constrained communication channels. While existing literature on fair scheduling overlooks overall system efficiency, we introduce a novel $q$-fairness framework to balance efficiency and fairness by adjusting the parameter $q$. Specifically, for two communication scenarios, we: (i) derive the optimal schedule under limited communication rates, and (ii) propose two suboptimal algorithms under limited simultaneous sensor transmissions and analyze their performance gaps relative to the optimal strategy. Simulations demonstrate that our algorithms effectively balance efficiency and fairness in both cases.

Paperid: 1767, https://arxiv.org/pdf/2509.15513.pdf

Abstract:
We present KoopCast, a lightweight yet efficient model for trajectory forecasting in general dynamic environments. Our approach leverages Koopman operator theory, which enables a linear representation of nonlinear dynamics by lifting trajectories into a higher-dimensional space. The framework follows a two-stage design: first, a probabilistic neural goal estimator predicts plausible long-term targets, specifying where to go; second, a Koopman operator-based refinement module incorporates intention and history into a nonlinear feature space, enabling linear prediction that dictates how to go. This dual structure not only ensures strong predictive accuracy but also inherits the favorable properties of linear operators while faithfully capturing nonlinear dynamics. As a result, our model offers three key advantages: (i) competitive accuracy, (ii) interpretability grounded in Koopman spectral theory, and (iii) low-latency deployment. We validate these benefits on ETH/UCY, the Waymo Open Motion Dataset, and nuScenes, which feature rich multi-agent interactions and map-constrained nonlinear motion. Across benchmarks, KoopCast consistently delivers high predictive accuracy together with mode-level interpretability and practical efficiency.

Paperid: 1768, https://arxiv.org/pdf/2509.15423.pdf

Abstract:
Accurate knowledge of the tire-road friction coefficient (TRFC) is essential for vehicle safety, stability, and performance, especially in autonomous racing, where vehicles often operate at the friction limit. However, TRFC cannot be directly measured with standard sensors, and existing estimation methods either depend on vehicle or tire models with uncertain parameters or require large training datasets. In this paper, we present a lightweight approach for online slip detection and TRFC estimation. Our approach relies solely on IMU and LiDAR measurements and the control actions, without special dynamical or tire models, parameter identification, or training data. Slip events are detected in real time by comparing commanded and measured motions, and the TRFC is then estimated directly from observed accelerations under no-slip conditions. Experiments with a 1:10-scale autonomous racing car across different friction levels demonstrate that the proposed approach achieves accurate and consistent slip detections and friction coefficients, with results closely matching ground-truth measurements. These findings highlight the potential of our simple, deployable, and computationally efficient approach for real-time slip monitoring and friction coefficient estimation in autonomous driving.

Paperid: 1769, https://arxiv.org/pdf/2509.15412.pdf

Abstract:
We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and a racecar in the real world, without expert knowledge or simulation tuning. Our approach achieves this data efficiency by bringing symbolic regression to real-world robotics while addressing key challenges that prevent its direct application, including noise sensitivity and model degradation that lead to unsafe control. Our key observation is that the underlying physics is often shared for a system regardless of internal or external changes. Hence, we strategically combine low-fidelity simulation data with targeted real-world residual learning. Through experimental validation on quadrotor and racecar platforms, we demonstrate consistent data-efficient adaptation across six out-of-distribution sim2sim scenarios and successful sim2real transfer across five real-world conditions. More information and videos can be found at at http://generalroboticslab.com/Sym2Real

Paperid: 1770, https://arxiv.org/pdf/2509.14984.pdf

Abstract:
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is a complex problem, and while the fingertips are a common choice for placing sensors, the contribution of tactile information from other regions of the hand is often overlooked. This work investigates the impact of tactile feedback from various regions of the fingers and palm in performing in-hand object reorientation tasks. We analyze how sensory feedback from different parts of the hand influences the robustness of deep reinforcement learning control policies and investigate the relationship between object characteristics and optimal sensor placement. We identify which tactile sensing configurations contribute to improving the efficiency and accuracy of manipulation. Our results provide valuable insights for the design and use of anthropomorphic end-effectors with enhanced manipulation capabilities.

Paperid: 1771, https://arxiv.org/pdf/2509.13392.pdf

Abstract:
We propose an equilibrium model of ski resorts where users are assigned to cycles in a closed network. As queues form on lifts with limited capacity, we derive an efficient way to find waiting times via convex optimization. The equilibrium problem is formulated as a variational inequality, and numerical experiments show that it can be solved using standard algorithms.

Paperid: 1772, https://arxiv.org/pdf/2509.13330.pdf

Abstract:
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Nonlinear friction dynamics have a significant impact on these systems, however, accurately modeling this phenomenon in simulations is a significant challenge. Traditional methods often rely on imprecise approximations of friction or require excessive computational times for reliable results. To address this, we present a hybrid dynamical model that features a trade-off between high-fidelity friction modeling and computational efficiency. Furthermore, we present a step-by-step algorithm for the comprehensive estimation of all unknown system parameters, including friction. This methodology is based on Gaussian Process Regression (GPR) and Least Squares (LS) estimations. Finally, experimental validation with a laboratory crane confirms the effectiveness of the proposed modeling and estimation approach.

Paperid: 1773, https://arxiv.org/pdf/2509.12900.pdf

Abstract:
Reliable electricity supply depends on the seamless operation of high-voltage grid infrastructure spanning both transmission and sub-transmission levels. Beneath this apparent uniformity lies a striking structural diversity, which leaves a clear imprint on system vulnerability. In this paper, we present harmonized topological models of the high-voltage grids of 15 European countries, integrating all elements at voltage levels above 110 kV. Topological analysis of these networks reveals a simple yet robust pattern: node degree distributions consistently follow an exponential decay, but the rate of decay varies significantly across countries. Through a detailed and systematic evaluation of network tolerance to node and edge removals, we show that the decay rate delineates the boundary between systems that are more resilient to failures and those that are prone to large-scale disruptions. Furthermore, we demonstrate that this numerical boundary is highly sensitive to which layers of the infrastructure are included in the models. To our knowledge, this study provides the first quantitative cross-country comparison of 15 European high-voltage networks, linking topological properties with vulnerability characteristics.

Paperid: 1774, https://arxiv.org/pdf/2509.12281.pdf

Abstract:
The probabilistic power flow (PPF) problem is essential to quantifying the distribution of the nodal voltages due to uncertain injections. The conventional PPF problem considers a fixed topology, and the solutions to such a PPF problem are associated with this topology. A change in the topology might alter the power flow patterns and thus require the PPF problem to be solved again. The previous PPF model and its solutions are no longer valid for the new topology. This practice incurs both inconvenience and computation burdens as more contingencies are foreseen due to high renewables and a large share of electric vehicles. This paper presents a novel topology-adaptive approach, based on the meta-model Neural Process (MMNP), for finding the solutions to PPF problems under varying N-1 topologies, particularly with one-line failures. By leveraging context set-based topology representation and conditional distribution over function learning techniques, the proposed MMNP enhances the robustness of PPF models to topology variations, mitigating the need for retraining PPF models on a new configuration. Simulations on an IEEE 9-bus system and IEEE 118-bus system validate the model's performance. The maximum %L1-relative error norm was observed as 1.11% and 0.77% in 9-bus and 118-bus, respectively. This adaptive approach fills a critical gap in PPF methodology in an era of increasing grid volatility.

Paperid: 1775, https://arxiv.org/pdf/2509.12160.pdf

Abstract:
The installation of electric vehicle (EV) charging stations in buildings is inevitable, as states push for increased EV adoption to support decarbonization efforts. This transition could force the need for grid infrastructure upgrades and enhanced controls to support reliable power delivery to end-use loads, and overall economic operation. This paper evaluates strategies that address these needs on two fronts: i) optimal sizing of service transformers and battery energy storage systems (BESS), and ii) optimized coordination between EV charging, BESS operation, and building demand. These strategies are applied to a school campus setting, consisting of building and EV charging loads, to provide an illustration of energy management in commercial buildings with EV fleets. A rolling-window optimization approach is applied to determine i) optimal sizing of the service transformer and BESS and ii) optimal control of EV charging and BESS charge/discharge schedules. The design and control strategies are validated in a 20-year time horizon with an annually increasing number of EVs (buses and vans). In addition, an economic analysis is also carried out to show the costs and benefits of each design as a medium- and long-term investment.

Paperid: 1776, https://arxiv.org/pdf/2509.10955.pdf

Abstract:
An increasing integration of photovoltaic units, electric vehicle chargers, heat pumps, and energy storage systems challenges low-voltage power grids and can cause voltage range violation, loss of stability, (local) overload of lines, and power management problems. Research suggested universal power-flow control (UPFC) to solve power management problems. In contrast to bulky, slow, and costly conventional UPFCs with their shunt and series transformers, this paper presents a highly compact and current-dense power-flow controller, which can serve between different feeders in the low-voltage power grids. The enabler is a systematic combination of silicon car-bide (SiC) with silicon (Si) transistors and a strict partial-power topology built around a multi-active bridge. The circuit links an active-front-end converter as a shunt stage through a multi-active-bridge converter bidirectionally with low-voltage series-injection modules floating with their respective phases. The topology can use small power to control high currents through the low-voltage series-injection modules. The multi-active bridge serves as a multi-input-output power router that exchanges energy between all elements. We assess the design as well as the implementation considerations of the proposed power-flow controller mathematically and verify its performance in simulation and real systems.

Paperid: 1777, https://arxiv.org/pdf/2509.09277.pdf

Abstract:
Most previously proposed controllers are analyzed in the small-signal/quasi-steady regime rather than large-signal or transient stability for grid-forming inverters (GFMI). Additionally, methods that presume system-wide data--global measurements and complete grid-model knowledge--are challenging to realize in practice and unsuitable for large-scale operation. Moreover, proportional current sharing is rarely embedded into them. The whole system is a high-order, nonlinear differential system, making analysis intractable without principled simplifications. Hence, contraction stability analysis in GFMI is proposed to guarantee the large-signal stability. Furthermore, a contraction-based controller is proposed to synchronize GFMI. Additionally, this paper proposes integrating an auxiliary virtual-impedance layer into the contraction-based controller to achieve proportional current sharing, while the GFMI retains global stability and voltage synchronization. A dispatchable virtual oscillator control (dVOC), also known as the Andronov--Hopf oscillator (AHO) is used to validate the proposed contraction stability analysis and contraction-based controller with virtual-impedance. It is proved that the complex multi-converter system can achieve output-feedback contraction under large-signal operation. Therefore, without requiring system-wide data, the proposed method offers voltage synchronization, decentralized stability conditions for the transient stability of AHO and proportional current sharing, beyond prior small-signal, quasi-steady analysis.

Paperid: 1778, https://arxiv.org/pdf/2509.08933.pdf

Abstract:
We consider the problem of learning the optimal policy in a discounted, infinite-horizon reinforcement learning (RL) setting where the reward signal is subject to adversarial corruption. Such corruption, which may arise from extreme noise, sensor faults, or malicious attacks, can severely degrade the performance of classical algorithms such as Q-learning. To address this challenge, we propose a new provably robust variant of the Q-learning algorithm that operates effectively even when a fraction of the observed rewards are arbitrarily perturbed by an adversary. Under the asynchronous sampling model with time-correlated data, we establish that despite adversarial corruption, the finite-time convergence rate of our algorithm matches that of existing results for the non-adversarial case, up to an additive term proportional to the fraction of corrupted samples. Moreover, we derive an information-theoretic lower bound revealing that the additive corruption term in our upper bounds is unavoidable. Next, we propose a variant of our algorithm that requires no prior knowledge of the statistics of the true reward distributions. The analysis of this setting is particularly challenging and is enabled by carefully exploiting a refined Azuma-Hoeffding inequality for almost-martingales, a technical tool that might be of independent interest. Collectively, our contributions provide the first finite-time robustness guarantees for asynchronous Q-learning, bridging a significant gap in robust RL.

Paperid: 1779, https://arxiv.org/pdf/2509.08455.pdf

Abstract:
The rapid growth of space-based services has established LEO satellite networks as a promising option for global broadband connectivity. Next-generation LEO networks leverage inter-satellite links (ISLs) to provide faster and more reliable communications compared to traditional bent-pipe architectures, even in remote regions. However, the high mobility of satellites, dynamic traffic patterns, and potential link failures pose significant challenges for efficient and resilient routing. To address these challenges, we model the LEO satellite network as a time-varying graph comprising a constellation of satellites and ground stations. Our objective is to minimize a weighted sum of average delay and packet drop rate. Each satellite independently decides how to distribute its incoming traffic to neighboring nodes in real time. Given the infeasibility of finding optimal solutions at scale, due to the exponential growth of routing options and uncertainties in link capacities, we propose SKYLINK, a novel fully distributed learning strategy for link management in LEO satellite networks. SKYLINK enables each satellite to adapt to the time-varying network conditions, ensuring real-time responsiveness, scalability to millions of users, and resilience to network failures, while maintaining low communication overhead and computational complexity. To support the evaluation of SKYLINK at global scale, we develop a new simulator for large-scale LEO satellite networks. For 25.4 million users, SKYLINK reduces the weighted sum of average delay and drop rate by 29% compared to the bent-pipe approach, and by 92% compared to Dijkstra. It lowers drop rates by 95% relative to k-shortest paths, 99% relative to Dijkstra, and 74% compared to the bent-pipe baseline, while achieving up to 46% higher throughput. At the same time, SKYLINK maintains constant computational complexity with respect to constellation size.

Paperid: 1780, https://arxiv.org/pdf/2509.08201.pdf

Abstract:
This paper develops a multivariable current control strategy for inverter-based resources (IBRs) based on optimal control theory to enhance their dynamic performance and grid synchronization stability. The structure of the implemented multiple-input, multiple-output (MIMO) controller closely resembles that of the commonly used conventional single-input, single-output (SISO) PI controllers for IBRs. As a result, it requires only minor adjustments to conventional vector current control schemes, thereby facilitating its straightforward adoption. Time-domain simulations and analytical analysis demonstrate the superior performance of the developed method under various conditions and use case scenarios, such as weak power systems and uncertain parameters.

Paperid: 1781, https://arxiv.org/pdf/2509.06447.pdf

Abstract:
The increasing complexity of energy systems due to sector coupling and decarbonization calls for unified modeling frameworks that capture the physical and structural interactions between electricity, gas, and heat networks. This paper presents a graph-based modeling approach for multi-energy systems, where each domain is represented as a layer in a multi-layer graph, and coupling technologies are modeled as inter-layer edges via a dedicated coupling layer. A steady-state solver based on a block-structured Newton-Raphson method is developed to jointly compute flows and state variables across all carriers. The proposed model is tested and validated on a realistic case study based on data from a German distribution network. The results demonstrate convergence, numerical accuracy, and consistent domain interaction, and demonstrate the method's applicability for system-wide analysis and its potential as a foundation for future optimizations in integrated energy systems.

Paperid: 1782, https://arxiv.org/pdf/2509.05858.pdf

Abstract:
Continual learning, the ability to acquire and transfer knowledge through a models lifetime, is critical for artificial agents that interact in real-world environments. Biological brains inherently demonstrate these capabilities while operating within limited energy and resource budgets. Achieving continual learning capability in artificial systems considerably increases memory and computational demands, and even more so when deploying on platforms with limited resources. In this work, Genesis, a spiking continual learning accelerator, is proposed to address this gap. The architecture supports neurally inspired mechanisms, such as activity-dependent metaplasticity, to alleviate catastrophic forgetting. It integrates low-precision continual learning parametersand employs a custom data movement strategy to accommodate the sparsely distributed spikes. Furthermore, the architecture features a memory mapping technique that places metaplasticity parameters and synaptic weights in a single address location for faster memory access. Results show that the mean classification accuracy for Genesis is 74.6% on a task-agnostic split-MNIST benchmark with power consumption of 17.08mW in a 65nm technology node.

Paperid: 1783, https://arxiv.org/pdf/2509.05808.pdf

Abstract:
This paper introduces a hierarchical framework for population games, where individuals delegate decision-making to proxies that act within their own strategic interests. This framework extends classical population games, where individuals are assumed to make decisions directly, to capture various real-world scenarios involving multiple decision layers. We establish equilibrium properties and provide convergence results for the proposed hierarchical structure. Additionally, based on these results, we develop a systematic approach to analyze population games with general convex constraints, without requiring individuals to have full knowledge of the constraints as in existing methods. We present a navigation application with capacity constraints as a case study.

Paperid: 1784, https://arxiv.org/pdf/2509.04533.pdf

Abstract:
Driven by growing concerns over air quality and energy security, electric vehicles (EVs) has experienced rapid development and are reshaping global transportation systems and lifestyle patterns. Compared to traditional gasoline-powered vehicles, EVs offer significant advantages in terms of lower energy consumption, reduced emissions, and decreased operating costs. However, there are still some core challenges to be addressed: (i) Charging station congestion and operational inefficiencies during peak hours, (ii) High charging cost under dynamic electricity pricing schemes, and (iii) Conflicts between charging needs and passenger service requirements.Hence, in this paper, we present a comprehensive review of data-driven models and approaches proposed in the literature to address the above challenges. These studies cover the entire lifecycle of EV systems, including charging station deployment, charging scheduling strategies, and large-scale fleet management. Moreover, we discuss the broader implications of EV integration across multiple domains, such as human mobility, smart grid infrastructure, and environmental sustainability, and identify key opportunities and directions for future research.

Paperid: 1785, https://arxiv.org/pdf/2509.04451.pdf

Abstract:
We present a new approach for designing risk-bounded controllers for Uncrewed Aerial Vehicles (UAVs). Existing frameworks for assessing risk of UAV operations rely on knowing the conditional probability of an incident occurring given different causes. Limited data for computing these probabilities makes real-world implementation of these frameworks difficult. Furthermore, existing frameworks do not include control methods for risk mitigation. Our approach relies on UAV dynamics, and employs reachability analysis for a probabilistic risk assessment over all feasible UAV trajectories. We use this holistic risk assessment to formulate a control optimization problem that minimally changes a UAV's existing control law to be bounded by an accepted risk threshold. We call our approach PRReach. Public and readily available UAV dynamics models and open source spatial data for mapping hazard outcomes enables practical implementation of PRReach for both offline pre-flight and online in-flight risk assessment and mitigation. We evaluate PRReach through simulation experiments on real-world data. Results show that PRReach controllers reduce risk by up to 24% offline, and up to 53% online from classical controllers.

Paperid: 1786, https://arxiv.org/pdf/2509.04413.pdf

Abstract:
This paper proposes a fully data-driven motion-planning framework for homogeneous linear multi-agent systems that operate in shared, obstacle-filled workspaces without access to explicit system models. Each agent independently learns its closed-loop behavior from experimental data by solving convex semidefinite programs that generate locally invariant ellipsoids and corresponding state-feedback gains. These ellipsoids, centered along grid-based waypoints, certify the dynamic feasibility of short-range transitions and define safe regions of operation. A sampling-based planner constructs a tree of such waypoints, where transitions are allowed only when adjacent ellipsoids overlap, ensuring invariant-to-invariant transitions and continuous safety. All agents expand their trees simultaneously and are coordinated through a space-time reservation table that guarantees inter-agent safety by preventing simultaneous occupancy and head-on collisions. Each successful edge in the tree is equipped with its own local controller, enabling execution without re-solving optimization problems at runtime. The resulting trajectories are not only dynamically feasible but also provably safe with respect to both environmental constraints and inter-agent collisions. Simulation results demonstrate the effectiveness of the approach in synthesizing synchronized, safe trajectories for multiple agents under shared dynamics and constraints, using only data and convex optimization tools.

Paperid: 1787, https://arxiv.org/pdf/2509.04196.pdf

Abstract:
In the interdisciplinary field of network science, a complex-valued network, with edges assigned complex weights, provides a more nuanced representation of relationships by capturing both the magnitude and phase of interactions. Additionally, an important application of this setting arises in distribution power grids. Motivated by the richer framework, we study the necessary and sufficient conditions for achieving consensus in both strongly and weakly connected digraphs. The paper establishes that complex-valued Laplacian flows converge to consensus subject to an additional constraint termed as real dominance which relies on the phase angles of the edge weights. Our approach builds on the complex Perron-Frobenius properties to study the spectral properties of the Laplacian and its relation to graphical conditions. Finally, we propose modified flows that guarantee consensus even if the original network does not converge to consensus. Additionally, we explore diffusion in complex-valued networks as a dual process of consensus and simulate our results on synthetic and real-world networks.

Paperid: 1788, https://arxiv.org/pdf/2509.04116.pdf

Abstract:
This paper considers the problem of remote state estimation for Markov jump linear systems in the presence of uncertainty in the posterior mode probabilities. Such uncertainty may arise when the estimator receives noisy or incomplete measurements over an unreliable communication network. To address this challenge, the estimation problem is formulated within a distributionally robust framework, where the true posterior is assumed to lie within a total variation distance ball centered at the nominal posterior. The resulting minimax formulation yields an estimator that extends the classical MMSE solution with additional terms that account for mode uncertainty. A tractable implementation is developed using a distributionally robust variant of the first-order generalized pseudo-Bayesian algorithm. A numerical example is provided to illustrate the applicability and effectiveness of the approach.

Paperid: 1789, https://arxiv.org/pdf/2509.04096.pdf

Abstract:
Forklifts are essential for transporting goods in industrial environments. These machines face wear and tear during field operations, along with rough terrain, tight spaces and complex handling scenarios. This increases the likelihood of unintended impacts, such as collisions with goods, infrastructure, or other machinery. In addition, deliberate misuse has been stated, compromising safety and equipment integrity. This paper presents a low-cost and low-power impact detection system based on multiple wireless sensor nodes measuring 3D accelerations. These were deployed in a measurement campaign covering realworld operational scenarios. An algorithm was developed, based on this collected data, to differentiate high-impact events from normal usage and to localize detected collisions on the forklift. The solution successfully detects and localizes impacts, while maintaining low power consumption, enabling reliable forklift monitoring with multi-year sensor autonomy.

Paperid: 1790, https://arxiv.org/pdf/2509.03953.pdf

Abstract:
In automated planning, control parameters extend standard action representations through the introduction of continuous numeric decision variables. Existing state-of-the-art approaches have primarily handled control parameters as embedded constraints alongside other temporal and numeric restrictions, and thus have implicitly treated them as additional constraints rather than as decision points in the search space. In this paper, we propose an efficient alternative that explicitly handles control parameters as true decision points within a systematic search scheme. We develop a best-first, heuristic search algorithm that operates over infinite decision spaces defined by control parameters and prove a notion of completeness in the limit under certain conditions. Our algorithm leverages the concept of delayed partial expansion, where a state is not fully expanded but instead incrementally expands a subset of its successors. Our results demonstrate that this novel search algorithm is a competitive alternative to existing approaches for solving planning problems involving control parameters.

Paperid: 1791, https://arxiv.org/pdf/2509.03818.pdf

Abstract:
In this work, we develop a measurement platform to capture mobile network performance metrics including coverage and quality of service in regions where conventional coverage testing approaches are frequently time-intensive, labor-demanding, and occasionally hazardous. Traditionally, crowd-sourcing methods are used to collect cellular network performance metrics. However, these approaches are inadequate in rural areas due to low-density population, and difficult terrain. The platform described here is a UAV-based and is designed to investigate the mobile network performance through aerial operations and gather Radio Access Network (RAN) signal alongside end-to-end network performance metrics. Our platform gathers metrics through the integration of an onboard computation unit and commercial off-the-shelf cellular modem. The gathered data are subsequently analyzed and displayed using geospatial mapping utilities and statistical techniques to deliver key observations on cellular network performance. Experimental results showed that the received signal power improves at higher altitudes due to enhanced line-of-sight (LoS) conditions as expected. However, the signal quality degrades as a result of increased interference from neighboring cells. The analysis reveals that for most of the geographic area covered in the initial experiments the system maintained acceptable signal quality, with adequate throughput performance for both uplink and downlink communications, while maintaining satisfactory round-trip time characteristics. Notably, the experiment showed that a strong radio signal metric for a given cell does not necessarily translate to consistent spatial coverage across the tested region.

Paperid: 1792, https://arxiv.org/pdf/2509.03762.pdf

Abstract:
We consider the problem of joint routing and scheduling in queueing networks, where the edge transmission costs are unknown. At each time-slot, the network controller receives noisy observations of transmission costs only for those edges it selects for transmission. The network controller's objective is to make routing and scheduling decisions so that the total expected cost is minimized. This problem exhibits an exploration-exploitation trade-off, however, previous bandit-style solutions cannot be directly applied to this problem due to the queueing dynamics. In order to ensure network stability, the network controller needs to optimize throughput and cost simultaneously. We show that the best achievable cost is lower bounded by the solution to a static optimization problem, and develop a network control policy using techniques from Lyapunov drift-plus-penalty optimization and multi-arm bandits. We show that the policy achieves a sub-linear regret of order $O(\sqrt{T}\log T)$, as compared to the best policy that has complete knowledge of arrivals and costs. Finally, we evaluate the proposed policy using simulations and show that its regret is indeed sub-linear.

Paperid: 1793, https://arxiv.org/pdf/2509.03515.pdf

Abstract:
The Waymo Open Motion Dataset (WOMD) has become a popular resource for data-driven modeling of autonomous vehicles (AVs) behavior. However, its validity for behavioral analysis remains uncertain due to proprietary post-processing, the absence of error quantification, and the segmentation of trajectories into 20-second clips. This study examines whether WOMD accurately captures the dynamics and interactions observed in real-world AV operations. Leveraging an independently collected naturalistic dataset from Level 4 AV operations in Phoenix, Arizona (PHX), we perform comparative analyses across three representative urban driving scenarios: discharging at signalized intersections, car-following, and lane-changing behaviors. For the discharging analysis, headways are manually extracted from aerial video to ensure negligible measurement error. For the car-following and lane-changing cases, we apply the Simulation-Extrapolation (SIMEX) method to account for empirically estimated error in the PHX data and use Dynamic Time Warping (DTW) distances to quantify behavioral differences. Results across all scenarios consistently show that behavior in PHX falls outside the behavioral envelope of WOMD. Notably, WOMD underrepresents short headways and abrupt decelerations. These findings suggest that behavioral models calibrated solely on WOMD may systematically underestimate the variability, risk, and complexity of naturalistic driving. Caution is therefore warranted when using WOMD for behavior modeling without proper validation against independently collected data.

Paperid: 1794, https://arxiv.org/pdf/2509.03261.pdf

Abstract:
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance. Constrained systems are often controlled using Model Predictive Control, because of its ability to naturally handle constraints, relying on numerical optimization. However, ensuring constraint satisfaction is challenging for nonlinear systems/constraints. A well-known tool to make controllers safe is the so-called control-invariant set (a.k.a. safe set). In our previous work, we have shown that safety can be improved by letting the safe-set constraint recede along the MPC horizon. In this paper, we push that idea further by exploiting parallel computation to improve safety. We solve several MPC problems at the same time, where each problem instantiates the safe-set constraint at a different time step along the horizon. Finally, the controller can select the best solution according to some user-defined criteria. We validated this idea through extensive simulations with a 3-joint robotic arm, showing that significant improvements can be achieved in terms of safety and performance, even using as little as 4 computational cores.

Paperid: 1795, https://arxiv.org/pdf/2509.02920.pdf

Abstract:
Detecting elephants through seismic signals is an emerging research topic aimed at developing solutions for Human-Elephant Conflict (HEC). Despite the promising results, such solutions heavily rely on manual classification of elephant footfalls, which limits their applicability for real-time classification in natural settings. To address this limitation and build on our previous work, this study introduces a classification framework targeting resource-constrained implementations, prioritizing both accuracy and computational efficiency. As part of this framework, a novel event detection technique named Contextually Customized Windowing (CCW), tailored specifically for detecting elephant footfalls, was introduced, and evaluations were conducted by comparing it with the Short-Term Average/Long-Term Average (STA/LTA) method. The yielded results show that the maximum validated detection range was 155.6 m in controlled conditions and 140 m in natural environments. Elephant footfall classification using Support Vector Machine (SVM) with a Radial Basis Function (RBF) kernel demonstrated superior performance across multiple settings, achieving an accuracy of 99% in controlled environments, 73% in natural elephant habitats, and 70% in HEC-prone human habitats, the most challenging scenario. Furthermore, feature impact analysis using explainable AI identified the number of Zero Crossings and Dynamic Time Warping (DTW) Alignment Cost as the most influential factors in all experiments, while Predominant Frequency exhibited significant influence in controlled settings.

Paperid: 1796, https://arxiv.org/pdf/2509.02143.pdf

Abstract:
Reset elements are nonlinear filters that improve control performance beyond linear time-invariant (LTI) limits but introduce higher-order harmonics that complicate design. Although frequency-domain tools like describing functions (DFs) and higher-order sinusoidal-input describing functions (HOSIDFs) analyze reset control systems (RCS), no direct method yet quantifies the impact of higher-order harmonics on the error signal without time-domain simulations. This paper introduces a robustness factor, $Ï_2(Ï)$, which quantifies the increase in the root-mean-square (RMS) value of the error signal due to HOSIDFs, enabling RCS to rely solely on first-order DF characteristics while accounting for nonlinear effects. By using this robustness factor, a systematic method for designing pre- and post-filters is developed to ensure a predefined bound on $Ï_2(Ï)$, thereby limiting the influence of higher-order harmonics without altering first-order DF behavior. The proposed framework is validated through a case study on a planar precision positioning stage, demonstrating how the robustness factor guides the reduction of nonlinearities and improves performance predictability.

Paperid: 1797, https://arxiv.org/pdf/2509.01459.pdf

Abstract:
The future grid will be highly complex and decentralized, requiring sophisticated coordination across numerous human and software agents that manage distributed resources such as Demand Response (DR). Realizing this vision demands significant advances in semantic interoperability, which enables scalable and cost-effective automation across heterogeneous systems. While semantic technologies have progressed in commercial building and DR domains, current ontologies have two critical limitations: they are often developed without a formal framework that reflects real-world DR requirements, and proposals for integrating general and application-specific ontologies remain mostly conceptual, lacking formalization or empirical validation. In this paper, we address these gaps by applying a formal ontology evaluation/development approach to define the informational requirements (IRs) necessary for semantic interoperability in the area of incentive-based DR for commercial buildings. We identify the IRs associated with each stage of the wholesale incentive-based DR process, focusing on the perspective of building owners. Using these IRs, we evaluate how well existing ontologies (Brick, DELTA, and EFOnt) support the operational needs of DR participation. Our findings reveal substantial misalignments between current ontologies and practical DR requirements. Based on our assessments, we propose a roadmap of necessary extensions and integrations for these ontologies. This work ultimately aims to enhance the interoperability of today's and future smart grid, thereby facilitating scalable integration of DR systems into the grid's complex operational framework.

Paperid: 1798, https://arxiv.org/pdf/2509.01347.pdf

Abstract:
We study the problem of fault isolation in linear systems with actuator and sensor faults within a data-driven framework. We propose a nullspace-based filter that uses solely fault-free input-output data collected under process and measurement noises. By reparameterizing the problem within a behavioral framework, we achieve a direct fault isolation filter design that is independent of any explicit system model. The underlying classification problem is approached from a geometric perspective, enabling a characterization of mutual fault discernibility in terms of fundamental system properties given a noise-free setting. In addition, the provided conditions can be evaluated using only the available data. Finally, a simulation study is conducted to demonstrate the effectiveness of the proposed method.

Paperid: 1799, https://arxiv.org/pdf/2509.00101.pdf

Abstract:
Access to smart meter data offers system-wide benefits but raises significant privacy concerns due to the personal information it contains. Privacy-preserving techniques could facilitate wider access, though they introduce privacy-utility trade-offs. Understanding consumer valuations for anonymisation can help identify appropriate trade-offs. However, existing studies do not focus on anonymisation specifically or account for information asymmetries regarding privacy risks, raising questions about the validity of informed consent under current regulations. We use a mixed-methods approach to estimate non-monetary (willingness-to-share and smart metering demand) and monetary (willingness-to-pay/accept) preferences for anonymisation, based on a representative sample of 965 GB bill payers. An embedded randomised control trial examines the effect of providing information about privacy implications. On average, consumers are willing to pay for anonymisation, are more willing to share data when anonymised and less willing to share non-anonymised data once anonymisation is presented as an option. However, a significant minority remains unwilling to adopt smart meters, despite anonymisation. We find strong evidence of information asymmetries that suppress demand for anonymisation and identify substantial variation across demographic and electricity supply characteristics. Qualitative responses corroborate the quantitative findings, underscoring the need for stronger privacy defaults, user-centric design, and consent mechanisms that enable truly informed decisions.

Paperid: 1800, https://arxiv.org/pdf/2508.21641.pdf

Abstract:
The growing integration of renewable energy sources into power systems requires planning models to account for not only demand variability but also fluctuations in renewable availability during operational periods. Capturing this temporal detail over long planning horizons can be computationally demanding or even intractable. A common approach to address this challenge is to approximate the problem using a reduced set of selected time periods, known as representative periods (RPs). However, using too few RPs can significantly degrade solution quality. In this paper, we propose a novel method -- hull clustering with blended RPs -- that enhances traditional clustering-based RP approaches in two key ways. First, instead of selecting typical cluster centers (e.g., centroids or medoids) as RPs, our method is based on extreme points, which are more likely to be constraint-binding. Second, it represents base periods as weighted combinations of RPs (e.g., convex or conic blends), enabling a more accurate approximation of the full time horizon with fewer RPs. Through two case studies based on data from the European network operators, we demonstrate that hull clustering with blended RPs outperforms traditional RP techniques in both regret and computational efficiency.

Paperid: 1801, https://arxiv.org/pdf/2508.21428.pdf

Abstract:
This work presents a passivity-based analysis for the nonlinear output agreement problem in network systems over directed graphs. We reformulate the problem as a convergence analysis on the agreement submanifold. First, we establish how passivity properties of individual agents and controllers determine the passivity of their associated system relations. Building on this, we introduce the concept of submanifold-constrained passivity and develop a novel compensation theorem that ensures output convergence to the agreement submanifold. Unlike previous approaches, our approach can analyze the network system with arbitrary digraphs and any passive agents. We apply this framework to analyze the output agreement problem for network systems consisting of nonlinear and passive agents. Numerical examples support our results.

Paperid: 1802, https://arxiv.org/pdf/2508.21367.pdf

Abstract:
This paper proposes a general incremental policy iteration adaptive dynamic programming (ADP) algorithm for model-free robust optimal control of unknown nonlinear systems. The approach integrates recursive least squares estimation with linear ADP principles, which greatly simplifies the implementation while preserving adaptive learning capabilities. In particular, we develop a sufficient condition for selecting a discount factor such that it allows learning the optimal policy starting with an initial policy that is not necessarily stabilizing. Moreover, we characterize the robust stability of the closed-loop system and the near-optimality of iterative policies. Finally, we perform numerical simulations to demonstrate the effectiveness of the proposed method.

Paperid: 1803, https://arxiv.org/pdf/2508.21335.pdf

Abstract:
In this paper, we consider algorithms with integral action for solving online optimization problems characterized by quadratic cost functions with a time-varying optimal point described by an $(n-1)$th order polynomial. Using a version of the internal model principle, the optimization algorithms under consideration are required to incorporate a discrete time $n$-th order integrator in order to achieve exact tracking. By using results on an optimal gain margin problem, we obtain a fundamental convergence rate bound for the class of linear gradient based algorithms exactly tracking a time-varying optimal point. This convergence rate bound is given by $ \left(\frac{\sqrtÎº - 1 }{\sqrtÎº + 1}\right)^{\frac{1}{n}}$, where $Îº$ is the condition number for the set of cost functions under consideration. Using our approach, we also construct algorithms which achieve the optimal convergence rate as well as zero steady-state error when tracking a time-varying optimal point.

Paperid: 1804, https://arxiv.org/pdf/2508.20723.pdf

Abstract:
Ride-pooling systems, to succeed, must provide an attractive service, namely compensate perceived costs with an appealing price. However, because of a strong heterogeneity in a value-of-time, each traveller has his own acceptable price, unknown to the operator. Here, we show that individual acceptance levels can be learned by the operator (over $90\%$ accuracy for pooled travellers in $10$ days) to optimise personalised fares. We propose an adaptive pricing policy, where every day the operator constructs an offer that progressively meets travellers' expectations and attracts a growing demand. Our results suggest that operators, by learning behavioural traits of individual travellers, may improve performance not only for travellers (increased utility) but also for themselves (increased profit). Moreover, such knowledge allows the operator to remove inefficient pooled rides and focus on attractive and profitable combinations.

Paperid: 1805, https://arxiv.org/pdf/2508.20394.pdf

Abstract:
This paper studies the optimal tracking control problem for continuous-time stochastic linear systems with multiplicative noise. The solution framework involves solving a stochastic algebraic Riccati equation for the feedback gain and a Sylvester equation for the feedforward gain. To enable model-free optimal tracking, we first develop a two-phase bootstrap policy iteration (B-PI) algorithm, which bootstraps a stabilizing control gain from the trivially initialized zero-value start and proceeds with standard policy iteration. Building on this algorithm, we propose a data-driven, off-policy reinforcement learning approach that ensures convergence to the optimal feedback gain under the interval excitation condition. We further introduce a data-driven method to compute the feedforward using the obtained feedback gain. Additionally, for systems with state-dependent noise, we propose a shadow system-based optimal tracking method to eliminate the need for probing noise. The effectiveness of the proposed methods is demonstrated through numerical examples.

Paperid: 1806, https://arxiv.org/pdf/2508.19678.pdf

Abstract:
For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical model predictive control (DSMPC) algorithm that incorporates discrete-time high-order control barrier functions (DHCBFs) to enforce safety constraints, alongside discrete-time control Lyapunov functions (DCLFs) to establish terminal constraints. To facilitate distributed implementation, we develop estimated neighbor states for formulating DHCBFs and DCLFs, while also devising a bound constraint to limit estimation errors and ensure convergence. Additionally, we provide theoretical guarantees regarding the feasibility and stability of the proposed DSMPC algorithm based on a mild assumption. The effectiveness of the proposed method is evidenced by the simulation results, demonstrating improved performance and reduced computation time compared to existing approaches.

Paperid: 1807, https://arxiv.org/pdf/2508.19401.pdf

Abstract:
The integration of inverter-interfaced generators introduces new instability phenomena into modern power systems. This paper conducts a comparative analysis of two widely used droop-based grid-forming controls, namely droop control and droop-I control, in wind turbines. Although both approaches provide steady-state reactive power-voltage droop characteristics, their impacts on high-frequency (HF) stability differ significantly. Firstly, on open-loop (OL) comparison reveals that droop-I control alters HF pole locations. The application of Routh's Stability Criterion further analytically demonstrates that such pole shifts inevitably lead to OL instability. This HF OL instability is identified as a structural phenomenon in purely inductive grids and cannot be mitigated through control parameter tuning. As a result, droop-I control significantly degrades HF stability, making conventional gain and phase margins insufficient for evaluating robustness against parameter variations. Then, the performance of established active damping (AD) is assessed for both control schemes. The finding indicates that AD designs effective for droop control may fail to suppress HF resonance under droop-I control due to the presence of unstable OL poles. Case studies performed on the IEEE 14-Bus Test System validate the analysis and emphasize the critical role of HF OL instability in determining the overall power system stability.

Paperid: 1808, https://arxiv.org/pdf/2508.17173.pdf

Abstract:
This paper develops a novel COllaborative-Online-Learning (COOL)-enabled motion control framework for multi-robot systems to avoid collision amid randomly moving obstacles whose motion distributions are partially observable through decentralized data streams. To address the notable challenge of data acquisition due to occlusion, a COOL approach based on the Dirichlet process mixture model is proposed to efficiently extract motion distribution information by exchanging among robots selected learning structures. By leveraging the fine-grained local-moment information learned through COOL, a data-stream-driven ambiguity set for obstacle motion is constructed. We then introduce a novel ambiguity set propagation method, which theoretically admits the derivation of the ambiguity sets for obstacle positions over the entire prediction horizon by utilizing obstacle current positions and the ambiguity set for obstacle motion. Additionally, we develop a compression scheme with its safety guarantee to automatically adjust the complexity and granularity of the ambiguity set by aggregating basic ambiguity sets that are close in a measure space, thereby striking an attractive trade-off between control performance and computation time. Then the probabilistic collision-free trajectories are generated through distributionally robust optimization problems. The distributionally robust obstacle avoidance constraints based on the compressed ambiguity set are equivalently reformulated by deriving separating hyperplanes through tractable semi-definite programming. Finally, we establish the probabilistic collision avoidance guarantee and the long-term tracking performance guarantee for the proposed framework. The numerical simulations are used to demonstrate the efficacy and superiority of the proposed approach compared with state-of-the-art methods.

Paperid: 1809, https://arxiv.org/pdf/2508.16918.pdf

Abstract:
The rise of sixth-generation (6G) wireless networks sets high demands on UAV-assisted Free Space Optical (FSO) communications, where the channel environment becomes more complex and variable due to both atmospheric turbulence and UAV-induced vibrations. These factors increase the challenge of maintaining reliable communication and require adaptive processing methods. Autoencoders are promising as they learn optimal encodings from channel data. However, existing autoencoder designs are generic and lack the specific adaptability and computational flexibility needed for UAV-FSO scenarios. To address this, we propose AEAT-AE (Adaptive Environment-aware Transformer Autoencoder), a Transformer-based framework that integrates environmental parameters into both encoder and decoder via a cross-attention mechanism. Moreover, AEAT-AE incorporates a Deep Q-Network (DQN) that dynamically selects which layers of the Transformer autoencoder to activate based on real-time environmental inputs, effectively balancing performance and computational cost. Simulation results demonstrate that AEAT-AE outperforms conventional methods in bit error rate while maintaining efficient runtime, representing a novel tailored solution for next-generation UAV-FSO communications.

Paperid: 1810, https://arxiv.org/pdf/2508.16774.pdf

Abstract:
While governments and international organizations have set the net-zero target to prevent a climate event horizon, practical solutions are lacking mainly because of the impracticability to completely replace combustion processes. Hence, in this paper, we first design a compartmental network whose states must remain in the nonnegative orthant for physical consistency and in which the carbon dioxide emissions result from the combustion of diesel in vehicles and gas in house heaters. Then, we designed both full-state and output-feedback linear-quadratic regulators of the compartmental network to bring the mass of carbon dioxide to the pre-industrial era, which is reached in approximately 25 and 60 days, respectively. The output feedback tolerates for 6 days the combustion taking place in 5,000 vehicles and in 10,000 house heating systems, it meets the net-zero target, and it nullifies the extraction of finite natural resources. The tropospheric temperature with closed-loop reaches the equilibrium at 133 Â°C after 16.4 years; while such an high value requires to further investigate with climate experts the model of the dynamics of the temperature, this work is a first step in designing optimal network control systems for climate stability. Source code is publicly available.

Paperid: 1811, https://arxiv.org/pdf/2508.16450.pdf

Abstract:
This paper studies cone-preserving linear discrete-time switched systems whose switching is governed by an automaton. For this general system class, we present performance analysis conditions for a broadly usable performance measure. In doing so, we generalize several known results for performance and stability analysis for switched and positive switched systems, providing a unifying perspective. We also arrive at novel $\ell_1$-performance analysis conditions for positive switched systems with constrained switching, for which we present an application-motivated numerical example. Further, the cone-preserving perspective provides insights into appropriate Lyapunov function selection.

Paperid: 1812, https://arxiv.org/pdf/2508.15869.pdf

Abstract:
To increase the efficiency of future electric vehicles, it is crucial to reduce drivetrain losses in battery-powered vehicles. This enables either an increase in driving range or overall cost savings by reducing battery capacity while maintaining the same range. Harmonic motor losses account for an avoidable share of more than 30% of the total eDrive losses in standard B6-2L 300 kW iPMSM configurations. These losses result from high-frequency voltage distortion across the motor windings, which can be reduced through various approaches. Of great importance is the classification of cost-neutral and low-cost concepts for loss reduction. The following presents and categorizes approaches to loss reduction that have been developed by research and industry in recent years. In particular, novel part-load-capable motor and inverter concepts are introduced, which enable motor switching or multilevel operation to reduce harmonic losses in the part-load range.

Paperid: 1813, https://arxiv.org/pdf/2508.14248.pdf

Abstract:
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear MPC for tracking to the more complex case of nonlinear systems subject to bounded and not necessarily additive perturbations. The optimal control problem that is solved at each step penalizes the deviation of the predicted nominal system trajectory from an artificial reference, which is added as a decision variable, as well as the distance between the artificial reference and the setpoint. Robust feasibility is ensured by imposing conservative constraints that take into account the effect of uncertainties and convergence to a neighborhood of any feasible setpoint is guaranteed by means of an appropriate terminal cost and an extended stabilizing terminal constraint. In the case of unreachable setpoints, convergence to a neighborhood of the optimal reachable steady output is also proved.

Paperid: 1814, https://arxiv.org/pdf/2508.14224.pdf

Abstract:
Battery electric vehicles (BEVs) have advanced significantly during the past decade, yet drivetrain energy losses continue to restrict practical range and elevate cost. A dataset comprising more than 1000 European-market BEVs (model years 2010-2025) is combined with detailed inverter-motor co-simulation to chart technology progress for and quantify the efficiency and cost-saving potential of partial-load optimised multi-level inverter (MLI) for 2030. Average drive-cycle range has climbed from 135 km to 455 km, while fleet-average energy consumption has remained virtually constant. Three inverter topologies are assessed to evaluate future efficiency and cost enhancements: a conventional two-level (2L) six halfbridge (B6) inverter with silicon (Si) and silicon carbide (SiC) devices, and two three-level (3L) T-type neutral point clamped (TNPC) and active neutral point clamped (ANPC) inverters tailored for partial-load operation. The 3L-TNPC inverter, realised with only 30% additional SiC chip area, lowers drive-cycle drivetrain losses by 0.67 kWh/100 km relative to a SiC 2L-B6 baseline. These results identify partial-load optimised MLIs as a cost-effective route to further reduce BEV energy consumption and total system cost.

Paperid: 1815, https://arxiv.org/pdf/2508.13608.pdf

Abstract:
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed optimization problems, where each agent aims to optimize their parameters to maximize a coupled reward function subject to coupled constraints. Prior work either studies a centralized setting, does not consider safety, or struggles with sample efficiency. Since we require sample efficiency and work with unknown and nonconvex rewards and constraints, we solve this optimization problem using safe Bayesian optimization with Gaussian process regression. Moreover, we consider nearest-neighbor communication between the agents. To capture the behavior of non-neighboring agents, we reformulate the static global optimization problem as a time-varying local optimization problem for each agent, essentially introducing time as a latent variable. To this end, we propose a custom spatio-temporal kernel to integrate prior knowledge. We show the successful deployment of our algorithm in simulations.

Paperid: 1816, https://arxiv.org/pdf/2508.12178.pdf

Abstract:
This work presents a neurosymbolic framework for synthesizing and verifying safety controllers in high-dimensional monotone dynamical systems using only linear sample complexity, without requiring explicit models or conservative Lipschitz bounds. The approach combines the expressiveness of neural networks with the rigor of symbolic reasoning via barrier certificates, functional analogs of inductive invariants that formally guarantee safety. Prior data-driven methods often treat dynamics as black-box models, relying on dense state-space discretization or Lipschitz overapproximations, leading to exponential sample complexity. In contrast, monotonicity -- a pervasive structural property in many real-world systems -- provides a symbolic scaffold that simplifies both learning and verification. Exploiting order preservation reduces verification to localized boundary checks, transforming a high-dimensional problem into a tractable, low-dimensional one. Barrier certificates are synthesized using monotone neural networks -- architectures with embedded monotonicity constraints -- trained via gradient-based optimization guided by barrier conditions. This enables scalable, formally sound verification directly from simulation data, bridging black-box learning and formal guarantees within a unified neurosymbolic framework. Empirical results on three large-scale benchmarks -- a 1,000-dimensional freeway traffic model, a 50-dimensional urban traffic network, and a 13,000-dimensional power grid -- demonstrate the scalability and effectiveness of the approach in real-world, safety-critical systems.

Paperid: 1817, https://arxiv.org/pdf/2508.10999.pdf

Abstract:
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating UWB ranging measurements into state estimation. While several prior works have demonstrated satisfactory results by using robot-aided systems to autonomously calibrate UWB systems, there are still some limitations: 1) these approaches assume accurate robot localization during the initialization step, ignoring localization errors that can compromise calibration robustness, and 2) the calibration results are highly sensitive to the initial guess of the UWB anchors' positions, reducing the practical applicability of these methods in real-world scenarios. Our approach addresses these challenges by explicitly incorporating the impact of robot localization uncertainties into the calibration process, ensuring robust initialization. To further enhance the robustness of the calibration results against initialization errors, we propose a tightly-coupled Schmidt Kalman Filter (SKF)-based online refinement method, making the system suitable for practical applications. Simulations and real-world experiments validate the improved accuracy and robustness of our approach.

Paperid: 1818, https://arxiv.org/pdf/2508.10423.pdf

Abstract:
This paper proposes a novel method to enhance locomotion for a single humanoid robot through cooperative-heterogeneous multi-agent deep reinforcement learning (MARL). While most existing methods typically employ single-agent reinforcement learning algorithms for a single humanoid robot or MARL algorithms for multi-robot system tasks, we propose a distinct paradigm: applying cooperative-heterogeneous MARL to optimize locomotion for a single humanoid robot. The proposed method, multi-agent reinforcement learning for single humanoid locomotion (MASH), treats each limb (legs and arms) as an independent agent that explores the robot's action space while sharing a global critic for cooperative learning. Experiments demonstrate that MASH accelerates training convergence and improves whole-body cooperation ability, outperforming conventional single-agent reinforcement learning methods. This work advances the integration of MARL into single-humanoid-robot control, offering new insights into efficient locomotion strategies.

Paperid: 1819, https://arxiv.org/pdf/2508.10150.pdf

Abstract:
This paper studies distributionally robust regret-optimal (DRRO) control with purified output feedback for linear systems subject to additive disturbances and measurement noise. These uncertainties (including the initial system state) are assumed to be stochastic and distributed according to an unknown joint probability distribution within a Wasserstein ambiguity set. We design affine controllers to minimise the worst-case expected regret over all distributions in this set. The expected regret is defined as the difference between an expected cost incurred by an affine causal controller and the expected cost incurred by the optimal noncausal controller with perfect knowledge of the disturbance trajectory at the outset. Leveraging the duality theory in distributionally robust optimisation, we derive strong duality results for worst-case expectation problems involving general quadratic objective functions, enabling exact reformulations of the DRRO control problem as semidefinite programs (SDPs). Focusing on one such reformulation, we eliminate certain decision variables. This technique also permits a further equivalent reformulation of the SDP as a distributed optimisation problem, with potential to enhance scalability.

Paperid: 1820, https://arxiv.org/pdf/2508.09374.pdf

Abstract:
The rapid growth of low Earth orbit (LEO) satellite constellations has revolutionized broadband access, earth observation, and direct-to-device connectivity. However, the expansion of ground station infrastructure has not kept pace, creating a critical bottleneck in satellite-to-ground backhaul capacity. Traditional parabolic dish antennas, though effective for geostationary (GEO) satellites, are ill-suited for dense, fastmoving LEO networks due to mechanical steering delays and their inability to track multiple satellites simultaneously. Phased array antennas offer electronically steerable beams and multisatellite support, but their integration into ground stations is limited by the high cost, hardware issues, and complexity of achieving sufficient antenna gain. We introduce ArrayLink, a distributed phased array architecture that coherently combines multiple small commercially available panels to achieve high-gain beamforming and unlock line-of-sight MIMO spatial multiplexing with minimal additional capital expenditure. By spacing 16 (32x32) panels across a kilometer-scale aperture, ArrayLink enters the radiative near-field, focusing energy in both angle and range while supporting up to four simultaneous spatial streams on a single feeder link. Through rigorous theoretical analysis, detailed 2D beam pattern simulations and real-world hardware experiments, we show that ArrayLink (i) achieves dish-class gain with in range 1-2 dB of 1.47 m reflector, (ii) maintains four parallel streams at ranges of hundreds of kilometers (falling to two beyond 2000 km), and (iii) exhibits tight agreement across theory, simulation, and experiment with minimal variance. These findings open a practical and scalable path to boosting LEO backhaul capacity.

Paperid: 1821, https://arxiv.org/pdf/2508.09130.pdf

Abstract:
We present a new open-source, GUI-based application created using Plotly-Dash, along with an integrated PostgreSQL-based relational database, developed to streamline EnergyPlus building model simulation workflows. The application facilitates data generation, aggregation (across thermal zones), and visualization based on customizable user preferences, while the database efficiently stores and retrieves complex simulation data generated by EnergyPlus. We demonstrate the need for this application and database, emphasizing how existing approaches for generating, managing, and analyzing EnergyPlus simulation data can be cumbersome, particularly when handling a large number of building models with varying simulation setups. This integrated framework enables building energy engineers and researchers to simplify their EnergyPlus simulations, manage generated simulation data, perform data analyses, and support data-driven modeling tasks.

Paperid: 1822, https://arxiv.org/pdf/2508.09118.pdf

Abstract:
We need computationally efficient and accurate building thermal dynamics models for use in grid-edge applications. This work evaluates two grey-box approaches for modeling building thermal dynamics: RC-network models and structured regression models. For RC-network models, we compare parameter estimation methods including Nonlinear Least Squares, Batch Estimation, and Maximum Likelihood Estimation. We use the Almon Lag Structure with Linear Least Squares for estimating the structured regression models. The performance of these models and methods is evaluated on simulated house and commercial building data across three different simulation types.

Paperid: 1823, https://arxiv.org/pdf/2508.09106.pdf

Abstract:
Home Energy Management Systems (HEMS) are being actively developed for both individual houses and communities to support demand response in on-grid operation, and ensure resilience during off-grid scenarios. However, most simulators used for closed-loop HEMS testing are tailored to a specific distributed energy resource (DER) configuration with a fixed number of houses, limiting flexibility and scalability. This leads to additional development efforts to support diverse DER configurations across any number of houses and to integrate appropriate weather and load data pipelines. To address these limitations, we present a scalable simulator capable of modeling any number of houses in both on-grid and off-grid modes as a Gymnasium environment. Each house can have a unique DER configuration - Rooftop Solar Photovoltaics (PV), Battery-only, PV-only, or no DER - and includes models for air-conditioning and eight grouped circuit-level loads. The simulator integrates National Solar Radiation Database (NSRDB) weather and Pecan Street load datasets, supports three default controllers (two for off-grid, and one for on-grid scenarios), and includes performance metrics and visualization tools. We demonstrate its flexibility through simulations on individual houses and a four-house community with heterogeneous DERs, benchmarking the controllers across built-in metrics and computation time. The results highlight the simulator's capability to systematically evaluate control policy performance under varying system configurations.

Paperid: 1824, https://arxiv.org/pdf/2508.03428.pdf

Abstract:
In this paper, we propose a hybrid MPC local planner that uses a learning-based approximation of a time-varying safe set, derived from local observations and applied as the MPC terminal constraint. This set can be represented as a zero-superlevel set of the value function computed via Hamilton-Jacobi (HJ) reachability analysis, which is infeasible in real-time. We exploit the property that the HJ value function can be expressed as a difference of the corresponding signed distance function (SDF) and a non-negative residual function. The residual component is modeled as a neural network with non-negative output and subtracted from the computed SDF, resulting in a real-time value function estimate that is at least as safe as the SDF by design. Additionally, we parametrize the neural residual by a hypernetwork to improve real-time performance and generalization properties. The proposed method is compared with three state-of-the-art methods in simulations and hardware experiments, achieving up to 30\% higher success rates compared to the best baseline while requiring a similar computational effort and producing high-quality (low travel-time) solutions.

Paperid: 1825, https://arxiv.org/pdf/2508.02627.pdf

Abstract:
Dynamic mode decomposition (DMD) has become a powerful data-driven method for analyzing the spatiotemporal dynamics of complex, high-dimensional systems. However, conventional DMD methods are limited to matrix-based formulations, which might be inefficient or inadequate for modeling inherently multidimensional data including images, videos, and higher-order networks. In this letter, we propose tensor dynamic mode decomposition (TDMD), a novel extension of DMD to third-order tensors based on the recently developed T-product framework. By incorporating tensor factorization techniques, TDMD achieves more efficient computation and better preservation of spatial and temporal structures in multiway data for tasks such as state reconstruction and dynamic component separation, compared to standard DMD with data flattening. We demonstrate the effectiveness of TDMD on both synthetic and real-world datasets.

Paperid: 1826, https://arxiv.org/pdf/2508.02437.pdf

Abstract:
The Koopman operator framework offers a way to represent a nonlinear system as a linear one. The key to this simplification lies in the identification of eigenfunctions. While various data-driven algorithms have been developed for this problem, a theoretical characterization of Koopman eigenfunctions from geometric properties of the flow is still missing. This paper provides such a characterization by establishing an equivalence between a set of Koopman eigenfunctions and a set of commuting symmetries -- both assumed to span the tangent spaces at every point on a simply connected open set. Based on this equivalence, we derive an explicit formula for the principal Koopman eigenfunctions and prove its uniform convergence on the region of attraction of a locally asymptotically stable equilibrium point, thereby offering a constructive method for computing Koopman eigenfunctions.

Paperid: 1827, https://arxiv.org/pdf/2508.01519.pdf

Abstract:
Gradient-based optimization of neural differential equations and other parameterized dynamical systems fundamentally relies on the ability to differentiate numerical solutions with respect to model parameters. In stiff systems, it has been observed that sensitivities to parameters controlling fast-decaying modes become vanishingly small during training, leading to optimization difficulties. In this paper, we show that this vanishing gradient phenomenon is not an artifact of any particular method, but a universal feature of all A-stable and L-stable stiff numerical integration schemes. We analyze the rational stability function for general stiff integration schemes and demonstrate that the relevant parameter sensitivities, governed by the derivative of the stability function, decay to zero for large stiffness. Explicit formulas for common stiff integration schemes are provided, which illustrate the mechanism in detail. Finally, we rigorously prove that the slowest possible rate of decay for the derivative of the stability function is $O(|z|^{-1})$, revealing a fundamental limitation: all A-stable time-stepping methods inevitably suppress parameter gradients in stiff regimes, posing a significant barrier for training and parameter identification in stiff neural ODEs.

Paperid: 1828, https://arxiv.org/pdf/2508.00831.pdf

Abstract:
Engineering design optimization seeks to automatically determine the shapes, topologies, or parameters of components that maximize performance under given conditions. This process often depends on physics-based simulations, which are difficult to install, computationally expensive, and require domain-specific expertise. To mitigate these challenges, we introduce EngiBench, the first open-source library and datasets spanning diverse domains for data-driven engineering design. EngiBench provides a unified API and a curated set of benchmarks -- covering aeronautics, heat conduction, photonics, and more -- that enable fair, reproducible comparisons of optimization and machine learning algorithms, such as generative or surrogate models. We also release EngiOpt, a companion library offering a collection of such algorithms compatible with the EngiBench interface. Both libraries are modular, letting users plug in novel algorithms or problems, automate end-to-end experiment workflows, and leverage built-in utilities for visualization, dataset generation, feasibility checks, and performance analysis. We demonstrate their versatility through experiments comparing state-of-the-art techniques across multiple engineering design problems, an undertaking that was previously prohibitively time-consuming to perform. Finally, we show that these problems pose significant challenges for standard machine learning methods due to highly sensitive and constrained design manifolds.

Paperid: 1829, https://arxiv.org/pdf/2508.00154.pdf

Abstract:
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoint, the algorithm identifies a convex admissible region and solves data-driven linear-matrix-inequality problems to learn several ellipsoidal invariant sets together with their local state-feedback gains. The convex hull of these ellipsoids, still invariant under a piece-wise-affine controller obtained by interpolating the gains, is then approximated by a polytope. Safe transitions between nodes are ensured by verifying the intersection of consecutive convex-hull polytopes and introducing an intermediate node for a smooth transition. Control gains are interpolated in real time via simplex-based interpolation, keeping the state inside the invariant polytopes throughout the motion. Unlike traditional approaches that rely on system dynamics models, our method requires only data to compute safe regions and design state-feedback controllers. The approach is validated through simulations, demonstrating the effectiveness of the proposed method in achieving safe, dynamically feasible paths for complex nonlinear systems.

Paperid: 1830, https://arxiv.org/pdf/2507.23592.pdf

Abstract:
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These issues lead to kinematic misalignments that degrade tracking performance and limit applicability in precision tasks. We propose a subject-specific calibration framework for exoskeleton-based hand tracking that uses redundant joint sensing and a residual-weighted optimization strategy to estimate virtual link parameters. Implemented on the Maestro exoskeleton, our method improves joint angle and fingertip position estimation across users with varying hand geometries. We introduce a data-driven approach to empirically tune cost function weights using motion capture ground truth, enabling more accurate and consistent calibration across participants. Quantitative results from seven subjects show substantial reductions in joint and fingertip tracking errors compared to uncalibrated and evenly weighted models. Qualitative visualizations using a Unity-based virtual hand further confirm improvements in motion fidelity. The proposed framework generalizes across exoskeleton designs with closed-loop kinematics and minimal sensing, and lays the foundation for high-fidelity teleoperation and learning-from-demonstration applications.

Paperid: 1831, https://arxiv.org/pdf/2507.23546.pdf

Abstract:
Ethical dilemmas are a common challenge in everyday driving, requiring human drivers to balance competing priorities such as safety, efficiency, and rule compliance. However, much of the existing research in automated vehicles (AVs) has focused on high-stakes "trolley problems," which involve extreme and rare situations. Such scenarios, though rich in ethical implications, are rarely applicable in real-world AV decision-making. In practice, when AVs confront everyday ethical dilemmas, they often appear to prioritise strict adherence to traffic rules. By contrast, human drivers may bend the rules in context-specific situations, using judgement informed by practical concerns such as safety and efficiency. According to the concept of meaningful human control, AVs should respond to human reasons, including those of drivers, vulnerable road users, and policymakers. This work introduces a novel human reasons-based supervision framework that detects when AV behaviour misaligns with expected human reasons to trigger trajectory reconsideration. The framework integrates with motion planning and control systems to support real-time adaptation, enabling decisions that better reflect safety, efficiency, and regulatory considerations. Simulation results demonstrate that this approach could help AVs respond more effectively to ethical challenges in dynamic driving environments by prompting replanning when the current trajectory fails to align with human reasons. These findings suggest that our approach offers a path toward more adaptable, human-centered decision-making in AVs.

Paperid: 1833, https://arxiv.org/pdf/2507.22769.pdf

Abstract:
Rigorous Verification and Validation (V&V) of Autonomous Driving Functions (ADFs) is paramount for ensuring the safety and public acceptance of Autonomous Vehicles (AVs). Current validation relies heavily on simulation to achieve sufficient test coverage within the Operational Design Domain (ODD) of a vehicle, but exhaustively exploring the vast parameter space of possible scenarios is computationally expensive and time-consuming. This work introduces a framework based on Bayesian Optimization (BO) to accelerate the discovery of critical scenarios. We demonstrate the effectiveness of the framework on an Model Predictive Controller (MPC)-based motion planner, showing that it identifies hazardous situations, such as off-road events, using orders of magnitude fewer simulations than brute-force Design of Experiments (DoE) methods. Furthermore, this study investigates the scalability of the framework in higher-dimensional parameter spaces and its ability to identify multiple, distinct critical regions within the ODD of the motion planner used as the case study .

Paperid: 1834, https://arxiv.org/pdf/2507.21941.pdf

Abstract:
This paper develops a game-theoretic decision-making framework for autonomous driving in multi-agent scenarios. A novel hierarchical game-based decision framework is developed for the ego vehicle. This framework features an interaction graph, which characterizes the interaction relationships between the ego and its surrounding traffic agents (including AVs, human driven vehicles, pedestrians, and bicycles, and others), and enables the ego to smartly select a limited number of agents as its game players. Compared to the standard multi-player games, where all surrounding agents are considered as game players, the hierarchical game significantly reduces the computational complexity. In addition, compared to pairwise games, the most popular approach in the literature, the hierarchical game promises more efficient decisions for the ego (in terms of less unnecessary waiting and yielding). To further reduce the computational cost, we then propose an improved hierarchical game, which decomposes the hierarchical game into a set of sub-games. Decision safety and efficiency are analyzed in both hierarchical games. Comprehensive simulation studies are conducted to verify the effectiveness of the proposed frameworks, with an intersection-crossing scenario as a case study.

Paperid: 1835, https://arxiv.org/pdf/2507.21547.pdf

Abstract:
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current approaches for modeling vehicular maneuvers and interactions at urban junctions have limitations in formulating non-cooperative interactions and vehicle dynamics within a unified mathematical framework. Previous studies either assume predefined paths or rely on cooperation and central controllability, limiting their realism and applicability in mixed-autonomy traffic. This paper addresses these limitations by proposing a modeling framework for trajectory planning and decentralized vehicular control at urban junctions. The framework employs a bi-level structure where the upper level generates kinematically feasible reference trajectories using an efficient graph search algorithm with a custom heuristic function, while the lower level employs a predictive controller for trajectory tracking and optimization. Unlike existing approaches, our framework does not require central controllability or knowledge sharing among vehicles. The vehicle kinematics are explicitly incorporated at both levels, and acceleration and steering angle are used as control variables. This intuitive formulation facilitates analysis of traffic efficiency, environmental impacts, and motion comfort. The framework's decentralized structure accommodates operational and stochastic elements, such as vehicles' detection range, perception uncertainties, and reaction delay, making the model suitable for safety analysis. Numerical and simulation experiments across diverse scenarios demonstrate the framework's capability in modeling accurate and realistic vehicular maneuvers and interactions at various urban junctions, including unsignalized intersections and roundabouts.

Paperid: 1836, https://arxiv.org/pdf/2507.21394.pdf

Abstract:
Sequence modeling is crucial for AI to understand temporal data and detect complex time-dependent patterns. While recurrent neural networks (RNNs), convolutional neural networks (CNNs), and Transformers have advanced in capturing long-range dependencies, they struggle with achieving high accuracy with very long sequences due to limited memory retention (fixed context window). State-Space Models (SSMs) leverage exponentially decaying memory enabling lengthy context window and so they process very long data sequences more efficiently than recurrent and Transformer-based models. Unlike traditional neural models like CNNs and RNNs, SSM-based models require solving differential equations through continuous integration, making training and inference both compute- and memory-intensive on conventional CPUs and GPUs. In this paper we introduce a specialized hardware accelerator, EpochCore, for accelerating SSMs. EpochCore is based on systolic arrays (SAs) and is designed to enhance the energy efficiency and throughput of inference of SSM-based models for long-range sequence tasks. Within the SA, we propose a versatile processing element (PE) called LIMA-PE to perform traditional and specialized MAC operations to support traditional DNNs and SSMs. To complement the EpochCore microarchitecture, we propose a novel dataflow, ProDF, which enables highly efficient execution of SSM-based models. By leveraging the LIMA-PE microarchitecture and ProDF, EpochCore achieves on average 2000x improvement in performance on LRA datasets compared to a GPU and 250x gains in performance and 45x improvement in energy efficiency, over traditional SA-based accelerators (TPU).

Paperid: 1837, https://arxiv.org/pdf/2507.17422.pdf

Abstract:
The mixed-model assembly line (MMAL) is a production system used in the automobile industry to manufacture different car models on the same conveyor, offering a high degree of product customization and flexibility. However, the MMAL also poses challenges, such as finding optimal sequences of models satisfying multiple constraints and objectives related to production performance, quality, and delivery -- including minimizing the number of color changeovers in the Paint Shop, balancing the workload and setup times on the assembly line, and meeting customer demand and delivery deadlines. We propose a multi-objective algorithm to solve the MMAL resequencing problem under consideration of all these aspects simultaneously. We also present empirical results obtained from recorded event data of the production process over $4$ weeks following the deployment of our algorithm in the Saarlouis plant of Ford-Werke GmbH. We achieved an improvement of the average batch size of about $30\%$ over the old control software translating to a $23\%$ reduction of color changeovers. Moreover, we reduced the spread of cars planned for a specific date by $10\%$, reducing the risk of delays in delivery. We discuss effectiveness and robustness of our algorithm in improving production performance and quality as well as trade-offs and limitations.

Paperid: 1838, https://arxiv.org/pdf/2507.16061.pdf

Abstract:
This paper proposes a general framework to evaluate power system strength. The formulation features twelve indicators, grouped in three dynamical orders, that quantify the resistance of bus voltage phasors and their first and second order rates of change to sudden current injection changes. To quantify such changes the paper introduces a novel finite differentiation technique, that we named Delta operator, able to properly capture "jumps" of algebraic variables and utilizes the recently developed concept of complex frequency. The paper also shows how the proposed framework can be systematically applied to any system device, and provides a variety of examples based on synchronous machines, converters and loads models are given. Numerical results in a benchmark system validate the exactness of the formulation.

Paperid: 1839, https://arxiv.org/pdf/2507.14627.pdf

Abstract:
Wireless-powered underground communication networks (WPUCNs), which allow underground devices (UDs) to harvest energy from wireless signals for battery-free communication, offer a promising solution for sustainable underground monitoring. However, the severe wireless signal attenuation in challenging underground environments and the costly acquisition of channel state information (CSI) make large-scale WPUCNs economically infeasible in practice. To address this challenge, we introduce flexible unmanned aerial vehicles (UAVs) into WPUCNs, leading to UAV-enabled WPUCN systems. In this system, a UAV is first charged by a terrestrial hybrid access point (HAP), then flies to the monitoring area to wirelessly charge UDs. Afterwards, the UAV collects data from the UDs and finally returns to the HAP for data offloading. Based on the proposed UAV-enabled WPUCN system, we first propose its energy consumption model and a hybrid wireless energy transfer (WET) approach (i.e., UDs can harvest energy from both the HAP and the UAV) relying on full-CSI and CSI-free multi-antenna beamforming. Then, we formulate and address a time allocation problem to minimize the energy consumption of UAV, while ensuring that the throughput requirements of all UDs are met and all sensor data is offloaded. Through simulations of a realistic farming scenario, we demonstrate that the proposed hybrid WET approach outperforms other WET approaches, with performance gains influenced by the number of antennas, communication distance, number of UDs, and underground conditions. Additionally, under the optimized time allocation, we found that the proposed hybrid WET approach based on a CSI-free multi-antenna scheme achieves the lowest UAV's energy consumption among all WET mechanisms, thereby enabling sustainable underground monitoring in WPUCNs.

Paperid: 1840, https://arxiv.org/pdf/2507.14021.pdf

Abstract:
In this paper, we study Byzantine-resilient federated online learning for Gaussian process regression (GPR). We develop a Byzantine-resilient federated GPR algorithm that allows a cloud and a group of agents to collaboratively learn a latent function and improve the learning performances where some agents exhibit Byzantine failures, i.e., arbitrary and potentially adversarial behavior. Each agent-based local GPR sends potentially compromised local predictions to the cloud, and the cloud-based aggregated GPR computes a global model by a Byzantine-resilient product of experts aggregation rule. Then the cloud broadcasts the current global model to all the agents. Agent-based fused GPR refines local predictions by fusing the received global model with that of the agent-based local GPR. Moreover, we quantify the learning accuracy improvements of the agent-based fused GPR over the agent-based local GPR. Experiments on a toy example and two medium-scale real-world datasets are conducted to demonstrate the performances of the proposed algorithm.

Paperid: 1841, https://arxiv.org/pdf/2507.13672.pdf

Abstract:
This study addresses the challenge of ensuring safe spacecraft proximity operations, focusing on collision avoidance between a chaser spacecraft and a complex-geometry target spacecraft under disturbances. To ensure safety in such scenarios, a safe robust control framework is proposed that leverages implicit neural representations. To handle arbitrary target geometries without explicit modeling, a neural signed distance function (SDF) is learned from point cloud data via a enhanced implicit geometric regularization method, which incorporates an over-apporximation strategy to create a conservative, safety-prioritized boundary. The target's surface is implicitly defined by the zero-level set of the learned neural SDF, while the values and gradients provide critical information for safety controller design. This neural SDF representation underpins a two-layer hierarchcial safe robust control framework: a safe velocity generation layer and a safe robust controller layer. In the first layer, a second-order cone program is formulated to generate safety-guaranteed reference velocity by explicitly incorporating the under-approximation error bound. Furthermore, a circulation inequality is introduced to mitigate the local minimum issues commonly encountered in control barrier function (CBF) methods. The second layer features an integrated disturbance observer and a smooth safety filter explicitly compensating for estimation error, bolstering robustness to external disturbances. Extensive numerical simulations and Monte Carlo analysis validate the proposed framework, demonstrating significantly improved safety margins and avoidance of local minima compared to conventional CBF approaches.

Paperid: 1842, https://arxiv.org/pdf/2507.13491.pdf

Abstract:
Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free reinforcement learning (RL) has enabled decision-making agents to improve their performance directly through system interactions, with minimal prior knowledge about the system. Yet, model-free RL has generally relied on agents equipped with deep neural network function approximators, appealing to the networks' expressivity to capture the agent's policy and value function for complex systems. However, neural networks amplify the issues of sample inefficiency, unsafe learning, and limited interpretability in model-free RL. To this end, this work introduces model-based agents as a compelling alternative for control policy approximation, leveraging adaptable models of system dynamics, cost, and constraints for safe policy learning. These models can encode prior system knowledge to inform, constrain, and aid in explaining the agent's decisions, while deficiencies due to model mismatch can be remedied with model-free RL. We outline the benefits and challenges of learning model-based agents -- exemplified by model predictive control -- and detail the primary learning approaches: Bayesian optimization, policy search RL, and offline strategies, along with their respective strengths. While model-free RL has long been established, its interplay with model-based agents remains largely unexplored, motivating our perspective on their combined potentials for sample-efficient learning of safe and interpretable decision-making agents.

Paperid: 1843, https://arxiv.org/pdf/2507.13355.pdf

Abstract:
Leveraging artificial intelligence (AI)-driven electronic design and automation (EDA) tools, high-performance computing, and parallelized algorithms are essential for next-generation microprocessor innovation, ensuring continued progress in computing, AI, and semiconductor technology. Machine learning-based design rule checking (DRC) and lithography hotspot detection can improve first-pass silicon success. However, conventional ML and neural network (NN)-based models use supervised learning and require a large balanced dataset (in terms of positive and negative classes) and training time. This research addresses those key challenges by proposing the first-ever unsupervised DRC violation prediction methodology. The proposed model can be built using any unbalanced dataset using only one class and set a threshold for it, then fitting any new data querying if they are within the boundary of the model for classification. This research verified the proposed model by implementing different computational cores using CMOS 28 nm technology and Synopsys Design Compiler and IC Compiler II tools. Then, layouts were divided into virtual grids to collect about 60k data for analysis and verification. The proposed method has 99.95% prediction test accuracy, while the existing support vector machine (SVM) and neural network (NN) models have 85.44\% and 98.74\% accuracy, respectively. In addition, the proposed methodology has about 26.3x and up to 6003x lower training times compared to SVM and NN-models, respectively.

Paperid: 1844, https://arxiv.org/pdf/2507.12661.pdf

Abstract:
Accurate state estimation requires careful consideration of uncertainty surrounding the process and measurement models; these characteristics are usually not well-known and need an experienced designer to select the covariance matrices. An error in the selection of covariance matrices could impact the accuracy of the estimation algorithm and may sometimes cause the filter to diverge. Identifying noise characteristics has long been a challenging problem due to uncertainty surrounding noise sources and difficulties in systematic noise modeling. Most existing approaches try identifying unknown covariance matrices through an optimization algorithm involving innovation sequences. In recent years, learning approaches have been utilized to determine the stochastic characteristics of process and measurement models. We present a learning-based methodology with different loss functions to identify noise characteristics and test these approaches' performance for real-time vehicle state estimation

Paperid: 1845, https://arxiv.org/pdf/2507.11064.pdf

Abstract:
Reducing feedback overhead in beyond 5G networks is a critical challenge, as the growing number of antennas in modern massive MIMO systems substantially increases the channel state information (CSI) feedback demand in frequency division duplex (FDD) systems. To address this, extensive research has focused on CSI compression and prediction, with neural network-based approaches gaining momentum and being considered for integration into the 3GPP 5G-Advanced standards. While deep learning has been effectively applied to CSI-limited beamforming and handover optimization, reference signal allocation under such constraints remains surprisingly underexplored. To fill this gap, we introduce the concept of channel prediction-based reference signal allocation (CPRS), which jointly optimizes channel prediction and DM-RS allocation to improve data throughput without requiring CSI feedback. We further propose a standards-compliant ViViT/CNN-based architecture that implements CPRS by treating evolving CSI matrices as sequential image-like data, enabling efficient and adaptive transmission in dynamic environments. Simulation results using ray-tracing channel data generated in NVIDIA Sionna validate the proposed method, showing up to 36.60% throughput improvement over benchmark strategies.

Paperid: 1846, https://arxiv.org/pdf/2507.09864.pdf

Abstract:
Model Predictive Control (MPC)-based Reinforcement Learning (RL) offers a structured and interpretable alternative to Deep Neural Network (DNN)-based RL methods, with lower computational complexity and greater transparency. However, standard MPC-RL approaches often suffer from slow convergence, suboptimal policy learning due to limited parameterization, and safety issues during online adaptation. To address these challenges, we propose a novel framework that integrates MPC-RL with Multi-Objective Bayesian Optimization (MOBO). The proposed MPC-RL-MOBO utilizes noisy evaluations of the RL stage cost and its gradient, estimated via a Compatible Deterministic Policy Gradient (CDPG) approach, and incorporates them into a MOBO algorithm using the Expected Hypervolume Improvement (EHVI) acquisition function. This fusion enables efficient and safe tuning of the MPC parameters to achieve improved closed-loop performance, even under model imperfections. A numerical example demonstrates the effectiveness of the proposed approach in achieving sample-efficient, stable, and high-performance learning for control systems.

Paperid: 1847, https://arxiv.org/pdf/2507.07953.pdf

Abstract:
In the article titled "The Bouc-Wen Model for Binary Direct Collinear Collisions of Convex Viscoplastic Bodies" and published in the Journal of Computational and Nonlinear Dynamics (Volume 20, Issue 6, June 2025), the authors studied mathematical models of binary direct collinear collisions of convex viscoplastic bodies that employed two incremental collision laws based on the Bouc-Wen differential model of hysteresis. It was shown that the models possess favorable analytical properties, and several model parameter identification studies were conducted, demonstrating that the models can accurately capture the nature of a variety of collision phenomena. In this article, the aforementioned models are augmented by modeling the effects of external forces as time-dependent inputs that belong to a certain function space. Furthermore, the range of the parameters under which the models possess favorable analytical properties is extended to several corner cases that were not considered in the prior publication. Finally, the previously conducted model parameter identification studies are extended, and an additional model parameter identification study is provided in an attempt to validate the ability of the augmented models to represent the effects of external forces.

Paperid: 1848, https://arxiv.org/pdf/2507.06564.pdf

Abstract:
Unmanned Aerial Vehicles (UAVs) have emerged as versatile tools across various sectors, driven by their mobility and adaptability. This paper introduces SkyVLN, a novel framework integrating vision-and-language navigation (VLN) with Nonlinear Model Predictive Control (NMPC) to enhance UAV autonomy in complex urban environments. Unlike traditional navigation methods, SkyVLN leverages Large Language Models (LLMs) to interpret natural language instructions and visual observations, enabling UAVs to navigate through dynamic 3D spaces with improved accuracy and robustness. We present a multimodal navigation agent equipped with a fine-grained spatial verbalizer and a history path memory mechanism. These components allow the UAV to disambiguate spatial contexts, handle ambiguous instructions, and backtrack when necessary. The framework also incorporates an NMPC module for dynamic obstacle avoidance, ensuring precise trajectory tracking and collision prevention. To validate our approach, we developed a high-fidelity 3D urban simulation environment using AirSim, featuring realistic imagery and dynamic urban elements. Extensive experiments demonstrate that SkyVLN significantly improves navigation success rates and efficiency, particularly in new and unseen environments.

Paperid: 1849, https://arxiv.org/pdf/2507.06440.pdf

Abstract:
This paper addresses the distributed optimization of the finite condition number of the Laplacian matrix in multi-agent systems. The finite condition number, defined as the ratio of the largest to the second smallest eigenvalue of the Laplacian matrix, plays an important role in determining the convergence rate and performance of consensus algorithms, especially in discrete-time implementations. We propose a fully distributed algorithm by regulating the node weights. The approach leverages max consensus, distributed power iteration, and consensus-based normalization for eigenvalue and eigenvector estimation, requiring only local communication and computation. Simulation results demonstrate that the proposed method achieves performance comparable to centralized LMI-based optimization, significantly improving consensus speed and multi-agent system performance. The framework can be extended to edge weight optimization and the scenarios with non-simple eigenvalues, highlighting its scalability and practical applicability for large-scale networked systems.

Paperid: 1850, https://arxiv.org/pdf/2507.04515.pdf

Abstract:
Solving linear systems and quadratic programming (QP) problems are both ubiquitous tasks in the engineering and computing fields. Direct methods for solving systems, such as Cholesky, LU, and QR factorizations, exhibit data-independent time complexity of $O(n^3)$. This raises a natural question: could there exist algorithms for solving QPs that also achieve \textit{data-independent} time complexity of $O(n^3)$? This raises a natural question: could there exist algorithms for solving QPs that also achieve data-independent time complexity of $O(n^3)$? This is critical for offering an execution time certificate for real-time optimization-based applications such as model predictive control. This article first demonstrates that solving real-time strictly convex QPs, Lasso problems, and support vector machine problems can be turned into solving box-constrained QPs (Box-QPs), which support a cost-free initialization strategy for feasible interior-point methods (IPMs). Next, focusing on solving Box-QPs, this article replaces the exact Newton step with an approximated Newton step (substituting the matrix-inversion operation with multiple rank-1 updates) within feasible IPMs. For the first time, this article proposes an implementable feasible IPM algorithm with $O(n^3)$ time complexity, by proving the number of iterations is exact $O(\sqrt{n})$ and the number of rank-1 updates is bounded by $O(n)$. Numerical validations/applications and codes are provided.

Paperid: 1851, https://arxiv.org/pdf/2507.03573.pdf

Abstract:
The transition to electric transportation demands efficient and cost-effective powertrains. Optimizing energy use is crucial for extending range and reducing expenses. However, comparing inverter and motor efficiency based on inverter topologies is challenging due to biased methodologies that favor certain designs over others. This document introduces a novel optimization-based approach for enhancing partial load efficiency and minimizing chip area of single and dual traction inverters, indicating potential energy savings and cost reduction. Recent publications of both industry and academia underscore the importance of these design goals achieved by either novel inverter topologies or enhanced control methods. Two promising topologies with the inherent capability of partial load optimization are evaluated regarding chip area and system efficiency to find the most suitable concept for future electric vehicle power trains.

Paperid: 1852, https://arxiv.org/pdf/2507.03240.pdf

Abstract:
The rapid growth of distributed energy resources (DERs), including rooftop solar and energy storage, is transforming the grid edge, where distributed technologies and customer-side systems increasingly interact with the broader power grid. DER aggregators, entities that coordinate and optimize the actions of many small-scale DERs, play a key role in this transformation. This paper presents a hybrid Mean-Field Control (MFC) and Mean-Field Game (MFG) framework for integrating DER aggregators into wholesale electricity markets. Unlike traditional approaches that treat market prices as exogenous, our model captures the feedback between aggregators' strategies and locational marginal prices (LMPs) of electricity. The MFC component optimizes DER operations within each aggregator, while the MFG models strategic interactions among multiple aggregators. To account for various uncertainties, we incorporate reinforcement learning (RL), which allows aggregators to learn optimal bidding strategies in dynamic market conditions. We prove the existence and uniqueness of a mean-field equilibrium and validate the framework through a case study of the Oahu Island power system. Results show that our approach reduces price volatility and improves market efficiency, offering a scalable and decentralized solution for DER integration in wholesale markets.

Paperid: 1853, https://arxiv.org/pdf/2507.02305.pdf

Abstract:
The emerging Web3 has great potential to provide worldwide decentralized services powered by global-range data-driven networks in the future. To ensure the security of Web3 services among diverse user entities, a decentralized identity (DID) system is essential. Especially, a user's access request to Web3 services can be treated as a DID transaction within the blockchain, executed through a consensus mechanism. However, a critical implementation issue arises in the current Web3, i.e., how to deploy network nodes to serve users on a global scale. To address this issue, emerging Low Earth Orbit (LEO) satellite communication systems, such as Starlink, offer a promising solution. With their global coverage and high reliability, these communication satellites can complement terrestrial networks as Web3 deployment infrastructures. In this case, this paper develops three hybrid satellite-ground modes to deploy the blockchain-enabled DID system for Web3 users. Three modes integrate ground nodes and satellites to provide flexible and continuous DID services for worldwide users. Meanwhile, to evaluate the effectiveness of the present hybrid deployment modes, we analyze the complete DID consensus performance of blockchain on three hybrid satellite-ground modes. Moreover, we conduct numerical and simulation experiments to verify the effectiveness of three hybrid satellite-ground modes. The impacts of various system parameters are thoroughly analyzed, providing valuable insights for implementing the worldwide Web3 DID system in real-world network environments.

Paperid: 1854, https://arxiv.org/pdf/2507.01694.pdf

Abstract:
Federated large language models (FedLLMs) enable powerful generative capabilities within wireless networks while preserving data privacy. Nonetheless, FedLLMs remain vulnerable to model poisoning attacks. This article first reviews recent advancements in model poisoning techniques and existing defense mechanisms for FedLLMs, underscoring critical limitations, especially when dealing with non-IID textual data distributions. Current defense strategies predominantly employ distance or similarity-based outlier detection mechanisms, relying on the assumption that malicious updates markedly differ from benign statistical patterns. However, this assumption becomes inadequate against adaptive adversaries targeting billion-parameter LLMs. The article further investigates graph representation-based model poisoning (GRMP), an emerging attack paradigm that exploits higher-order correlations among benign client gradients to craft malicious updates indistinguishable from legitimate ones. GRMP can effectively circumvent advanced defense systems, causing substantial degradation in model accuracy and overall performance. Moreover, the article outlines a forward-looking research roadmap that emphasizes the necessity of graph-aware secure aggregation methods, specialized vulnerability metrics tailored for FedLLMs, and evaluation frameworks to enhance the robustness of federated language model deployments.

Paperid: 1855, https://arxiv.org/pdf/2507.01574.pdf

Abstract:
Emerging low-altitude economy networks (LAENets) require agile and privacy-preserving resource control under dynamic agent mobility and limited infrastructure support. To meet these challenges, we propose a vision-aided integrated sensing and communication (ISAC) framework for UAV-assisted access systems, where onboard masked De-Diffusion models extract compact semantic tokens, including agent type, activity class, and heading orientation, while explicitly suppressing sensitive visual content. These tokens are fused with mmWave radar measurements to construct a semantic risk heatmap reflecting motion density, occlusion, and scene complexity, which guides access technology selection and resource scheduling. We formulate a multi-objective optimization problem to jointly maximize weighted energy and perception efficiency via radio access technology (RAT) assignment, power control, and beamforming, subject to agent-specific QoS constraints. To solve this, we develop De-Diffusion-driven vision-aided risk-aware resource optimization algorithm DeDiff-VARARO, a novel two-stage cross-modal control algorithm: the first stage reconstructs visual scenes from tokens via De-Diffusion model for semantic parsing, while the second stage employs a deep deterministic policy gradient (DDPG)-based policy to adapt RAT selection, power control, and beam assignment based on fused radar-visual states. Simulation results show that DeDiff-VARARO consistently outperforms baselines in reward convergence, link robustness, and semantic fidelity, achieving within $4\%$ of the performance of a raw-image upper bound while preserving user privacy and scalability in dense environments.

Paperid: 1856, https://arxiv.org/pdf/2507.01491.pdf

Abstract:
This study introduces a modified version of the Constant-in-Gain, Lead-in-Phase (CgLp) filter, which incorporates a feedthrough term in the First-Order Reset Element (FORE) to reduce the undesirable nonlinearities and achieve an almost constant gain across all frequencies. A backward calculation approach is proposed to derive the additional parameter introduced by the feedthrough term, enabling designers to easily tune the filter to generate the required phase. The paper also presents an add-on filter structure that can enhance the performance of an existing LTI controller without altering its robustness margins. A sensitivity improvement indicator is proposed to guide the tuning process, enabling designers to visualize the improvements in closed-loop performance. The proposed methodology is demonstrated through a case study of an industrial wire bonder machine, showcasing its effectiveness in addressing low-frequency vibrations and improving overall control performance.

Paperid: 1857, https://arxiv.org/pdf/2507.00997.pdf

Abstract:
This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\mathrm{SO(3)}$. In particular, the paper extends existing results on the analysis of PID-type geometric nonlinear control laws to more general higher-order dynamic state-feedback compensators on $\mathrm{SO(3)}$. The candidate Lyapunov function is motivated by quadratic Lyapunov functions of the form $V(x)=x^{\top}Px$ typically considered in the analysis of linear time-invariant (LTI) systems. The stability analysis is carried out in two steps. In the first step, a sufficient condition is obtained for the positive definiteness of the candidate Lyapunov function, and a necessary and sufficient condition for the negative definiteness of the corresponding Lyapunov rate. These conditions ensure that the desired equilibrium is almost globally asymptotically stable (AGAS). In the second step, a convex relaxation of the proposed conditions is used to obtain sufficient conditions in the form of linear matrix inequalities (LMIs). Overall, the approach is motivated by the widespread use of LMI-based analysis and design tools for LTI systems. To reduce conservatism, matrix gains are considered for the controller gains as well as the Lyapunov function coefficients. The applicability of the approach to practical problems is illustrated by designing and analyzing a 21-state geometric nonlinear attitude control law for a multicopter.

Paperid: 1858, https://arxiv.org/pdf/2507.00877.pdf

Abstract:
Empirical evaluation of state-of-the-art natural-language (NL) to temporal-logic (TL) translation systems reveals near-perfect performance on existing benchmarks. However, current studies measure only the accuracy of the translation of NL logic into formal TL, ignoring a system's capacity to ground atomic propositions into new scenarios or environments. This is a critical feature, necessary for the verification of resulting formulas in a concrete state space. Consequently, most NL-to-TL translation frameworks propose their own bespoke dataset in which the correct grounding is known a-priori, inflating performance metrics and neglecting the need for extensible, domain-general systems. In this paper, we introduce the Verifiable Linear Temporal Logic Benchmark ( VLTL-Bench), a unifying benchmark that measures verification and verifiability of automated NL-to-LTL translation. The dataset consists of three unique state spaces and thousands of diverse natural language specifications and corresponding formal specifications in temporal logic. Moreover, the benchmark contains sample traces to validate the temporal logic expressions. While the benchmark directly supports end-to-end evaluation, we observe that many frameworks decompose the process into i) lifting, ii) grounding, iii) translation, and iv) verification. The benchmark provides ground truths after each of these steps to enable researches to improve and evaluate different substeps of the overall problem. To encourage methodologically sound advances in verifiable NL-to-LTL translation approaches, we release VLTL-Bench here: https://www.kaggle.com/datasets/dubascudes/vltl bench.

Paperid: 1859, https://arxiv.org/pdf/2507.00826.pdf

Abstract:
Static transmission line ratings may lead to underutilization of line capacity due to overly conservative assumptions. Grid-enhancing technologies (GETs) such as dynamic line ratings (DLRs), which adjust line capacity based on real-time conditions, are a techno-economically viable alternative to increase the utilization of existing power lines. Nonetheless, their adoption has been slow, partly due to the absence of operational tools that effectively account for simultaneous impacts on dispatch and pricing. In this paper, we represent transmission capacity with DLRs as a stock-like resource with time-variant interdependency, which is modeled via an approximation of line temperature evolution process, decoupling the impacts of ambient weather conditions and power flow on transmission line temperature and thus capacity. We integrate DLRs into a multi-period DC optimal power flow problem, with chance constrains addressing correlated uncertainty in DLRs and renewable generation. This yields non-convex problems that we transform into a tractable convex form by linearization. We derive locational marginal energy and ancillary services prices consistent with a competitive equilibrium. Numerical experiments on the 11-zone and 1814-node NYISO systems demonstrate its performance, including impacts on dispatch, pricing, and marginal carbon emissions.

Paperid: 1860, https://arxiv.org/pdf/2507.00270.pdf

Abstract:
Electromigration (EM) remains a critical reliability concern in current and future copper-based VLSI circuits. As technology scales down, EM-induced IR drop becomes increasingly severe. While several EM-aware IR drop analysis tools have been proposed, few incorporate the real impact of temperature distribution on both EM and IR drop effects. In this work, we introduce EMSpice 2.1, an enhanced tool built upon the existing coupled IR-EM analysis framework, EMSpice 2.0, for EM-aware IR drop analysis. For the first time, EMSpice 2.1 uniquely integrates Joule heating effects and practical thermal maps derived from actual chip conditions. Additionally, it features improved interoperability with commercial EDA tools, facilitating more comprehensive EM and IR drop sign-off analysis. Our findings demonstrate that specific hotspot patterns significantly impact the lifetime of interconnects and overall chip reliability due to EM failures. Furthermore, our tool exhibits strong agreement with industry-standard tools such as COMSOL, achieving a speedup of over 200 times while maintaining high accuracy.

Paperid: 1861, https://arxiv.org/pdf/2512.22126.pdf

Abstract:
This work extends a previous study that introduced an algorithm for state estimation on manifolds within the framework of the Kalman filter. Its objective is to address the limitations of the earlier approach. The reversible Kalman filter was designed to provide a methodology for evaluating the accuracy of existing Kalman filter variants with arbitrary precision on synthetic data. It has favorable numerical properties on synthetic data, achieving arbitrary precision without relying on the small-velocity assumption and depending only on sensor noise. However, its application to real data encountered difficulties related to measurement noise, which was mitigated using a heuristic. In particular, the heuristic involved an event detection step switching between reversible Kalman filter and classical Kalman variant at chosen moments. In the present work, we propose a study of this detection step and propose a methodology to prove at which moment the reversible Kalman approach improves on classical multiplicative variant. In particular, we propose a metric allowing one to discriminate situations in real-world scenarios where it behaves better than classical approach.

Paperid: 1862, https://arxiv.org/pdf/2512.21754.pdf

Abstract:
This study investigates the economic and reliability benefits of improved offshore wind forecasting for grid operations along the U.S. East Coast. We introduce and evaluate a state-of-the-art, machine-learning-based offshore wind forecasting model tailored for this region by integrating its improved forecasts into a dynamic reserve procurement framework aligned with New York Independent System Operator (NYISO) practices to evaluate their economic value. To determine system-wide reserve needs, plant-specific reserves are aggregated. However, conventional methods overlook spatial correlation across sites, often leading to over procurement. To address this, we propose a risk-based reserve aggregation technique that leverages spatial diversification. Additionally, we evaluate the reliability improvements enabled by the enhanced offshore wind forecast. To evaluate the operational impact, we propose an operational resource adequacy framework that captures uncertainty from forecast errors and grid conditions. Using this framework, we quantify key reliability metrics under different offshore wind forecast scenarios. Using New York State as a case study, we find that the improved forecast enables more accurate reserve estimation, reducing procurement costs by 5.53% in 2035 scenario compared to a well-validated numerical weather prediction model. Applying the risk-based aggregation further reduces total production costs by 7.21%. From a reliability perspective, the improved forecasts lower the system Loss of Load Probability (LOLP) by approximately 19% in the 2035 scenario, highlighting its potential to enhance system reliability during real-time grid operations.

Paperid: 1863, https://arxiv.org/pdf/2512.21570.pdf

Abstract:
This paper presents two complementary frameworks to optimize Formula 1 race strategies, jointly accounting for energy allocation, tire wear and pit stop timing. First, the race scenario is modeled using lap time maps and a dynamic tire wear model capturing the main trade-offs arising during a race. Then, we solve the problem by means of a mixed-integer nonlinear program that handles the integer nature of the pit stop decisions. The same race scenario is embedded into a reinforcement learning environment, on which an agent is trained. Providing fast inference at runtime, this method is suited to improve human decision-making during real races. The learned policy's suboptimality is assessed with respect to the optimal solution, both in a nominal scenario and with an unforeseen disturbance. In both cases, the agent achieves approximately 5s of suboptimality on 1.5h of race time, mainly attributable to the different energy allocation strategy. This work lays the foundations for learning-based race strategies and provides a benchmark for future developments.

Paperid: 1864, https://arxiv.org/pdf/2512.21363.pdf

Abstract:
The heating, ventilation and air-conditioning (HVAC) system dominates building's energy consumption and meanwhile exhibits substantial operational flexibility that can be exploited for providing grid services. However, the goal is largely hindered by the difficulty to characterize the system's operating flexibility due to the complex building thermal dynamics, system operating limits and human comfort constraints. To address this challenge, this paper develops an unified virtual battery (VB) modeling framework for characterizing the operating flexibility of both single-zone and multi-zone building HVAC systems, enabling flexible buildings to function like virtual batteries. Specifically, a physically meaningful representation state is first identified to represent building thermal conditions under thermal comfort constraints and a VB model is then established for characterizing the operating flexibility of single-zone HVAC systems. We subsequently extend the VB modeling framework to multi-zone HVAC systems and establish a set of zone-level VB models to characterize the building's zonal operating flexibility. We further develop a systematic method to aggregate the VB models into a low-order and low-complexity aggregated VB model, significantly reducing model and computational complexity. We demonstrate the VB model through demand response (DR) applications and conclude that the VB model can well capture the operating flexibility of building HVAC systems and enable effective DR participation. The DR strategies obtained from the VB model can be efficiently decomposed to zone-level control inputs for maintaining human thermal comfort while achieving near-optimal operation cost.

Paperid: 1865, https://arxiv.org/pdf/2512.19914.pdf

Abstract:
Drone applications continue to expand across various domains, with flocking offering enhanced cooperative capabilities but introducing significant challenges during initial formation. Existing flocking algorithms often struggle with efficiency and scalability, particularly when potential collisions force drones into suboptimal trajectories. This paper presents a time-efficient prioritised scheduling algorithm that improves the initial formation process of drone flocks. The method assigns each drone a priority based on its number of potential collisions and its likelihood of reaching its target position without permanently obstructing other drones. Using this hierarchy, each drone computes an appropriate delay to ensure a collision-free path. Simulation results show that the proposed algorithm successfully generates collision-free trajectories for flocks of up to 5000 drones and outperforms the coupling-degree-based heuristic prioritised planning method (CDH-PP) in both performance and computational efficiency.

Paperid: 1866, https://arxiv.org/pdf/2512.15677.pdf

Abstract:
The increasing penetration of inverter-based renewable generation has significantly reduced system inertia, making modern power grids more vulnerable to rapid frequency deviations following disturbances. While a wide range of flexible resources-including electric vehicles (EVs), data centers, and battery energy storage systems (BESS)-have demonstrated the physical capability to provide fast frequency response (FFR), existing studies primarily focus on individual resource performance or controller-level designs. A systematic framework that translates heterogeneous FFR capabilities into deployable, system-level frequency services remains largely unexplored. This paper proposes a service-oriented coordination framework for fast frequency response from flexible loads and energy storage, bridging the gap between physical capability assessment and grid-operational utilization. The framework decomposes frequency support into multiple time-critical service layers based on response speed, power capacity, and energy sustainability, and dynamically allocates FFR responsibilities among heterogeneous resources accordingly. By explicitly accounting for response latency, saturation limits, and energy constraints, the proposed approach enables coordinated dispatch that prioritizes ultra-fast resources for initial frequency arrest while leveraging slower but energy-rich resources to sustain recovery.

Paperid: 1867, https://arxiv.org/pdf/2512.14894.pdf

Abstract:
The integration of heavy-duty electric vehicles (EVs) with Vehicle-to-Grid (V2G) capability can enhance primary frequency response and improve stability in power systems with high renewable penetration. This study evaluates the technical potential of heavy-duty EV fleets to support the California power grid under three practical charging strategies: immediate charging, delayed charging, and constant-minimum-power charging. We develop a simulation framework that couples aggregated frequency dynamics with battery and charger constraints, state-of-charge management, and fleet-availability profiles. Performance is assessed using standard frequency security metrics, including nadir, rate-of-change-of-frequency, overshoot, and settling time, across credible contingency scenarios and renewable generation conditions. Results indicate that both non-V2G modes and V2G-enabled operation can contribute meaningful primary response, with V2G providing the strongest and fastest support while respecting mobility and network limits. Sensitivity analyses show that the relative benefits depend on charging strategy, control parameters, and renewable output, highlighting design trade-offs between response magnitude, duration, and battery usage. Overall, heavy-duty EV fleets-when coordinated by appropriate charging and V2G controls-offer a viable resource for strengthening primary frequency control on the California grid and mitigating stability challenges associated with increasing renewable penetration.

Paperid: 1868, https://arxiv.org/pdf/2512.14136.pdf

Abstract:
High renewable penetration has significantly reduced system inertia in modern power grids, increasing the need for fast frequency response (FFR) from distributed and non-traditional resources. While electric vehicles (EVs), data centers, and battery energy storage systems (BESS) have each demonstrated the capability to provide sub-second active power support, their combined frequency response potential has not been systematically evaluated. This paper proposes a coordinated control framework that aggregates these heterogeneous resources to provide fast, stable, and reliable FFR. Dynamic models for EV fleets, data center UPS and workload modulation, and BESS are developed, explicitly capturing their response times, power limits, and operational constraints. A hierarchical control architecture is introduced, where an upper-level coordinator dynamically allocates FFR among resources based on response speed and available capacity, and lower-level controllers implement the actual power response. Case studies based on the IEEE 39-bus test system demonstrate that the coordinated EV-DC-BESS framework improves frequency nadir by up to 0.2 Hz, reduces RoCoF, and accelerates frequency recovery compared with single-resource FFR. Results confirm that synergistic coordination significantly enhances grid stability, especially in low-inertia scenarios. This work highlights the value of multi-resource aggregation for future frequency regulation markets in renewable-dominated grids.

Paperid: 1869, https://arxiv.org/pdf/2512.14128.pdf

Abstract:
The rapid growth of renewable energy sources has significantly reduced system inertia and increased the need for fast frequency response (FFR) in modern power systems. Data centers, as large and flexible electrical consumers, hold great potential to contribute to frequency stabilization due to their controllable IT workloads and on-site uninterruptible power supply (UPS) systems. This paper investigates the feasibility of leveraging data centers for providing fast frequency response through real-time workload modulation and UPS coordination. A dynamic model combining data center power consumption and grid frequency dynamics is developed, capturing the interactions between IT servers, cooling systems, and energy storage. Control strategies based on frequency deviation are implemented to adjust server power and discharge UPS batteries during frequency events. Case studies on a modified IEEE 39-bus system demonstrate that the proposed strategy can effectively reduce frequency nadir and shorten recovery time without compromising service quality. The results highlight the promising role of data centers as grid-supporting resources in future low-inertia systems.

Paperid: 1870, https://arxiv.org/pdf/2512.13940.pdf

Abstract:
Controlling stochastic systems with unknown dynamics and under complex specifications is specially challenging in safety-critical settings, where performance guarantees are essential. We propose a data-driven policy synthesis framework that yields formal performance guarantees for such systems using conditional mean embeddings (CMEs) and uncertain Markov decision processes (UMDPs). From trajectory data, we learn the system's transition kernel as a CME, then construct a finite-state UMDP abstraction whose transition uncertainties capture learning and discretization errors. Next, we generate a policy with formal performance bounds through robust dynamic programming. We demonstrate and empirically validate our method through a temperature regulation benchmark.

Paperid: 1871, https://arxiv.org/pdf/2512.13810.pdf

Abstract:
We consider a computation offloading system where jobs are processed sequentially at a local server followed by a higher-capacity cloud server. The system offers two service modes, differing in how the processing is split between the servers. Our goal is to design an optimal policy for assigning jobs to service modes and partitioning server resources in order to minimize delay. We begin by characterizing the system's stability region and establishing design principles for service modes that maximize throughput. For any given job assignment strategy, we derive the optimal resource partitioning and present a closed-form expression for the resulting delay. Moreover, we establish that the delay-optimal assignment policy exhibits a distinct breakaway structure: at low system loads, it is optimal to route all jobs through a single service mode, whereas beyond a critical load threshold, jobs must be assigned across both modes. We conclude by validating these theoretical insights through numerical evaluation.

Paperid: 1872, https://arxiv.org/pdf/2512.13482.pdf

Abstract:
Digital twin (DT) enables smart manufacturing by leveraging real-time data, AI models, and intelligent control systems. This paper presents a state-of-the-art analysis on the emerging field of DTs in the context of milling. The critical aspects of DT are explored through the lens of virtual models of physical milling, data flow from physical milling to virtual model, and feedback from virtual model to physical milling. Live data streaming protocols and virtual modeling methods are highlighted. A case study showcases the transformative capability of a real-time machine learning-driven live DT of tool-work contact in a milling process. Future research directions are outlined to achieve the goals of Industry 4.0 and beyond.

Paperid: 1873, https://arxiv.org/pdf/2512.13344.pdf

Abstract:
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. In this work, we address the problem of synthesizing controllers for continuous-time systems under STL specifications with input constraints. We propose a neural network-based framework for synthesizing time-varying control barrier functions (TVCBF) and their corresponding controllers for systems to fulfill STL specifications while respecting input constraints. We formulate barrier conditions incorporating the spatial and temporal logic of the given STL specification. Additionally, we introduce a validity condition to provide formal safety guarantees across the entire state space. Finally, we demonstrate the effectiveness of the proposed approach through several simulation studies considering different STL tasks.

Paperid: 1874, https://arxiv.org/pdf/2512.12872.pdf

Abstract:
The integration of heavy-duty electric vehicles (EVs) with Vehicle-to-Grid (V2G) capability offers a promising solution to enhance grid stability by providing primary frequency response in power systems. This paper investigates the potential of heavy-duty EVs to support the California power grid under different charging strategies: immediate, delayed, and constant minimum power charging. Simulation results demonstrate that both V2G-capable EVs and non-V2G modes have great potential to provide primary frequency response, with V2G-capable EVs exhibiting especially strong contributions. The study highlights the influence of charging strategies, control modes, and grid conditions on EV contributions to grid stability, emphasizing their critical role in mitigating the adverse effects of renewable energy penetration.

Paperid: 1875, https://arxiv.org/pdf/2512.12601.pdf

Abstract:
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is desired that the object follows a velocity command. To solve the problem, we first treat the robots' positions as virtual control inputs of the object, and propose a velocity-tracking controller based on quadratic programming (QP), enabling the robots to cooperatively generate desired contact forces while minimizing the sum of the contact-force magnitudes. Then, we design position-tracking controllers for the robots. By appropriately designing the objective function and the constraints for the QP, it is guaranteed that the QP admits a unique solution and the QP-based velocity-tracking controller is Lipschitz continuous. Finally, we consider the closed-loop system as an interconnection of two subsystems, corresponding to the velocity-tracking error of the object and the position-tracking error of the robots, and employ nonlinear small-gain techniques for stability analysis. The effectiveness of the proposed design is demonstrated through numerical simulations.

Paperid: 1876, https://arxiv.org/pdf/2512.12600.pdf

Abstract:
This paper presents a novel feasible-set reshaping technique to optimization-based control with ensured constraint qualification. In our problem setting, the feasible set of admissible control inputs depends on the real-time state of the plant, and the linear independence constraint qualification (LICQ) may not be satisfied in some regions of interest. By feasible-set reshaping, we project the constraints of the original feasible set onto an appropriately chosen constant matrix with its rows forming a positive span of the space of the optimization variable. It is proved that the reshaped feasible set is nonempty and satisfies LICQ, as long as the original feasible set is nonempty. The effectiveness of the proposed method is verified by constructing Lipschitz continuous quadratic-program-based (QP-based) controllers based on the reshaped feasible sets.

Paperid: 1877, https://arxiv.org/pdf/2512.12518.pdf

Abstract:
Quantum state tomography is a core task in quantum system identification. Real experimental conditions often deviate from nominal designs, introducing errors in both the measurement devices and the Hamiltonian governing the system's dynamics. In this paper, we investigate the robustness of quantum state tomography against such perturbations in both static and dynamic settings using linear regression estimation. We derive explicit bounds that quantify how bounded errors in the measurement devices and the Hamiltonian affect the mean squared error (MSE) upper bound in each scenario. Numerical simulations for qubit systems illustrate how these bounds scale with resources.

Paperid: 1878, https://arxiv.org/pdf/2512.11048.pdf

Abstract:
The trade-off between model fidelity and computational cost remains a central challenge in the computational modeling of extrusion-based 3D printing, particularly for real time optimization and control. Although high fidelity simulations have advanced considerably for offline analysis, dynamical modeling tailored for online, control-oriented applications is still significantly underdeveloped. In this study, we propose a reduced order dynamical flow model that captures the transient behavior of extrusion-based 3D printing. The model is grounded in physics-based principles derived from the Navier Stokes equations and further simplified through spatial averaging and input dependent parameterization. To assess its performance, the model is identified via a nonlinear least squares approach using Computational Fluid Dynamics (CFD) simulation data spanning a range of printing conditions and subsequently validated across multiple combinations of training and testing scenarios. The results demonstrate strong agreement with the CFD data within the nozzle, the nozzle substrate gap, and the deposited layer regions. Overall, the proposed reduced order model successfully captures the dominant flow dynamics of the process while maintaining a level of simplicity compatible with real time control and optimization.

Paperid: 1879, https://arxiv.org/pdf/2512.10906.pdf

Abstract:
In this paper, we consider a class of finite-horizon, linear-quadratic stochastic control problems, where the probability distribution governing the noise process is unknown but assumed to belong to an ambiguity set consisting of all distributions whose mean and covariance lie within norm balls centered at given nominal values. To address the distributional ambiguity, we explore the design of causal affine control policies to minimize the worst-case expected regret over all distributions in the given ambiguity set. The resulting minimax optimal control problem is shown to admit an equivalent reformulation as a tractable convex program that corresponds to a regularized version of the nominal linear-quadratic stochastic control problem. While this convex program can be recast as a semidefinite program, semidefinite programs are typically solved using primal-dual interior point methods that scale poorly with the problem size in practice. To address this limitation, we propose a scalable dual projected subgradient method to compute optimal controllers to an arbitrary accuracy. Numerical experiments are presented to benchmark the proposed method against state-of-the-art data-driven and distributionally robust control design approaches.

Paperid: 1880, https://arxiv.org/pdf/2512.08592.pdf

Abstract:
Artificial Intelligence (AI) systems are now an integral part of multiple industries. In clinical research, AI supports automated adverse event detection in clinical trials, patient eligibility screening for protocol enrollment, and data quality validation. Beyond healthcare, AI is transforming finance through real-time fraud detection, automated loan risk assessment, and algorithmic decision-making. Similarly, in manufacturing, AI enables predictive maintenance to reduce equipment downtime, enhances quality control through computer-vision inspection, and optimizes production workflows using real-time operational data. While these technologies enhance operational efficiency, they introduce new challenges regarding safety, accountability, and regulatory compliance. To address these concerns, we introduce the SMART+ Framework - a structured model built on the pillars of Safety, Monitoring, Accountability, Reliability, and Transparency, and further enhanced with Privacy & Security, Data Governance, Fairness & Bias, and Guardrails. SMART+ offers a practical, comprehensive approach to evaluating and governing AI systems across industries. This framework aligns with evolving mechanisms and regulatory guidance to integrate operational safeguards, oversight procedures, and strengthened privacy and governance controls. SMART+ demonstrates risk mitigation, trust-building, and compliance readiness. By enabling responsible AI adoption and ensuring auditability, SMART+ provides a robust foundation for effective AI governance in clinical research.

Paperid: 1881, https://arxiv.org/pdf/2512.08280.pdf

Abstract:
Offline decision-making requires synthesizing reliable behaviors from fixed datasets without further interaction, yet existing generative approaches often yield trajectories that are dynamically infeasible. We propose Model Predictive Diffuser (MPDiffuser), a compositional model-based diffusion framework consisting of: (i) a planner that generates diverse, task-aligned trajectories; (ii) a dynamics model that enforces consistency with the underlying system dynamics; and (iii) a ranker module that selects behaviors aligned with the task objectives. MPDiffuser employs an alternating diffusion sampling scheme, where planner and dynamics updates are interleaved to progressively refine trajectories for both task alignment and feasibility during the sampling process. We also provide a theoretical rationale for this procedure, showing how it balances fidelity to data priors with dynamics consistency. Empirically, the compositional design improves sample efficiency, as it leverages even low-quality data for dynamics learning and adapts seamlessly to novel dynamics. We evaluate MPDiffuser on both unconstrained (D4RL) and constrained (DSRL) offline decision-making benchmarks, demonstrating consistent gains over existing approaches. Furthermore, we present a preliminary study extending MPDiffuser to vision-based control tasks, showing its potential to scale to high-dimensional sensory inputs. Finally, we deploy our method on a real quadrupedal robot, showcasing its practicality for real-world control.

Paperid: 1882, https://arxiv.org/pdf/2512.08076.pdf

Abstract:
This paper proposes a hybrid energy storage system (HESS)-based control framework that enables comprehensive power smoothing for hyperscale AI datacenters with large load variations. Datacenters impose severe ramping and fluctuation-induced stresses on the grid frequency and voltage stability. To mitigate such disturbances, the proposed HESS integrates a battery energy storage system (BESS) and a supercapacitor (SC) through coordinated multi-timescale control. A high-pass filter (HPF) separates the datacenter demand into slow and fast components, allocating them respectively to the ESS via a leaky-integral controller and to the SC via a phase-lead proportional-derivative controller enhanced with feedforward and ramp-tracking compensation. Adaptive weighting and repetitive control mechanisms further improve transient and periodic responses. Case studies verify that the proposed method effectively suppresses both ramping and fluctuations, stabilizes the system frequency, and maintains sustainable state-of-charge (SoC) trajectories for both ESS and SC under prolonged, stochastic training cycles.

Paperid: 1883, https://arxiv.org/pdf/2512.06600.pdf

Abstract:
Power systems face increasing weather-driven variability and, therefore, increasingly rely on flexible but energy-limited storage resources. Energy storage can buffer this variability, but its value depends on intertemporal decisions under uncertain prices. Without accounting for the future reliability value of stored energy, batteries may act myopically, discharging too early or failing to preserve reserves during critical hours. This paper introduces a stopping-time reward that, together with a state-of-charge (SoC) range target penalty, aligns arbitrage incentives with system reliability by rewarding storage that maintains sufficient SoC before critical hours. We formulate the problem as an online optimization with a chance-constrained terminal SoC and embed it in an end-to-end (E2E) learning framework, jointly training the price predictor and control policy. The proposed design enhances reachability of target SoC ranges, improves profit under volatile conditions, and reduces its standard deviation.

Paperid: 1884, https://arxiv.org/pdf/2512.06535.pdf

Abstract:
This paper presents the E-Rocket, an electric-powered, low-cost rocket prototype for validation of Guidance, Navigation & Control (GNC) algorithms based on Thrust Vector Control (TVC). Relying on commercially available components and 3D printed parts, a pair of contra-rotating DC brushless motors is assembled on a servo-actuated gimbal mechanism that provides thrust vectoring capability. A custom avionics hardware and software stack is developed considering a dual computer setup which leverages the capabilities of the PX4 autopilot and the modularity of ROS 2 to accommodate for tailored GNC algorithms. The platform is validated in an indoor motion-capture arena using a baseline PID-based trajectory tracking controller. Results demonstrate accurate trajectory tracking and confirm the suitability of the E-Rocket as a versatile testbed for rocket GNC algorithms.

Paperid: 1885, https://arxiv.org/pdf/2512.05888.pdf

Abstract:
We show that the dynamics of a thrusting spacecraft can be embedded in the Lie group SE2(3) in a form that is group-affine with application of a feed-forward control law. This structure implies that the configuration-tracking error evolves exactly linearly in the associated Lie algebra coordinates (log-linear dynamics), rather than arising from a local linearization of the nonlinear system. As a result, a broad class of linear analysis and synthesis tools becomes directly applicable to powered spacecraft motion on SE2(3). A simple numerical example confirms that the error predicted by the linear Lie-algebra dynamics matches the error computed from the full nonlinear system, illustrating the exact log-linear behavior. This foundational property opens a path toward rigorous tools for satellite docking, autonomous rendezvous and proximity operations, robust controller design, and convex safety certification-capabilities that are difficult to achieve with classical local linearizations such as Tschauner-Hempel/Yamanaka-Ankersen (TH/YA).

Paperid: 1886, https://arxiv.org/pdf/2512.02797.pdf

Abstract:
This paper presents a Gain-Scheduled Data-Enabled Predictive Control (GS-DeePC) framework for nonlinear systems based on multiple locally linear data representations. Instead of relying on a single global Hankel matrix, the operating range of a measurable scheduling variable is partitioned into regions, and regional Hankel matrices are constructed from persistently exciting data. To ensure smooth transitions between linearization regions and suppress region-induced chattering, composite regions are introduced, merging neighboring data sets and enabling a robust switching mechanism. The proposed method maintains the original DeePC problem structure and can achieve reduced computational complexity by requiring only short, locally informative data sequences. Extensive experiments on a nonlinear DC-motor with an unbalanced disc demonstrate the significantly improved control performance compared to standard DeePC.

Paperid: 1887, https://arxiv.org/pdf/2512.02138.pdf

Abstract:
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control for isolated subsystems, the presence of coupling can destroy this property for the overall joint system. Focusing on subsystems in pure-feedback form, we identify a class of compatible lower-triangular dynamic couplings that preserve flatness and guarantee that the flat outputs of the subsystems remain the flat outputs of the coupled system. Further, we show that the joint flatness diffeomorphism can be constructed from those of the individual subsystems and, crucially, its sparsity structure reflects that of the coupling. Exploiting this structure, we synthesize a distributed tracking controller that computes control actions from local information only, thereby ensuring scalability. We validate our proposed framework on a simulated example of planar quadrotors dynamically coupled via aerodynamic downwash, and show that the distributed controller achieves accurate trajectory tracking.

Paperid: 1888, https://arxiv.org/pdf/2512.01914.pdf

Abstract:
The integration of photovoltaic (PV) generation and electric vehicle (EV) charging intro- duces significant uncertainty in electricity consumption patterns, particularly at the distribution level. This paper presents a comparative study for selecting metrics for uncertainty quantification (UQ) for net load profiles of residential, industrial, and office buildings under increased DER penetration. A variety of statistical metrics is evaluated for their usefulness in quantifying un- certainty, including, but not limited to, standard deviation, entropy, ramps, and distance metrics. The proposed metrics are classified into baseline-free, with baseline and error-based. These UQ metrics are evaluated for increased penetration of EV and PV. The results highlight suitable metrics to quantify uncertainty per consumer type and demonstrate how net load uncertainty is affected by EV and PV adoption. Additionally, it is observed that joint consideration of EV and PV can reduce overall uncertainty due to compensatory effects of EV charging and PV generation due to temporal alignment during the day. Uncertainty reduction is observed across all datasets and is most pronounced for the office building dataset.

Paperid: 1889, https://arxiv.org/pdf/2512.01596.pdf

Abstract:
Securing the near-real-time (near-RT) control operations in Open Radio Access Networks (Open RAN) is increasingly critical, yet remains insufficiently addressed, as new runtime threats target the control loop while the system is operational. In this paper, we propose a multi-layer defence framework designed to enhance the security of near-RT RAN Intelligent Controller (RIC) operations. We classify operational-time threats into three categories, message-level, data-level, and control logic-level, and design and implement a dedicated detection and mitigation component for each: a signature-based E2 message inspection module performing structural and semantic validation of signalling exchanges, a telemetry poisoning detector based on temporal anomaly scoring using an LSTM network, and a runtime xApp attestation mechanism based on execution-time hash challenge-response. The framework is evaluated on an O-RAN testbed comprising FlexRIC and a commercial RAN emulator, demonstrating effective detection rates, low latency overheads, and practical integration feasibility. Results indicate that the proposed safeguards can operate within near-RT time constraints while significantly improving protection against runtime attacks, introducing less than 80 ms overhead for a network with 500 User Equipment (UEs). Overall, this work lays the foundation for deployable, layered, and policy-driven runtime security architectures for the near-RT RIC control loop in Open RAN, and provides an extensible framework into which future mitigation policies and threat-specific modules can be integrated.

Paperid: 1890, https://arxiv.org/pdf/2512.01098.pdf

Abstract:
In this paper we consider an interchange lane-swap scenario, a limited stretch of highway with two parallel lanes where most vehicles want to change lanes. We show that a particular decentralized Control Barrier Function based algorithm executes lane swaps efficiently, with minimal speed change, within the specified (short) road segment at high traffic densities (3,500 vehicles per hour per lane). Our main point is that controller tuning, the speed of inter-agent instability, plays a major role in the performance of the vehicle group. This is illustrated by comparing two different tunings of the controller and a third one where the lane swap is enforced by virtual guard rails. Like fighter jet dynamic instability improving maneuverability, the inter-agent instability improves agility of a group of vehicles. We emphasize that the controllers considered are decentralized: agents do not know if others want to change lanes or not.

Paperid: 1891, https://arxiv.org/pdf/2511.23141.pdf

Abstract:
Laser dicing of semiconductor wafers is a critical step in microelectronic manufacturing, where multiple sequential laser passes precisely separate individual dies from the wafer. Adapting this complex sequential process to new wafer materials typically requires weeks of expert effort to balance process speed, separation quality, and material integrity. We present the first automated discovery of production-ready laser dicing processes on an industrial LASER1205 dicing system. We formulate the problem as a high-dimensional, constrained multi-objective Bayesian optimization task, and introduce a sequential two-level fidelity strategy to minimize expensive destructive die-strength evaluations. On bare silicon and product wafers, our method autonomously delivers feasible configurations that match or exceed expert baselines in production speed, die strength, and structural integrity, using only technician-level operation. Post-hoc validation of different weight configurations of the utility functions reveals that multiple feasible solutions with qualitatively different trade-offs can be obtained from the final surrogate model. Expert-refinement of the discovered process can further improve production speed while preserving die strength and structural integrity, surpassing purely manual or automated methods.

Paperid: 1892, https://arxiv.org/pdf/2511.23138.pdf

Abstract:
This letter proposes a targeted-subharmonic-eliminating pulse density modulation (PDM) method for series-series (SS) compensated wireless power transfer (WPT) systems. The subharmonic frequency components which excite current abnormal oscillations in PDM controlled WPT systems are eliminated through a specially designed noise transfer function (NTF). The proposed method is simple to implement in both primary and secondary sides of WPT systems and exhibits a certain tolerance to deviations caused by inaccurate coupling coefficient identification in NTF design. Experimental results demonstrated the effectiveness and robustness of the proposed method in suppressing current abnormal oscillations and reducing the fluctuations in current amplitudes.

Paperid: 1893, https://arxiv.org/pdf/2511.23022.pdf

Abstract:
We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the proposed framework requires neither online model learning nor uncertainty bound estimation. A CBF-based Quadratic Program (CBF-QP) is solved on a simple virtual system to generate a safe reference satisfying PT-RA conditions with respect to time-varying, tightened obstacle and goal sets. The true system is confined to a Virtual Confinement Zone (VCZ) around this reference using an approximation-free feedback law. This construction guarantees real-time safety and prescribed-time target reachability under unknown dynamics and dynamic constraints without explicit model identification or offline precomputation. Simulation results illustrate reliable dynamic obstacle avoidance and timely convergence to the target set.

Paperid: 1894, https://arxiv.org/pdf/2511.22839.pdf

Abstract:
In many countries, declining demand in energy-intensive industries (EIIs) such as cement, steel, and aluminum is leading to industrial overcapacity. Although overcapacity is traditionally seen as problematic, it could unlock EIIs' flexibility in electricity use. Using China's aluminum smelting sector as a case, we evaluate the system-level cost-benefit of retaining EII overcapacity for flexible electricity use in decarbonized systems. We find that overcapacity enables smelters to adopt a seasonal operation paradigm, ceasing production during winter load peaks driven by heating electrification and renewable seasonality. In a 2050-net-zero scenario, this paradigm reduces China's electricity-system investment and operating costs by 15-72 billion CNY per year (8-34% of the industry's product value), enough to offset the costs of maintaining overcapacity and product storage. Seasonal operation also cuts workforce fluctuations across aluminum smelting and thermal-power sectors by up to 62%, potentially mitigating socio-economic disruptions from industrial restructuring and the energy transition.

Paperid: 1895, https://arxiv.org/pdf/2511.22343.pdf

Abstract:
Power Flow (PF) calculation based on machine learning (ML) techniques offer significant computational advantages over traditional numerical methods but often struggle to maintain full physical consistency. This paper introduces a physics-informed test-time training (PI-TTT) framework that enhances the accuracy and feasibility of ML-based PF surrogates by enforcing AC power flow equalities and operational constraints directly at inference time. The proposed method performs a lightweight self-supervised refinement of the surrogate outputs through few gradient-based updates, enabling local adaptation to unseen operating conditions without requiring labeled data. Extensive experiments on the IEEE 14-, 118-, and 300-bus systems and the PEGASE 1354-bus network show that PI-TTT reduces power flow residuals and operational constraint violations by one to two orders of magnitude compared with purely ML-based models, while preserving their computational advantage. The results demonstrate that PI-TTT provides fast, accurate, and physically reliable predictions, representing a promising direction for scalable and physics-consistent learning in power system analysis.

Paperid: 1896, https://arxiv.org/pdf/2511.21405.pdf

Abstract:
This paper investigates decentralized shepherding in cluttered environments, where a limited number of herders must guide a larger group of non-cohesive, diffusive targets toward a goal region in the presence of static obstacles. A hierarchical control architecture is proposed, integrating a high-level target assignment rule, where each herder is paired with a selected target, with a learning-based low-level driving module that enables effective steering of the assigned target. The low-level policy is trained in a one-herder-one-target scenario with a rectangular obstacle using Proximal Policy Optimization and then directly extended to multi-agent settings with multiple obstacles without requiring retraining. Numerical simulations demonstrate smooth, collision-free trajectories and consistent convergence to the goal region, highlighting the potential of reinforcement learning for scalable, model-free shepherding in complex environments.

Paperid: 1897, https://arxiv.org/pdf/2511.21304.pdf

Abstract:
We propose a reinforcement learning framework for sparse indirect control of large-scale multi-agent systems, where few controlled agents shape the collective behavior of many uncontrolled agents. The approach addresses this multi-scale challenge by coupling ODEs (modeling controlled agents) with a PDE (describing the uncontrolled population density), capturing how microscopic control achieves macroscopic objectives. Our method combines model-free reinforcement learning with adaptive interaction strength compensation to overcome sparse actuation limitations. Numerical validation demonstrates effective density control, with the system achieving target distributions while maintaining robustness to disturbances and measurement noise, confirming that learning-based sparse control can replace computationally expensive online optimization.

Paperid: 1898, https://arxiv.org/pdf/2511.21228.pdf

Abstract:
This paper establishes a theoretical framework to describe the transition from consensus to stable clustering in multi-agent systems with nonlinear, cooperative interactions. We first establish a sharp threshold for consensus. For a broad class of non-decreasing, Lipschitz-continuous interactions, an explicit inequality linking the interaction's Lipschitz constant to the second-largest eigenvalue of the normalized adjacency matrix of the interaction graph confines all system equilibria to the synchronization manifold. This condition is shown to be a sharp threshold, as its violation permits the emergence of non-synchronized equilibria. We also demonstrate that such clustered states can only arise if the interaction law itself possesses specific structural properties, such as unstable fixed points. For the clustered states that emerge, we introduce a formal framework using Input-to-State Stability (ISS) theory to quantify their robustness. This approach allows us to prove that the internal cohesion of a cluster is robust to perturbations from the rest of the network. The analysis reveals a fundamental principle: cluster coherence is limited not by the magnitude of external influence, but by its heterogeneity across internal nodes. This unified framework, explaining both the sharp breakdown of consensus and the quantifiable robustness of the resulting modular structures, is validated on Zachary's Karate Club network, used as a classic benchmark for community structure.

Paperid: 1899, https://arxiv.org/pdf/2511.20874.pdf

Abstract:
Electrified roadways (ERs) equipped with the dynamic wireless power transfer (DWPT) technology can achieve longer driving range and reduce on-board battery requirements for electric vehicles (EVs). Due to the spatial arrangement of transmitter (Tx) coils embedded into the ER pavement, the power drawn by the EV's receiver (Rx) coil is oscillatory in nature. Therefore, understanding the dynamic behavior of the total DWPT load is important for power system dynamic studies. To this end, we model the load of individual EVs in the time and frequency domains for constant EV speed. We establish that a nonlinear control scheme implemented in existing DWPT-enabled EVs exhibits milder frequency harmonics compared to its linear alternative. According to this model, the harmonics of an EV load decrease in amplitude with the Rx coil length. We further propose and analyze stochastic models for the total DWPT load served by an ER segment. Our models explain how the EV composition on the ER affects its frequency spectrum. Interestingly, we show that serving more EVs with longer Rx coils (trucks) does not necessarily entail milder harmonics. Our analytical findings are corroborated using realistic flows from a traffic simulator and offer valuable insights to grid operators and ER designers.

Paperid: 1900, https://arxiv.org/pdf/2511.20843.pdf

Abstract:
The home space for optimal control is a Sobolev space. The home space for pseudospectral theory is also a Sobolev space. It thus seems natural to combine pseudospectral theory with optimal control theory and construct ``pseudospectral optimal control theory,'' a term coined by Ross. In this paper, we review key theoretical results in pseudospectral optimal control that have proven to be critical for a successful flight. Implementation details of flight demonstrations onboard NASA spacecraft are discussed along with emerging trends and techniques in both theory and practice. The 2011 launch of pseudospectral optimal control in embedded platforms is changing the way in which we see solutions to challenging control problems in aerospace and autonomous systems.

Paperid: 1901, https://arxiv.org/pdf/2511.20838.pdf

Abstract:
Dissipativity is an input-output (IO) characterization of nonlinear systems that enables compositional robust control through Vidyasagar's Network Dissipativity Theorem. However, determining the dissipativity of a system is an involved and, often, model-specific process. We present a general method to determine the local dissipativity properties of nonlinear, control affine systems. We simultaneously search for the optimal IO characterization of a system and synthesize a continuous piecewise affine (CPA) storage function via a convex optimization problem. To do so, we reformulate the relationship between the Hamilton-Jacobi inequality and the dissipation inequality as an linear matrix inequality (LMI) and develop novel LMI bounds for a triangulation. Further, we develop a method to synthesize a combined quadratic and CPA storage function to expand the systems the optimization problem is applicable to. Finally, we demonstrate that our method will always find a feasible IO characterization and a CPA or quadratic storage function given that the system is strictly locally dissipative.

Paperid: 1902, https://arxiv.org/pdf/2511.20463.pdf

Abstract:
Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF for a nonlinear (and potentially unmodeled), non-autonomous dynamical system is a difficult task. This work explores the design of BFs using data to obtain safe sets with deterministic assurances of control invariance. We leverage ReLU neural networks (NNs) to create continuous piecewise affine (CPA) BFs with deterministic safety guarantees for Lipschitz continuous, discrete-time dynamical system using sampled one-step trajectories. The CPA structure admits a novel classifier term to create a relaxed \ac{bf} condition and construction via a data driven constrained optimization. We use iterative convex overbounding (ICO) to solve this nonconvex optimization problem through a series of convex optimization steps. We then demonstrate our method's efficacy on two-dimensional autonomous and non-autonomous dynamical systems.

Paperid: 1903, https://arxiv.org/pdf/2511.20443.pdf

Abstract:
Continuous piecewise affine (CPA) Lyapunov function synthesis is one method to perform Lyapunov stability analysis for nonlinear systems. This method first generates a mesh over the region of interest in the system's state space and then solves a linear program (LP), which enforces constraints on each vertex of the mesh, to synthesize a Lyapunov function. Finer meshes broaden the class of Lyapunov function candidates, but CPA function synthesis is more computationally expensive for finer meshes -- particularly so in higher dimensional systems. This paper explores methods to mesh the region of interest more efficiently so that a Lyapunov function can be synthesized using less computational effort. Three methods are explored -- adaptive meshing, meshing using knowledge of the system model, and a combination of the two. Numerical examples for two and three dimensional nonlinear dynamical systems are used to compare the efficacy of the three methods.

Paperid: 1904, https://arxiv.org/pdf/2511.19421.pdf

Abstract:
Positive invariant (PI) sets are essential for ensuring safety, i.e. constraint adherence, of dynamical systems. With the increasing availability of sampled data from complex (and often unmodeled) systems, it is advantageous to leverage these data sets for PI set synthesis. This paper uses data driven geometric conditions of invariance to synthesize PI sets from data. Where previous data driven, set-based approaches to PI set synthesis used deterministic sampling schemes, this work instead synthesizes PI sets from any pre-collected data sets. Beyond a data set and Lipschitz continuity, no additional information about the system is needed. A tree data structure is used to partition the space and select samples used to construct the PI set, while Lipschitz continuity is used to provide deterministic guarantees of invariance. Finally, probabilistic bounds are given on the number of samples needed for the algorithm to determine of a certain volume.

Paperid: 1905, https://arxiv.org/pdf/2511.19133.pdf

Abstract:
We propose a directional pinching-antenna system (DiPASS), a comprehensive framework that transitions PASS modeling from idealized abstraction to physical consistency. DiPASS introduces the first channel model that accurately captures the directional, pencil-like radiation of pinching antennas, incorporates a practical waveguide attenuation of 1.3 dB/m, and accounts for stochastic line-of-sight blockage. A key enabler of DiPASS is our new "equal quota division" power allocation strategy, which guarantees predetermined coupling lengths independent of antenna positions, thereby overcoming a critical barrier to practical deployment. Our analysis yields foundational insights: we derive closed-form solutions for optimal antenna placement and orientation in single-PA scenarios, quantifying the core trade-off between waveguide and free-space losses. For multi-PA systems, we develop a scalable optimization framework that leverages directional sparsity, revealing that waveguide diversity surpasses antenna density in enhancing system capacity. Extensive simulations validate our analysis and demonstrate that DiPASS provides a realistic performance benchmark, fundamentally reshaping the understanding and design principles for future PASS-enabled 6G networks.

Paperid: 1906, https://arxiv.org/pdf/2511.19055.pdf

Abstract:
The growing demand for electric vehicle (EV) charging infrastructure presents significant planning challenges, requiring efficient strategies for investment and operation to deliver cost-effective charging services. However, the potential benefits of EV charging assignment, particularly in response to varying spatial-temporal patterns of charging demand, remain under-explored in infrastructure planning. This paper proposes an integrated approach that jointly optimizes investment decisions and charging assignments while accounting for spatial-temporal demand dynamics and their interdependencies. To support efficient model development, we leverage a large language model (LLM) to assist in generating and refining the mathematical formulation from structured natural-language descriptions, significantly reducing the modeling burden. The resulting optimization model enables optimal joint decision-making for investment and operation. Additionally, we propose a distributed optimization algorithm based on the Alternating Direction Method of Multipliers (ADMM) to address computational complexity in high-dimensional scenarios, which can be executed on standard computing platforms. We validate our approach through a case study using 1.5 million real-world travel records from Chengdu, China, demonstrating a 30% reduction in total cost compared to a baseline without EV assignment.

Paperid: 1907, https://arxiv.org/pdf/2511.18486.pdf

Abstract:
Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective workspace of an eMNS is often severely constrained by power and thermal limits. We show that system-level control design significantly expands this workspace by reducing the currents needed to achieve a desired motion. We identified five key system approaches that enable this expansion: (i) motion-centric torque/force objectives, (ii) energy-optimal current allocation, (iii) real-time pose estimation, (iv) dynamic feedback, and (v) high-bandwidth eMNS components. As a result, we stabilize a 3D inverted pendulum on an eight-coil OctoMag eMNS with significantly lower currents (0.1-0.2 A vs. 8-14 A), by replacing a field-centric field-alignment strategy with a motion-centric torque/force-based approach. We generalize to multi-agent control by simultaneously stabilizing two inverted pendulums within a shared workspace, exploiting magnetic-field nonlinearity and coil redundancy for independent actuation. A structured analysis compares the electromagnetic workspaces of both paradigms and examines current-allocation strategies that map motion objectives to coil currents. Cross-platform evaluation of the clinically oriented Navion eMNS further demonstrates substantial workspace expansion by maintaining stable balancing at distances up to 50 cm from the coils. The results demonstrate that feedback is a practical path to scalable, efficient, and clinically relevant magnetic manipulation.

Paperid: 1908, https://arxiv.org/pdf/2511.18015.pdf

Abstract:
Event-based control, unlike analogue control, poses significant analytical challenges due to its hybrid dynamics. This work investigates the stability and inter-event time properties of a control-affine system under event-based impulsive control. The controller consists of multiple neuronal units with leaky integrate-and-fire dynamics acting on a time-invariant, multiple-input multiple-output plant in closed loop. Both the plant state and the neuronal units exhibit discontinuities that cancel if combined linearly, enabling a direct correspondence between the event-based impulsive controller and a corresponding analogue controller. Leveraging this observation, we prove global practical stability of the event-based impulsive control system. In the general nonlinear case, we show that the event-based impulsive controller ensures global practical asymptotic stability if the analogue system is input-to-state stable (ISS) with respect to specific disturbances. In the linear case, we further show global practical exponential stability if the analogue system is stable. We illustrate our results with numerical simulations. The findings reveal a fundamental link between analogue and event-based impulsive control, providing new insights for the design of neuromorphic controllers.

Paperid: 1909, https://arxiv.org/pdf/2511.17025.pdf

Abstract:
The paper addresses the problem of estimating robustly the external load torque in rotary actuator systems, when only the generated motor drive torque and angular displacement are the available input and output. We compare, theoretically and experimentally, two sufficiently established linear observation techniques (i) reduced-order Luenberger observer and (ii) disturbance observer, both using the same identified model of a permanent magnet synchronous motor (PMSM)-based actuator. Our goal is to highlight several aspects related to the implementation, relative degree of the input-torque to estimated-load-torque transfer characteristics, observer open-loop transfer function, and the associated sensitivity (respectively stability margins) with respect to inherently uncertain system plants. Apart from the developed analysis, a detailed experimental case study is demonstrated where the load torque sensor provides reference measurements and allows for evaluation of both observers.

Paperid: 1910, https://arxiv.org/pdf/2511.16765.pdf

Abstract:
Detecting kinetic vulnerabilities in Cyber-Physical Systems (CPS), vulnerabilities in control code that can precipitate hazardous physical consequences, is a critical challenge. This task is complicated by the need to analyze the intricate coupling between complex software behavior and the system's physical dynamics. Furthermore, the periodic execution of control code in CPS applications creates a combinatorial explosion of execution paths that must be analyzed over time, far exceeding the scope of traditional single-run code analysis. This paper introduces RampoNN, a novel framework that systematically identifies kinetic vulnerabilities given the control code, a physical system model, and a Signal Temporal Logic (STL) specification of safe behavior. RampoNN first analyzes the control code to map the control signals that can be generated under various execution branches. It then employs a neural network to abstract the physical system's behavior. To overcome the poor scaling and loose over-approximations of standard neural network reachability, RampoNN uniquely utilizes Deep Bernstein neural networks, which are equipped with customized reachability algorithms that yield orders of magnitude tighter bounds. This high-precision reachability analysis allows RampoNN to rapidly prune large sets of guaranteed-safe behaviors and rank the remaining traces by their potential to violate the specification. The results of this analysis are then used to effectively guide a falsification engine, focusing its search on the most promising system behaviors to find actual vulnerabilities. We evaluated our approach on a PLC-controlled water tank system and a switched PID controller for an automotive engine. The results demonstrate that RampoNN leads to acceleration of the process of finding kinetic vulnerabilities by up to 98.27% and superior scalability compared to other state-of-the-art methods.

Paperid: 1911, https://arxiv.org/pdf/2511.15952.pdf

Abstract:
Formal guarantees for cyber-physical systems (CPS) rely on diverse assumptions. If satisfied, these assumptions enable the transfer of abstract guarantees into real-world assurances about the deployed CPS. Although assumptions are central to assured CPS, there is little systematic knowledge about what assumptions are made, what guarantees they support, and what it would take to specify them precisely. To fill this gap, we present a survey of assumptions and guarantees in the control, verification, and runtime assurance areas of CPS literature. From 104 papers over a 10-year span (2014-2024), we extracted 423 assumptions and 321 guarantees using grounded-theory coding. We also annotated the assumptions with 21 tags indicating elementary language features needed for specifications. Our analysis highlighted prevalent trends and gaps in CPS assumptions, particularly related to initialization, sensing, perception, neural components, and uncertainty. Our observations culminated in a call to action on reporting and testing CPS assumptions.

Paperid: 1912, https://arxiv.org/pdf/2511.15889.pdf

Abstract:
This paper addresses the offset-free tracking problem for nonlinear systems described by a class of recurrent neural networks (RNNs). To compensate for constant disturbances and guarantee offset-free tracking in the presence of model-plant mismatches, we propose a novel reformulation of the RNN model in velocity form. Conditions based on linear matrix inequalities are then derived for the design of a nonlinear state observer and a nonlinear state-feedback controller, ensuring global or regional closed-loop stability of the origin of the velocity form dynamics. Moreover, to handle input and output constraints, a theoretically sound offset-free nonlinear model predictive control algorithm is developed. The algorithm exploits the velocity form model as the prediction model and the static controller as an auxiliary law for the definition of the terminal ingredients. Simulations on a pH-neutralisation process benchmark demonstrate the effectiveness of the proposed approach.

Paperid: 1913, https://arxiv.org/pdf/2511.15034.pdf

Abstract:
This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inverse optimal control problem, where the cost functional incorporates penalties on the output, in addition to the state, control and disturbance as in current related works. One benefit of penalizing the output is that the resulting inverse optimal controllers can ensure both input-to-state stability and input-output stability. We propose a technique for constructing the corresponding meaningful cost functional by using homogeneity properties, and provide sufficient conditions on solving the inverse optimal gain assignment problem. We show that homogeneous stabilizability of homogeneous systems in the case without disturbance is sufficient for the solvability of inverse optimal gain assignment problem for homogeneous systems.

Paperid: 1914, https://arxiv.org/pdf/2511.14236.pdf

Abstract:
This study presents a framework for optimizing the two-dimensional (2D) placement of electric motorcycle powertrain elements, accounting for the position, the orientation and geometric irregularities. Specifically, we construct a 2D placement model at the component level in which we include near-continuous rotation of components and allow for irregular subsystem geometries to make optimal use of the limited design space. Second, we introduce linearization techniques for the trigonometric constraints and formulate the placement problem as a mixed-integer quadratic program (MIQP). Finally, we demonstrate our framework on two electric motorcycle powertrain topologies and study the influence of the geometry complexity on the placement solutions. The results show that gradually increasing complexity leads to more manageable computation times and higher the complexity solution improves handling performance by 2.5% compared to the benchmark placement found in existing electric motorcycles.

Paperid: 1915, https://arxiv.org/pdf/2511.13965.pdf

Abstract:
Quantum technologies offer unprecedented capabilities in computation and secure information transfer. Their implementation requires qubits to operate at cryogenic temperatures (CT) while control and readout electronics typically still remains at room temperature (RT). As systems scale to millions of qubits, the electronics should also operate at CT to avoid a wiring bottleneck. However, wired power transfer from RT for such electronics introduces severe challenges, including thermal load between cooling stages, Joule heating, noise coupling, and wiring scalability. This paper addresses those challenges by evaluating several candidate architectures for scalable power transfer in the dilution frige: high-voltage (HV) wired power transfer, radiative wireless transfer, non-radiative wireless transfer, and a hybrid HV and non-radiative transfer. These architectures are analyzed in terms of thermal load, power loss, heating, coupling noise, power density, scalability, reliability, and complexity. Comparative analysis demonstrates the trade-offs among these architectures, while highlighting HV non-radiative transfer as a promising candidate for scalable quantum systems.

Paperid: 1916, https://arxiv.org/pdf/2511.13776.pdf

Abstract:
Renewable charging stations (RCSs) that co-locate electric-vehicle (EV) charging with distributed generation (DG) can raise renewable utilization and improve distribution-network (DN) efficiency, yet their variability and the siting-dependent charging demand can overload feeders if placed poorly. This paper proposes a tri-level, two-stage stochastic-robust optimization (SRO) co-planning framework that jointly determines RCS siting and DN expansion while accounting for transportation flows and population density. The model distinguishes two uncertainty classes: (i) decision-dependent uncertainty (DDU), under which EV charging loads vary with RCS siting; and (ii) decision-independent uncertainty (DIU), under which load fluctuations and renewable-generation variability do not depend on the RCS locations or the DN topology. At the upper level, the framework selects RCS sites and DN expansions. At the middle level, EV routing and charging are dispatched given the RCS siting to produce charging loads DDU. At the lower level, DN operation minimizes annualized loss costs under the worst-case DIU, reformulated via Karush-Kuhn-Tucker (KKT) conditions. To solve the resulting problem efficiently, we develop an adaptive inexact column-and-constraint generation (A-iC&CG) algorithm and prove finite-iteration convergence. Case studies on a 47-node DN coupled with a 68-hub transportation network in Shenzhen, China, show that A-iC&CG outperforms benchmark algorithms and that PV-EV hybrid stations are cost-optimal, with RCS siting concentrated near substations and high-flow hubs.

Paperid: 1917, https://arxiv.org/pdf/2511.13588.pdf

Abstract:
Model Predictive Control (MPC) is a powerful framework for optimal control but can be too slow for low-latency applications. We present a data-driven framework to accelerate MPC by replacing online optimization with a nonparametric policy constructed from offline MPC solutions. Our policy is greedy with respect to a constructed upper bound on the optimal cost-to-go, and can be implemented as a nonparametric lookup rule that is orders of magnitude faster than solving MPC online. Our analysis shows that under sufficient coverage condition of the offline data, the policy is recursively feasible and admits provable, bounded optimality gap. These conditions establish an explicit trade-off between the amount of data collected and the tightness of the bounds. Our experiments show that this policy is between 100 and 1000 times faster than standard MPC, with only a modest hit to optimality, showing potential for real-time control tasks.

Paperid: 1918, https://arxiv.org/pdf/2511.12632.pdf

Abstract:
We propose a distributed two-degrees-of-freedom (2DOF) architecture for driving autonomous, possibly heterogeneous, agents to agreement. The scheme mirrors classical servo structures, separating local feedback from network filtering. This separation enables independent network-filter design for prescribed noise attenuation and allows controller heterogeneity to reject local disturbances, including disturbances exciting unstable agreement poles -- which is known to be impossible via standard diffusive couplings. The potential of the framework is illustrated via two numerical examples.

Paperid: 1919, https://arxiv.org/pdf/2511.11304.pdf

Abstract:
Monitoring wastewater pump stations is essential because they are critical infrastructure. However, monitoring is still often performed manually due to the lack of suitable algorithmic methods and data. This paper introduces a high-fidelity, physics-enhanced simulator of a three-pump wastewater station that captures transient hydro-mechanical dynamics at a one-second resolution. The simulator is fully parameter-driven, adaptable to other wastewater stations, and capable of generating datasets for data-driven analytics. It can also generate balanced faulty datasets when real failures are scarce or confidential. A comparison with high-frequency SCADA data from a municipal station shows strong agreement across key operational metrics. Furthermore, the paper proposes robust statistical and mathematical frameworks for fault detection and isolation, including a nested-model F-test to detect pump degradation or system faults, and a tangent residual approach to distinguish pump faults from system faults using operating-point kinematics. This framework enables what-if studies, facilitates early fault diagnosis based on flow rate and head, and provides actionable insights for condition-based maintenance in wastewater pumping infrastructure.

Paperid: 1920, https://arxiv.org/pdf/2511.11053.pdf

Abstract:
Understanding how sustainable behaviors spread within heterogeneous societies requires the integration of behavioral data, social influence mechanisms, and structured approaches to control. In this paper, we propose a data-driven computational framework for coupled opinion-adoption dynamics in social systems. Each node in the multilayer network represents a community characterized by a specific age group and mobility level, derived from large-scale survey data on the predisposition to adopt electric vehicles in Northern Europe. The proposed model captures three mechanisms: behavioral contagion through social and informational diffusion, abandonment driven by dissatisfaction, and feedback between opinions and adoption levels through social influence. Analyzing the equilibrium points of the coupled system allows us to derive the conditions that enable large-scale adoption. We empirically calibrate the model using data to construct synthetic populations and social similarity networks, which we use to explore targeted interventions that promote sustainable transitions. Specifically, the analysis focuses on two types of control strategies: opinion-based policies, which act on the social network layer, and policies that aim to improve experience and reduce dissatisfaction. Simulation results show that the latter ensure more stable and long-term adoption, offering concrete insights for designing effective interventions in sociotechnical transitions toward sustainability.

Paperid: 1921, https://arxiv.org/pdf/2511.10586.pdf

Abstract:
Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians and human-controlled vehicles -- poses a major challenge as the behavior of the environment is unknown and reactive to the behavior of the autonomous agent. This coupling gives rise to interaction-driven distribution shifts where the autonomous agent's control policy may change the environment's behavior, thereby invalidating safety guarantees in existing work. Indeed, recent works have used conformal prediction (CP) to generate distribution-free safety guarantees using observed data of the environment. However, CP's assumption on data exchangeability is violated in interactive settings due to a circular dependency where a control policy update changes the environment's behavior, and vice versa. To address this gap, we propose an iterative framework that robustly maintains safety guarantees across policy updates by quantifying the potential impact of a planned policy update on the environment's behavior. We realize this via adversarially robust CP where we perform a regular CP step in each episode using observed data under the current policy, but then transfer safety guarantees across policy updates by analytically adjusting the CP result to account for distribution shifts. This adjustment is performed based on a policy-to-trajectory sensitivity analysis, resulting in a safe, episodic open-loop planner. We further conduct a contraction analysis of the system providing conditions under which both the CP results and the policy updates are guaranteed to converge. We empirically demonstrate these safety and convergence guarantees on a two-dimensional car-pedestrian case study. To the best of our knowledge, these are the first results that provide valid safety guarantees in such interactive settings.

Paperid: 1922, https://arxiv.org/pdf/2511.10362.pdf

Abstract:
The paper surveys recent progresses in understanding the dynamics and loss landscape of the gradient flow equations associated to deep linear neural networks, i.e., the gradient descent training dynamics (in the limit when the step size goes to 0) of deep neural networks missing the activation functions and subject to quadratic loss functions. When formulated in terms of the adjacency matrix of the neural network, as we do in the paper, these gradient flow equations form a class of converging matrix ODEs which is nilpotent, polynomial, isospectral, and with conservation laws. The loss landscape is described in detail. It is characterized by infinitely many global minima and saddle points, both strict and nonstrict, but lacks local minima and maxima. The loss function itself is a positive semidefinite Lyapunov function for the gradient flow, and its level sets are unbounded invariant sets of critical points, with critical values that correspond to the amount of singular values of the input-output data learnt by the gradient along a certain trajectory. The adjacency matrix representation we use in the paper allows to highlight the existence of a quotient space structure in which each critical value of the loss function is represented only once, while all other critical points with the same critical value belong to the fiber associated to the quotient space. It also allows to easily determine stable and unstable submanifolds at the saddle points, even when the Hessian fails to obtain them.

Paperid: 1923, https://arxiv.org/pdf/2511.09016.pdf

Abstract:
The Kalman filter and Rauch-Tung-Striebel (RTS) smoother are optimal for state estimation in linear dynamic systems. With nonlinear systems, the challenge consists in how to propagate uncertainty through the state transitions and output function. For the case of a neural network model, we enable accurate uncertainty propagation using a recent state-of-the-art analytic formula for computing the mean and covariance of a deep neural network with Gaussian input. We argue that cross entropy is a more appropriate performance metric than RMSE for evaluating the accuracy of filters and smoothers. We demonstrate the superiority of our method for state estimation on a stochastic Lorenz system and a Wiener system, and find that our method enables more optimal linear quadratic regulation when the state estimate is used for feedback.

Paperid: 1924, https://arxiv.org/pdf/2511.08425.pdf

Abstract:
Diffusion and flow-matching have emerged as powerful methodologies for generative modeling, with remarkable success in capturing complex data distributions and enabling flexible guidance at inference time. Many downstream applications, however, demand enforcing hard constraints on generated samples (for example, robot trajectories must avoid obstacles), a requirement that goes beyond simple guidance. Prevailing projection-based approaches constrain the entire sampling path to the constraint manifold, which is overly restrictive and degrades sample quality. In this paper, we introduce a novel framework that reformulates hard-constrained sampling as a trajectory optimization problem. Our key insight is to leverage numerical optimal control to steer the sampling trajectory so that constraints are satisfied precisely at the terminal time. By exploiting the underlying structure of flow-matching models and adopting techniques from model predictive control, we transform this otherwise complex constrained optimization problem into a tractable surrogate that can be solved efficiently and effectively. Furthermore, this trajectory optimization perspective offers significant flexibility beyond mere constraint satisfaction, allowing for the inclusion of integral costs to minimize distribution shift and terminal objectives to further enhance sample quality, all within a unified framework. We provide a control-theoretic analysis of our method, establishing bounds on the approximation error between our tractable surrogate and the ideal formulation. Extensive experiments across diverse domains, including robotics (planning), partial differential equations (boundary control), and vision (text-guided image editing), demonstrate that our algorithm, which we name $\textit{HardFlow}$, substantially outperforms existing methods in both constraint satisfaction and sample quality.

Paperid: 1925, https://arxiv.org/pdf/2511.08236.pdf

Abstract:
Standard model-based control design deteriorates when the system dynamics change during operation. To overcome this challenge, online and adaptive methods have been proposed in the literature. In this work, we consider the class of discrete-time linear systems with unknown time-varying parameters. We propose a simple, modular, and computationally tractable approach by combining two classical and well-known building blocks from estimation and control: the least mean square filter and the certainty-equivalent linear quadratic regulator. Despite both building blocks being simple and off-the-shelf, our analysis shows that they can be seamlessly combined to a powerful pipeline with stability guarantees. Namely, finite-gain $\ell^2$-stability of the closed-loop interconnection of the unknown system, the parameter estimator, and the controller is proven, despite the presence of unknown disturbances and time-varying parametric uncertainties. Real-world applicability of the proposed algorithm is showcased by simulations carried out on a nonlinear planar quadrotor.

Paperid: 1926, https://arxiv.org/pdf/2511.07711.pdf

Abstract:
Trajectory generation for autonomous systems with discrete-valued actuators is challenging due to the mixed-integer nature of the resulting optimization problems, which are generally intractable for real-time, safety-critical applications. Lossless convexification offers an alternative by reformulating mixed-integer programs as equivalent convex programs that can be solved efficiently with guaranteed convergence. This paper develops a lossless convexification framework for the fuel-optimal control of linear systems with discrete-valued inputs. We extend existing Mayer-form results by showing that, under simple geometric conditions, system normality is preserved when reformulating Lagrange-form problems into Mayer-form. Furthermore, we derive explicit algebraic conditions for normality in systems with cross-polytopic input sets. Leveraging these results and an extreme-point relaxation, we demonstrate that the fuel-optimal control problem admits a lossless convexification, enabling real-time, discrete-valued solutions without resorting to mixed-integer optimization. Numerical results from Monte Carlo simulations confirm that the proposed approach consistently yields discrete-valued control inputs with computation times compatible with real-time implementation.

Paperid: 1927, https://arxiv.org/pdf/2511.07330.pdf

Abstract:
This paper introduces Roundabout Constrained Convex Generators (RCGs), a set representation framework for modeling multiply connected regions in control and verification applications. The RCG representation extends the constrained convex generators framework by incorporating an inner exclusion zone, creating sets with topological holes that naturally arise in collision avoidance and safety-critical control problems. We present two equivalent formulations: a set difference representation that provides geometric intuition and a unified parametric representation that facilitates computational implementation. The paper establishes closure properties under fundamental operations, including linear transformations, Minkowski sums, and intersections with convex generator sets. We derive special cases, including roundabout zonotopes and roundabout ellipsotopes, which offer computational advantages for specific norm selections. The framework maintains compatibility with existing optimization solvers while enabling the representation of non-convex feasible regions that were previously challenging to model efficiently.

Paperid: 1928, https://arxiv.org/pdf/2511.06026.pdf

Abstract:
This paper considers coordination of platoons of connected and autonomous vehicles (CAVs) at mixed-autonomy bottlenecks in the face of three practically important factors, viz. time-varying traffic demand, random CAV platoon sizes, and capacity breakdowns. Platoon coordination is essential to smoothen the interaction between CAV platoons and non-CAV traffic. Based on a fluid queuing model, we develop a "probe-and-release" algorithm that simultaneously estimates environmental parameters and coordinates CAV platoons for traffic stabilization. We show that this algorithm ensures bounded estimation errors and bounded traffic queues. The proof builds on a Lyapunov function that jointly penalizes estimation errors and traffic queues and a drift argument for an embedded Markov process. We validate the proposed algorithm in a standard micro-simulation environment and compare against a representative deep reinforcement learning method in terms of control performance and computational efficiency.

Paperid: 1929, https://arxiv.org/pdf/2511.05775.pdf

Abstract:
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full rotational-translational coupling. Leveraging a class of mixed-invariant system, which is a group-affine dynamic model, we derive exact logarithmic error dynamics that are linear in the Lie algebra. The closed-form expressions for the left- and right-Jacobian inverses of SE2(3) are expressed in the paper, which provides us the exact error dynamics without local approximations. A log-linear backstepping control design ensures exponential stability for our error dynamics; since our error dynamics is a block-triangular structure, this allows us to use Linear Matrix Inequality (LMI) formulation or $H_\infty$ gain performance design. This work establishes the exact backstepping framework for a class of mixed-invariant system, providing a geometrically consistent foundation for future Unmanned Aerial Vehicle (UAV) and spacecraft control design.

Paperid: 1930, https://arxiv.org/pdf/2511.05744.pdf

Abstract:
Conditionally automated driving requires drivers to resume vehicle control promptly when automation reaches its operational limits. Ensuring smooth vehicle control transitions is critical for the safety and efficiency of mixed-traffic transportation systems, where complex interactions and variable traffic behaviors pose additional challenges. This study addresses this challenge by introducing an adaptive time budget framework that provides drivers with sufficient time to complete takeovers both safely and comfortably across diverse scenarios. We focus in particular on the takeover buffer, that is, the extra time available after drivers consciously resume control to complete evasive maneuvers. A driving simulator experiment is conducted to evaluate the influence of different takeover buffer lengths on safety-related indicators (minimum time-to-collision, maximum deceleration, and steering wheel angle) and subjective assessments (perceived time sufficiency, perceived risk, and performance satisfaction). Results show that (i) takeover buffers of about 5-6 seconds consistently lead to optimal safety and comfort; and (ii) drivers prefer relatively stable takeover buffers across varying traffic densities and n-back tasks. This study introduces an adaptive time budget framework that dynamically allocates transition time by incorporating a predicted takeover time and a preferred takeover buffer (piecewise function). This can serve as an important first step toward providing drivers with sufficient time to resume vehicle control across diverse scenarios, which needs to be validated in more diverse and real-world driving contexts. By aligning the provided time budget with driver needs under specific circumstances, the adaptive framework can improve reliability of control transitions, facilitate human-centered automated driving, reduce crash risk, and maintain overall traffic efficiency.

Paperid: 1931, https://arxiv.org/pdf/2511.05216.pdf

Abstract:
Modern power systems require fast and accurate dynamic simulations for stability assessment, digital twins, and real-time control, but classical ODE solvers are often too slow for large-scale or online applications. We propose a neural-operator framework for surrogate modeling of power system components, using Deep Operator Networks (DeepONets) to learn mappings from system states and time-varying inputs to full trajectories without step-by-step integration. To enhance generalization and data efficiency, we introduce Physics-Informed DeepONets (PI-DeepONets), which embed the residuals of governing equations into the training loss. Our results show that DeepONets, and especially PI-DeepONets, achieve accurate predictions under diverse scenarios, providing over 30 times speedup compared to high-order ODE solvers. Benchmarking against Physics-Informed Neural Networks (PINNs) highlights superior stability and scalability. Our results demonstrate neural operators as a promising path toward real-time, physics-aware simulation of power system dynamics.

Paperid: 1932, https://arxiv.org/pdf/2511.04644.pdf

Abstract:
Hybrid power plants (HPPs) combine multiple power generators (conventional/variable) and energy storage capabilities to support generation inadequacy and grid demands. This paper introduces a modeling and control design framework for hybrid power plants (HPPs) consisting of a wind farm, solar plant, and battery storage. Specifically, this work adapts established modeling paradigms for wind farms, solar plants and battery models into a control affine form suitable for control design at the supervisory level. In the case of wind and battery models, generator torque and cell current control laws are developed using nonlinear control and control barrier function techniques to track a command from a supervisory control law while maintaining safe and stable operation. The utility of this modeling and control framework is illustrated through a test case using a utility demand signal for tracking, time varying wind and irradiance data, and a rule-based supervisory control law.

Paperid: 1933, https://arxiv.org/pdf/2511.04531.pdf

Abstract:
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and measurements from Inertial Measurement Unit (IMU). This paper proposes a nonlinear observer for LI-SLAM posed in continuous time and analyses the observer in a base space that encodes all the observable states of LI-SLAM. The local exponential stability and almost-global asymptotic stability of the error dynamics in base space is established in the proof section and validated using simulations.

Paperid: 1934, https://arxiv.org/pdf/2511.04470.pdf

Abstract:
Phase-shifted carrier pulse-width modulation (PSC-PWM) is a widely adopted scheduling algorithm in cascaded bridge converters, modular multilevel converters, and reconfigurable batteries. However, non-uniformed pulse widths for the modules with fixed phase shift angles lead to significant ripple current and output-voltage distortion. Voltage uniformity instead would require optimization of the phase shifts of the individual carriers. However, the computational burden for such optimization is beyond the capabilities of any simple embedded controller. This paper proposes a neural network that emulates the behavior of an instantaneous optimizer with significantly reduced computational burden. The proposed method has the advantages of stable performance in predicting the optimum phase-shift angles under balanced battery modules with non-identical modulation indices without requiring extensive lookup tables, slow numerical optimization, or complex controller tuning. With only one (re)training session for any specified number of modules, the proposed method is readily adaptable to different system sizes. Furthermore, the proposed framework also includes a simple scaling strategy that allows a neural network trained for fewer modules to be reused for larger systems by grouping modules and adjusting their phase shifts. The scaling strategy eliminates the need for retraining. Large-scale assessment, simulations, and experiments demonstrate that, on average, the proposed approach can reduce the current ripple and the weighted total harmonic distortion by up to 50 % in real time and is 100 to 500 thousand times faster than a conventional optimizer (e.g., genetic algorithms), making it the only solution for an online application.

Paperid: 1935, https://arxiv.org/pdf/2511.03742.pdf

Abstract:
Modern manufacturing demands high flexibility and reconfigurability to adapt to dynamic production needs. Model-based Engineering (MBE) supports rapid production line design, but final reconfiguration requires simulations and validation. Digital Twins (DTs) streamline this process by enabling real-time monitoring, simulation, and reconfiguration. This paper presents a novel platform that automates DT generation and deployment using AutomationML-based factory plans. The platform closes the loop with a GAI-powered simulation scenario generator and automatic physical line reconfiguration, enhancing efficiency and adaptability in manufacturing.

Paperid: 1936, https://arxiv.org/pdf/2511.03644.pdf

Abstract:
This paper presents a methodology for solving a geometrically robust least squares problem, which arises in various applications where the model is subject to geometric constraints. The problem is formulated as a minimax optimization problem on a product manifold, where one variable is constrained to a ball describing uncertainty. To handle the constraint, an exact penalty method is applied. A first-order gradient descent ascent algorithm is proposed to solve the problem, and its convergence properties are illustrated by an example. The proposed method offers a robust approach to solving a wide range of problems arising in signal processing and data-driven control.

Paperid: 1937, https://arxiv.org/pdf/2511.03403.pdf

Abstract:
A common approach to digital system design involves transforming a continuous-time (s-domain) transfer function into the discrete-time (z-domain) using methods such as Euler or Tustin. These transformations are shown to be specific cases of the Generalized Bilinear Transformation (GBT), characterized by a design parameter, $α$, whose physical interpretation and optimal selection remain inadequately explored. In this paper, we propose an alternative derivation of the GBT derived by employing a new hexagonal shape to approximate the enclosed area of the error function, and we define the parameter $α$ as a shape factor. We reveal, for the first time, the physical meaning of $α$ as the backward rectangular ratio of the proposed hexagonal shape. Through domain mapping, the stable range of is rigorously established to be [0.5, 1]. Depending on the operating frequency and the chosen $α$, we observe two distinct distortion modes, i.e., the magnitude and phase distortion. We further develop an optimal design method for $α$ by minimizing a normalized magnitude or phase error objective function. The effectiveness of the proposed method is validated through the design and testing of a low-pass filter (LPF), demonstrating strong agreement between theoretical predictions and experimental results.

Paperid: 1938, https://arxiv.org/pdf/2511.03121.pdf

Abstract:
This paper proposes a control-based framework for aligning large language models (LLMs) by leveraging a control barrier function (CBF) to ensure user-desirable text generation. The presented framework applies the CBF safety filter to the predicted token generated from the baseline LLM, to intervene in the generated text. The safety filter includes two significant advantages: this safety filter is an add-on type, allowing it to be used for alignment purposes without fine-tuning the baseline LLM, and if there is an evaluation model regarding the desired alignment, it can be directly applied to the filter design. The overall text-generation system is implemented with open-source language models, aiming to generate positive text.

Paperid: 1939, https://arxiv.org/pdf/2511.02433.pdf

Abstract:
Solving the explicit Model Predictive Control (MPC) problem requires enumerating all critical regions and their associated feedback laws, a task that scales exponentially with the system dimension and the prediction horizon, as well. When the problem's constraints are boxes or zonotopes, the feasible domain admits a compact constrained-zonotope representation. Building on this insight, we exploit the geometric properties of the equivalent constrained-zonotope reformulation to accelerate the computation of the explicit solution. Specifically, we formulate the multi-parametric problem in the lifted generator space and solve it using second-order optimality conditions, employ low-rank matrix updates to reduce computation time, and introduce an analytic enumeration of candidate active sets that yields the explicit solution in tree form.

Paperid: 1940, https://arxiv.org/pdf/2511.01403.pdf

Abstract:
This paper presents the design, development, and on vehicle implementation and validation of a safety critical controller for autonomous driving under sensing and communication uncertainty. Cooperative sensing, fused via a Wasserstein barycenter (WB), is used to optimize the distribution of the dynamic obstacle locations. The Conditional Value at Risk (CVaR) is introduced to form a risk aware control-barrier-function (CBF) framework with the optimized distribution samplings. The proposed WB CVaR CBF safety filter improves control inputs that minimize tail risk while certifying forward invariance of the safe set. A model predictive controller (MPC) performs path tracking, and the safety filter modulates the nominal control inputs to enforce risk aware constraints. We detail the software architecture and integration with vehicle actuation and cooperative sensing. The approach is evaluated on a full-scale autonomous vehicle (AV) in scenarios with measurement noise, communication perturbations, and input disturbances, and is compared against a baseline MPC CBF design. Results demonstrate improved safety margins and robustness, highlighting the practicality of deploying the risk-aware safety filter on an actual AV.

Paperid: 1941, https://arxiv.org/pdf/2511.01032.pdf

Abstract:
This work proposes a conformal approach for energy storage arbitrage to control the downside risks arose from imperfect price forecasts. Energy storage arbitrage relies solely on predictions of future market prices, while inaccurate price predictions may lead to significant profit losses. Based on conformal decision theory, we describe a controller that dynamically adjusts decision conservativeness through prediction sets without distributional assumptions. To enable online calibration when online profit loss feedback is unobservable, we establish that a temporal difference error serves as a measurable proxy. Building on this insight, we develop two online calibration strategies: prediction error-based adaptation targeting forecast accuracy, and value error-based calibration focusing on decision quality. Analysis of the conformal controller proves bounded long-term risk with convergence guarantees in temporal difference error, which further effectively manages risk exposure in potential profit losses. Case studies demonstrate superior performance in balancing risk and opportunity compared to benchmarks under varying forecast conditions.

Paperid: 1942, https://arxiv.org/pdf/2511.00453.pdf

Abstract:
Invariant extended Kalman filter (InEKF) possesses excellent trajectory-independent property and better consistency compared to conventional extended Kalman filter (EKF). However, when applied to scenarios involving both global-frame and body-frame observations, InEKF may fail to preserve its trajectory-independent property. This work introduces the concept of equivalence between error states and covariance matrices among different error-state Kalman filters, and shows that although InEKF exhibits trajectory independence, its covariance propagation is actually equivalent to EKF. A covariance transformation-based error-state Kalman filter (CT-ESKF) framework is proposed that unifies various error-state Kalman filtering algorithms. The framework gives birth to novel filtering algorithms that demonstrate improved performance in integrated navigation systems that incorporate both global and body-frame observations. Experimental results show that the EKF with covariance transformation outperforms both InEKF and original EKF in a representative INS/GNSS/Odometer integrated navigation system.

Paperid: 1943, https://arxiv.org/pdf/2511.00094.pdf

Abstract:
Robotic systems have become integral to smart environments, enabling applications ranging from urban surveillance and automated agriculture to industrial automation. However, their effective operation in dynamic settings - such as smart cities and precision farming - is challenged by continuously evolving topographies and environmental conditions. Traditional control systems often struggle to adapt quickly, leading to inefficiencies or operational failures. To address this limitation, we propose a novel framework for autonomous and dynamic reconfiguration of robotic controllers using Digital Twin technology. Our approach leverages a virtual replica of the robot's operational environment to simulate and optimize movement trajectories in response to real-world changes. By recalculating paths and control parameters in the Digital Twin and deploying the updated code to the physical robot, our method ensures rapid and reliable adaptation without manual intervention. This work advances the integration of Digital Twins in robotics, offering a scalable solution for enhancing autonomy in smart, dynamic environments.

Paperid: 1944, https://arxiv.org/pdf/2510.26989.pdf

Abstract:
The global agricultural sector is undergoing a transformative shift, driven by increasing food demands, climate variability and the need for sustainable practices. SUSTAINABLE is a smart farming platform designed to integrate IoT, AI, satellite imaging, and role-based task orchestration to enable efficient, traceable, and sustainable agriculture with a pilot usecase in viticulture. This paper explores current smart agriculture solutions, presents a comparative evaluation, and introduces SUSTAINABLE's key features, including satellite index integration, real-time environmental data, and role-aware task management tailored to Mediterranean vineyards.

Paperid: 1945, https://arxiv.org/pdf/2510.26036.pdf

Abstract:
Electric vehicle charging and geo-distributed datacenters introduce spatially flexible loads (FLs) that couple power, transportation, and datacenter networks. These couplings create a closed-loop feedback between locational marginal prices (LMPs) and decisions of the FL systems, challenging the foundations of conventional competitive equilibrium (CE) in electricity markets. This paper studies a notion of generalized competitive equilibrium (GCE) that aims to capture such price-demand interactions across the interconnected infrastructures. We establish structural conditions under which the GCE preserves key properties of the conventional CE, including existence, uniqueness, and efficiency, without requiring detailed knowledge of decision processes for individual FL systems. The framework generalizes to settings where the grid is coupled with multiple FL systems. Stylized examples and case studies on the New York ISO grid, coupled with the Sioux Falls transportation and distributed datacenter networks, demonstrate the use of our theoretical framework and illustrate the mutual influence among the grid and the studied FL systems.

Paperid: 1946, https://arxiv.org/pdf/2510.25309.pdf

Abstract:
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured input-output data to predict and optimize future system behavior. Classic DeePC was employed in the heading control, while a cascaded DeePC architecture is proposed for depth regulation, incorporating a loop-frequency separation to handle the different dynamic modes of input and output. For 3-D waypoint path following, the Adaptive Line-of-Sight algorithm is extended to a predictive formulation and integrated with DeePC. All methods are validated in extensive simulation on the REMUS 100 AUV and compared with classical PI/PID control. The results demonstrate superior tracking performance and robustness of DeePC under ocean-current disturbances and nonlinear operating conditions, while significantly reducing modeling effort.

Paperid: 1947, https://arxiv.org/pdf/2510.24871.pdf

Abstract:
This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone of the highway network, and enacts its own action, to perform safe and energy-efficient merge maneuvers. It uses predictor-corrector loops within the robust CBF setting for negotiation and to reconcile disagreements that may arise. There is no explicit order of vehicles and no priority. A notable feature is absence of gridlocks due to instability of the inter-agent system. Results from Monte Carlo simulations show significant improvement in the system-wide energy efficiency and traffic flow compared to a first-in-first-out approach, as well as enhanced robustness of the proposed decentralized controller compared to its centralized counterpart.

Paperid: 1948, https://arxiv.org/pdf/2510.24869.pdf

Abstract:
Efficient mobility management and load balancing are critical to sustaining Quality of Service (QoS) in dense, highly dynamic 5G radio access networks. We present a deep reinforcement learning framework based on Proximal Policy Optimization (PPO) for autonomous, QoS-aware load balancing implemented end-to-end in a lightweight, pure-Python simulation environment. The control problem is formulated as a Markov Decision Process in which the agent periodically adjusts Cell Individual Offset (CIO) values to steer user-cell associations. A multi-objective reward captures key performance indicators (aggregate throughput, latency, jitter, packet loss rate, Jain's fairness index, and handover count), so the learned policy explicitly balances efficiency and stability under user mobility and noisy observations. The PPO agent uses an actor-critic neural network trained from trajectories generated by the Python simulator with configurable mobility (e.g., Gauss-Markov) and stochastic measurement noise. Across 500+ training episodes and stress tests with increasing user density, the PPO policy consistently improves KPI trends (higher throughput and fairness, lower delay, jitter, packet loss, and handovers) and exhibits rapid, stable convergence. Comparative evaluations show that PPO outperforms rule-based ReBuHa and A3 as well as the learning-based CDQL baseline across all KPIs while maintaining smoother learning dynamics and stronger generalization as load increases. These results indicate that PPO's clipped policy updates and advantage-based training yield robust, deployable control for next-generation RAN load balancing using an entirely Python-based toolchain.

Paperid: 1949, https://arxiv.org/pdf/2510.24272.pdf

Abstract:
Sequential decision making under uncertainty is central to many Process Systems Engineering (PSE) challenges, where traditional methods often face limitations related to controlling and optimizing complex and stochastic systems. Reinforcement Learning (RL) offers a data-driven approach to derive control policies for such challenges. This paper presents a survey and tutorial on RL methods, tailored for the PSE community. We deliver a tutorial on RL, covering fundamental concepts and key algorithmic families including value-based, policy-based and actor-critic methods. Subsequently, we survey existing applications of these RL techniques across various PSE domains, such as in fed-batch and continuous process control, process optimization, and supply chains. We conclude with PSE focused discussion of specialized techniques and emerging directions. By synthesizing the current state of RL algorithm development and implications for PSE this work identifies successes, challenges, trends, and outlines avenues for future research at the interface of these fields.

Paperid: 1950, https://arxiv.org/pdf/2510.23551.pdf

Abstract:
The intermittent nature of renewable power availability is one of the major sources of uncertainty in power systems. While markets can guarantee that the demand is covered by the available generation, transmission system operators have to often intervene via economic redispatch to ensure that the physical constraints of the network are satisfied. To account for uncertainty, the underlying optimal power flow (OPF) routines have to be modified. Recently, polynomial chaos expansion (PCE) has been suggested in the literature as a tool for stochastic OPF problems. However, the usage of PCE-based methods in security-constrained OPF for (N-1)-secure operations has not yet been explored. In this paper, we propose a procedure that iteratively solves a PCE-overloaded stochastic OPF problem by including line outage constraints until an (N-1)-secure solution is achieved. We demonstrate the efficacy of our method by comparing it with a Monte-Carlo simulation on a 118-bus example system.

Paperid: 1951, https://arxiv.org/pdf/2510.23196.pdf

Abstract:
The AC Optimal Power Flow (AC-OPF) problem is central to power system operation but challenging to solve efficiently due to its nonconvex and nonlinear nature. Neural networks (NNs) offer fast surrogates, yet their black-box behavior raises concerns about constraint violations that can compromise safety. We propose a verification-informed NN framework that incorporates worst-case constraint violations directly into training, producing models that are both accurate and provably safer. Through post-hoc verification, we achieve substantial reductions in worst-case violations and, for the first time, verify all operational constraints of large-scale AC-OPF proxies. Practical feasibility is further enhanced via restoration and warm-start strategies for infeasible operating points. Experiments on systems ranging from 57 to 793 buses demonstrate scalability, speed, and reliability, bridging the gap between ML acceleration and safe, real-time deployment of AC-OPF solutions - and paving the way toward data-driven optimal control.

Paperid: 1952, https://arxiv.org/pdf/2510.22324.pdf

Abstract:
The integration of converter-interfaced generation introduces new transient stability challenges to modern power systems. Classical Lyapunov- and scalable passivity-based approaches typically rely on restrictive assumptions, and finding storage functions for large grids is generally considered intractable. Furthermore, most methods require an accurate grid dynamics model. To address these challenges, we propose a model-free, nonlinear, and dissipativity-based controller which, when applied to grid-connected virtual synchronous generators (VSGs), enhances power system transient stability. Using input-state data, we train neural networks to learn dissipativity-characterizing matrices that yield stabilizing controllers. Furthermore, we incorporate cost function shaping to improve the performance with respect to the user-specified objectives. Numerical results on a modified, all-VSG Kundur two-area power system validate the effectiveness of the proposed approach.

Paperid: 1953, https://arxiv.org/pdf/2510.22104.pdf

Abstract:
Modeling dynamical systems is crucial across the science and engineering fields for accurate prediction, control, and decision-making. Recently, machine learning (ML) approaches, particularly neural ordinary differential equations (NODEs), have emerged as a powerful tool for data-driven modeling of continuous-time dynamics. Nevertheless, standard NODEs require a large number of data samples to remain consistent under varying control inputs, posing challenges to generate sufficient simulated data and ensure the safety of control design. To address this gap, we propose trajectory-sensitivity-aware (TRASE-)NODEs, which construct an augmented system for both state and sensitivity, enabling simultaneous learning of their dynamics. This formulation allows the adjoint method to update gradients in a memory-efficient manner and ensures that control-input effects are captured in the learned dynamics. We evaluate TRASE-NODEs using damped oscillator and inverter-based resources (IBRs). The results show that TRASE-NODEs generalize better from the limited training data, yielding lower prediction errors than standard NODEs for both examples. The proposed framework offers a data-efficient, control-oriented modeling approach suitable for dynamic systems that require accurate trajectory sensitivity prediction.

Paperid: 1954, https://arxiv.org/pdf/2510.21736.pdf

Abstract:
This study introduces a novel control framework for adaptive cruise control (ACC) in automated driving, leveraging Long Short-Term Memory (LSTM) networks and physics-informed constraints. As automated vehicles (AVs) adopt advanced features like ACC, transportation systems are becoming increasingly intelligent and efficient. However, existing AV control strategies primarily focus on optimizing the performance of individual vehicles or platoons, often neglecting their interactions with human-driven vehicles (HVs) and the broader impact on traffic flow. This oversight can exacerbate congestion and reduce overall system efficiency. To address this critical research gap, we propose a neural network-based, socially compliant AV control framework that incorporates social value orientation (SVO). This framework enables AVs to account for their influence on HVs and traffic dynamics. By leveraging AVs as mobile traffic regulators, the proposed approach promotes adaptive driving behaviors that reduce congestion, improve traffic efficiency, and lower energy consumption. Within this framework, we define utility functions for both AVs and HVs, which are optimized based on the SVO of each AV to balance its own control objectives with broader traffic flow considerations. Numerical results demonstrate the effectiveness of the proposed method in adapting to varying traffic conditions, thereby enhancing system-wide efficiency. Specifically, when the AV's control mode shifts from prioritizing energy consumption to optimizing traffic flow efficiency, vehicles in the following platoon experience at least a 58.99% increase in individual energy consumption alongside at least a 38.39% improvement in individual average speed, indicating significant enhancements in traffic dynamics.

Paperid: 1955, https://arxiv.org/pdf/2510.21735.pdf

Abstract:
Internal combustion engine (ICE) vehicles and electric vehicles (EVs) exhibit distinct vehicle dynamics. EVs provide rapid acceleration, with electric motors producing peak power across a wider speed range, and achieve swift deceleration through regenerative braking. While existing microscopic models effectively capture the driving behavior of ICE vehicles, a modeling framework that accurately describes the unique car-following dynamics of EVs is lacking. Developing such a model is essential given the increasing presence of EVs in traffic, yet creating an easy-to-use and accurate analytical model remains challenging. To address these gaps, this study develops and validates a Phase-Aware AI (PAAI) car-following model specifically for EVs. The proposed model enhances traditional physics-based frameworks with an AI component that recognizes and adapts to different driving phases, such as rapid acceleration and regenerative braking. Using real-world trajectory data from vehicles equipped with adaptive cruise control (ACC), we conduct comprehensive simulations to validate the model's performance. The numerical results demonstrate that the PAAI model significantly improves prediction accuracy over traditional car-following models, providing an effective tool for accurately representing EV behavior in traffic simulations.

Paperid: 1956, https://arxiv.org/pdf/2510.19608.pdf

Abstract:
This paper presents a novel structure-preserving, Kron-based reduction framework for unbalanced distribution feeders. The method aggregates electrically similar nodes within a mixed-integer optimization (MIP) problem to produce reduced networks that optimally reproduce the voltage profiles of the original full network. To overcome computational bottlenecks of MIP formulations, we propose an exhaustive-search formulation to identify optimal aggregation decisions while enforcing voltage margin limits. The proposed exhaustive network reduction algorithm is parallelizable on GPUs, which enables scalable network reduction. The resulting reduced networks approximate the full system's voltage profiles with low errors and are suitable for steady-state analysis and optimal power flow studies. The framework is validated on two real utility distribution feeders with 5,991 and 8,381 nodes. The reduced models achieve up to 90% and 80% network reduction, respectively, while the maximum voltage-magnitude error remains below 0.003 p.u. Furthermore, on a 1000-node version of the network, the GPU-accelerated reduction algorithm runs up to 15x faster than its CPU-based counterpart.

Paperid: 1957, https://arxiv.org/pdf/2510.18712.pdf

Abstract:
In this technical note, we prove that the ODEFTC algorithm constitutes the first optimal distributed state estimator for continuous-time linear time-varying systems subject to stochastic disturbances. Particularly, we formally show that it is able to asymptotically recover the performance, in terms of error covariance of the estimates at each node, of the centralized Kalman-Bucy filter, which is known to be the optimal filter for the considered class of systems. Moreover, we provide a simple sufficient value for the consensus gain to guarantee the stability of the distributed estimator.

Paperid: 1958, https://arxiv.org/pdf/2510.18606.pdf

Abstract:
In large scale short video platforms, CDN resource selection plays a critical role in maintaining Quality of Experience (QoE) while controlling escalating traffic costs. To better understand this phenomenon, we conduct in the wild network measurements during video playback in a production short video system. The results reveal that CDNs delivering higher average QoE often come at greater financial cost, yet their connection quality fluctuates even within a single video underscoring a fundamental and dynamic trade off between QoE and cost. However, the problem of sustaining high QoE under cost constraints remains insufficiently investigated in the context of CDN selection for short video streaming. To address this, we propose PIRA, a dynamic resource selection algorithm that optimizes QoE and cost in real time during video playback. PIRA formally integrating QoE and cost by a mathematical model, and introduce a intra video control theoretic CDN resource selection approach which can balance QoE and cost under network dynamics. To reduce the computation overheads, PIRA employs state space pruning and adaptive parameter adjustment to efficiently solve the high dimensional optimization problem. In large scale production experiments involving 450,000 users over two weeks, PIRA outperforms the production baseline, achieving a 2.1% reduction in start up delay, 15.2% shorter rebuffering time, and 10% lower average unit traffic cost, demonstrating its effectiveness in balancing user experience and financial cost at scale.

Paperid: 1959, https://arxiv.org/pdf/2510.18302.pdf

Abstract:
Distributionally robust optimization (DRO) is an effective framework for controlling real-world systems with various uncertainties, typically modeled using distributional uncertainty balls. However, DRO problems often involve infinitely many inequality constraints, rendering exact solutions computationally expensive. In this study, we propose a discrete DRO (DDRO) method that significantly simplifies the problem by reducing it to a single trivial constraint. Specifically, the proposed method utilizes two types of distributional uncertainty balls to reformulate the DDRO problem into a single-layer smooth convex program, significantly improving tractability. Furthermore, we provide practical guidance for selecting the appropriate ball sizes. The original DDRO problem is further reformulated into two optimization problems: one minimizing the mean and standard deviation, and the other minimizing the conditional value at risk (CVaR). These formulations account for the choice of ball sizes, thereby enhancing the practical applicability of the method. The proposed method was applied to a distributionally robust patrol-agent design problem, identifying a Pareto front in which the mean and standard deviation of the mean hitting time varied by up to 3% and 14%, respectively, while achieving a CVaR reduction of up to 13%.

Paperid: 1960, https://arxiv.org/pdf/2510.18235.pdf

Abstract:
Urban Air Mobility (UAM) offers a transformative approach to addressing urban congestion, improving accessibility, and advancing environmental sustainability. Rapid progress has emerged in three tightly linked domains since 2020: (1) Communication, where dynamic spectrum allocation and low-altitude channel characterization support reliable air-ground data exchange; (2) UAM management, with novel air-traffic control concepts for dense, largely autonomous urban airspace; and (3) Sustainability, driven by energy-efficient propulsion, integrated charging infrastructure, and holistic environmental assessment. This paper reviews and synthesizes the latest research across these areas, compares the state-of-the-art solutions, and outlines the technological and infrastructural milestones that are critical to realizing a scalable, sustainable UAM ecosystem.

Paperid: 1961, https://arxiv.org/pdf/2510.18082.pdf

Abstract:
Recent advances in reinforcement learning (RL) enable its use on increasingly complex tasks, but the lack of formal safety guarantees still limits its application in safety-critical settings. A common practical approach is to augment the RL policy with a safety filter that overrides unsafe actions to prevent failures during both training and deployment. However, safety filtering is often perceived as sacrificing performance and hindering the learning process. We show that this perceived safety-performance tradeoff is not inherent and prove, for the first time, that enforcing safety with a sufficiently permissive safety filter does not degrade asymptotic performance. We formalize RL safety with a safety-critical Markov decision process (SC-MDP), which requires categorical, rather than high-probability, avoidance of catastrophic failure states. Additionally, we define an associated filtered MDP in which all actions result in safe effects, thanks to a safety filter that is considered to be a part of the environment. Our main theorem establishes that (i) learning in the filtered MDP is safe categorically, (ii) standard RL convergence carries over to the filtered MDP, and (iii) any policy that is optimal in the filtered MDP-when executed through the same filter-achieves the same asymptotic return as the best safe policy in the SC-MDP, yielding a complete separation between safety enforcement and performance optimization. We validate the theory on Safety Gymnasium with representative tasks and constraints, observing zero violations during training and final performance matching or exceeding unfiltered baselines. Together, these results shed light on a long-standing question in safety-filtered learning and provide a simple, principled recipe for safe RL: train and deploy RL policies with the most permissive safety filter that is available.

Paperid: 1962, https://arxiv.org/pdf/2510.17870.pdf

Abstract:
Massive number of simultaneous Internet of Things (IoT) uplinks strain gateways with interference and energy limits, yet devices often lack neighbors' Channel State Information (CSI) and cannot sustain centralized Mobile Edge Computing (MEC) or heavy Machine Learning (ML) coordination. Classical Bayesian solvers help with uncertainty but become intractable as users and strategies grow, making lightweight, distributed control essential. In this paper, we introduce the first-ever, novel epistemic Bayesian game for uplink power control under incomplete CSI that operates while suppressing interference among multiple uplink channels from distributed IoT devices firing at the same time. Nodes run inter-/intra-epistemic belief updates over opponents' strategies, replacing exhaustive expected-utility tables with conditional belief hierarchies. Using an exponential-Gamma SINR model and higher-order utility moments (variance, skewness, kurtosis), the scheme remains computationally lean with a single-round upper bound of $O\!\left(N^{2} S^{2N}\right)$. Precise power control and stronger coverage amid realistic interference: with channel magnitude equal to $1$ and a signal-to-interference-plus-noise ratio (SINR) threshold of $-18$ dB, coverage reaches approximately $60\%$ at approximately $55\%$ of the maximum transmit power; mid-rate devices with a threshold of $-27$ dB achieve full coverage with less than $0.1\%$ of the maximum transmit power.Under $80\%$ interference, a fourth-moment policy cuts average power from approximately $52\%$ to approximately $20\%$ of the maximum transmit power with comparable outage, outperforming expectation-only baselines. These results highlight a principled, computationally lean path to optimal power allocation and higher network coverage under real-world uncertainty within dense, distributed IoT networks.

Paperid: 1963, https://arxiv.org/pdf/2510.17861.pdf

Abstract:
This letter introduces a Graph-Condensed Quantum-Inspired Placement (GC-QAP) framework for reliability-driven trajectory optimization in Uncrewed Aerial Vehicle (UAV) assisted low-altitude wireless networks. The dense waypoint graph is condensed using probabilistic quantum-annealing to preserve interference-aware centroids while reducing the control state space and maintaining link-quality. The resulting problem is formulated as a priority-aware Markov decision process and solved using epsilon-greedy off-policy Q-learning, considering UAV kinematic and flight corridor constraints. Unlike complex continuous-action reinforcement learning approaches, GC-QAP achieves stable convergence and low outage with substantially and lower computational cost compared to baseline schemes.

Paperid: 1964, https://arxiv.org/pdf/2510.17408.pdf

Abstract:
This paper presents a novel methodology that integrates trustworthy artificial intelligence (AI) with an energy-efficient robotic arm for intelligent waste classification and sorting. By utilizing a convolutional neural network (CNN) enhanced through transfer learning with MobileNetV2, the system accurately classifies waste into six categories: plastic, glass, metal, paper, cardboard, and trash. The model achieved a high training accuracy of 99.8% and a validation accuracy of 80.5%, demonstrating strong learning and generalization. A robotic arm simulator is implemented to perform virtual sorting, calculating the energy cost for each action using Euclidean distance to ensure optimal and efficient movement. The framework incorporates key elements of trustworthy AI, such as transparency, robustness, fairness, and safety, making it a reliable and scalable solution for smart waste management systems in urban settings.

Paperid: 1965, https://arxiv.org/pdf/2510.17371.pdf

Abstract:
In this paper, we propose a new class of parameter estimation laws for adaptive systems, called \emph{normalized parameter estimation laws}. A key feature of these estimation laws is that they accelerate the convergence of the system state, $\mathit{x(t)}$, to the origin. We quantify this improvement by showing that our estimation laws guarantee finite integrability of the $\mathit{r}$-th root of the squared norm of the system state, i.e., $ \mathit{\|x(t)\|}_2^{2/\mathit{r}} \in \mathcal{L}_1, $ where $\mathit{r} \geq 1$ is a pre-specified parameter that, for a broad class of systems, can be chosen arbitrarily large. In contrast, standard Lyapunov-based estimation laws only guarantee integrability of $\mathit{\|x(t)\|}_2^2$ (i.e., $\mathit{r} = 1$). We motivate our method by showing that, for large values of $r$, this guarantee serves as a sparsity-promoting mechanism in the time domain, meaning that it penalizes prolonged signal duration and slow decay, thereby promoting faster convergence of $\mathit{x(t)}$. The proposed estimation laws do not rely on time-varying or high adaptation gains and do not require persistent excitation. Moreover, they can be applied to systems with matched and unmatched uncertainties, regardless of their dynamic structure, as long as a control Lyapunov function (CLF) exists. Finally, they are compatible with any CLF-based certainty equivalence controllers. We further develop higher-order extensions of our estimation laws by incorporating momentum into the estimation dynamics. We illustrate the performance improvements achieved with the proposed scheme through various numerical experiments.

Paperid: 1966, https://arxiv.org/pdf/2510.16725.pdf

Abstract:
In this paper, we prove comparison principles for nonlinear differential equations with time-varying coefficients and develop Lyapunov analytical tools for the integral input-to-state stability (iISS) analysis of nonlinear non-autonomous infinite-dimensional systems, which involve nonlinearities satisfying a superlinear growth, {bringing} difficulties to the iISS {analysis.} Specifically, our approach starts by establishing several forms of comparison principles for a wide range of ordinary differential equations having time-varying coefficients and superlinear terms, paving the way to conduct iISS assessment for general nonlinear non-autonomous infinite-dimensional systems within the Lyapunov stability framework. Then, by using the comparison principles, we prove a local {iISS} {(LiISS)} Lyapunov theorem for the nonlinear non-autonomous infinite-dimensional systems in the framework of Banach spaces. {Furthermore,} we provide sufficient conditions of the existence of a local iISS Lyapunonv functional (LiISS-LF) and construct LiISS-LFs for the systems in the framework of Hilbert spaces. Finally, we preset two examples to illustrate the proposed {Lyapunov} method for the LiISS analysis: one is to show how to obtain the LiISS of a nonlinear finite-dimensional system with time-varying coefficients and superlinear terms under linear state feedback control law while another one is to show how to employ the interpolation inequalities to handle superliner terms and establish the LiISS-LF for a class of multi-dimensional parabolic equations with space-time-varying coefficients. To demonstrate the validity of the results, numerical experiments are also conducted to verify the LiISS of these two classes of systems.

Paperid: 1967, https://arxiv.org/pdf/2510.16352.pdf

Abstract:
This research investigates designing a supervisory feedback controller for a hybrid power plant that coordinates the wind, solar, and battery energy storage plants to meet the desired power demands. We have explored an online feedback control design that does not require detailed knowledge about the models, known as feedback optimization. The control inputs are updated using the gradient information of the cost and the outputs with respect to the input control commands. This enables us to adjust the active power references of wind, solar, and storage plants to meet the power generation requirements set by grid operators. The methodology also ensures robust control performance in the presence of uncertainties in the weather. In this paper, we focus on describing the supervisory feedback optimization formulation and control-oriented modeling for individual renewable and storage components of the hybrid power plant. The proposed supervisory control has been integrated with the hybrid plant co-simulation engine, Hercules, demonstrating its effectiveness in more realistic simulation scenarios.

Paperid: 1968, https://arxiv.org/pdf/2510.16297.pdf

Abstract:
The high penetration of distributed energy resources, resulting in backfeed of power at the transmission and distribution interface, is causing conventional underfrequency load shedding (UFLS) schemes to become nonconforming. Adaptive schemes that update UFLS relay settings recursively in time offer a solution, but existing adaptive techniques that obtain UFLS relay settings with linearized or reduced-order model formulations fail to capture AC nonlinear network behavior. In practice, this will result in relays unable to restore system frequency during adverse disturbances. We formulate an adaptive UFLS problem as a trajectory optimization and include the full AC nonlinear network dynamics to ensure AC feasibility and time-coordinated control actions. We include binary decisions to model relay switching action and time-delayed multi-stage load-shedding. However, this formulation results in an intractable MINLP problem. To enforce model tractability, we relax these binary variables into continuous surrogates and reformulate the MINLP as a sequence of NLPs. We solve the NLPs with a homotopy-driven method that enforces near-integer-feasible solutions. We evaluate the framework on multiple synthetic transmission systems and demonstrate that it scales efficiently to networks exceeding 1500+ nodes with over 170k+ continuous and 73k+ binary decision variables, while successfully recovering binary-feasible solutions that arrest the frequency decline during worst-case disturbance.

Paperid: 1969, https://arxiv.org/pdf/2510.15740.pdf

Abstract:
Dynamic line rating (DLR) enables greater utilization of existing transmission lines by leveraging real-time weather data. However, the elevated temperature operation (ETO) of conductors under DLR is often overlooked, despite its long-term impact on conductor health. This paper addresses this issue by 1) quantifying depreciation costs associated with ETO and 2) proposing a Conductor Health-Aware Unit Commitment (CHA-UC) that internalizes these costs in operational decisions. The CHA-UC incorporates a robust linear approximation of conductor temperature and integration of expected depreciation costs due to hourly ETO into the objective function. Case studies on the Texas 123-bus backbone test system using NOAA weather data demonstrate that the proposed CHA-UC model reduces the total cost by 0.8% and renewable curtailment by 84%compared to static line rating (SLR), while conventional DLR operation without risk consideration resulted in higher costs due to excessive ETO. Further analysis of the commitment decisions and the line temperature statistics confirms that the CHA-UC achieves safer line flows by shifting generator commitments. Finally, we examine the emergent correlation between wind generation and DLR forecast errors, and show that CHA-UC adaptively manages this effect by relaxing flows for risk-hedging conditions while tightening flows for risk-amplifying ones.

Paperid: 1970, https://arxiv.org/pdf/2510.15695.pdf

Abstract:
European countries are ambitious in both the net-zero transition and offshore energy resource development. The Irish and UK governments announced their commitments to offshore wind capacities - 37 and 125 GW, respectively, in 2050, more than two times higher than their projected power demands. While other continental countries, such as Germany, are calling for cleaner fuel resources. Exporting surplus offshore green hydrogen and bridging supply and demand could be pivotal in carbon emission mitigation for Europe. Yet, the potentials of these Island countries, are usually underestimated. This paper developed a bottom-up method to investigate the role of offshore hydrogen from Ireland and the UK in the decarbonisation of the entire Europe. We evaluate the future hydrogen/ammonia trading and the contributions of each country in carbon emission mitigation, considering their relative cost-competitiveness in offshore hydrogen production, domestic hourly power and gas system operation, and international shipping costs. Results indicate that the offshore green hydrogen could reduce 175.16 Mt/year of carbon dioxide emissions in Europe. The UK will be the largest hydrogen supplier from 2030 to 2040, while surpassed by Ireland in 2050, with 161 TWh of hydrogen exports to France and Spain. The offshore green hydrogen can contribute to 175.16 Mt of annual carbon dioxide emission reductions in total. This general flow of hydrogen from the West to the East not only facilitates Europe's net-zero progress, but also reshapes the energy supply structure and helps to ensure energy security across the European continent.

Paperid: 1971, https://arxiv.org/pdf/2510.15152.pdf

Abstract:
Prompt caching is critical for reducing latency and cost in LLM inference: OpenAI and Anthropic report up to 50-90% cost savings through prompt reuse. Despite its widespread success, little is known about what constitutes an optimal prompt caching policy, particularly when optimizing tail latency, a metric of central importance to practitioners. The widely used Least Recently Used (LRU) policy can perform arbitrarily poor on this metric, as it is oblivious to the heterogeneity of conversation lengths. To address this gap, we propose Tail-Optimized LRU, a simple two-line modification that reallocates KV cache capacity to prioritize high-latency conversations by evicting cache entries that are unlikely to affect future turns. Though the implementation is simple, we prove its optimality under a natural stochastic model of conversation dynamics, providing the first theoretical justification for LRU in this setting, a result that may be of independent interest to the caching community. Experimentally, on real conversation data WildChat, Tail-Optimized LRU achieves up to 27.5% reduction in P90 tail Time to First Token latency and 23.9% in P95 tail latency compared to LRU, along with up to 38.9% decrease in SLO violations of 200ms. We believe this provides a practical and theoretically grounded option for practitioners seeking to optimize tail latency in real-world LLM deployments.

Paperid: 1972, https://arxiv.org/pdf/2510.14983.pdf

Abstract:
The reliability of local power grid infrastructure is challenged by sustainable energy developments increasing electric load uncertainty. Transmission System Operators (TSOs) need load forecasts of higher spatial resolution, extending current forecasting operations from zonal aggregates to individual nodes. However, nodal loads are less accurate to forecast and require a large number of individual forecasts, which are hard to manage for the human experts assessing risks in the control room's daily operations (operator). In collaboration with a TSO, we design a multi-level system that meets the needs of operators for hourly day-ahead load forecasting. Utilizing a uniquely extensive dataset of zonal and nodal net loads, we experimentally evaluate our system components. First, we develop an interpretable and scalable forecasting model that allows for TSOs to gradually extend zonal operations to include nodal forecasts. Second, we evaluate solutions to address the heterogeneity and volatility of nodal load, subject to a trade-off. Third, our system is manageable with a fully parallelized single-model forecasting workflow. Our results show accuracy and interpretability improvements for zonal forecasts, and substantial improvements for nodal forecasts. In practice, our multi-level forecasting system allows operators to adjust forecasts with unprecedented confidence and accuracy, and to diagnose otherwise opaque errors precisely.

Paperid: 1973, https://arxiv.org/pdf/2510.14234.pdf

Abstract:
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for shape control with constraints imposed on key points. Unlike existing methods that rely on feature dimensionality reduction, the proposed controller leverages the coordinates of key points as the feature vector, which are extracted from the deformable object's point cloud using deep learning methods. This approach not only reduces the dimensionality of the feature space but also retains the spatial information of the object. By extracting key points, the manipulation of deformable objects is simplified into a visual servoing problem, where the shape dynamics are described using a deformation Jacobian matrix. To enhance control accuracy, a prescribed performance control method is developed by integrating barrier Lyapunov functions (BLF) to enforce constraints on the key points. The stability of the closed-loop system is rigorously analyzed and verified using the Lyapunov method. Experimental results further demonstrate the effectiveness and robustness of the proposed method.

Paperid: 1974, https://arxiv.org/pdf/2510.14045.pdf

Abstract:
Existing or planned power grids need to evaluate survivability under extreme events, like a number of peak load overloading conditions, which could possibly cause system collapses (i.e. blackouts). For realistic extreme events that are correlated or share similar patterns, it is reasonable to expect that the dominant vulnerability or failure sources behind them share the same locations but with different severity. Early warning diagnosis that proactively identifies the key vulnerabilities responsible for a number of system collapses of interest can significantly enhance resilience. This paper proposes a multi-period sparse optimization method, enabling the discovery of {persistent failure sources} across a sequence of collapsed systems with increasing system stress, such as rising demand or worsening contingencies. This work defines persistency and efficiently integrates persistency constraints to capture the ``hidden'' evolving vulnerabilities. Circuit-theory based power flow formulations and circuit-inspired optimization heuristics are used to facilitate the scalability of the method. Experiments on benchmark systems show that the method reliably tracks persistent vulnerability locations under increasing load stress, and solves with scalability to large systems ({on average} taking {around} 200 s per scenario on 2000+ bus systems).

Paperid: 1975, https://arxiv.org/pdf/2510.13616.pdf

Abstract:
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip on the object, but also to avoid damaging or bruising the product. In this work, a flexible pressure sensor that is both low cost and easy to fabricate is integrated with robotic grippers for working with produce of varying shapes, sizes, and stiffnesses. The sensor is successfully integrated with both a rigid robotic gripper, as well as a pneumatically actuated soft finger. Furthermore, an algorithm is proposed for accelerated estimation of the steady-state value of the sensor output based on the transient response data, to enable real-time applications. The sensor is shown to be effective in incorporating feedback to correctly grasp objects of unknown sizes and stiffnesses. At the same time, the sensor provides estimates for these values which can be utilized for identification of qualities such as ripeness levels and bruising. It is also shown to be able to provide force feedback for objects of variable stiffnesses. This enables future use not only for produce identification, but also for tasks such as quality control and selective distribution based on ripeness levels.

Paperid: 1976, https://arxiv.org/pdf/2510.13514.pdf

Abstract:
The transition to a fully decarbonised electricity system depends on integrating new technologies that ensure reliability alongside sustainability. However, missing risk markets hinder investment in reliability-enhancing technologies by exposing investors to revenue uncertainty. This study provides the first quantitative assessment of how missing risk markets affect investment decisions in power systems that depend on long-duration energy storage (LDES) for reliability. We develop a two-stage stochastic equilibrium model with risk-averse market participants, which independently sizes power and energy capacity. We apply the method to a case study of a deeply decarbonised power system in Great Britain. The results show that incomplete risk markets reduce social welfare, harm reliability, and discourage investment in LDES and other technologies with volatile revenue streams. Revenue volatility leads to substantial risk premiums and higher financing costs for LDES, creating a barrier to its large-scale deployment. These findings demonstrate the importance of policy mechanisms that hedge revenue risk to lower the cost of capital and accelerate investment in reliability-enhancing, zero-carbon technologies

Paperid: 1977, https://arxiv.org/pdf/2510.12684.pdf

Abstract:
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic platforms capable of navigating and manipulating in the harsh lunar terrain. While wheeled rovers have been the mainstay for planetary exploration, their limitations in unstructured and steep terrains motivate the adoption of legged robots, which offer superior mobility and adaptability. This paper introduces a constrained reinforcement learning framework designed for autonomous quadrupedal mobile manipulators operating in lunar environments. The proposed framework integrates whole-body locomotion and manipulation capabilities while explicitly addressing critical safety constraints, including collision avoidance, dynamic stability, and power efficiency, in order to ensure robust performance under lunar-specific conditions, such as reduced gravity and irregular terrain. Experimental results demonstrate the framework's effectiveness in achieving precise 6D task-space end-effector pose tracking, achieving an average positional accuracy of 4 cm and orientation accuracy of 8.1 degrees. The system consistently respects both soft and hard constraints, exhibiting adaptive behaviors optimized for lunar gravity conditions. This work effectively bridges adaptive learning with essential mission-critical safety requirements, paving the way for advanced autonomous robotic explorers for future lunar missions.

Paperid: 1978, https://arxiv.org/pdf/2510.11405.pdf

Abstract:
Critical real-world applications strongly rely on Cyber-physical systems (CPS), but their dependence on communication networks introduces significant security risks, as attackers can exploit vulnerabilities to compromise their integrity and availability. This work explores the topic of cybersecurity in the context of CPS modeled as discrete event systems (DES), focusing on recovery strategies following the detection of cyberattacks. Specifically, we address actuator enablement attacks and propose a method that preserves the system's full valid behavior under normal conditions. Upon detecting an attack, our proposed solution aims to guide the system toward a restricted yet robust behavior, ensuring operational continuity and resilience. Additionally, we introduce a property termed AE-robust recoverability, which characterizes the necessary and sufficient conditions for recovering a system from attacks while preventing further vulnerabilities. Finally, we showcase the proposed solution through a case study based on a manufacturing system.

Paperid: 1979, https://arxiv.org/pdf/2510.11286.pdf

Abstract:
Modern power grids face an acute mismatch between where data is generated and where it can be processed: protection relays, EV (Electric Vehicle) charging, and distributed renewables demand millisecond analytics at the edge, while energy-hungry workloads often sit in distant clouds leading to missed real-time deadlines and wasted power. We address this by proposing, to our knowledge, the first-ever SDEN (Software Defined Energy Network) for CaaS (Computations-as-a-Service) that unifies edge, fog, and cloud compute with 5G URLLC (Ultra-Reliable Low-Latency Communications), SDN (Software Defined Networking), and NFV (Network Functions Virtualization) to co-optimize energy, latency, and reliability end-to-end. Our contributions are threefold: (i) a joint task offloading formulation that couples computation placement with network capacity under explicit URLLC constraints; (ii) a feasibility preserving, lightweight greedy heuristic that scales while closely tracking optimal energy and latency trade-offs; and (iii) a tiered AI (Artificial Intelligence) pipeline-reactive at the edge, predictive in the fog, strategic in the cloud-featuring privacy-preserving, federated GNNs (Graph Neural Networks) for fault detection and microgrid coordination. Unlike prior edge-only or cloud-only schemes, SDEN turns fragmented grid compute into a single, programmable substrate that delivers dependable, energy-aware, real time analytics establishing a first-ever, software defined path to practical, grid-scale CaaS.

Paperid: 1980, https://arxiv.org/pdf/2510.11123.pdf

Abstract:
The advent of the fifth-generation technology promises to bring about more vertical applications and emerging services that include vehicular networks and intelligent transportation systems (ITSs). To achieve their vision of real-time and safetyapplications, vehicular networks rely on short-range to medium-range communications. One emerging technology that aims to provide reliability and high-data rate in short-range communications is the visible light communications (VLC). Due to its remarkable advantages, some studies have recently investigated the integration of VLC in vehicular networks and ITSs. Despite their attractive features, such networks also face several implementation issues. This paper provides an extended tutorial on the implementation of VLC-based vehicular networks. To begin with, we present the implementation characteristics of these systems and discuss some related issues. The underlying system considers a general structure with transmitters, channels, and receivers based on photodetectors and cameras, as well as standardization efforts and types of topologies. In addition, we discuss the impact of the sun and artificial light sources, flickering, dimming, throughput enhancement, uplink security, and mobility on practical implementation. Finally, we highlight some key challenges and potential solutions and provide some directions for future research investigations that could constitute an advancement toward the development of commercial VLC-based vehicular systems.

Paperid: 1981, https://arxiv.org/pdf/2510.11089.pdf

Abstract:
Modular product design has become a strategic enabler for companies seeking to balance product variety, operational efficiency, and market responsiveness, making the alignment between modular architecture and manufacturing considerations increasingly critical. Modular Function Deployment (MFD) is a widely adopted method for defining modular product architectures, yet it lacks systematic support for assembly considerations during early concept and system-level development. This limitation increases the risk of delayed production ramp-up and lifecycle inefficiencies. This paper proposes a set of enhancements to MFD that integrate Design for Assembly (DFA) logic into architectural synthesis. The extended method introduces structured heuristics, assembly-oriented module drivers, a coded interface taxonomy, and quantitative metrics for assessing assembly feasibility and automation readiness. These additions preserve compatibility with standard MFD workflows while enriching decision-making with traceable, production-informed reasoning. An illustrative case study involving a handheld leaf blower demonstrates the method's usability and effectiveness. The redesigned architecture shows reduced assembly effort, simplified interfaces, and increased automation potential. By supporting early-stage evaluation of architectural alternatives through an assembly lens, the method enables faster transition to efficient volume production and provides a foundation for continuous improvement throughout the product lifecycle.

Paperid: 1982, https://arxiv.org/pdf/2510.10442.pdf

Abstract:
This paper presents a risk-budgeted monitor with a control framework that certifies safety for autonomous driving. In this process, a sliding window is proposed to monitor for insufficient barrier residuals or nonzero tail risk, ensuring system safety. When the safety margin deteriorates, it triggers switching the safety constraint from a performance-based relaxed-control barrier function (R-CBF) to a conservative conditional value at risk (CVaR-CBF) to address the safety concern. This switching is governed by two real-time triggers: Feasibility-Triggered (FT) and Quality-Triggered (QT) conditions. In the FT condition, if the R-CBF constraint becomes infeasible or yields a suboptimal solution, the risk monitor triggers the use of the CVaR constraints for the controller. In the QT condition, the risk monitor observes the safety margin of the R-CBF solution at every step, regardless of feasibility. If it falls below the safety margin, the safety filter switches to the CVaR-CBF constraints. The proposed framework is evaluated using a model predictive controller (MPC) for autonomous driving in the presence of autonomous vehicle (AV) localization noise and obstacle position uncertainties. Multiple AV-pedestrian interaction scenarios are considered, with 1,500 Monte Carlo runs conducted for all scenarios. In the most challenging setting with pedestrian detection uncertainty of 5 m, the proposed framework achieves a 94-96% success rate of not colliding with the pedestrians over 300 trials while maintaining the lowest mean cross-track error (CTE = 3.2-3.6 m) to the reference path. The reduced CTE indicates faster trajectory recovery after obstacle avoidance, demonstrating a balance between safety and performance.

Paperid: 1983, https://arxiv.org/pdf/2510.10313.pdf

Abstract:
This article presents a study on the application of artificial neural networks (ANNs) for maximum power point tracking (MPPT) in photovoltaic (PV) systems using low-cost pyranometer sensors. The proposed approach integrates pyranometers, temperature sensors, and an ANN to estimate the duty cycle of a DC/DC converter, enabling the system to consistently operate at its maximum power point. The strategy was implemented in the local control of a Cuk converter and experimentally validated against the conventional Perturb and Observe (P&O) method. Results demonstrate that the ANN-based technique, leveraging affordable sensor technology, achieves accurate MPPT performance with reduced fluctuations, enhancing the responsiveness and efficiency of PV tracking systems.

Paperid: 1984, https://arxiv.org/pdf/2510.10289.pdf

Abstract:
Transcranial magnetic stimulation (TMS) with asymmetric electric field pulses, such as monophasic, offers directional selectivity for neural activation but requires excessive energy. Previous pulse shape optimisation has been limited to symmetric pulses or heavily constrained variations of conventional waveforms without achieving general optimality in energy efficiency or neural selectivity. We implemented an optimisation framework that incorporates neuron model activation constraints and flexible control of pulse asymmetry. The optimised electric field waveforms achieved up to 92 % and 88 % reduction in energy loss and thus coil heating respectively compared to conventional monophasic pulses and previously improved monophasic-equivalent pulses. In the human experiments, OUR pulses showed similar motor thresholds to monophasic pulses in both AP and PA directions with significantly lower energy loss, particularly in the AP direction. Moreover, there was a significant MEP latency difference of (1.79 +/- 0.41) ms between AP and PA direction with OUR pulses, which suggests directional selectivity. Our framework successfully identified highly energy-efficient asymmetric pulses for directionally-selective neural engagement. These pulses can enable selective rapid-rate repetitive TMS protocols with reduced power consumption and coil heating, with potential benefits for precision and potency of neuro-modulation.

Paperid: 1985, https://arxiv.org/pdf/2510.09420.pdf

Abstract:
With the increasing complexity of power systems,accurately identifying critical states (the states corresponding to minimal cut sets) and assessing system reliability have become crucial tasks. In this paper, a mathematical lattice structure is employed to represent and partition the state space of power system. Based on this structure, a novel recursive method is proposed to efffciently identify critical states by leveraging lattice partitioning and Optimal Power Flow(OPF) calculations. This method not only enables the extension of failure system states,but also calculates the upper and lower bounds of the Loss of Load Probability (LOLP) in a progressively converging manner. Compared to traditional reliability assessment methods such as State Enumeration (SE) and Monte Carlo Simulation (MCS), this approach offers greater accuracy and efffciency. Experiments conducted on the RBTS and RTS79 systems demonstrate that the proposed method accurately identiffes all critical states up to a preset order, which are high-risk states. The contribution of these critical states to LOLP highlights their signiffcance in the system. Moreover, the proposed method achieves the analytical value with signiffcantly fewer OPF calculations in RBTS system, reaching acceptable precision of LOLP up to 100 times faster than SE in both the RBTS and RTS systems.

Paperid: 1986, https://arxiv.org/pdf/2510.09169.pdf

Abstract:
A sliding-mode-based adaptive boundary control law is proposed for a class of uncertain thermal reaction-diffusion processes subject to matched disturbances. The disturbances are assumed to be bounded, but the corresponding bounds are unknown, thus motivating the use of adaptive control strategies. A boundary control law comprising a proportional and discontinuous term is proposed, wherein the magnitude of the discontinuous relay term is adjusted via a gradient-based adaptation algorithm. Depending on how the adaptation algorithm is parameterized, the adaptive gain can be either a nondecreasing function of time (monodirectional adaptation) or it can both increase and decrease (bidirectional adaptation). The convergence and stability properties of these two solutions are investigated by Lyapunov analyses, and two distinct stability results are derived, namely, asymptotic stability for the monodirectional adaptation and globally uniformly ultimately bounded solutions for the bidirectional adaptation. The proposed algorithms are then specified to address the control problem of stabilizing a desired temperature profile in a metal beam equipped with thermoelectric boundary actuators. Experiments are conducted to investigate the real-world performance of the proposed sliding-mode-based adaptive control, with a particular focus on comparing the monodirectional and bidirectional adaptation laws.

Paperid: 1987, https://arxiv.org/pdf/2510.08943.pdf

Abstract:
Objective The concentration of bilirubin in blood or serum is useful for assessing liver function as well as monitoring treatment. This study evaluates the clinical performance of a novel point-of-care (PoC) device for the detection of bilirubin in serum. The PoC device incorporates an integrated miniature optoelectronic sensing module and a microfluidic test cartridge. Methods Patients' serum total bilirubin concentrations, ranging from 2 μmol/L to 480 μmol/L, were measured using the PoC device and the standard laboratory method (n=20). Bland-Altman analysis and regression analysis using Passing-Bablok method were used to benchmark the PoC device against the standard laboratory measurements. The diagnostic capability of the PoC device in categorising the serum samples within clinically relevant bilirubin concentration thresholds of 200, 300, and 450 μmol/L was assessed using receiver operating characteristic (ROC) analysis. Results The mean difference between the PoC device and the standard laboratory method was -5.6 μmol/L, with a 95% confidence interval (CI) of -45.1 μmol/L to 33.9 μmol/L. The coefficient of determination (R2) was 0.986. The PoC device achieved a detection sensitivity of 90% and specificity of 97% in categorising bilirubin concentrations within bands used in clinical decision-making. Conclusions This study demonstrates that the proposed PoC device is capable of measuring bilirubin levels in patient samples with clinically acceptable accuracy.

Paperid: 1988, https://arxiv.org/pdf/2510.07336.pdf

Abstract:
This work presents a nonlinear system identification framework for modeling the power extraction dynamics of wind turbines, including both freestream and waked conditions. The approach models turbine dynamics using data-driven power coefficient maps expressed as combinations of compact radial basis functions and polynomial bases, parameterized in terms of tip-speed ratio and upstream conditions. These surrogate models are embedded in a first-order dynamic system suitable for model-based control. Experimental validation is carried out in two wind tunnel configurations: a low-turbulence tandem setup and a high-turbulence wind farm scenario. In the tandem case, the identified model is integrated into an adapted Kω^2 controller, resulting in improved tip-speed ratio tracking and power stability compared to BEM-based and steady-state models. In the wind farm scenario, the model captures the statistical behavior of the turbines despite unresolved turbulence. The proposed method enables interpretable, adaptive control across a range of operating conditions without relying on black-box learning strategies.

Paperid: 1989, https://arxiv.org/pdf/2510.06470.pdf

Abstract:
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation. We compare two such measurement models that involve the scanning of a digital terrain elevation model: a) one that is based on typical ray-casting from a given pose, that returns the predicted point cloud measurement from that pose, and b) another computationally less intensive one that does not require raycasting and we refer to herein as a sliding grid. Besides requiring a pose, it requires the pattern of the point cloud measurement itself and returns a predicted point cloud measurement. We further investigate the observability properties of the altitude for both measurement models. As a baseline, we compare the use of a point cloud measurement performance to the use of a radar altimeter and show the gains in accuracy. We conclude by showing that a point cloud measurement outperforms the use of a radar altimeter, and the point cloud measurement model to use depends on the computational resources

Paperid: 1990, https://arxiv.org/pdf/2510.06205.pdf

Abstract:
The demand for energy-efficient high-speed wireless communication, coupled with the rapid rise of IoT devices, requires systems that integrate power harvesting with optical data reception to eliminate the need for charging or battery replacements. Recent advances have explored the use of solar cells as optical receivers for high-speed data detection alongside power harvesting. \acs{GaAs}-based \acp{PPC} provide six times greater electron mobility than silicon- or cadmium telluride-based cells, enabling faster data detection and improved power efficiency. However, their bandwidth is constrained by junction capacitance, which increases with active area, creating a trade-off between power output and data rate. To address this, we propose and test multi-segment \acs{GaAs}-based \Acp{PPC} that serve as both energy harvesters and data detectors. By segmenting the active area into 2, 4, or 6 subcells, forming circular areas with diameters of 1, 1.5, or 2.08~mm, we reduce capacitance and boost bandwidth while preserving light collection. Fabricated on a semi-insulating \ac{GaAs} substrate with etched trenches for electrical isolation, the series-connected subcells optimize absorption and minimize parasitic effects. The \Acp{PPC} were used for an eye-safe 1.5~m optical wireless link, employing \ac{OFDM} with adaptive bit and power loading. The system achieved a world record data rate of 3.8~Gbps, which is four times higher than prior works. The system converts 39.7\% of optical power from a beam of 2.3~mW, although the segmentation increases the sensitivity of the alignment. These findings provide new solutions for off-grid backhaul for future communication networks, such as 6th generation (6G) cellular.

Paperid: 1991, https://arxiv.org/pdf/2510.04524.pdf

Abstract:
District heating networks are an integral part of the energy system in many countries. In future smart energy systems, they are expected to enhance energy flexibility and support the integration of renewable and waste energy sources. An important aspect of these networks is the control of flow rates, which dictates the heat delivered to consumers. This paper concerns the properties of flow rates in tree-structured district heating networks. We show that under mild assumptions of monotonicity in the hydraulic network components, statements regarding the stationary flow rate distribution can be made. In particular, when all consumers in a network incrementally open their valves, an increase in total flow rate throughput is guaranteed, while if one consumer does not open their valve when others do, they will receive a reduced flow rate. These properties are illustrated numerically on a small 2-consumer network as well as on a larger 22-consumer network. Previous works have shown that these properties allow the design and use of efficient control strategies for optimal heat distribution.

Paperid: 1992, https://arxiv.org/pdf/2510.03943.pdf

Abstract:
3D interconnects have emerged as a solution to address the scaling issues of interconnect bandwidth and the memory wall problem in high-performance computing (HPC), such as High-Bandwidth Memory (HBM). However, the copper-based electrical interconnect retains fundamental limitations. Dense I/O for high-speed signals lead to degraded signal quality for end-to-end links, necessitating additional circuits to mitigate signal impairments and resulting in poor energy efficiency. We propose a 3D chiplet stacking electronic-photonic interconnect (EPIC) platform, which offers a solution by moving the high-speed data communication interface to the optical domain across the 3D stack by using Through Silicon Optical Vias (TSOV), while retaining the functionality of electrical TSVs and 2.5D interconnects for power delivery and short-reach low-latency communications. We then benchmark the proposed model against state-of-the-art 3D electrical interconnects to demonstrate our 3D EPIC platform beating the 3D electrical interconnects to $>$10 TB/s/$mm^2$ bandwidth density. We present a pathway to extend our demonstrated, industry-ready design to achieving $\leq$100 fJ/bit high-speed communication.

Paperid: 1993, https://arxiv.org/pdf/2510.03830.pdf

Abstract:
Start-ups and product grade-changes are critical steps in continuous-process plant operation, because any misstep immediately affects product quality and drives operational losses. These transitions have long relied on manual operation by a handful of expert operators, but the progressive retirement of that workforce is leaving plant owners without the tacit know-how needed to execute them consistently. In the absence of a process model, offline reinforcement learning (RL) promises to capture and even surpass human expertise by mining historical start-up and grade-change logs, yet standard offline RL struggles with distribution shift and value-overestimation whenever a learned policy ventures outside the data envelope. We introduce HOFLON (Hybrid Offline Learning + Online Optimization) to overcome those limitations. Offline, HOFLON learns (i) a latent data manifold that represents the feasible region spanned by past transitions and (ii) a long-horizon Q-critic that predicts the cumulative reward from state-action pairs. Online, it solves a one-step optimization problem that maximizes the Q-critic while penalizing deviations from the learned manifold and excessive rates of change in the manipulated variables. We test HOFLON on two industrial case studies: a polymerization reactor start-up and a paper-machine grade-change problem, and benchmark it against Implicit Q-Learning (IQL), a leading offline-RL algorithm. In both plants HOFLON not only surpasses IQL but also delivers, on average, better cumulative rewards than the best start-up or grade-change observed in the historical data, demonstrating its potential to automate transition operations beyond current expert capability.

Paperid: 1994, https://arxiv.org/pdf/2510.03785.pdf

Abstract:
This letter introduces a formal duality between discrete-time and quantized-state numerical methods. We interpret quantized state system (QSS) methods as integration schemes applied to a dual form of the system model, where time is seen as a state-dependent variable. This perspective enables the definition of novel QSS-based schemes inspired by classical time-integration techniques. As a proof of concept, we illustrate the idea by introducing a QSS Adams-Bashforth method applied to a test equation. We then move to demonstrate how the proposed approach can achieve notable performance improvements in realistic power system simulations.

Paperid: 1995, https://arxiv.org/pdf/2510.02866.pdf

Abstract:
This paper goes one step forward in the life estimation of HVDC cable insulation under load cycles by introducing for the first time a microscopic model of charge conduction and transport i.e., Bipolar Charge Transport BCT model for electric field calculation inside the insulation thickness. The paper firstly includes the development and the validation of BCT model with that found in literature. Then, the parameters of the developed BCT model are optimized using Pulsed Electro-Acoustic PEA space charge measurements. Followed by the integration of the developed, validated and optimized model into the electric field calculation for life estimation of a 500 kV DC-XLPE insulated cable subjected to Type Test load cycles according to Cigre Techical Brochure 852. The developed microscopic model is compared to the macroscopic models already found in the literature. The microscopic model shows a comparable electric field inversion similarly to macroscopic models. However, the behavior of the microscopic model is noticed to be different under heating and cooling load cycles. In hot cable, the maximum electric field stabilizes at different amplitude and position inside the insulation thickness in both models. This investigation has been carried out in the framework of the HEU-NEWGEN research project.

Paperid: 1996, https://arxiv.org/pdf/2510.00308.pdf

Abstract:
In this paper, we present the combined learning-and-control (CLC) approach, which is a new way to solve optimal control problems with unknown dynamics by unifying model-based control and data-driven learning. The key idea is simple: we design a controller to be optimal for a proxy objective built on an available model while penalizing mismatches with the real system, so that the resulting controller is also optimal for the actual system. Building on the original CLC formulation, we demonstrate the framework to the linear quadratic regulator problem and make three advances: (i) we show that the CLC penalty is a sequence of stage-specific weights rather than a single constant; (ii) we identify when these weights can be set in advance and when they must depend on the (unknown) dynamics; and (iii) we develop a lightweight learning loop that tunes the weights directly from data without abandoning the benefits of a model-based design. We provide a complete algorithm and an empirical study against common baseline methods. The results clarify where prior knowledge suffices and where learning is essential, and they position CLC as a practical, theoretically grounded bridge between classical optimal control and modern learning methods.

Paperid: 1997, https://arxiv.org/pdf/2509.25556.pdf

Abstract:
We study online task allocation for multi-robot, multi-queue systems with stochastic arrivals and switching delays. Time is slotted; each location can host at most one robot per slot; service consumes one slot; switching between locations incurs a one-slot travel delay; and arrivals are independent Bernoulli processes. We formulate a discounted-cost Markov decision process and propose Exhaustive-Serve-Longest (ESL), a simple real-time policy that serves exhaustively when the current location is nonempty and, when idle, switches to a longest unoccupied nonempty location, and we prove the optimality of this policy. As baselines, we tune a fixed-dwell cyclic policy via a discrete-time delay expression and implement a first-come-first-serve policy. Across server-to-location ratios and loads, ESL consistently yields lower discounted holding cost and smaller mean queue lengths, with action-time fractions showing more serving and restrained switching. Its simplicity and robustness make ESL a practical default for real-time multi-robot scheduling systems.

Paperid: 1998, https://arxiv.org/pdf/2509.25158.pdf

Abstract:
Voltage prediction in distribution grids is a critical yet difficult task for maintaining power system stability. Machine learning approaches, particularly Graph Neural Networks (GNNs), offer significant speedups but suffer from poor generalization when trained on limited or incomplete data. In this work, we systematically investigate the role of inductive biases in improving a model's ability to reliably learn power flow. Specifically, we evaluate three physics-informed strategies: (i) power-flow-constrained loss functions, (ii) complex-valued neural networks, and (iii) residual-based task reformulation. Using the ENGAGE dataset, which spans multiple low- and medium-voltage grid configurations, we conduct controlled experiments to isolate the effect of each inductive bias and assess both standard predictive performance and out-of-distribution generalization. Our study provides practical insights into which model assumptions most effectively guide learning for reliable and efficient voltage prediction in modern distribution networks.

Paperid: 1999, https://arxiv.org/pdf/2509.24959.pdf

Abstract:
Coordinated planning of generation, storage, and transmission more accurately captures the interactions among these three capacity types necessary to meet electricity demand, at least in theory. However, in practice, U.S. system operators typically follow a sequential planning approach: They first determine future generation and storage additions based on an assumed unconstrained (`copper plate') system. Next, they perform dispatch simulations of this projected generation and storage capacity mix on the existing transmission grid to identify transmission constraint violations. These violations indicate the need for transmission upgrades. We describe a multistage, multi-locational planning model that co-optimizes generation, storage, and transmission investments. The model respects reliability constraints as well as state energy and climate policies. We test the two planning approaches using a current stakeholder-informed 20-zone model of the PJM region, developed for the current FERC Order No. 1920 compliance filing process. In our most conservative model specification, we find that the co-optimized approach estimates 67% lower transmission upgrade needs than the sequential model, leading to total system costs that are .6% lower and similar reliability and climate outcomes. Our sensitivities show larger transmission and cost savings and reliability and climate benefits from co-optimized planning.

Paperid: 2000, https://arxiv.org/pdf/2509.24799.pdf

Abstract:
This paper presents a controller design framework aiming to balance control performance and actuation rate. Control performance is evaluated by an infinite-horizon average cost, and the number of control actions is penalized via sparsity-promoting regularization. Since the formulated optimal control problem has a combinatorial nature, we employ a rollout algorithm to obtain a tractable suboptimal solution. In the proposed scheme, actuation timings are determined through a multistage minimization procedure based on a receding-horizon approach, and the corresponding control inputs are computed online. We establish theoretical performance guarantees with respect to periodic control and prove the stability of the closed-loop system. The effectiveness of the proposed method is demonstrated through a numerical example.

Paperid: 2001, https://arxiv.org/pdf/2509.23905.pdf

Abstract:
The deployment of unmanned aerial vehicle (UAV) swarm-assisted communication networks has become an increasingly vital approach for remediating coverage limitations in infrastructure-deficient environments, with especially pressing applications in temporary scenarios, such as emergency rescue, military and security operations, and remote area coverage. However, complex geographic environments lead to unpredictable and highly dynamic wireless channel conditions, resulting in frequent interruptions of air-to-ground (A2G) links that severely constrain the reliability and quality of service in UAV swarm-assisted mobile communications. To improve the quality of UAV swarm-assisted communications in complex geographic environments, we propose an integrated communication and control co-design mechanism. Given the stringent energy constraints inherent in UAV swarms, our proposed mechanism is designed to optimize energy efficiency while maintaining an equilibrium between equitable communication rates for mobile ground users (GUs) and UAV energy expenditure. We formulate the joint resource allocation and 3D trajectory control problem as a Markov decision process (MDP), and develop a multi-agent reinforcement learning (MARL) framework to enable real-time coordinated actions across the UAV swarm. To optimize the action policy of UAV swarms, we propose a novel multi-agent hybrid proximal policy optimization with action masking (MAHPPO-AM) algorithm, specifically designed to handle complex hybrid action spaces. The algorithm incorporates action masking to enforce hard constraints in high-dimensional action spaces. Experimental results demonstrate that our approach achieves a fairness index of 0.99 while reducing energy consumption by up to 25% compared to baseline methods.

Paperid: 2002, https://arxiv.org/pdf/2509.23710.pdf

Abstract:
Fatigue cracks may initiate and propagate long before a structural component reaches the end of its nominal life. Detecting and quantifying crack growth in real time is critical for avoiding catastrophic failures in aerospace structures, nuclear reactors and civil infrastructure. This research reviews four widely used crack growth monitoring techniques: digital image correlation (DIC), acoustic emission (AE), compliance based methods and direct current potential drop (DCPD). The research evaluates their working principles, instrumentation, detection thresholds, noise sensitivities and suitability under various environmental conditions. Recent advances in high precision control and data acquisition systems (DAQs) that enable multi sensor data fusion are explored. The goal is to guide selection and integration of monitoring methods in modern structural health monitoring architectures.

Paperid: 2003, https://arxiv.org/pdf/2509.23670.pdf

Abstract:
Modeling how networks change under structural perturbations can yield foundational insights into network robustness, which is critical in many real-world applications. The largest connected component is a popular measure of network performance. Percolation theory provides a theoretical framework to establish statistical properties of the largest connected component of large random graphs. However, this theoretical framework is typically only exact in the large-$\nodes$ limit, failing to capture the statistical properties of largest connected components in small networks, which many real-world networks are. We derive expected values for the largest connected component of small $G(\nodes,p)$ random graphs from which nodes are either removed uniformly at random or targeted by highest degree and compare these values with existing theory. We also visualize the performance of our expected values compared to existing theory for predicting the largest connected component of various real-world, small graphs.

Paperid: 2004, https://arxiv.org/pdf/2509.22936.pdf

Abstract:
Addressing the uncertainty introduced by increasing renewable integration is crucial for secure power system operation, yet capturing it while preserving the full nonlinear physics of the grid remains a significant challenge. This paper presents a stochastic security constrained optimal power flow model with chance constraints supporting nonlinear AC power flow equations and non Gaussian uncertainties. We use general polynomial chaos expansion to model arbitrary uncertainties of finite variance, enabling accurate moment computations and robust prediction of system states across diverse operating scenarios. The chance constraints probabilistically limit inequality violations, providing a more flexible representation of controllable variables and the consequent power system operation. Case studies validate the proposed models effectiveness in satisfying operational constraints and capturing uncertainty with high fidelity. Compared to the deterministic formulation, it also uncovers a wider set of unsecure contingencies, highlighting improved uncertainty capture and operational insight.

Paperid: 2005, https://arxiv.org/pdf/2509.21668.pdf

Abstract:
The rise of distributed energy resources (DERs) is reshaping modern distribution grids, introducing new challenges in attaining voltage stability under dynamic and decentralized operating conditions. This paper presents NEO-Grid, a unified learning-based framework for volt-var optimization (VVO) and volt-var control (VVC) that leverages neural network surrogates for power flow and deep equilibrium models (DEQs) for closed-loop control. Our method replaces traditional linear approximations with piecewise-linear ReLU networks trained to capture the nonlinear relationship between power injections and voltage magnitudes. For control, we model the recursive interaction between voltage and inverter response using DEQs, allowing direct fixed-point computation and efficient training via implicit differentiation. We evaluated NEO-Grid on the IEEE 33-bus system, demonstrating that it significantly improves voltage regulation performance compared to standard linear and heuristic baselines in both optimization and control settings. Our results establish NEO-Grid as a scalable, accurate, and interpretable solution for learning-based voltage regulation in distribution grids.

Paperid: 2006, https://arxiv.org/pdf/2509.20306.pdf

Abstract:
Urban Air Mobility (UAM) has emerged as a promising solution to alleviate urban congestion and transportation challenges. Nevertheless, the noise generated by eVTOL aircrafts poses a significant barrier to public acceptance and regulatory approval, potentially limiting the operational scope and scalability of UAM systems. Hence, the successful adoption of UAM systems hinges on the ability to predict generated noise levels, and further develop motion planning strategies that comply with community-level noise regulations while maintaining operational efficiency. To this end, this paper proposes a novel noise-aware motion planning framework for UAM systems that ensures compliance with noise regulations. We first develop a certifiable neural network model to accurately predict eVTOL noise propagation patterns in urban environments, providing provable bounds on its correctness. To achieve a desired level of accuracy, we propose an active sampling strategy to efficiently build the dataset used to train and test the noise model. Next, we develop a noise-aware motion planning algorithm that utilizes the noise model to generate eVTOL trajectories that guarantee compliance with community noise regulations. The algorithm exploits the monotonic structure of the noise model to efficiently sample the configuration space, ensuring that the generated trajectories are both noise-compliant and operationally efficient. We demonstrate the effectiveness of the proposed framework through a number of experiments for Vahana eVTOLs. The results show that the framework can generate noise-compliant flight plans for a fleet of eVTOLs that adhere to community noise regulations while optimizing operational efficiency.

Paperid: 2007, https://arxiv.org/pdf/2509.19970.pdf

Abstract:
This work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of underactuation and state coupling. Trajectory tracking is achieved through a modularized and layered control architecture, with employement of a Linear Quadratic Regulator (LQR) and Lyapunov theory. Full-state estimation is achieved through Kalman filtering techniques, part of the navigation module. The solutions are thoroughly evaluated in a custom-built MATLAB/Simulink testbed, simulating real-world conditions while maintaining a simplified setup. The results reveal limitations along the lateral axis, whose resolution is suggested for future work.

Paperid: 2008, https://arxiv.org/pdf/2509.19824.pdf

Abstract:
Tube-based Model Predictive Control (MPC) is a widely adopted robust control framework for constrained linear systems under additive disturbance. The paper is focused on reducing the numerical complexity associated with the tube parameterization, described as a sequence of elastically-scaled zonotopic sets. A new class of scaled-zonotope inclusion conditions is proposed, alleviating the need for a priori specification of certain set-containment constraints and achieving significant reductions in complexity. A comprehensive complexity analysis is provided for both the polyhedral and the zonotopic setting, illustrating the trade-off between an enlarged domain of attraction and the required computational effort. The proposed approach is validated through extensive numerical experiments.

Paperid: 2009, https://arxiv.org/pdf/2509.19784.pdf

Abstract:
We introduce and develop the concept of dispersion formation control, bridging a gap between shape-assembly studies in physics and biology and formation control theory. In current formation control studies, the control objectives typically focus on achieving desired local geometric properties, such as inter-agent distances, bearings, or relative positions. In contrast, our dispersion formation control approach enables agents to directly regulate the dispersion of their spatial distribution, a global variable associated with a covariance matrix. Specifically, we introduce the notion of covariance similarity to define the target spatial dispersion of agents. Building on this framework, we propose two control strategies: a centralized approach to illustrate the key ideas, and a distributed approach that enables agents to control the global dispersion but using only local information. Our stability analysis demonstrates that both strategies ensure exponential convergence of the agents' distribution to the desired dispersion. Notably, controlling a global variable rather than multiple local ones enhances the resiliency of the system, particularly against malfunctioning agents. Simulations validate the effectiveness of the proposed dispersion formation control.

Paperid: 2010, https://arxiv.org/pdf/2509.19243.pdf

Abstract:
We develop a mathematical framework to jointly schedule water and electricity in a profit-maximizing renewable colocated water desalination plant that integrates both thermal and membrane based technologies. The price-taking desalination plant sells desalinated water to a water utility at a given price and engages in bidirectional electricity transactions with the grid, purchasing or selling power based on its net electricity demand. We show that the optimal scheduling policy depends on the plant's internal renewable generation and follows a simple threshold structure. Under the optimal policy, thermal based water output decreases monotonically with renewable output, while membrane based water output increases monotonically. We characterize the structure and intuition behind the threshold policy and examine key special properties.

Paperid: 2011, https://arxiv.org/pdf/2509.19111.pdf

Abstract:
Synchronous reference frame phase-looked loop (SRF-PLL) techniques are widely used for interfacing and control applications in the power systems and energy conversion at large. Since a PLL system synchronizes its output with an exogenous harmonic signal, often 3-phases voltage or current, the locking of the frequency and phase angle depends on the performance of the feedback loop with at least two integrator terms, and on the distortions of the measured input quantities. For the conventional SRF-PLL with a proportional-integral (PI) control in feedback, we are providing a robust design which maximizes the phase margin and uses the normalization scheme for yielding the loop insensitive to the input amplitude variations. The main improvement in the transient behavior and also in tracking of frequency ramps is achieved by using the robust feed-forward frequency estimator, which is model-free and suitable for the noisy and time-varying harmonic signals. The proposed feed-forward-feedback SRF-PLL scheme is experimentally evaluated on the 3-phases harmonic currents from standard PMSM drives with varying angular speeds and loads. Both, the tracked angular frequency and locked phase angle are assessed as performance metrics of the robust SRF-PLL scheme with feedforwarding.

Paperid: 2012, https://arxiv.org/pdf/2509.18356.pdf

Abstract:
We consider a simple computation offloading model where jobs can either be fully processed in the cloud or be partially processed at a local server before being sent to the cloud to complete processing. Our goal is to design a policy for assigning jobs to service modes, i.e., full offloading or partial offloading, based on the state of the system, in order to minimize delay in the system. We show that when the cloud server is idle, the optimal policy is to assign the next job in the system queue to the cloud for processing. However, when the cloud server is busy, we show that, under mild assumptions, the optimal policy is of a threshold type, that sends the next job in the system queue to the local server if the queue exceeds a certain threshold. Finally, we demonstrate this policy structure through simulations.

Paperid: 2013, https://arxiv.org/pdf/2509.18346.pdf

Abstract:
Ever since the original algorithm by Nesterov (1983), the true nature of the acceleration phenomenon has remained elusive, with various interpretations of why the method is actually faster. The diagnosis of the algorithm through the lens of Ordinary Differential Equations (ODEs) and the corresponding dynamical system formulation to explain the underlying dynamics has a rich history. In the literature, the ODEs that explain algorithms are typically derived by considering the limiting case of the algorithm maps themselves, that is, an ODE formulation follows the development of an algorithm. This obfuscates the underlying higher order principles and thus provides little evidence of the working of the algorithm. Such has been the case with Nesterov algorithm and the various analogies used to describe the acceleration phenomena, viz, momentum associated with the rolling of a Heavy-Ball down a slope, Hessian damping etc. The main focus of our work is to ideate the genesis of the Nesterov algorithm from the viewpoint of dynamical systems leading to demystifying the mathematical rigour behind the algorithm. Instead of reverse engineering ODEs from discrete algorithms, this work explores tools from the recently developed control paradigm titled Passivity and Immersion approach and the Geometric Singular Perturbation theory which are applied to arrive at the formulation of a dynamical system that explains and models the acceleration phenomena. This perspective helps to gain insights into the various terms present and the sequence of steps used in Nesterovs accelerated algorithm for the smooth strongly convex and the convex case. The framework can also be extended to derive the acceleration achieved using the triple momentum method and provides justifications for the non-convergence to the optimal solution in the Heavy-Ball method.

Paperid: 2014, https://arxiv.org/pdf/2509.18224.pdf

Abstract:
This work introduces an algorithm for state estimation on manifolds within the framework of the Kalman filter. Its primary objective is to provide a methodology enabling the evaluation of the precision of existing Kalman filter variants with arbitrary accuracy on synthetic data, something that, to the best of our knowledge, has not been addressed in prior work. To this end, we develop a new filter that exhibits favorable numerical properties, thereby correcting the divergences observed in previous Kalman filter variants. In this formulation, the achievable precision is no longer constrained by the small-velocity assumption and is determined solely by sensor noise. In addition, this new filter assumes high precision on the sensors, which, in real scenarios require a detection step that we define heuristically, allowing one to extend this approach to scenarios, using either a 9-axis IMU or a combination of odometry, accelerometer, and pressure sensors. The latter configuration is designed for the reconstruction of trajectories in underwater environments.

Paperid: 2015, https://arxiv.org/pdf/2509.17785.pdf

Abstract:
Distributed optimization algorithms are used in a wide variety of problems involving complex network systems where the goal is for a set of agents in the network to solve a network-wide optimization problem via distributed update rules. In many applications, such as communication networks and power systems, transient performance of the algorithms is just as critical as convergence, as the algorithms link to physical processes which must behave well. Primal-dual algorithms have a long history in solving distributed optimization problems, with augmented Lagrangian methods leading to important classes of widely used algorithms, which have been observed in simulations to improve transient performance. Here we show that such algorithms can be seen as being the optimal solution to an appropriately formulated optimal control problem, i.e., a cost functional associated with the transient behavior of the algorithm is minimized, penalizing deviations from optimality during algorithm transients. This is shown for broad classes of algorithm dynamics, including the more involved setting where inequality constraints are present. The results presented improve our understanding of the performance of distributed optimization algorithms and can be used as a basis for improved formulations.

Paperid: 2016, https://arxiv.org/pdf/2509.15571.pdf

Abstract:
Finding the reachable set of a system has a wide range of applications, but is a fundamental challenge in control theory, especially when controls are bounded. Although one can simply integrate the system samples forward in time by applying random admissible control to approximate the reachable set, the samples typically cluster near an attractor (if one is present) -- yielding a poor representation of the reachable set. A better representation can be found by applying controls that specifically lead to a uniform terminal state distribution, however, finding such controls is non-trivial. To find such controls, one must solve an Optimal Transport (OT) problem with uniform measure as the target distribution, which is difficult since the reachable set is not know \emph{a priori}. We can overcome this difficulty by softening the terminal measure constraint via the introduction of a $L_2$-entropy function in the objective and can further reduce this infinite-dimensional regularized OT to a finite-dimensional particle-based optimal control problem by using a nonlocal kernel regularization of the entropy. This leads to a hierarchy of optimization problems whose solutions converge to the original reachability sampling OT problem, as proved by $Î$-convergence. The effectiveness of this entropy-regularized particle-based approach for uniform sampling of reachable set is demonstrated using numerical examples.

Paperid: 2017, https://arxiv.org/pdf/2509.15344.pdf

Abstract:
The weakly electric fish \emph{Eigenmannia virescens} naturally swims back and forth to stay within a moving refuge, tracking its motion using visual and electrosensory feedback. Previous experiments show that when the refuge oscillates as a low-frequency sinusoid (below about 0.5 Hz), the tracking is nearly perfect, but phase lag increases and gain decreases at higher frequencies. Here, we model this nonlinear behavior as an adaptive internal model principle (IMP) system. Specifically, an adaptive state estimator identifies the \emph{a priori} unknown frequency, and feeds this parameter estimate into a closed-loop IMP-based system built around a lightly damped harmonic oscillator. We prove that the closed-loop tracking error of the IMP-based system, where the online adaptive frequency estimate is used as a surrogate for the unknown frequency, converges exponentially to that of an ideal control system with perfect information about the stimulus. Simulations further show that our model reproduces the fish refuge tracking Bode plot across a wide frequency range. These results establish the theoretical validity of combining the IMP with an adaptive identification process and provide a basic framework in adaptive sensorimotor control.

Paperid: 2018, https://arxiv.org/pdf/2509.14343.pdf

Abstract:
Open-Radio Access Network (O-RAN) has become an important paradigm for 5G and beyond radio access networks. This paper presents an xApp called xSlice for the Near-Real-Time (Near-RT) RAN Intelligent Controller (RIC) of 5G O-RANs. xSlice is an online learning algorithm that adaptively adjusts MAC-layer resource allocation in response to dynamic network states, including time-varying wireless channel conditions, user mobility, traffic fluctuations, and changes in user demand. To address these network dynamics, we first formulate the Quality-of-Service (QoS) optimization problem as a regret minimization problem by quantifying the QoS demands of all traffic sessions through weighting their throughput, latency, and reliability. We then develop a deep reinforcement learning (DRL) framework that utilizes an actor-critic model to combine the advantages of both value-based and policy-based updating methods. A graph convolutional network (GCN) is incorporated as a component of the DRL framework for graph embedding of RAN data, enabling xSlice to handle a dynamic number of traffic sessions. We have implemented xSlice on an O-RAN testbed with 10 smartphones and conducted extensive experiments to evaluate its performance in realistic scenarios. Experimental results show that xSlice can reduce performance regret by 67% compared to the state-of-the-art solutions. Source code is available on GitHub [1].

Paperid: 2019, https://arxiv.org/pdf/2509.14121.pdf

Abstract:
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple integrator that is already safe. On this domain, the closed-loop trajectories remain robust and safe against uncertainties and disturbances. Furthermore, we design a controller gain that guarantees convergence to the safe sliding domain while avoiding the given unsafe set. The concept is initially developed for first-order sliding mode and is subsequently generalized to an adaptive framework, ensuring that trajectories remain confined to a predefined vicinity of the sliding domain, outside the unsafe region.

Paperid: 2020, https://arxiv.org/pdf/2509.13674.pdf

Abstract:
High costs of green hydrogen and of carbon capture, utilization, and sequestration (CCUS) have hindered policy ambition and slowed real-world deployment, despite their importance for decarbonizing hard-to-abate sectors, including cement and methanol. Given the economic challenges of adopting CCUS in cement and green hydrogen in methanol production separately, we propose a renewable-powered co-production system that couples electrolytic hydrogen and CCUS through molecule exchange. We optimize system configurations using an hourly-resolved, process-based model incorporating operational flexibility, and explore integrated strategies for plant-level deployment and CO2 source-sink matching across China. We find that co-production could reduce CO2 abatement costs to USD 41-53 per tonne by 2035, significantly lower than approximately USD 75 for standalone cement CCUS and over USD 120 for standalone renewable-based methanol. Co-production is preferentially deployed at cement plants in renewable-rich regions, potentially reshaping national CO2 infrastructure planning. This hydrogen-CCUS coupling paradigm could accelerate industrial decarbonization and scaling for other applications.

Paperid: 2021, https://arxiv.org/pdf/2509.13537.pdf

Abstract:
Two general upper bounds on the topological entropy of nonlinear time-varying systems are established: one using the matrix measure of the system Jacobian, the other using the largest real part of the eigenvalues of the Jacobian matrix with off-diagonal entries replaced by their absolute values. A general lower bound is constructed using the trace of the Jacobian matrix. For interconnected systems, an upper bound is first derived by adapting one of the general upper bounds, using the matrix measure of an interconnection matrix function. A new upper bound is then developed using the largest real part of the eigenvalues of this function. This new bound is closely related to the individual upper bounds for subsystems and implies each of the two general upper bounds when the system is viewed as one of two suitable interconnections. These entropy bounds all depend only on upper or lower limits of the Jacobian matrix along trajectories.

Paperid: 2022, https://arxiv.org/pdf/2509.12839.pdf

Abstract:
This paper presents a closed-form analysis of spatial correlation and degrees of freedom (DoF) for arched holographic multiple-input multiple-output (HMIMO) arrays, which can be viewed as a special form of fluid antenna systems (FAS) when their geometry is fluidically adaptable. Unlike traditional planar configurations, practical HMIMO surfaces may exhibit curvature, significantly influencing their spatial characteristics and performance. We derive exact correlation expressions for both arched uniform linear arrays and arched uniform rectangular arrays, capturing curvature effects under far field propagation. Our results reveal that isotropic scattering results in DoF being dominated by the maximum span of the HMIMO array, such that shape effects are weakened, and bending does not significantly reduce the available spatial DoF. Numerical simulations validate the accuracy of the closed-form formulas and demonstrate the robustness of DoF against curvature variations, supporting flexible array designs. These findings offer fundamental insights into geometry-aware optimization for next-generation HMIMO/FAS systems and pave the way for practical implementations of curved HMIMO arrays.

Paperid: 2023, https://arxiv.org/pdf/2509.12681.pdf

Abstract:
This short note gives a new framework for dealing with nonlinear sampled-data systems. We introduce a new idea of lifting, which is well known for linear systems, but not successfully generalized to nonlinear systems. This paper introduces a new lifting technique for nonlinear, time-invariant systems, which are different from the linear counterpart as developed in [Bamieh et al. 1991, Yamamoto 1994], etc. The main difficulty is that the direct feedthrough term effective in the linear case cannot be generalized to the nonlinear case. Instead, we will further lift the state trajectory, and obtain an equivalent time-invariant discrete-time system with function-space input and output spaces. The basic framework, as well as the closed-loop equation with a discrete-time controller, is given. As an application of this framework, we give a representation for the Koopman operator derived from the given original nonlinear system.

Paperid: 2024, https://arxiv.org/pdf/2509.12522.pdf

Abstract:
Various neural network architectures are used in many of the state-of-the-art approaches for real-time nonlinear state estimation in dynamical systems. With the ever-increasing incorporation of these data-driven models into the estimation domain, models with reliable margins of error are required -- especially for safety-critical applications. This paper discusses a novel hybrid, data-driven state estimation approach based on the physics-informed attentive neural process (PI-AttNP), a model-informed extension of the attentive neural process (AttNP). We augment this estimation approach with the regression-based split conformal prediction (CP) framework to obtain quantified model uncertainty with probabilistic guarantees. After presenting the algorithm in a generic form, we validate its performance in the task of grey-box state estimation of a simulated under-actuated six-degree-of-freedom quadrotor with multimodal Gaussian sensor noise and several external perturbations typical to quadrotors. Further, we compare outcomes with state-of-the-art data-driven methods, which provide significant evidence of the physics-informed neural process as a viable novel approach for model-driven estimation.

Paperid: 2025, https://arxiv.org/pdf/2509.12398.pdf

Abstract:
Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup process, such as segment lengths, relative orientations between inertial measurement units (IMUs) and segment coordinate frames (IMU-to-segment calibrations) or the joint positions in the IMU frames. This renders the setup process inconvenient. This work contributes to real-time capable calibration-free inertial tracking of a kinematic chain, i.e. simultaneous recursive Bayesian estimation of global IMU angular kinematics and joint positions in the IMU frames, with a minimal state size. Experimental results on simulated IMU data from a three-link kinematic chain (manipulator study) as well as re-simulated IMU data from healthy humans walking (lower body study) show that the calibration-free and lightweight algorithm provides not only drift-free relative but also drift-free absolute orientation estimates with a global heading reference for only one IMU as well as robust and fast convergence of joint position estimates in the different movement scenarios.

Paperid: 2026, https://arxiv.org/pdf/2509.11640.pdf

Abstract:
The multi-agent patrol problem refers to repeatedly visiting different locations in an environment using multiple autonomous agents. For over two decades, researchers have studied this problem in various settings. While providing valuable insights into the problem, the works in existing literature have not commented on the nature of the optimal solutions to the problem. We first show that an $Îµ$-approximate recurrent patrol strategy exists for every feasible patrol strategy. Then, we establish the existence of a recurrent patrol strategy that is an $Îµ$-optimal solution to the General Patrol Problem. The factor $Îµ$ is proportional to the discretisation constant $D$, which can be arbitrarily small and is independent of the number of patrol agents and the size of the environment. This result holds for a variety of problem formulations already studied. We also provide an algorithmic approach to determine an $Îµ$-approximate recurrent patrol strategy for a patrol strategy created by any method from the literature. We perform extensive simulations in graphs based on real-life environments to validate the claims made in this work.

Paperid: 2027, https://arxiv.org/pdf/2509.11470.pdf

Abstract:
The partitioning problem is of central relevance for designing and implementing non-centralized Model Predictive Control (MPC) strategies for large-scale systems. These control approaches include decentralized MPC, distributed MPC, hierarchical MPC, and coalitional MPC. Partitioning a system for the application of non-centralized MPC consists of finding the best definition of the subsystems, and their allocation into groups for the definition of local controllers, to maximize the relevant performance indicators. The present survey proposes a novel systematization of the partitioning approaches in the literature in five main classes: optimization-based, algorithmic, community-detection-based, game-theoretic-oriented, and heuristic approaches. A unified graph-theoretical formalism, a mathematical re-formulation of the problem in terms of mixed-integer programming, the novel concepts of predictive partitioning and multi-topological representations, and a methodological formulation of quality metrics are developed to support the classification and further developments of the field. We analyze the different classes of partitioning techniques, and we present an overview of their strengths and limitations, which include a technical discussion about the different approaches. Representative case studies are discussed to illustrate the application of partitioning techniques for non-centralized MPC in various sectors, including power systems, water networks, wind farms, chemical processes, transportation systems, communication networks, industrial automation, smart buildings, and cyber-physical systems. An outlook of future challenges completes the survey.

Paperid: 2028, https://arxiv.org/pdf/2509.10999.pdf

Abstract:
Modern power systems face increasing vulnerability to sophisticated cyber-physical attacks beyond traditional N-1 contingency frameworks. Existing security paradigms face a critical bottleneck: efficiently identifying worst-case scenarios and rapidly coordinating defensive responses are hindered by intensive computation and time delays, during which cascading failures can propagate. This paper presents a novel tri-level robust constrained reinforcement learning (RCRL) framework for robust power system security. The framework generates diverse system states through AC-OPF formulations, identifies worst-case N-K attack scenarios for each state, and trains policies to mitigate these scenarios across all operating conditions without requiring predefined attack patterns. The framework addresses constraint satisfaction through Beta-blending projection-based feasible action mapping techniques during training and primal-dual augmented Lagrangian optimization for deployment. Once trained, the RCRL policy learns how to control observed cyber-physical attacks in real time. Validation on IEEE benchmark systems demonstrates effectiveness against coordinated N-K attacks, causing widespread cascading failures throughout the network. The learned policy can successfully respond rapidly to recover system-wide constraints back to normal within 0.21 ms inference times, establishing superior resilience for critical infrastructure protection.

Paperid: 2029, https://arxiv.org/pdf/2509.10671.pdf

Abstract:
This letter explores intelligent scheduling of sensor-to-controller communication in networked control systems, particularly when data transmission incurs a cost. While the optimal controller in a standard linear quadratic Gaussian (LQG) setup can be computed analytically, determining the optimal times to transmit sensor data remains computationally and analytically challenging. We show that, through reformulation and the introduction of auxiliary binary variables, the scheduling problem can be cast as a computationally efficient mixed-integer linear program (MILP). This formulation not only simplifies the analysis but also reveals structural insights and provides clear decision criteria at each step. Embedding the approach within a model predictive control (MPC) framework enables dynamic adaptation, and we prove that the resulting scheduler performs at least as well as any deterministic strategy (e.g., periodic strategy). Simulation results further demonstrate that our method consistently outperforms traditional periodic scheduling.

Paperid: 2030, https://arxiv.org/pdf/2509.10649.pdf

Abstract:
With the current trend in Model-Based Systems Engineering towards Digital Engineering and early Validation & Verification, experiments are increasingly used to estimate system parameters and explore design decisions. Managing such experimental configuration metadata and results is of utmost importance in accelerating overall design effort. In particular, we observe it is important to 'intelligent-ly' reuse experiment-related data to save time and effort by not performing potentially superfluous, time-consuming, and resource-intensive experiments. In this work, we present a framework for managing experiments on digital and/or physical assets with a focus on case-based reasoning with domain knowledge to reuse experimental data efficiently by deciding whether an already-performed experiment (or associated answer) can be reused to answer a new (potentially different) question from the engineer/user without having to set up and perform a new experiment. We provide the general architecture for such an experiment manager and validate our approach using an industrial vehicular energy system-design case study.

Paperid: 2031, https://arxiv.org/pdf/2509.10380.pdf

Abstract:
Since the internal temperature is less accessible than surface temperature, there is an urgent need to develop accurate and real-time estimation algorithms for better thermal management and safety. This work presents a novel framework for resource-efficient and scalable development of accurate, robust, and adaptive internal temperature estimation algorithms by blending physics-based modeling with machine learning, in order to address the key challenges in data collection, model parameterization, and estimator design that traditionally hinder both approaches. In this framework, a physics-based model is leveraged to generate simulation data that includes different operating scenarios by sweeping the model parameters and input profiles. Such a cheap simulation dataset can be used to pre-train the machine learning algorithm to capture the underlying mapping relationship. To bridge the simulation-to-reality gap resulting from imperfect modeling, transfer learning with unsupervised domain adaptation is applied to fine-tune the pre-trained machine learning model, by using limited operational data (without internal temperature values) from target batteries. The proposed framework is validated under different operating conditions and across multiple cylindrical batteries with convective air cooling, achieving a root mean square error of 0.5 Â°C when relying solely on prior knowledge of battery thermal properties, and less than 0.1 Â°C when using thermal parameters close to the ground truth. Furthermore, the role of the simulation data quality in the proposed framework has been comprehensively investigated to identify promising ways of synthetic data generation to guarantee the performance of the machine learning model.

Paperid: 2032, https://arxiv.org/pdf/2509.10044.pdf

Abstract:
Power systems with high penetration of inverter-based resources (IBR) present significant challenges for conventional protection schemes, with traditional distance protection methods failing to detect line-to-line faults during asymmetric conditions. This paper presents a methodology for electrical fault detection and classification using ellipse fitting and geometric algebra applied to voltage and current space curves. The approach characterizes electrical faults by fitting ellipses to voltage vector data, enabling fault detection with only a quarter-cycle. The method employs bivector components for line-to-ground fault classification, while ellipse parameters identify line-to-line and three-phase faults. The geometric representation preserves voltage or current curve shapes in three-dimensional space, overcoming Clarke transform limitations when zero-sequence components are present. Validation using simulations and laboratory experiments demonstrates accurate fault identification and magnitude estimation, providing enhanced power system protection capabilities.

Paperid: 2033, https://arxiv.org/pdf/2509.09422.pdf

Abstract:
Design under uncertainty is a challenging problem, as a systems performance can be highly sensitive to variations in input parameters and model uncertainty. A conventional approach to addressing such problems is robust optimization, which seeks to enhance design performance by reducing sensitivity to uncertainty. Alternatively, reliability-based design focuses on optimizing performance while ensuring that failure constraints are satisfied with a specified probability. While both methods are well established, their integration into multi-objective and multi-stakeholder decision-making frameworks remains a challenging problem. In this study, we extend the Compromise Decision Support Problem (cDSP) framework to incorporate reliability-based design considerations and evaluate its performance in comparison to the conventional robust-based cDSP formulation. The developed framework has been validated on a multidisciplinary hot rod rolling process including parametric and model uncertainties. The results compare the predicted performance under robust and reliable scenarios, validating the efficiency of the approach in managing uncertainties for complex, multidisciplinary systems. Specifically, we found that the two methods exhibit markedly different performance when the predicted performance follows a non-normal distribution, a situation that arises in non-linear systems with parametric uncertainty. Based on this insight, we offer guidance to designers on the conditions under which each method is most appropriate.

Paperid: 2034, https://arxiv.org/pdf/2509.08646.pdf

Abstract:
As Large Language Model (LLM) agents become increasingly capable of automating complex, multi-step tasks, the need for robust, secure, and predictable architectural patterns is paramount. This paper provides a comprehensive guide to the ``Plan-then-Execute'' (P-t-E) pattern, an agentic design that separates strategic planning from tactical execution. We explore the foundational principles of P-t-E, detailing its core components - the Planner and the Executor - and its architectural advantages in predictability, cost-efficiency, and reasoning quality over reactive patterns like ReAct (Reason + Act). A central focus is placed on the security implications of this design, particularly its inherent resilience to indirect prompt injection attacks by establishing control-flow integrity. We argue that while P-t-E provides a strong foundation, a defense-in-depth strategy is necessary, and we detail essential complementary controls such as the Principle of Least Privilege, task-scoped tool access, and sandboxed code execution. To make these principles actionable, this guide provides detailed implementation blueprints and working code references for three leading agentic frameworks: LangChain (via LangGraph), CrewAI, and AutoGen. Each framework's approach to implementing the P-t-E pattern is analyzed, highlighting unique features like LangGraph's stateful graphs for re-planning, CrewAI's declarative tool scoping for security, and AutoGen's built-in Docker sandboxing. Finally, we discuss advanced patterns, including dynamic re-planning loops, parallel execution with Directed Acyclic Graphs (DAGs), and the critical role of Human-in-the-Loop (HITL) verification, to offer a complete strategic blueprint for architects, developers, and security engineers aiming to build production-grade, resilient, and trustworthy LLM agents.

Paperid: 2035, https://arxiv.org/pdf/2509.08534.pdf

Abstract:
This paper addresses the problem of collective circular motion control for unicycle agents, with the objective of achieving phase coordination of their velocity vectors while ensuring that their trajectories remain confined within a prescribed non-concentric circular boundary. To accommodate such nonuniform motion constraints, we build upon our earlier work and extend the use of Mobius transformation to a multi-agent framework. The Mobius transformation maps two nonconcentric circles to concentric ones, thereby converting spatially nonuniform constraints into uniform ones in the transformed plane. Leveraging this property, we introduce the notion of a phase-shifted order parameter, along with the associated concepts of Mobius phase-shift coupled synchronization and balancing, which characterize the phase-coordinated patterns studied in this paper. We establish an equivalence between the unicycle dynamics in the original and transformed planes under the Mobius transformation and its inverse, and show that synchronization is preserved across both planes, whereas balancing is generally not. Distributed control laws are then designed in the transformed plane using barrier Lyapunov functions, under the assumption of an undirected and connected communication topology among agents. These controllers are subsequently mapped back to the original plane to obtain the linear acceleration and turn-rate control inputs applied to the actual agents. Both simulations and experimental results are provided to illustrate the proposed framework.

Paperid: 2036, https://arxiv.org/pdf/2509.08343.pdf

Abstract:
A key challenge in abstraction-based verification and control under complex specifications such as Linear Temporal Logic (LTL) is that abstract models retain significantly less information than their original systems. This issue is especially true for continuous-time systems, where the system state trajectories are split into intervals of discrete actions, and satisfaction of atomic propositions is abstracted to a whole time interval. To tackle this challenge, this work introduces a novel translation from LTL specifications to AP-observation automata, a particular type of BÃ¼chi automata specifically designed for abstraction-based verification. Based on this automaton, we present a game-based verification algorithm played between the system and the environment, and an illustrative example for abstraction-based system verification under several LTL specifications.

Paperid: 2037, https://arxiv.org/pdf/2509.07546.pdf

Abstract:
This work addresses an extended class of optimal control problems where a target for a system state has the form of an ellipsoid rather than a fixed, single point. As a computationally affordable method for resolving the extended problem, we present a revised version of the differential dynamic programming (DDP), termed the differential dynamic programming with ellipsoidal target set (ETS-DDP). To this end, the problem with an ellipsoidal target set is reformulated into an equivalent form with the orthogonal projection operator, yielding that the resulting cost functions turn out to be discontinuous at some points. As the DDP usually requires the differentiability of cost functions, in the ETS-DDP formulation we locally approximate the (nonsmooth) cost functions to smoothed ones near the path generated at the previous iteration, by utilizing the explicit form of the orthogonal projection operator. Moreover, a statistical inference method is also presented for designing the ellipsoidal target set, based on data on admissible target points collected by expert demonstrations. Via a simulation on autonomous parking of a vehicle, it is seen that the proposed ETS-DDP efficiently derives an admissible state trajectory while running much faster than the point-targeted DDP, at the expense of optimality.

Paperid: 2038, https://arxiv.org/pdf/2509.07345.pdf

Abstract:
High penetration of renewable energy sources intensifies frequency fluctuations in multi-area power systems, challenging both stability and operational safety. This paper proposes a novel distributed frequency control method that ensures transient frequency safety and enforces generation capacity constraints, while achieving steady-state frequency restoration and optimal economic operation. The method integrates a feedback optimization (FO)-based controller and a safety corrector. The FO-based controller generates reference setpoints by solving an optimization problem, driving the system to the steady state corresponding to the optimal solution of this problem. The safety corrector then modifies these references using control barrier functions to maintain frequencies within prescribed safe bounds during transients while respecting capacity constraints. The proposed method combines low computational burden with improved regulation performance and enhanced practical applicability. Theoretical analysis establishes optimality, asymptotic stability, and transient frequency safety for the closed-loop system. Simulation studies show that, compared with conventional FO-based schemes, the method consistently enforces frequency safety and capacity limits, achieves smaller frequency deviations and faster recovery, thereby demonstrating its practical effectiveness and advantages.

Paperid: 2039, https://arxiv.org/pdf/2509.07320.pdf

Abstract:
Frequency security is critical for power grids, as deviations can trigger widespread outages and result in substantial economic losses. However, modern renewable-dominated power grids face an increased risk of insecurity due to low inertia and nonlinear frequency responses. To mitigate these risks, robust pre-fault frequency security assessment (FSA) is critical, which enables grid operators to implement preventive control strategies. We propose a data-knowledge fusion framework to achieve intelligent FSA in actual power grids. First, we classify FSA domain knowledge into two distinct categories: (1) physics-guided knowledge directs the neural network pre-training process, ensuring that the fusion model's predictions consistent with frequency response mechanisms, and (2) physics-constrained knowledge establishes quantitative relationship on predictions, which forces them within theoretical ranges defined by domain knowledge. Furthermore, we develop a dual-channel neural network architecture to simultaneously capture both local and global characteristics of the power system. Finally, we introduce a data-knowledge fusion training algorithm that integrates guided learning with constrained network architecture to enhance model reliability and generalization. Case studies on China's Yunnan Provincial Power Grid validate the superior performance of our framework: it reduces average prediction error to 1.26% (a 49.2% reduction over data-driven methods), and maintains 97.60% accuracy in untrained scenarios (3.85% higher than data-driven methods), therefore satisfies the accuracy, reliability, and generalization requirements for actual power grids. The proposed methodology establishes a new paradigm for enhancing robustness of FSA in power grids, with potential application to cross-domain security assessment.

Paperid: 2040, https://arxiv.org/pdf/2509.07203.pdf

Abstract:
This study investigates market-driven long-term investment decisions in distributed solar panels by individual investors. We consider a setting where investment decisions are driven by expected revenue from participating in short-term electricity markets over the panel's lifespan. These revenues depend on short-term markets equilibria, i.e., prices and allocations, which are influenced by aggregate invested panel capacity participating in the markets. We model the interactions among investors by a non-atomic game and develop a framework that links short-term markets equilibria to the resulting long-term investment equilibrium. Then, within this framework, we analyze three market mechanisms: (a) a single-product real-time energy market, (b) a product-differentiated real-time energy market that treats solar energy and grid energy as different products, and (c) a contract-based panel market that trades claims or rights to the production of certain panel capacity ex-ante, rather than the realized solar production ex-post. For each, we derive expressions for short-term equilibria and the associated expected revenues, and analytically characterize the corresponding long-term Nash equilibrium aggregate capacity. We compare the solutions of these characterizing equations under different conditions and theoretically establish that the product-differentiated market always supports socially optimal investment, while the single-product market consistently results in under-investment. We also establish that the contract-based market leads to over-investment when the extra valuations of users for solar energy are small. Finally, we validate our theoretical findings through numerical experiments.

Paperid: 2041, https://arxiv.org/pdf/2509.07201.pdf

Abstract:
This paper proposes a linear input-output observer design methodology for a population of systems in which each observer uses knowledge of the linear time-invariant dynamics of the particular device. Observers are typically composed of a known model of the system and a correction mechanism to produce an estimate of the state. The proposed design procedure characterizes the variation within the population in the frequency domain and synthesizes a single robust correction filter. The correction filter is compatible with all system models that satisfy the variation characterization such that a given level of estimation performance is guaranteed. This is accomplished by posing a robust performance problem using the observer error dynamics and solving it using $DK$-iteration. The design procedure is experimentally demonstrated on a flexible joint robotic manipulator with varied joint stiffnesses. It is shown that the proposed method that uses a single correction filter achieves comparable estimation performance to a method that uses a correction gain tailored toward each joint stiffness configuration.

Paperid: 2042, https://arxiv.org/pdf/2509.06279.pdf

Abstract:
Component ageing is a critical concern in power electronic converter systems (PECSs). It directly impacts the reliability, performance, and operational lifespan of converters used across diverse applications, including electric vehicles (EVs), renewable energy systems (RESs) and industrial automation. Therefore, understanding and monitoring component ageing is crucial for developing robust converters and achieving long-term system reliability. This paper proposes a data-driven digital twin (DT) framework for DC-DC buck converters, integrating deep neural network (DNN) with the spider monkey optimization (SMO) algorithm to monitor and predict component degradation. Utilizing a low-power prototype testbed along with empirical and synthetic datasets, the SMO+DNN approach achieves the global optimum in 95% of trials, requires 33% fewer iterations, and results in 80% fewer parameter constraint violations compared to traditional methods. The DNN model achieves $R^2$ scores above 0.998 for all key degradation parameters and accurately forecasts time to failure ($t_{failure}$). In addition, SMO-tuned degradation profile improves the converter's performance by reducing voltage ripple by 20-25% and inductor current ripple by 15-20%.

Paperid: 2043, https://arxiv.org/pdf/2509.06115.pdf

Abstract:
Four-wheel independent steering (4WIS) systems provide mobile robots with a rich set of motion modes, such as Ackermann steering, lateral steering, and parallel movement, offering superior maneuverability in constrained environments. However, existing path planning methods generally assume a single kinematic model and thus fail to fully exploit the multi-modal capabilities of 4WIS platforms. To address this limitation, we propose an extended Hybrid A* framework that operates in a four-dimensional state space incorporating both spatial states and motion modes. Within this framework, we design multi-modal Reeds-Shepp curves tailored to the distinct kinematic constraints of each motion mode, develop an enhanced heuristic function that accounts for mode-switching costs, and introduce a terminal connection strategy with intelligent mode selection to ensure smooth transitions between different steering patterns. The proposed planner enables seamless integration of multiple motion modalities within a single path, significantly improving flexibility and adaptability in complex environments. Results demonstrate significantly improved planning performance for 4WIS robots in complex environments.

Paperid: 2044, https://arxiv.org/pdf/2509.05935.pdf

Abstract:
By providing the optimal operating point that satisfies both the power flow equations and engineering limits, the optimal power flow (OPF) problem is central to the operation of electric power systems. While extensive research efforts have focused on reliably computing high-quality OPF solutions, assessing the feasibility of transitioning between operating points remains challenging since the feasible spaces of OPF problems may consist of multiple disconnected components. It is not possible to transition between operating points in different disconnected components without violating OPF constraints. To identify such situations, this paper introduces an algorithm for certifying the infeasibility of transitioning between two operating points within an OPF feasible space. As an indication of potential disconnectedness, the algorithm first seeks an infeasible point on the line connecting a pair of feasible points. The algorithm then certifies disconnectedness by using convex relaxation and bound tightening techniques to show that all points on the plane that is normal to this line are infeasible. Using this algorithm, we provide the first certifications of disconnected feasible spaces for a variety of OPF test cases.

Paperid: 2045, https://arxiv.org/pdf/2509.05482.pdf

Abstract:
We propose a new recursive estimator for linear dynamical systems under Gaussian process noise and non-Gaussian measurement noise. Specifically, we develop an approximate maximum a posteriori (MAP) estimator using dynamic programming and tools from convex analysis. Our approach does not rely on restrictive noise assumptions and employs a Bellman-like update instead of a Bayesian update. Our proposed estimator is computationally efficient, with only modest overhead compared to a standard Kalman filter. Simulations demonstrate that our estimator achieves lower root mean squared error (RMSE) than the Kalman filter and has comparable performance to state-of-the-art estimators, while requiring significantly less computational power.

Paperid: 2046, https://arxiv.org/pdf/2509.04090.pdf

Abstract:
This letter addresses optimal controller design for periodic linear time-varying systems under unknown-but-bounded disturbances. We introduce differential Lyapunov-type equations to describe time-varying inescapable ellipsoids and define an integral-based measure of their size. To minimize this measure, we develop a differential Riccati equation-based approach that provides exact solutions for state-feedback, observer synthesis, and output-feedback control. A key component is a systematic procedure for determining the optimal time-varying parameter, reducing an infinite-dimensional optimization to a simple iterative process. A numerical example validates the method's effectiveness.

Paperid: 2047, https://arxiv.org/pdf/2509.04014.pdf

Abstract:
While the existing stochastic control theory is well equipped to handle dynamical systems with stochastic uncertainties, a paradigm shift using distance measure based decision making is required for the effective further exploration of the field. As a first step, a distance measure between two stochastic linear time invariant systems is proposed here, extending the existing distance metrics between deterministic linear dynamical systems. In the frequency domain, the proposed distance measure corresponds to the worst-case point-wise in frequency Wasserstein distance between distributions characterising the uncertainties using inverse stereographic projection on the Riemann sphere. For the time domain setting, the proposed distance corresponds to the gap metric induced type-q Wasserstein distance between the distributions characterising the uncertainty of plant models. Apart from providing lower and upper bounds for the proposed distance measures in both frequency and time domain settings, it is proved that the former never exceeds the latter. The proposed distance measures will facilitate the provision of probabilistic guarantees on system robustness and controller performances.

Paperid: 2048, https://arxiv.org/pdf/2509.03789.pdf

Abstract:
The increasing penetration of distributed energy resources and power-electronics interfaces in DC microgrids, coupled with rising cyber threats, necessitates primary controllers that are provably safe, cyber-resilient, and practical. The increasing penetration of distributed energy resources and power-electronics interfaces in DC microgrids, coupled with rising cyber threats, necessitates primary controllers that are provably safe, cyber-resilient, and practical. Conventional droop-based methods remain prevalent due to their simplicity, yet their design is largely empirical and conservative, lacking rigorous guarantees. Advanced strategies improve certain aspects, but often sacrifice scalability, robustness, or formal safety. In this work, we propose a Distributed Safety-Critical Controller (DSCC) that systematically integrates global stabilization with formal safety guarantees in a fully decentralized manner. Leveraging control barrier functions and the port-Hamiltonian system theory, the DSCC achieves scalable safe stabilization while preserving real-time implementability. High-fidelity switched-circuit simulations validate the controller's advantages under various contingencies. This framework paves the way for resilient, safety-critical, and scalable control in next-generation DC microgrids.

Paperid: 2049, https://arxiv.org/pdf/2509.03484.pdf

Abstract:
This paper employs Geometric Algebra (GA) tools to model the dynamics of objects in 3-dimensional space, serving as a proof of concept to facilitate control design for trajectory tracking in underactuated systems. For control purposes, the model is structured as a cascade system, where a rotational subsystem drives a translational one. The rotational subsystem is linear, while the translational subsystem follows a linear-plus-perturbation form, thereby reducing the complexity of control design. A control strategy requiring only simple operations, no memory, and no iterative search loops is presented to illustrate the main features of the GA model. By employing GA to model both translations and rotations, a singularity-free and geometrically intuitive representation can be achieved through the use of the geometric product. Closed-loop stability is rigorously established using input-to-state stability methods. Numerical simulations of a quad tilt-rotorcraft performing trajectory tracking in a windy environment validate the controller's stability and performance.

Paperid: 2050, https://arxiv.org/pdf/2509.02946.pdf

Abstract:
Demand response providers (DRPs) are intermediaries between the upper-level distribution system operator and the lower-level participants in demand response (DR) programs. Usually, DRPs act as leaders and determine electricity pricing strategies to maximize their economic revenue, while end-users adjust their power consumption following the pricing signals. However, this profit-seeking bi-level optimization model often neglects the satisfaction of end-users participating in DR programs. In addition, the detailed mathematical models underlying user decision-making strategy and satisfaction evaluation mechanism are typically unavailable to DRPs, posing significant challenges to conventional model-based solution methods. To address these issues, this paper designs a user-side satisfaction evaluation mechanism and proposes a multi-branch temporal fusion twin-delayed deep deterministic policy gradient (MBTF-TD3) reinforcement learning algorithm. User satisfaction feedback is incorporated into the reward function via a dynamically adjusted penalty term. The proposed MBTF structure effectively extracts temporal feature dependencies in the time-series observation data, and the dynamically adjusted penalty function successfully enhances the overall satisfaction level of users. Several experiments are conducted to validate the performance and the effectiveness of our proposed solution algorithm.

Paperid: 2051, https://arxiv.org/pdf/2509.02822.pdf

Abstract:
The increasing integration of renewable energy sources has introduced complex dynamic behavior in power systems that challenge the adequacy of traditional continuous-time modeling approaches. These developments call for modeling frameworks that can capture the intricate interplay between continuous dynamics and discrete events characterizing modern grid operations. Hybrid dynamical systems offer a rigorous foundation for representing such mixed dynamics and have emerged as a valuable tool in power system analysis. Despite their potential, existing studies remain focused on isolated applications or case-specific implementations, offering limited generalizability and guidance for model selection. This paper addresses that gap by providing a comprehensive overview of hybrid modeling approaches relevant to power systems. It critically examines key formalisms, including hybrid automata, switched systems, and piecewise affine models, evaluating their respective strengths, limitations, and suitability across control, stability, and system design tasks. In doing so, the paper identifies open challenges and outlines future research directions to support the systematic application of hybrid methods in renewable-rich, converter-dominated power systems

Paperid: 2052, https://arxiv.org/pdf/2509.02812.pdf

Abstract:
This paper studies a finite-horizon Markov decision problem with information-theoretic constraints, where the goal is to minimize directed information from the controlled source process to the control process, subject to stage-wise cost constraints, aiming for an optimal control policy. We propose a new way of approximating a solution for this problem, which is known to be formulated as an unconstrained MDP with a continuous information-state using Q-factors. To avoid the computational complexity of discretizing the continuous information-state space, we propose a truncated rollout-based backward-forward approximate dynamic programming (ADP) framework. Our approach consists of two phases: an offline base policy approximation over a shorter time horizon, followed by an online rollout lookahead minimization, both supported by provable convergence guarantees. We supplement our theoretical results with a numerical example where we demonstrate the cost improvement of the rollout method compared to a previously proposed policy approximation method, and the computational complexity observed in executing the offline and online phases for the two methods.

Paperid: 2053, https://arxiv.org/pdf/2509.02808.pdf

Abstract:
Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach to autonomy, but are known to not generalize well to `out-of-distribution' environments not encountered during training. In this work, we train a normalizing flow-based prior over the environment, which provides a measure of how far out-of-distribution the quadrotor is at any given time. We use this measure as a runtime monitor, allowing us to switch between a learning-based controller and a safe controller when we are sufficiently out-of-distribution. Our methods are benchmarked on a point-to-point navigation task in a simulated 3D cave environment based on real-world point cloud data from the DARPA Subterranean Challenge Final Event Dataset. Our experimental results show that our combined controller simultaneously possesses the liveness of the learning-based controller (completing the task quickly) and the safety of the safety controller (avoiding collision).

Paperid: 2054, https://arxiv.org/pdf/2509.02426.pdf

Abstract:
Electrified roadways (ER) equipped with dynamic wireless power transfer (DWPT) capabilities can patently extend the driving range and reduce the battery size of electric vehicles (EVs). However, due to the spatial arrangement of the transmitter coils in the ER, the DWPT load exhibits frequency content that could excite power system frequency dynamics. In this context, this work aims to study the spectrum of DWPT loads under different traffic conditions. We develop statistical models for EVs moving at constant speeds to identify the location and magnitude of DWPT load harmonics. Our analysis reveals that the fundamental frequency is dependent on the ER coil spacing and the average EV speed. In the worst-case yet unlikely scenario that EVs move in a synchronized fashion, the amplitude of harmonics scales with the number of EVs. On the contrary, when EVs move freely, harmonics scale with the square root of the number of EVs. Platoon formations can accentuate harmonics. We also show that for higher-order harmonics, the spectral content around harmonics decreases in magnitude and increases in bandwidth. Despite the simplified models, our analysis offers valuable insights for ER planners and grid operators. Numerical tests using a traffic simulator corroborate some of these insights.

Paperid: 2055, https://arxiv.org/pdf/2509.02204.pdf

Abstract:
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The proposed method adjusts observer gains based on the estimated state to achieve fast convergence and low noise sensitivity in state estimation. A Lyapunov-based analysis ensures stability and accuracy, while simulations using vision-based sensor data validate the approach under realistic conditions. Compared to classical observers with time-invariant gains, the proposed method enhances trajectory tracking precision and reduces control input switching, making it a promising solution for autonomous spacecraft localization and control.

Paperid: 2056, https://arxiv.org/pdf/2509.02054.pdf

Abstract:
A popular method for designing digital models is transforming the transfer function of the corresponding analog models from continuous domain (s-domain) into discrete domain (z-domain) using the s-to-z transformation. The alpha-approximation is a generalized form of these transformations. When alpha is set to 0.5, the result is the well-known Tustin transformation or bi-linear transformation. In this paper, we provided a comprehensive analysis of the alpha-approximation method, including mathematical interpretation, stability analysis and distortion analysis. Through mathematical interpretation, we revealed that it can be derived by numerically integrating the error function We defined this as the hexagonal approximation. We demonstrated that the stable range of alpha was [0.5, 1] by doing stability analysis. Through distortion analysis, we found that minimizing amplitude and phase distortion simultaneously seemed impossible by regulating alpha alone. Finally, We proposed an exclusion hypothesis hypothesizing that there is no single parameter alpha to minimize the amplitude distortion and phase distortion simultaneously across all frequency points within the Nyquist frequency range. This paper demonstrates that designing parameter alpha involves balancing amplitude and phase distortion.

Paperid: 2057, https://arxiv.org/pdf/2509.01980.pdf

Abstract:
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing long-range science missions and autonomously navigating challenging Martian terrain. Given significant Earth-Mars communication delays and mission complexity, an advanced autonomy framework is required to ensure safe and efficient operation by continuously adapting behavior based on mission objectives and real-time conditions, without human intervention. This study presents a deterministic high-level control framework for aerial exploration, integrating a Finite State Machine (FSM) with Behavior Trees (BTs) to achieve a scalable, robust, and computationally efficient autonomy solution for critical scenarios like deep space exploration. In this paper we outline key capabilities of a possible MSH and detail the FSM-BT hybrid autonomy framework which orchestrates them to achieve the desired objectives. Monte Carlo simulations and real field tests validate the framework, demonstrating its robustness and adaptability to both discrete events and real-time system feedback. These inputs trigger state transitions or dynamically adjust behavior execution, enabling reactive and context-aware responses. The framework is middleware-agnostic, supporting integration with systems like F-Prime and extending beyond aerial robotics.

Paperid: 2058, https://arxiv.org/pdf/2509.01789.pdf

Abstract:
Machine learning has recently been adopted to emulate sensitivity matrices for real-time magnetic control of tokamak plasmas. However, these approaches would benefit from a quantification of possible inaccuracies. We report on two aspects of real-time applicability of emulators. First, we quantify the agreement of target displacement from VCs computed via Jacobians of the shape emulators with those from finite differences Jacobians on exact Grad-Shafranov solutions. Good agreement ($\approx$5-10%) can be achieved on a selection of geometric targets using combinations of neural network emulators with $\approx10^5$ parameters. A sample of $\approx10^{5}-10^{6}$ synthetic equilibria is essential to train emulators that are not over-regularised or overfitting. Smaller models trained on the shape targets may be further fine-tuned to better fit the Jacobians. Second, we address the effect of vessel currents that are not directly measured in real-time and are typically subsumed into effective "shaping currents" when designing virtual circuits. We demonstrate that shaping currents can be inferred via simple linear regression on a trailing window of active coil current measurements with residuals of only a few AmpÃ¨res, enabling a choice for the most appropriate shaping currents at any point in a shot. While these results are based on historic shot data and simulations tailored to MAST-U, they indicate that emulators with few-millisecond latency can be developed for robust real-time plasma shape control in existing and upcoming tokamaks.

Paperid: 2059, https://arxiv.org/pdf/2509.01770.pdf

Abstract:
This paper investigates the impact of technological constraints on passive elements in the design of inductively degenerated CMOS low-noise amplifiers (LNAs). A theoretical analysis is combined with circuit simulations in a 130-nm CMOS process at 2.45~GHz to explore how the available inductance and capacitance values limit key design objectives such as maximum gain, minimum power consumption, and transistor sizing. Results show that these limits significantly restrict the achievable design space, particularly for low-power implementations, and highlight the need to incorporate detailed passive-element models into RF integrated circuit design flows.

Paperid: 2060, https://arxiv.org/pdf/2509.01767.pdf

Abstract:
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional prediction model is proposed for the outer loop, explicitly accounting for time-varying coupled constraints, where multiple variables are interdependent and need to be handled together. The outer-loop controller generates an acceleration reference, which is then converted into attitude and angular velocity references, later tracked by a nonlinear inner-loop controller. Numerical simulations validate the approach, demonstrating enhanced performance in precise and fast tracking by imposing less conservative constraints than existing approaches, while still guaranteeing stability.

Paperid: 2061, https://arxiv.org/pdf/2509.01694.pdf

Abstract:
We propose a framework for resource provisioning with QoS guarantees in shared infrastructure networks. Our novel framework provides tunable probabilistic service guarantees for throughput and delay. Key to our approach is a Modified Dirft-plus-Penalty (MDP) policy that ensures long-term stability while capturing short-term probabilistic service guarantees using linearized upper-confidence bounds. We characterize the feasible region of service guarantees and show that our MDP procedure achieves mean rate stability and an optimality gap that vanishes with the frame size over which service guarantees are provided. Finally, empirical simulations validate our theory and demonstrate the favorable performance of our algorithm in handling QoS in multi-infrastructure networks.

Paperid: 2062, https://arxiv.org/pdf/2509.01537.pdf

Abstract:
This letter proposes a targeted-subharmonic-eliminating pulse density modulation (TSE-PDM) method for SS- compensated WPT systems. By designing a noise transfer function with notch characteristics, the subharmonic components which excite current abnormal oscillations were eliminated. Simulation and experimental results demonstrate the effectiveness of the TSE-PDM in suppressing current abnormal oscillations. The proposed method is easy to implement in either primary or secondary side of the WPT system and exhibits a certain tolerance to deviations in NTF design, representing the most straightforward method for abnormal oscillation suppression in PDM controlled WPT systems.

Paperid: 2063, https://arxiv.org/pdf/2509.01188.pdf

Abstract:
Feedback optimization has emerged as an effective strategy for steady-state optimization of dynamical systems. By exploiting models of the steady-state input-output sensitivity, methods of this type are often sample efficient, and their use of feedback ensures that they are robust against model error. Still, this robustness has its limitations, and the dependence on a model may hinder convergence in settings with high model error. We investigate here the effect of a particular type of model error: bias due to identifying the model from closed-loop data. Our main results are a sufficient convergence condition, and a converse divergence condition. The convergence condition requires a matrix which depends on the closed-loop sensitivity and a noise-to-signal ratio of the data generating system to be positive definite. The negative definiteness of the same matrix characterizes an extreme case where the bias due to closed-loop data results in divergence of model-based feedback optimization.

Paperid: 2064, https://arxiv.org/pdf/2509.00415.pdf

Abstract:
Partially observable restless multi-armed bandits have found numerous applications including in recommendation systems, communication systems, public healthcare outreach systems, and in operations research. We study multi-action partially observable restless multi-armed bandits, it is a generalization of the classical restless multi-armed bandit problem -- 1) each bandit has finite states, and the current state is not observable, 2) each bandit has finite actions. In particular, we assume that more than two actions are available for each bandit. We motivate our problem with the application of public-health intervention planning. We describe the model and formulate a long term discounted optimization problem, where the state of each bandit evolves according to a Markov process, and this evolution is action dependent. The state of a bandit is not observable but one of finitely many feedback signals are observable. Each bandit yields a reward, based on the action taken on that bandit. The agent is assumed to have a budget constraint. The bandits are assumed to be independent. However, they are weakly coupled at the agent through the budget constraint. We first analyze the Lagrangian bound method for our partially observable restless bandits. The computation of optimal value functions for finite-state, finite-action POMDPs is non-trivial. Hence, the computation of Lagrangian bounds is also challenging. We describe approximations for the computation of Lagrangian bounds using point based value iteration (PBVI) and online rollout policy. We further present various properties of the value functions and provide theoretical insights on PBVI and online rollout policy. We study heuristic policies for multi-actions PORMAB. Finally, we discuss present Whittle index policies and their limitations in our model.

Paperid: 2065, https://arxiv.org/pdf/2509.00291.pdf

Abstract:
Noninvasive brain stimulation can write signals into neurons but requires power electronics with exceptionally high power in the mega-volt-ampere range and kilohertz usable bandwidth. Whereas oscillator circuits offered only one or very few pulse shapes, modular cascaded power electronics solved a long-standing problem for the first time and enabled arbitrary software-based synthesis of the temporal shape of stimuli. However, synthesizing arbitrary stimuli with a high output quality requires a large number of modules. 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. The module voltage sequence does also not use just a simple binary pattern other work might suggest but adapts it to the output. Additionally, we introduce a switched-capacitor charging mechanism that allows the modules to charge to different voltages through a single dc power supply. We validated our design in a head-to-head comparison with the state of the art on experimental prototypes. Our three-module prototype reduces total voltage distortion by 13.4% compared to prior art with three modules, and by 4.5% compared to prior art with six -- twice as many -- modules. This paper is the first asymmetric multilevel circuit as a high-precision high-power synthesizer, as well as the first to adaptively optimize asymmetric voltage sequence in modular power electronics.

Paperid: 2066, https://arxiv.org/pdf/2509.00175.pdf

Abstract:
The transition to sustainable energy is critical for addressing global climate change. Hydrogen production, particularly via electrolysis, has emerged as a key solution, offering the potential for low-carbon energy across various sectors. This paper presents a novel approach to enhancing hydrogen production by aligning it with periods of low-carbon intensity on the electricity grid. Leveraging real-time data from the Electricity Mapping database and real-time electricity cost data from the AEMO database, the model dynamically adjusts hydrogen output to minimize both emissions and production costs. Furthermore, the integration of hydrogen tax credits significantly enhances cost-effectiveness, offering a viable pathway for widespread adoption. A comprehensive Life Cycle Assessment (LCA) framework is employed to assess the environmental impacts, emphasizing the need for real-time data incorporation to more accurately reflect hydrogen production's carbon footprint. The study concludes that dynamic, real-time operation, coupled with financial incentives, provides a promising method to enhance the sustainability and economic viability of hydrogen production.

Paperid: 2067, https://arxiv.org/pdf/2508.21724.pdf

Abstract:
Motor Imagery-Based Brain-Computer Interfaces (MI-BCIs) are systems that detect and interpret brain activity patterns linked to the mental visualization of movement, and then translate these into instructions for controlling external robotic or domotic devices. Such devices have the potential to be useful in a broad variety of applications. While implementing a system that would help individuals restore some freedom levels, the interpretation of (Electroencephalography) EEG data remains a complex and unsolved problem. In the literature, the classification of left and right imagined movements has been extensively studied. This study introduces a novel pipeline that makes use of machine learning techniques for classifying MI EEG data. The entire framework is capable of accurately categorizing left and imagined motions, as well as rest phases, for a set of 52 subjects who performed a MI task. We trained a within subject model on each individual subject. The methodology has been offline evaluated and compared to four studies that are currently the state-of-the-art regarding the specified dataset. The results show that our proposed framework could be used with MI-BCI systems in light of its failsafe classification performances, i.e. 99.5% in accuracy

Paperid: 2068, https://arxiv.org/pdf/2508.21687.pdf

Abstract:
Chance-constrained optimization has emerged as a promising framework for managing uncertainties in power systems. This work advances its application to the DC Optimal Power Flow (DC-OPF) model, developing a novel approach to uncertainty modeling and estimation. Current methods typically tackle these problems by first modeling random nodal injections using high-dimensional statistical distributions that scale with the number of buses, followed by deriving deterministic reformulations of the probabilistic constraints. We propose an alternative methodology that exploits the constraint structure to inform the uncertainties to be estimated, enabling significant dimensionality reduction. Rather than learning joint distributions of net-load forecast errors across units, we instead directly model the one-dimensional aggregate system forecast error and two-dimensional line errors weighted by power transfer distribution factors. We evaluate our approach under both Gaussian and non-Gaussian distributions on synthetic and real-world datasets, demonstrating significant improvements in statistical accuracy and optimization performance compared to existing methods.

Paperid: 2069, https://arxiv.org/pdf/2508.20913.pdf

Abstract:
The ability of deeply decarbonised power systems to ensure adequacy may increasingly depend on long-duration energy storage (LDES). A central challenge is whether capacity markets (CMs), originally designed around thermal generation, can provide efficient investment signals when storage becomes a central participant. While recent studies have advanced methods for accrediting variable renewables and short-duration storage, the effectiveness of these methods in CMs with substantial LDES penetration remains largely unexplored. To address this gap, we extend a two-stage stochastic equilibrium investment model by endogenising continuous, duration-based capacity accreditation for storage and apply it to a Great Britain-based case using 40 years of weather-driven demand and renewable profiles under varying emission limits. Results show that well-calibrated CMs can sustain near-efficient investment and mitigate revenue volatility, but their effectiveness diminishes in deeply decarbonized systems, underscoring both their potential and the regulatory challenges of supporting large-scale LDES.

Paperid: 2070, https://arxiv.org/pdf/2508.20611.pdf

Abstract:
This paper studies an architecture with digitally controllable gain and power consumption to mitigate the impact of process variations on CMOS low-noise amplifiers (LNAs). A \SI{130}{nm}, \SI{1.2}{V} LNA implementing the proposed architecture is designed based on an analysis of variability in traditional LNAs under different bias currents and on the corresponding effects on the performance of a complete receiver. Two different adjustment strategies are evaluated, both of which are compatible with previously reported built-in self-test (BIST) circuits. Results show that the proposed architecture enables yield enhancement while keeping low-power operation compared with traditional LNAs.

Paperid: 2071, https://arxiv.org/pdf/2508.20344.pdf

Abstract:
Many theoretical studies on neural networks attribute their excellent empirical performance to the implicit bias or regularization induced by first-order optimization algorithms when training networks under certain initialization assumptions. One example is the incremental learning phenomenon in gradient flow (GF) on an overparamerterized matrix factorization problem with small initialization: GF learns a target matrix by sequentially learning its singular values in decreasing order of magnitude over time. In this paper, we develop a quantitative understanding of this incremental learning behavior for GF on the symmetric matrix factorization problem, using its closed-form solution obtained by solving a Riccati-like matrix differential equation. We show that incremental learning emerges from some time-scale separation among dynamics corresponding to learning different components in the target matrix. By decreasing the initialization scale, these time-scale separations become more prominent, allowing one to find low-rank approximations of the target matrix. Lastly, we discuss the possible avenues for extending this analysis to asymmetric matrix factorization problems.

Paperid: 2072, https://arxiv.org/pdf/2508.19933.pdf

Abstract:
The electrification and automation of mobility are reshaping how cities operate on-demand transport systems. Managing Electric Autonomous Mobility-on-Demand (EAMoD) fleets effectively requires coordinating dispatch, rebalancing, and charging decisions under multiple uncertainties, including travel demand, travel time, energy consumption, and charger availability. We address this challenge with a combined stochastic and robust model predictive control (MPC) framework. The framework integrates spatio-temporal Bayesian neural network forecasts with a multi-stage stochastic optimization model, formulated as a large-scale mixed-integer linear program. To ensure real-time applicability, we develop a tailored Nested Benders Decomposition that exploits the scenario tree structure and enables efficient parallelized solution. Stochastic optimization is employed to anticipate demand and infrastructure variability, while robust constraints on energy consumption and travel times safeguard feasibility under worst-case realizations. We evaluate the framework using high-fidelity simulations of San Francisco and Chicago. Compared with deterministic, reactive, and robust baselines, the combined stochastic and robust approach reduces median passenger waiting times by up to 36% and 95th-percentile delays by nearly 20%, while also lowering rebalancing distance by 27% and electricity costs by more than 35%. We also conduct a sensitivity analysis of battery size and vehicle efficiency, finding that energy-efficient vehicles maintain stable performance even with small batteries, whereas less efficient vehicles require larger batteries and greater infrastructure support. Our results emphasize the importance of jointly optimizing predictive control, vehicle capabilities, and infrastructure planning to enable scalable, cost-efficient EAMoD operations.

Paperid: 2073, https://arxiv.org/pdf/2508.19164.pdf

Abstract:
We propose the Hardware-in-the-Loop (HIL) test of an adaptive satellite attitude control system with reaction wheel health estimation capabilities. Previous simulations and Software-in-the-Loop testing have prompted further experiments to explore the validity of the controller with real momentum exchange devices in the loop. This work is a step toward a comprehensive testing framework for validation of spacecraft attitude control algorithms. The proposed HIL testbed includes brushless DC motors and drivers that communicate using a CAN bus, an embedded computer that executes control and adaptation laws, and a satellite simulator that produces simulated sensor data, estimated attitude states, and responds to actions of the external actuators. We propose methods to artificially induce failures on the reaction wheels, and present related issues and lessons learned.

Paperid: 2074, https://arxiv.org/pdf/2508.19054.pdf

Abstract:
We introduce TROOP, a tree-based Riccati optimistic online planner, that is designed to generate near-optimal control laws for discrete-time switched linear systems with switched quadratic costs. The key challenge that we address is balancing computational resources against control performance, which is important as constructing near-optimal inputs often requires substantial amount of computations. TROOP addresses this trade-off by adopting an online best-first search strategy inspired by A*, allowing for efficient estimates of the optimal value function. The control laws obtained guarantee both near-optimality and stability properties for the closed-loop system. These properties depend on the planning depth, which determines how far into the future the algorithm explores and is closely related to the amount of computations. TROOP thus strikes a balance between computational efficiency and control performance, which is illustrated by numerical simulations on an example.

Paperid: 2075, https://arxiv.org/pdf/2508.18136.pdf

Abstract:
The urgent need for renewable energy expansion, particularly wind power, is hindered by conflicts with wildlife conservation. To address this, we developed BirdRecorder, an advanced AI-based anti-collision system to protect endangered birds, especially the red kite (Milvus milvus). Integrating robotics, telemetry, and high-performance AI algorithms, BirdRecorder aims to detect, track, and classify avian species within a range of 800 m to minimize bird-turbine collisions. BirdRecorder integrates advanced AI methods with optimized hardware and software architectures to enable real-time image processing. Leveraging Single Shot Detector (SSD) for detection, combined with specialized hardware acceleration and tracking algorithms, our system achieves high detection precision while maintaining the speed necessary for real-time decision-making. By combining these components, BirdRecorder outperforms existing approaches in both accuracy and efficiency. In this paper, we summarize results on field tests and performance of the BirdRecorder system. By bridging the gap between renewable energy expansion and wildlife conservation, BirdRecorder contributes to a more sustainable coexistence of technology and nature.

Paperid: 2076, https://arxiv.org/pdf/2508.17142.pdf

Abstract:
This paper proposes a frequency-domain system identification method for learning low-order systems. The identification problem is formulated as the minimization of the l2 norm between the identified and measured frequency responses, with the nuclear norm of the Loewner matrix serving as a regularization term. This formulation results in an optimization problem that can be efficiently solved using standard convex optimization techniques. We derive an upper bound on the sampled-frequency complexity of the identification process and subsequently extend this bound to characterize the identification error over all frequencies. A detailed analysis of the sample complexity is provided, along with a thorough interpretation of its terms and dependencies. Finally, the efficacy of the proposed method is demonstrated through an example, along with numerical simulations validating the growth rate of the sample complexity bound.

Paperid: 2077, https://arxiv.org/pdf/2508.16913.pdf

Abstract:
Traditional control personalization requires users to understand optimization parameters and provide repetitive numerical feedback, creating significant barriers for non-expert users. To deal with this issue, we propose ChatMPC, a model predictive control framework that enables users to personalize control systems and adapt to environmental changes through natural language interaction. The framework operates in two modes: personalization, where users iteratively adjust control behavior to their preferences, and co-development, where users provide real-time environmental information that complements sensor data. We establish convergence guarantees under different user behavior models, demonstrating exponential convergence for consistent feedback and finite-time convergence with logarithmic interaction complexity for tolerance-based users. We validate ChatMPC through experiments in robot navigation with personalized obstacle avoidance and semi-autonomous driving with conversational obstacle reporting. Both experiments achieve real-time performance and demonstrate effective adaptation to user preferences and environmental changes.

Paperid: 2078, https://arxiv.org/pdf/2508.16827.pdf

Abstract:
The high penetration of distributed energy resources (DERs) in low-voltage distribution networks (LVDNs) often leads to network instability and congestion. Discovering the flexibility potential of behind- the-meter (BTM) assets offers a promising solution to these challenges, providing benefits for both prosumers and grid operators. This review focuses on the objectives and constraints associated with the operation of BTM flexibility resources in LVDNs. We propose a new classification framework for network-aware flexibility modelling that incorporates prosumer objectives, flexibility sources, and both local and grid-level constraints. This review identifies research gaps in prosumer-centric grid considerations, control strategies, flexibility preferences, and scenarios in the use of BTM resources.

Paperid: 2079, https://arxiv.org/pdf/2508.16476.pdf

Abstract:
Multi-objective Bayesian optimization (MOBO) struggles with sparse (non-space-filling), scarce (limited observations) datasets affected by experimental uncertainty, where identical inputs can yield varying outputs. These challenges are common in physical and simulation experiments (e.g., randomized medical trials and, molecular dynamics simulations) and are therefore incompatible with conventional MOBO methods. As a result, experimental resources are inefficiently allocated, leading to suboptimal designs. To address this challenge, we introduce NOSTRA (Noisy and Sparse Data Trust Region-based Optimization Algorithm), a novel sampling framework that integrates prior knowledge of experimental uncertainty to construct more accurate surrogate models while employing trust regions to focus sampling on promising areas of the design space. By strategically leveraging prior information and refining search regions, NOSTRA accelerates convergence to the Pareto frontier, enhances data efficiency, and improves solution quality. Through two test functions with varying levels of experimental uncertainty, we demonstrate that NOSTRA outperforms existing methods in handling noisy, sparse, and scarce data. Specifically, we illustrate that, NOSTRA effectively prioritizes regions where samples enhance the accuracy of the identified Pareto frontier, offering a resource-efficient algorithm that is practical in scenarios with limited experimental budgets while ensuring efficient performance.

Paperid: 2080, https://arxiv.org/pdf/2508.16457.pdf

Abstract:
This paper develops a new dynamic power profiling approach for modeling AI-centric datacenter loads and analyzing their impact on grid operations, particularly their potential to induce wide-area grid oscillations. We characterize the periodic stochastic power fluctuations inherent to large-scale AI workloads during both the training and fine-tuning stages, driven by the state-of-the-art GPU computing architecture designs. These sustained, large power fluctuations, unlike conventional load ramping, act as persistent forcing inputs capable of interacting with and amplifying local and inter-area oscillation modes. Using the WECC 179-bus system as a test case, we examine the amplitude and variability of oscillatory responses under different factors, ranging from system strength, penetration level, fluctuation frequency range, individual datacenter size, to geographical deployment. Simulation results show that, notably, narrower fluctuation bands, larger single-site capacities, or dispersed siting can intensify oscillations across multiple modes. Our models and numerical studies provide a quantitative basis for integrating AI-dominant electricity demands into grid oscillation studies, and further support the development of new planning and operational measures to power the continuous AI load growth.

Paperid: 2081, https://arxiv.org/pdf/2508.15006.pdf

Abstract:
Network reduction simplifies complex electrical networks to address computational challenges of large-scale transmission and distribution grids. Traditional network reduction methods are often based on a predefined set of nodes or lines to remain in the reduced network. This paper builds upon previous work on Optimal Kron-based Reduction of Networks (Opti-KRON), which was formulated as a mixed-integer linear program (MILP), to enhance the framework in two aspects. First, the scalability is improved via a cutting plane restriction, tightened Big~M bounds, and a zero-injection node reduction stage. Next, we introduce a radiality-preservation step to identify and recover nodes whose restoration ensures radiality of the reduced network. The model is validated through its application to the 533-bus distribution test system and a 3499-bus realistic test feeder for a set of representative loading scenarios. In the 533-bus system, an 85% reduction was achieved with a maximum voltage error below 0.0025 p.u., while in the 3499-bus feeder, over 94% reduction was obtained with maximum voltage errors below 0.002 p.u. Additionally, we show that the radialization step accelerates the runtime of optimal voltage control problems when applied to Kron-reduced networks.

Paperid: 2082, https://arxiv.org/pdf/2508.14198.pdf

Abstract:
This contribution addresses vessel trajectory prediction (VTP), focusing on the evaluation of different deep learning-based approaches. The objective is to assess model performance in diverse traffic complexities and compare the reliability of the approaches. While previous VTP models overlook the specific traffic situation complexity and lack reliability assessments, this research uses a probability of detection analysis to quantify model reliability in varying traffic scenarios, thus going beyond common error distribution analyses. All models are evaluated on test samples categorized according to their traffic situation during the prediction horizon, with performance metrics and reliability estimates obtained for each category. The results of this comprehensive evaluation provide a deeper understanding of the strengths and weaknesses of the different prediction approaches, along with their reliability in terms of the prediction horizon lengths for which safe forecasts can be guaranteed. These findings can inform the development of more reliable vessel trajectory prediction approaches, enhancing safety and efficiency in future inland waterways navigation.

Paperid: 2083, https://arxiv.org/pdf/2508.12982.pdf

Abstract:
Probability generating functionals (PGFLs) are efficient and powerful tools for tracking independent objects in clutter. It was shown that PGFLs could be used for the elegant derivation of practical multi-object tracking algorithms, e.g., the probability hypothesis density (PHD) filter. However, derivations using PGFLs use the so-called functional derivatives whose definitions usually appear too complicated or heuristic, involving Dirac delta ``functions''. This paper begins by comparing different definitions of functional derivatives and exploring their relationships and implications for practical applications. It then proposes a rigorous definition of the functional derivative, utilizing straightforward yet precise mathematics for clarity. Key properties of the functional derivative are revealed and discussed.

Paperid: 2084, https://arxiv.org/pdf/2508.10867.pdf

Abstract:
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO system. An inconsistent estimator can degrade localization performance, where the inconsistency primarily arises from two main factors: (1) the estimator fails to preserve the correct system observability, and (2) UWB anchor positions are assumed to be known, leading to improper neglect of calibration uncertainty. In this paper, we propose a consistent and tightly-coupled visual-inertial-ranging odometry (CVIRO) system based on the Lie group. Our method incorporates the UWB anchor state into the system state, explicitly accounting for UWB calibration uncertainty and enabling the joint and consistent estimation of both robot and anchor states. Furthermore, observability consistency is ensured by leveraging the invariant error properties of the Lie group. We analytically prove that the CVIRO algorithm naturally maintains the system's correct unobservable subspace, thereby preserving estimation consistency. Extensive simulations and experiments demonstrate that CVIRO achieves superior localization accuracy and consistency compared to existing methods.

Paperid: 2085, https://arxiv.org/pdf/2508.10780.pdf

Abstract:
Modern robotic systems, such as mobile manipulators, humanoids, and aerial robots with arms, often possess high redundancy, enabling them to perform multiple tasks simultaneously. Managing this redundancy is key to achieving reliable and flexible behavior. A widely used approach is the Stack of Tasks (SoT), which organizes control objectives by priority within a unified framework. However, traditional SoTs are manually designed by experts, limiting their adaptability and accessibility. This paper introduces a novel framework that automatically learns both the hierarchy and parameters of a SoT from user-defined objectives. By combining Reinforcement Learning and Genetic Programming, the system discovers task priorities and control strategies without manual intervention. A cost function based on intuitive metrics such as precision, safety, and execution time guides the learning process. We validate our method through simulations and experiments on the mobile-YuMi platform, a dual-arm mobile manipulator with high redundancy. Results show that the learned SoTs enable the robot to dynamically adapt to changing environments and inputs, balancing competing objectives while maintaining robust task execution. This approach provides a general and user-friendly solution for redundancy management in complex robots, advancing human-centered robot programming and reducing the need for expert design.

Paperid: 2086, https://arxiv.org/pdf/2508.10679.pdf

Abstract:
With the continuous increase in the penetration of renewable energy in the emerging power systems, the pressure on system peak regulation has been significantly intensified. Against this backdrop, demand side resources particularly air conditioning loads have garnered considerable attention for their substantial regulation potential and fast response capabilities, making them promising candidates for providing auxiliary peak shaving services. This study focuses on fixed frequency air conditioners (FFACs) and proposes an optimization model and solution method for their participation in demand response (DR) programs. First, a probabilistic response model for FFACs is developed based on the Markov assumption. Second, by sampling this probabilistic model, the aggregate power consumption of an FFAC cluster under decentralized control is obtained. Subsequently, a robust optimization model is formulated to maximize the profit of an aggregator managing the FFAC cluster during DR events, taking into account the aggregated response power. The model explicitly considers temperature uncertainty to ensure user comfort in a robust sense. Finally, leveraging the structure of the proposed model, it is reformulated as a mixed-integer linear programming (MILP) problem and solved using a commercial optimization solver. Simulation results validate the effectiveness of the proposed model and solution approach.

Paperid: 2087, https://arxiv.org/pdf/2508.09595.pdf

Abstract:
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited workspaces, insufficient degrees of freedom, and kinematics not matching the human arm. In this paper, we present HapticGiant, a novel large-scale kinesthetic haptic interface designed to match the properties of the human arm as closely as possible and to facilitate natural user locomotion while providing full haptic feedback. The interface incorporates a novel admittance-type force control scheme, leveraging hierarchical optimization to render both arbitrary serial kinematic chains and Cartesian admittances. Notably, the proposed control scheme natively accounts for system limitations, including joint and Cartesian constraints, as well as singularities. Experimental results demonstrate the effectiveness of HapticGiant and its control scheme, paving the way for highly immersive virtual reality applications.

Paperid: 2088, https://arxiv.org/pdf/2508.08144.pdf

Abstract:
The rapid growth of resource-constrained mobile platforms, including mobile robots, wearable systems, and Internet-of-Things devices, has increased the demand for computationally efficient neural network controllers (NNCs) that can operate within strict hardware limitations. While deep neural networks (DNNs) demonstrate superior performance in control applications, their substantial computational complexity and memory requirements present significant barriers to practical deployment on edge devices. This paper introduces a comprehensive model compression methodology that leverages component-aware structured pruning to determine the optimal pruning magnitude for each pruning group, ensuring a balance between compression and stability for NNC deployment. Our approach is rigorously evaluated on Temporal Difference Model Predictive Control (TD-MPC), a state-of-the-art model-based reinforcement learning algorithm, with a systematic integration of mathematical stability guarantee properties, specifically Lyapunov criteria. The key contribution of this work lies in providing a principled framework for determining the theoretical limits of model compression while preserving controller stability. Experimental validation demonstrates that our methodology successfully reduces model complexity while maintaining requisite control performance and stability characteristics. Furthermore, our approach establishes a quantitative boundary for safe compression ratios, enabling practitioners to systematically determine the maximum permissible model reduction before violating critical stability properties, thereby facilitating the confident deployment of compressed NNCs in resource-limited environments.

Paperid: 2089, https://arxiv.org/pdf/2508.06520.pdf

Abstract:
We propose a differentiable optimization framework for flip-and-landing trajectory design of reusable spacecraft, exemplified by the Starship vehicle. A deep neural network surrogate, trained on high-fidelity CFD data, predicts aerodynamic forces and moments, and is tightly coupled with a differentiable rigid-body dynamics solver. This enables end-to-end gradient-based trajectory optimization without linearization or convex relaxation. The framework handles actuator limits and terminal landing constraints, producing physically consistent, optimized control sequences. Both standard automatic differentiation and Neural ODEs are applied to support long-horizon rollouts. Results demonstrate the framework's effectiveness in modeling and optimizing complex maneuvers with high nonlinearities. This work lays the groundwork for future extensions involving unsteady aerodynamics, plume interactions, and intelligent guidance design.

Paperid: 2090, https://arxiv.org/pdf/2508.03708.pdf

Abstract:
Across the developed world, there are growing calls to streamline and improve ever more complex income tax codes. Executing reform has proven difficult. Even when the desired outcomes of a reform are clear, the tools to design fitting reforms are lacking. To remedy this, we developed \texttt{TaxSolver}: a methodology to help policymakers realize optimal income tax reform. \texttt{TaxSolver} allows policymakers to focus solely on what they aim to achieve with a reform -- like redistributing wealth, incentivizing labor market participation or reducing complexity -- and the guarantees within which reform is acceptable -- like limiting fluctuations in taxpayer incomes, protecting households from falling into poverty or shocks to overall tax revenue. Given these goals and fiscal guarantees, \texttt{TaxSolver} finds the optimal set of tax rules that satisfies all the criteria or shows that the set of demands are not mathematically feasible. We illustrate \texttt{TaxSolver} by reforming various simulated examples of tax codes, including some that reflect the complexity and size of a real-world tax system.

Paperid: 2091, https://arxiv.org/pdf/2508.02712.pdf

Abstract:
Modern engineering systems are increasingly equipped with sensors for real-time monitoring and decision-making. However, the data collected by these sensors is often noisy and difficult to interpret, limiting its utility for control and diagnostics. In this work, we propose a physics-informed denoising framework that integrates energy-based model and Fisher score regularization to jointly reduce data noise and enforce physical consistency with a physics-based model. The approach is first validated on benchmark problems, including the simple harmonic oscillator, Burgers' equation, and Laplace's equation, across varying noise levels. We then apply the denoising framework to real thermal emission data from laser powder bed fusion (LPBF) additive manufacturing experiments, using a trained Physics-Informed Neural Network (PINN) surrogate model of the LPBF process to guide denoising. Results show that the proposed method outperforms baseline neural network denoisers, effectively reducing noise under a range of LPBF processing conditions. This physics-guided denoising strategy enables robust, real-time interpretation of low-cost sensor data, facilitating predictive control and improved defect mitigation in additive manufacturing.

Paperid: 2092, https://arxiv.org/pdf/2508.02704.pdf

Abstract:
Satellite images present unique challenges due to their high object variability and lower spatial resolution, particularly for detecting atmospheric gravity waves which exhibit significant variability in scale, shape, and pattern extent, making accurate localization highly challenging. This variability is further compounded by dominant unwanted objects such as clouds and city lights, as well as instrumental noise, all within a single image channel, while conventional detection methods struggle to capture the diverse and often subtle features of gravity waves across varying conditions. To address these issues, we introduce YOLO-DCAT incorporating Multi Dilated Residual Convolution (MDRC) and Simplified Spatial and Channel Attention (SSCA), an enhanced version of YOLOv5 specifically designed to improve gravity wave localization by effectively handling their complex and variable characteristics. MDRC captures multi-scale features through parallel dilated convolutions with varying dilation rates, while SSCA focuses on the most relevant spatial regions and channel features to enhance detection accuracy and suppress interference from background noise. In our experiments, the improved model outperformed state-of-the-art alternatives, improving mean Average Precision (mAP) by over 14% and Intersection over Union (IoU) by approximately 17%, demonstrating significantly improved localization accuracy for gravity waves in challenging satellite imagery and contributing to more precise climate research and modeling.

Paperid: 2093, https://arxiv.org/pdf/2508.02604.pdf

Abstract:
Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introduce a new virtual-model control scheme that enables knife rocking motion for robot manipulators, without pre-planned trajectories or precise information of the environment. Motion is generated through interconnection with virtual mechanisms, given by virtual springs, dampers, and masses arranged in a suitable way. Through analysis and experiments, we demonstrate that the controlled robot behavior settles into a periodic motion. Experiments with a Franka manipulator demonstrate robust cuts with five different vegetables, and sub-millimeter slice accuracy from 1 mm to 6 mm at nearly one cut per second. The same controller survives changes in knife shape and cutting board height, and adaptation to a different humanoid manipulator, demonstrating robustness and platform independence.

Paperid: 2094, https://arxiv.org/pdf/2507.23686.pdf

Abstract:
We suggest a re-examination of the conventional view that hybrid optical-radio frequency (O-RF) systems are primarily diversity-driven networks that switch between RF and optical links for robustness. Instead, we uncover a new architectural opportunity: repurposing the optical downlink to enable real-time feedback channel coding over the RF uplink, where structured decoder feedback is delivered from the access point to guide the transmitter's coding strategy. This insight marks a conceptual paradigm shift from passive link diversity to active cross-band collaboration, where the wideband, interference-free optical wireless communication (OWC) is no longer merely a downlink backup but a functional enabler of uplink reliability. To realize this vision, we propose a novel architecture, O-RF with Cross-Band Feedback (O-RF-CBF), that exploits the optical downlink feedback to facilitate adaptive RF uplink coding. Numerical results reveal that O-RF-CBF achieves significant uplink throughput gains over traditional O-RF systems. Our findings highlight that inter-band synergy, not redundancy, is the key to unlocking the full potential of hybrid wireless networks.

Paperid: 2095, https://arxiv.org/pdf/2507.22640.pdf

Abstract:
Offline reinforcement learning (offline RL) offers a promising framework for developing control strategies in chemical process systems using historical data, without the risks or costs of online experimentation. This work investigates the application of offline RL to the safe and efficient control of an exothermic polymerisation continuous stirred-tank reactor. We introduce a Gymnasium-compatible simulation environment that captures the reactor's nonlinear dynamics, including reaction kinetics, energy balances, and operational constraints. The environment supports three industrially relevant scenarios: startup, grade change down, and grade change up. It also includes reproducible offline datasets generated from proportional-integral controllers with randomised tunings, providing a benchmark for evaluating offline RL algorithms in realistic process control tasks. We assess behaviour cloning and implicit Q-learning as baseline algorithms, highlighting the challenges offline agents face, including steady-state offsets and degraded performance near setpoints. To address these issues, we propose a novel deployment-time safety layer that performs gradient-based action correction using input convex neural networks (PICNNs) as learned cost models. The PICNN enables real-time, differentiable correction of policy actions by descending a convex, state-conditioned cost surface, without requiring retraining or environment interaction. Experimental results show that offline RL, particularly when combined with convex action correction, can outperform traditional control approaches and maintain stability across all scenarios. These findings demonstrate the feasibility of integrating offline RL with interpretable and safety-aware corrections for high-stakes chemical process control, and lay the groundwork for more reliable data-driven automation in industrial systems.

Paperid: 2096, https://arxiv.org/pdf/2507.21759.pdf

Abstract:
With the large-scale integration of electric vehicles (EVs) in the distribution grid, the unpredictable nature of EV charging introduces considerable uncertainties to the grid's real-time operations. This can exacerbate load fluctuations, compromise power quality, and pose risks to the grid's stability and security. However, due to their dual role as controllable loads and energy storage devices, EVs have the potential to mitigate these fluctuations, balance the variability of renewable energy sources, and provide ancillary services that support grid stability. By leveraging the bidirectional flow of information and energy in smart grids, the adverse effects of EV charging can be minimized and even converted into beneficial outcomes through effective real-time management strategies. This paper explores the negative impacts of EV charging on the distribution system's real-time operations and outlines methods to transform these challenges into positive contributions. Additionally, it provides an in-depth analysis of the real-time management system for EV charging, focusing on state estimation and management strategies.

Paperid: 2097, https://arxiv.org/pdf/2507.21225.pdf

Abstract:
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this paper, we introduce a passive soft robotic fingertip with integrated tactile sensing, fabricated using a 3D-printed elastomer lattice with embedded air channels. This sensorization approach, termed fluidic innervation, transforms the lattice into a tactile sensor by detecting pressure changes within sealed air channels, providing a simple yet robust solution to tactile sensing in robotics. Unlike conventional methods that rely on complex materials or designs, fluidic innervation offers a simple, scalable, single-material fabrication process. We characterize the sensors' response, develop a geometric model to estimate tip displacement, and train a neural network to accurately predict contact location and contact force. Additionally, we integrate the fingertip with an admittance controller to emulate spring-like behavior, demonstrate its capability for environment exploration through tactile feedback, and validate its durability under high impact and cyclic loading conditions. This tactile sensing technique offers advantages in terms of simplicity, adaptability, and durability and opens up new opportunities for versatile robotic manipulation.

Paperid: 2098, https://arxiv.org/pdf/2507.20545.pdf

Abstract:
This paper presents a learning-based optimal control framework for safety-critical systems with parametric uncertainties, addressing both time-triggered and self-triggered controller implementations. First, we develop a robust control barrier function (RCBF) incorporating Lyapunov-based compensation terms to rigorously guarantee safety despite parametric uncertainties. Building on this safety guarantee, we formulate the constrained optimal control problem as the minimization of a novel safety-embedded value function, where the RCBF is involved via a Lagrange multiplier that adaptively balances safety constraints against optimal stabilization objectives. To enhance computational efficiency, we propose a self-triggered implementation mechanism that reduces control updates while maintaining dual stability-safety guarantees. The resulting self-triggered constrained Hamilton-Jacobi-Bellman (HJB) equation is solved through an online safety-embedded critic learning framework, with the Lagrange multiplier computed in real time to ensure safety. Numerical simulations demonstrate the effectiveness of the proposed approach in achieving both safety and control performance.

Paperid: 2099, https://arxiv.org/pdf/2507.20509.pdf

Abstract:
With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have explored the use of LLMs in feedback controller design; however, these efforts are restricted to overly simplified systems, fixed-structure gain tuning, and lack real-world validation. To further investigate LLMs in automatic control, this work targets a key subfield: adaptive control. Inspired by the framework of model reference adaptive control (MRAC), we propose an LLM-guided adaptive compensator framework that avoids designing controllers from scratch. Instead, the LLMs are prompted using the discrepancies between an unknown system and a reference system to design a compensator that aligns the response of the unknown system with that of the reference, thereby achieving adaptivity. Experiments evaluate five methods: LLM-guided adaptive compensator, LLM-guided adaptive controller, indirect adaptive control, learning-based adaptive control, and MRAC, on soft and humanoid robots in both simulated and real-world environments. Results show that the LLM-guided adaptive compensator outperforms traditional adaptive controllers and significantly reduces reasoning complexity compared to the LLM-guided adaptive controller. The Lyapunov-based analysis and reasoning-path inspection demonstrate that the LLM-guided adaptive compensator enables a more structured design process by transforming mathematical derivation into a reasoning task, while exhibiting strong generalizability, adaptability, and robustness. This study opens a new direction for applying LLMs in the field of automatic control, offering greater deployability and practicality compared to vision-language models.

Paperid: 2100, https://arxiv.org/pdf/2507.19742.pdf

Abstract:
Particle filter-based 2D-SLAM is widely used in indoor localization tasks due to its efficiency. However, indoor environments such as long straight corridors can cause severe degeneracy problems in SLAM. In this paper, we use Proximal Policy Optimization (PPO) to train an adaptive degeneracy optimization agent (DOA) to address degeneracy problem. We propose a systematic methodology to address three critical challenges in traditional supervised learning frameworks: (1) data acquisition bottlenecks in degenerate dataset, (2) inherent quality deterioration of training samples, and (3) ambiguity in annotation protocol design. We design a specialized reward function to guide the agent in developing perception capabilities for degenerate environments. Using the output degeneracy factor as a reference weight, the agent can dynamically adjust the contribution of different sensors to pose optimization. Specifically, the observation distribution is shifted towards the motion model distribution, with the step size determined by a linear interpolation formula related to the degeneracy factor. In addition, we employ a transfer learning module to endow the agent with generalization capabilities across different environments and address the inefficiency of training in degenerate environments. Finally, we conduct ablation studies to demonstrate the rationality of our model design and the role of transfer learning. We also compare the proposed DOA with SOTA methods to prove its superior degeneracy detection and optimization capabilities across various environments.

Paperid: 2101, https://arxiv.org/pdf/2507.19642.pdf

Abstract:
Autonomous parking (AP) represents a critical yet complex subset of intelligent vehicle automation, characterized by tight spatial constraints, frequent close-range obstacle interactions, and stringent safety margins. However, conventional rule-based and model-predictive methods often lack the adaptability and generalization needed to handle the nonlinear and environment-dependent complexities of AP. To address these limitations, we propose a reward-augmented learning framework for AP (RARLAP), that mitigates the inherent complexities of continuous-domain control by leveraging structured reward design to induce smooth and adaptable policy behavior, trained entirely within a high-fidelity Unity-based custom 3D simulation environment. We systematically design and assess three structured reward strategies: goal-only reward (GOR), dense proximity reward (DPR), and milestone-augmented reward (MAR), each integrated with both on-policy and off-policy optimization paradigms. Empirical evaluations demonstrate that the on-policy MAR achieves a 91\% success rate, yielding smoother trajectories and more robust behavior, while GOR and DPR fail to guide effective learning. Convergence and trajectory analyses demonstrate that the proposed framework enhances policy adaptability, accelerates training, and improves safety in continuous control. Overall, RARLAP establishes that reward augmentation effectively addresses complex autonomous parking challenges, enabling scalable and efficient policy optimization with both on- and off-policy methods. To support reproducibility, the code accompanying this paper is publicly available.

Paperid: 2102, https://arxiv.org/pdf/2507.18102.pdf

Abstract:
Large renewable penetration has been witnessed in power systems, resulting in reduced levels of system inertia and increasing requirements for frequency response services. There have been plenty of studies developing frequency-constrained models for power system security. However, most existing literature only considers uniform frequency security, while neglecting frequency spatial differences in different regions. To fill this gap, this paper proposes a novel planning model for the optimal sizing problem of power systems, capturing regional frequency security and inter-area frequency oscillations. Specifically, regional frequency constraints are first extracted via an enhanced input convex neural network (ICNN) and then embedded into the original optimisation for frequency security, where a principled weight initialisation strategy is adopted to deal with the gradient vanishing issues of non-negative weights in traditional ICNNs and enhance its fitting ability. An adaptive genetic algorithm with sparsity calculation and local search is developed to separate the planning model into two stages and effectively solve it iteratively. Case studies have been conducted on three different power systems to verify the effectiveness of the proposed frequency-constrained planning model in ensuring regional system security and obtaining realistic investment decisions.

Paperid: 2103, https://arxiv.org/pdf/2507.17868.pdf

Abstract:
Amidst the growing demand for implementing advanced control and decision-making algorithms|to enhance the reliability, resilience, and stability of power systems|arises a crucial concern regarding the safety of employing machine learning techniques. While these methods can be applied to derive more optimal control decisions, they often lack safety assurances. This paper proposes a framework based on control barrier functions to facilitate safe learning and deployment of reinforcement learning agents for power system control applications, specifically in the context of automatic generation control. We develop the safety barriers and reinforcement learning framework necessary to establish trust in reinforcement learning as a safe option for automatic generation control - as foundation for future detailed verification and application studies.

Paperid: 2104, https://arxiv.org/pdf/2507.17587.pdf

Abstract:
The widespread adoption of electric vehicles (EVs) has significantly increased demand on both transportation and power systems, posing challenges to their stable operation. To support the growing need for EV charging, both fixed charging stations (FCSs) and mobile charging stations (MCSs) have been introduced, serving as key interfaces between the power grid and traffic network. Recognizing the importance of collaborative planning across these sectors, this paper presents a two-stage joint planning model for FCSs and MCSs, utilizing an improved alternating direction method of multipliers (ADMM) algorithm. The primary goal of the proposed model is to transform the potential negative impacts of large-scale EV integration into positive outcomes, thereby enhancing social welfare through collaboration among multiple stakeholders. In the first stage, we develop a framework for evaluating FCS locations, incorporating assessments of EV hosting capacity and voltage stability. The second stage introduces a joint planning model for FCSs and MCSs, aiming to minimize the overall social costs of the EV charging system while maintaining a reliable power supply. To solve the planning problem, we employ a combination of mixed-integer linear programming, queueing theory, and sequential quadratic programming. The improved ADMM algorithm couples the siting and sizing decisions consistently by introducing coupling constraints, and supports a distributed optimization framework that coordinates the interests of EV users, MCS operators, and distribution system operators. Additionally, a flexible capacity planning strategy that accounts for the multi-period development potential of EVCS is proposed to reduce both the complexity and the investment required for FCS construction. Finally, a case study with comparative experiments demonstrates the effectiveness of the proposed models and solution methods.

Paperid: 2105, https://arxiv.org/pdf/2507.17325.pdf

Abstract:
Modern power systems face new operational hurdles due to the increasing adoption of inverter-coupled distributed energy resources, which impact system stability and control. Central to these challenges is the dynamic nature of grid impedance. To address this, a novel real-time estimation algorithm based on the Discrete Fourier Transform is proposed. This algorithm is embedded within an Advanced Angle Estimation Kalman Filter framework that employs a Linear Quadratic Regulator for current control (AAEKF-LQR). The impedance data directly informs and refines the controller's phase angle estimation. Simulation analyses demonstrate robust collaboration between the estimator and controller, sustaining system stability under weak grid conditions. The technique proves capable of delivering swift and accurate impedance updates during grid variations, which is crucial for maintaining stable inverter operation

Paperid: 2106, https://arxiv.org/pdf/2507.17171.pdf

Abstract:
Since the introduction of Digital Engineering (DE) as a well-defined concept in 2018, organizations and industry groups have been working to interpret the DE concepts to establish consistent meta-models of those interrelated concepts for integration into their DE processes and tools. To reach the breadth and depth of DE concept definitions, the interpretation of international standard sources is necessary, including ISO/IEC/IEEE 15288, 24765, 42000-series, 15408, 15206, 27000-series, and 25000-series, to effectively model the knowledge domain where digital engineering applies. The harmonization of the concepts used in these international standards continues to improve with each revision, but it may be more effectively accomplished by relying on the descriptive logic formalized in the Web Ontology Language (OWL 2 DL). This paper presents a verified and consistent ontology based on the Basic Formal Ontology (BFO) and Common Core Ontologies (CCO) that defines Seamless Digital Engineering as a digital tooling paradigm that relies on formal verification of digital interfaces to provide a system-level qualification of the assured integrity of a Digital Engineering Environment. The present work defines classes and equivalence axioms, while using only the BFO- and CCO-defined object properties that relate them, to provide a baseline analysis that may inform future DE-related ontology development, using a case study to formally define the `seamless' quality in relation to the updated ISO 25010 SQuaRE product quality model. We identified ISO meta-model inconsistencies that are resolvable using the BFO/CCO ontological framework, and define `seamless' as both a system integration quality and a Human-Computer Interface quality-in-use, working to disambiguate this concept in the context of DE.

Paperid: 2107, https://arxiv.org/pdf/2507.17110.pdf

Abstract:
This paper proposes a transient stability-driven planning framework for the optimal sizing problem of resilient AC/DC hybrid microgrids (HMGs) under different types of contingencies, capturing frequency and voltage stability requirements as well as the frequency-voltage coupling dynamics of AC/DC interlinking converters (ICs). The planning model is formulated into a defender-attacker-defender (DAD) architecture, which can be further merged into two levels, i.e., upper-level and low-level problems, and then iteratively solved by an enhanced genetic algorithm with sparsity calculation and local search. Regarding the operation stage, a novel transient stability-constrained optimal power flow (TSC-OPF) algorithm is proposed for static and transient operations of HMGs, capturing governor dynamics and automatic voltage regulator of conventional generators as well as the droop control dynamics of inverter-based resources (IBRs) for frequency control and voltage control, respectively. Furthermore, a Lyapunov optimisation approach is developed to capture the time-coupling property of energy storages (ESs) and then allow the TSC-OPF to be solved on an hourly basis with a second-scale resolution, achieving the co-optimisation of static and transient stability requirements. Case studies have been conducted to verify the effectiveness of the proposed planning framework in obtaining cost-effective investment decisions for various resources while respecting transient stability requirements under different contingencies.

Paperid: 2108, https://arxiv.org/pdf/2507.15385.pdf

Abstract:
The growing integration of renewable energy sources in modern power systems has introduced significant operational challenges due to their intermittent and uncertain outputs. In recent years, mobile energy storage systems (ESSs) have emerged as a popular flexible resource for mitigating these challenges. Compared to stationary ESSs, mobile ESSs offer additional spatial flexibility, enabling cost-effective energy delivery through the transportation network. However, the widespread deployment of mobile ESSs is often hindered by the high investment cost, which has motivated researchers to investigate utilising more readily available alternatives, such as electric vehicles (EVs) as mobile energy storage units instead. Hence, we explore this opportunity with a MIP-based day-ahead electric vehicle joint routing and scheduling problem in this work. However, solving the problem in a practical setting can often be computationally intractable since the existence of binary variables makes it combinatorial challenging. Therefore, we proposed to simplify the problem's solution process for a MIP solver by pruning the solution search space with a transformer-based deep learning (DL) model. This is done by training the model to rapidly predict the optimal binary solutions. In addition, unlike many existing DL approaches that assume fixed problem structures, the proposed model is designed to accommodate problems with EV fleets of any sizes. This flexibility is essential since frequent re-training can introduce significant computational overhead. We evaluated the approach with simulations on the IEEE 33-bus system coupled with the Nguyen-Dupuis transportation network.

Paperid: 2109, https://arxiv.org/pdf/2507.15307.pdf

Abstract:
Electric Vehicles (EVs) are becoming increasingly prevalent nowadays, with studies highlighting their potential as mobile energy storage systems to provide grid support. Realising this potential requires effective charging coordination, which are often formulated as mixed-integer programming (MIP) problems. However, MIP problems are NP-hard and often intractable when applied to time-sensitive tasks. To address this limitation, we propose a deep learning assisted approach for optimising a day-ahead EV joint routing and scheduling problem with varying number of EVs. This problem simultaneously optimises EV routing, charging, discharging and generator scheduling within a distribution network with renewable energy sources. A convolutional neural network is trained to predict the binary variables, thereby reducing the solution search space and enabling solvers to determine the remaining variables more efficiently. Additionally, a padding mechanism is included to handle the changes in input and output sizes caused by varying number of EVs, thus eliminating the need for re-training. In a case study on the IEEE 33-bus system and Nguyen-Dupuis transportation network, our approach reduced runtime by 97.8% when compared to an unassisted MIP solver, while retaining 99.5% feasibility and deviating less than 0.01% from the optimal solution.

Paperid: 2110, https://arxiv.org/pdf/2507.14952.pdf

Abstract:
This is an expository paper which discusses an approach to the LQG/LTR design problem for finite-dimensional SISO control systems. The approach is based on the utilisation of weighting augmentation for incorporating design specifications into the framework of the LTR technique for LQG compensator design. The LQG compensator is to simultaneously meet given analytical low- and high-frequency design specifications expressed in terms of desirable sensitivity and controller noise sensitivity functions. The paper is aimed at nonspecialists and, in particular, practitioners in finite-dimensional LQG theory interested in the design of feedback compensators for closed-loop performance and robustness shaping of SISO control systems in realistic situations. The proposed approach is illustrated by a detailed numerical example: the torque control of a current-controlled DC motor with an elastically mounted rotor.

Paperid: 2111, https://arxiv.org/pdf/2507.14406.pdf

Abstract:
State-of-the-art reasoning LLMs are powerful problem solvers, but they still occasionally make mistakes. However, adopting AI models in risk-sensitive domains often requires error rates near 0%. To address this gap, we propose collaboration between a reasoning model and a human expert who resolves queries the model cannot confidently answer. We find that quantifying the uncertainty of a reasoning model through the length of its reasoning trace yields an effective basis for deferral to a human, e.g., cutting the error rate of Qwen3 235B-A22B on difficult MATH problems from 3% to less than 1% when deferring 7.5% of queries. However, the high latency of reasoning models still makes them challenging to deploy on use cases with high query volume. To address this challenge, we explore fronting a reasoning model with a large non-reasoning model. We call this modified human-in-the-loop system "Fail Fast, or Ask", since the non-reasoning model may defer difficult queries to the human expert directly ("failing fast"), without incurring the reasoning model's higher latency. We show that this approach yields around 40% latency reduction and about 50% cost savings for DeepSeek R1 while maintaining 90+% area under the accuracy-rejection curve. However, we observe that latency savings are lower than expected because of "latency drag", the phenomenon that processing easier queries with a non-reasoning model pushes the reasoning model's latency distribution towards longer latencies. Broadly, our results suggest that the deficiencies of state-of-the-art reasoning models -- nontrivial error rates and high latency -- can be substantially mitigated through black-box systems engineering, without requiring access to LLM internals.

Paperid: 2112, https://arxiv.org/pdf/2507.14052.pdf

Abstract:
Inversion-based feedforward control relies on an accurate model that describes the inverse system dynamics. The gated recurrent unit (GRU), which is a recent architecture in recurrent neural networks, is a strong candidate for obtaining such a model from data. However, due to their black-box nature, GRUs face challenges such as limited interpretability and vulnerability to overfitting. Recently, physics-guided neural networks (PGNNs) have been introduced, which integrate the prior physical model structure into the prediction process. This approach not only improves training convergence, but also facilitates the learning of a physics-based model. In this work, we integrate a GRU in the PGNN framework to obtain a PG-GRU, based on which we adopt a two-step approach to feedforward control design. First, we adopt stable inversion techniques to design a stable linear model of the inverse dynamics. Then, a GRU trained on the residual is tailored to inverse system identification. The resulting PG-GRU feedforward controller is validated by means of real-life experiments on a two-mass spring-damper system, where it demonstrates roughly a two-fold improvement compared to the linear feedforward and a preview-based GRU feedforward in terms of the integral absolute error.

Paperid: 2113, https://arxiv.org/pdf/2507.13534.pdf

Abstract:
Intensifying heatwaves driven by climate change are accelerating the adoption of mobile air conditioning (AC) systems. A rapid mass adoption of such AC systems could create additional stress on electricity grids and the power system. This study presents a novel method to estimate the electricity demand from AC systems both at the system level and at high temporal and spatial granularity. We apply the method to a near-future heatwave scenario in Germany in which household AC adoption increases from the current 19% to 35% during a heatwave similar to the one of July 2025. We analyze the effects for 196,428 grid cells of one square kilometer across Germany, by combining weather data, census data, socio-demographic assumptions, mobility patterns, and temperature-dependent AC activation functions. We find that electricity demand of newly purchased mobile AC systems could increase the peak load by over 12.9 GW, with urban hot-spots reaching 5.2 MW per square kilometer. The temporal pattern creates a pronounced afternoon peak that coincides with lower photovoltaic generation, potentially exacerbating power system stability challenges. Our findings underscore the urgency for proactive energy system planning to manage emerging demand peaks.

Paperid: 2114, https://arxiv.org/pdf/2507.12187.pdf

Abstract:
This article addresses the challenge of adapting data-based models over time. We propose a novel two-fold modelling architecture designed to correct plant-model mismatch caused by two types of uncertainty. Out-of-domain uncertainty arises when the system operates under conditions not represented in the initial training dataset, while in-domain uncertainty results from real-world variability and flaws in the model structure or training process. To handle out-of-domain uncertainty, a slow learning component, inspired by the human brain's slow thinking process, learns system dynamics under unexplored operating conditions, and it is activated only when a monitoring strategy deems it necessary. This component consists of an ensemble of models, featuring (i) a combination rule that weights individual models based on the statistical proximity between their training data and the current operating condition, and (ii) a monitoring algorithm based on statistical control charts that supervises the ensemble's reliability and triggers the offline training and integration of a new model when a new operating condition is detected. To address in-domain uncertainty, a fast learning component, inspired by the human brain's fast thinking process, continuously compensates in real time for the mismatch of the slow learning model. This component is implemented as a Gaussian process (GP) model, trained online at each iteration using recent data while discarding older samples. The proposed methodology is tested on a benchmark energy system referenced in the literature, demonstrating that the combined use of slow and fast learning components improves model accuracy compared to standard adaptation approaches.

Paperid: 2115, https://arxiv.org/pdf/2507.10808.pdf

Abstract:
In the era of the Fourth Industrial Revolution, cybersecurity and intrusion detection systems are vital for the secure and reliable operation of IoT and IIoT environments. A key challenge in this domain is the scarcity of labeled cyberattack data, as most industrial systems operate under normal conditions. This data imbalance, combined with the high cost of annotation, hinders the effective training of machine learning models. Moreover, the rapid detection of attacks is essential, especially in critical infrastructure, to prevent large-scale disruptions. To address these challenges, we propose a real-time intrusion detection system based on a semi-supervised contrastive learning framework using the Kolmogorov-Arnold Network (KAN). Our method leverages abundant unlabeled data to effectively distinguish between normal and attack behaviors. We validate our approach on three benchmark datasets, UNSW-NB15, BoT-IoT, and Gas Pipeline, using only 2.20%, 1.28%, and 8% of labeled samples, respectively, to simulate real-world conditions. Experimental results show that our method outperforms existing contrastive learning-based approaches. We further compare KAN with a traditional multilayer perceptron (MLP), demonstrating KAN's superior performance in both detection accuracy and robustness under limited supervision. KAN's ability to model complex relationships, along with its learnable activation functions, is also explored and visualized, offering interpretability and the potential for rule extraction. The method supports multi-class classification and proves effective in safety, critical environments where reliability is paramount.

Paperid: 2116, https://arxiv.org/pdf/2507.09685.pdf

Abstract:
Proton Pump Inhibitors (PPIs) are the standard of care for gastric acid disorders but carry significant risks when administered chronically at high doses. Precise long-term control of gastric acidity is challenged by the impracticality of invasive gastric acid monitoring beyond 72 hours and wide inter-patient variability. We propose a noninvasive, symptom-based framework that tailors PPI dosing solely on patient-reported reflux and digestive symptom patterns. A Bayesian Neural Network prediction model learns to predict patient symptoms and quantifies its uncertainty from historical symptom scores, meal, and PPIs intake data. These probabilistic forecasts feed a chance-constrained Model Predictive Control (MPC) algorithm that dynamically computes future PPI doses to minimize drug usage while enforcing acid suppression with high confidence - without any direct acid measurement. In silico studies over diverse dietary schedules and virtual patient profiles demonstrate that our learning-augmented MPC reduces total PPI consumption by 65 percent compared to standard fixed regimens, while maintaining acid suppression with at least 95 percent probability. The proposed approach offers a practical path to personalized PPI therapy, minimizing treatment burden and overdose risk without invasive sensors.

Paperid: 2117, https://arxiv.org/pdf/2507.08974.pdf

Abstract:
Accurate channel estimation is crucial for the improvement of signal processing performance in wireless communications. However, traditional model-based methods frequently experience difficulties in dynamic environments. Similarly, alternative machine-learning approaches typically lack generalization across different datasets due to variations in channel characteristics. To address this issue, in this study, we propose a novel domain adaptation approach to bridge the gap between the quasi-static channel model (QSCM) and the map-based channel model (MBCM). Specifically, we first proposed a channel estimation pipeline that takes into account realistic channel simulation to train our foundation model. Then, we proposed domain adaptation methods to address the estimation problem. Using simulation-based training to reduce data requirements for effective application in practical wireless environments, we find that the proposed strategy enables robust model performance, even with limited true channel information.

Paperid: 2118, https://arxiv.org/pdf/2507.08403.pdf

Abstract:
Artificial Intelligence/Machine Learning (AI/ML) has become the most certain and prominent feature of 6G mobile networks. Unlike 5G, where AI/ML was not natively integrated but rather an add-on feature over existing architecture, 6G shall incorporate AI from the onset to address its complexity and support ubiquitous AI applications. Based on our extensive mobile network operation and standardization experience from 2G to 5G, this paper explores the design and standardization principles of AI-Native radio access networks (RAN) for 6G, with a particular focus on its critical Day 1 architecture, functionalities and capabilities. We investigate the framework of AI-Native RAN and present its three essential capabilities to shed some light on the standardization direction; namely, AI-driven RAN processing/optimization/automation, reliable AI lifecycle management (LCM), and AI-as-a-Service (AIaaS) provisioning. The standardization of AI-Native RAN, in particular the Day 1 features, including an AI-Native 6G RAN architecture, were proposed. For validation, a large-scale field trial with over 5000 5G-A base stations have been built and delivered significant improvements in average air interface latency, root cause identification, and network energy consumption with the proposed architecture and the supporting AI functions. This paper aims to provide a Day 1 framework for 6G AI-Native RAN standardization design, balancing technical innovation with practical deployment.

Paperid: 2119, https://arxiv.org/pdf/2507.08259.pdf

Abstract:
Cold Atmospheric Pressure Plasma Jets (APPJs) show significant potential for biomedical applications, but their inherent complexity, characterized by nonlinear dynamics and strong sensitivity to operating conditions like tip-to-surface distance, presents considerable challenges for achieving robust and reliable real-time control. To address these issues, this paper presents the Neural Parameter-Varying Data-enabled Predictive Control (NPV-DeePC) framework. By integrating hyper neural networks (hypernets) into the neural Data-enabled Predictive Control (DeePC) paradigm, the proposed method adaptively captures system nonlinearities and parameter variations, updates the neural feature space accordingly, and enables efficient and accurate trajectory prediction and control. The NPV-DeePC framework is validated through extensive simulations involving surface temperature tracking and thermal dose delivery. The results highlight its ability to outperform existing controllers in terms of accuracy and adaptability. The computational efficiency of the NPV-DeePC approach makes it a viable candidate for real-time applications. These findings underscore its potential to advance the safe and precise control of APPJs and provide a scalable solution for other parameter-varying nonlinear systems.

Paperid: 2120, https://arxiv.org/pdf/2507.06399.pdf

Abstract:
This paper presents a multipurpose artificial intelligence (AI)-driven thermal-fluid testbed designed to advance Small Modular Reactor technologies by seamlessly integrating physical experimentation with advanced computational intelligence. The platform uniquely combines a versatile three-loop thermal-fluid facility with a high-fidelity digital twin and sophisticated AI frameworks for real-time prediction, control, and operational assistance. Methodologically, the testbed's digital twin, built upon the System Analysis Module code, is coupled with a Gated Recurrent Unit (GRU) neural network. This machine learning model, trained on experimental data, enables faster-than-real-time simulation, providing predictive insights into the system's dynamic behavior. The practical application of this AI integration is showcased through case studies. An AI-driven control framework where the GRU model accurately forecasts future system states and the corresponding control actions required to meet operational demands. Furthermore, an intelligent assistant, powered by a large language model, translates complex sensor data and simulation outputs into natural language, offering operators actionable analysis and safety recommendations. Comprehensive validation against experimental transients confirms the platform's high fidelity, with the GRU model achieving a temperature prediction root mean square error of 1.42 K. This work establishes an integrated research environment at the intersection of AI and thermal-fluid science, showcasing how AI-driven methodologies in modeling, control, and operator support can accelerate the innovation and deployment of next-generation nuclear systems.

Paperid: 2121, https://arxiv.org/pdf/2507.04181.pdf

Abstract:
We present a dynamical system approach for the control of a nonlinear dynamical system by defining the control problem in a Fiber bundle framework. The constructive procedure derived results in the generation of a NHIM/NAIM which facilitates the use of tools and ideas from dynamical system theory to analyze and understand the properties associated with the controlled system. The time scale separation, decoupling of system dynamics, and their role in the system behavior are analyzed. An overview of the benefits of the above approach is demonstrated by briefly discussing three main application areas.

Paperid: 2122, https://arxiv.org/pdf/2507.03598.pdf

Abstract:
The continuously increasing renewable energy sources (RES) and demand response (DR) are becoming important sources of system flexibility. As a consequence, decision-dependent uncertainties (DDUs), interchangeably referred to as endogenous uncertainties, impose new characteristics to power system dispatch. The DDUs faced by system operators originate from uncertain dispatchable resources such as RES units or DR, while reserve providers encounter DDUs arising from the uncertain reserve deployment. This paper presents a systematic framework for addressing robust dispatch problems with DDUs. The main contributions include i) the robust characterization of DDUs with a dependency decomposition structure; ii) a generic DDU coping mechanism, manifested as the bilateral matching between uncertainty and flexibility; iii) analyses of the influence of DDU incorporation on the convexity/non-convexity of robust dispatch problems; and iv) generic solution algorithms adaptive for DDUs. Under this framework, the inherent distinctions and correlations between DDUs and DIUs are revealed, providing a fundamental theoretical basis for the economic and reliable operation of RES-dominated power systems. Applications in the source and demand sides illustrate the importance of considering DDUs and verify the effectiveness of proposed algorithms for robust dispatch with DDUs.

Paperid: 2123, https://arxiv.org/pdf/2507.03466.pdf

Abstract:
Sound-tracking refers to the process of determining the direction from which a sound originates, making it a fundamental component of sound source localization. This capability is essential in a variety of applications, including security systems, acoustic monitoring, and speaker tracking, where accurately identifying the direction of a sound source enables real-time responses, efficient resource allocation, and improved situational awareness. While sound-tracking is closely related to localization, it specifically focuses on identifying the direction of the sound source rather than estimating its exact position in space. Despite its utility, sound-tracking systems face several challenges, such as maintaining directional accuracy and precision, along with the need for sophisticated hardware configurations and complex signal processing algorithms. This paper presents a sound-tracking method using three electret microphones. We estimate the direction of a sound source using a lightweight method that analyzes signals from three strategically placed microphones. By comparing the average power of the received signals, the system infers the most probable direction of the sound. The results indicate that the power level from each microphone effectively determines the sound source direction. Our system employs a straightforward and cost-effective hardware design, ensuring simplicity and affordability in implementation. It achieves a localization error of less than 6 degrees and a precision of 98%. Additionally, its effortless integration with various systems makes it versatile and adaptable. Consequently, this technique presents a robust and reliable solution for sound-tracking and localization, with potential applications spanning diverse domains such as security systems, smart homes, and acoustic monitoring.

Paperid: 2124, https://arxiv.org/pdf/2507.03002.pdf

Abstract:
Modeling the decision-making behavior of vehicles presents unique challenges, particularly during unprotected left turns at intersections, where the uncertainty of human drivers is especially pronounced. In this context, connected autonomous vehicle (CAV) technology emerges as a promising avenue for effectively managing such interactions while ensuring safety and efficiency. Traditional approaches, often grounded in game theory assumptions of perfect rationality, may inadequately capture the complexities of real-world scenarios and drivers' decision-making errors. To fill this gap, we propose a novel decision-making model for vehicle unprotected left-turn scenarios, integrating game theory with considerations for drivers' bounded rationality. Our model, formulated as a two-player normal-form game solved by a quantal response equilibrium (QRE), offers a more nuanced depiction of driver decision-making processes compared to Nash equilibrium (NE) models. Leveraging an Expectation-Maximization (EM) algorithm coupled with a subtle neural network trained on precise microscopic vehicle trajectory data, we optimize model parameters to accurately reflect drivers' interaction-aware bounded rationality and driving styles. Through comprehensive simulation experiments, we demonstrate the efficacy of our proposed model in capturing the interaction-aware bounded rationality and decision tendencies between players. The proposed model proves to be more realistic and efficient than NE models in unprotected left-turn scenarios. Our findings contribute valuable insights into the vehicle decision-making behaviors with bounded rationality, thereby informing the development of more robust and realistic autonomous driving systems.

Paperid: 2125, https://arxiv.org/pdf/2507.02636.pdf

Abstract:
This paper proposes a novel non-anticipatory long-short-term coordinated dispatch framework for isolated microgrid with hybrid short-long-duration energy storages (LDES). We introduce a convex hull approximation model for nonconvex LDES electrochemical dynamics, facilitating computational tractability and accuracy. To address temporal coupling in SoC dynamics and long-term contracts, we generate hindsight-optimal state-of-charge (SoC) trajectories of LDES and netloads for offline training. In the online stage, we employ kernel regression to dynamically update the SoC reference and propose an adaptive online convex optimization (OCO) algorithm with SoC reference tracking and expert tracking to mitigate myopia and enable adaptive step-size optimization. We rigorously prove that both long-term and short-term policies achieve sublinear regret bounds over time, which improves with more regression scenarios, stronger tracking penalties, and finer convex approximations. Simulation results show that the proposed method outperforms state-of-the-art methods, reducing costs by 73.4%, eliminating load loss via reference tracking, and achieving an additional 2.4% cost saving via the OCO algorithm. These benefits scale up with longer LDES durations, and the method demonstrates resilience to poor forecasts and unexpected system faults.

Paperid: 2126, https://arxiv.org/pdf/2507.02532.pdf

Abstract:
The Feedback-based Algorithm for Quantum Optimization (FALQON) is a Lyapunov inspired quantum algorithm proposed to tackle combinatorial optimization problems. In this paper, we examine the robustness of FALQON against coherent control errors, a class of multiplicative errors that affect the control input. We show that the algorithm is asymptotically robust with respect to systematic errors, and we derive robustness bounds for independent errors. Finally, we propose a robust version of FALQON which minimizes a regularized Lyapunov function. Our theoretical results are supported through simulations.

Paperid: 2127, https://arxiv.org/pdf/2507.02213.pdf

Abstract:
This work addresses the general problem of control synthesis for continuous-space, discrete-time stochastic systems with probabilistic guarantees via finite abstractions. While established methods exist, they often trade off accuracy for tractability. We propose a unified abstraction framework that improves both the tightness of probabilistic guarantees and computational efficiency. First, we introduce multi-interval MDPs (MI-MDPs), a generalization of interval-valued MDPs (IMDPs), which allows multiple, possibly overlapping clusters of successor states. This results in tighter abstractions but with increased computational complexity. To mitigate this, we further propose a generalized form of MDPs with set-valued transition probabilities (SMDPs), which model transitions as a fixed probability to a state cluster, followed by a non-deterministic choice within the cluster, as a sound abstraction. We show that control synthesis for MI-MDPs reduces to robust dynamic programming via linear optimization, while SMDPs admit even more efficient synthesis algorithms that avoid linear programming altogether. Theoretically, we prove that, given the partitioning of the state and disturbance spaces, both MI-MDPs and SMDPs yield tighter probabilistic guarantees than IMDPs, and that SMDPs are tighter than MI-MDPs. Extensive experiments across several benchmarks validate our theoretical results and demonstrate that SMDPs achieve favorable trade-offs among tightness, memory usage, and computation time.

Paperid: 2128, https://arxiv.org/pdf/2507.02144.pdf

Abstract:
This paper presents a novel partitioning method designed to minimize control performance degradation resulting from partitioning a system for distributed control while maintaining the computational benefits of these methods. A game-theoretic performance metric, the modified Price of Anarchy, is introduced and is used in a generalizable partitioning metric to quantify optimality losses in a distributed controller. By finding the partition that minimizes the partitioning metric, the best-performing distributed control design is chosen. The presented partitioning metric is control-design agnostic, making it broadly applicable to many control design problems. In this paper, the developed metric is used to minimize the performance losses in the distributed control of a demand-flexible District Heating Network. The final distributed controller is provably feasible and stable. In simulation, this novel partitioning performed similarly to the centralized controller, increasing overall heat losses by only 1.9%, as compared to a similarly-sized baseline partition, which resulted in a 22% increase in losses.

Paperid: 2129, https://arxiv.org/pdf/2507.01300.pdf

Abstract:
Grid-following (GFL) inverters are commonly used for integrating renewable energy sources into power grids. However, the dynamic performance of GFL models can be significantly impacted by the Phase-Locked Loop (PLL) in a weak grid, leading to instability due to inaccuracies in grid source phase angle estimation. The proposed method in this manuscript replaces the PLL with an Advanced Angle Estimation based Kalman Filter including a Linear Quadratic Regulator (LQR) controller of the GFL. This method is robust in incorporating grid impedance terms as part of state space models in the Kalman Filter approach to estimate instantaneous phase angle using Î±-\b{eta} Synchronous Reference Frame equations. The stability performance of the proposed approach is validated through eigenvalue analysis in a two-source case. Additionally, an LQR controller is employed to regulate capacitor voltage, inverter current, and the current at the Point of Common Coupling (PCC). The proposed controller surpasses existing approaches in terms of accuracy and distortion reduction under abrupt grid impedance increases. Moreover, drop compensation is integrated into the Kalman Filter to enhance robustness of the inverter against external oscillation disturbances from a synchronous machine connected to the GFL via the PCC. The results in this paper demonstrate substantial improvement in oscillation damping across a range of frequencies compared with published research works.

Paperid: 2130, https://arxiv.org/pdf/2507.01173.pdf

Abstract:
Robust and Real-time State of Charge (SOC) estimation is essential for Lithium Iron Phosphate (LFP) batteries, which are widely used in electric vehicles (EVs) and energy storage systems due to safety and longevity. However, the flat Open Circuit Voltage (OCV)-SOC curve makes this task particularly challenging. This challenge is complicated by hysteresis effects, and real-world conditions such as current bias, voltage quantization errors, and temperature that must be considered in the battery management system use. In this paper, we proposed an adaptive estimation approach to overcome the challenges of LFPSOC estimation. Specifically, the method uses an adaptive fisher information fusion strategy that adaptively combines the SOC estimation from two different models, which are Coulomb counting and equivalent circuit model-based parameter identification. The effectiveness of this strategy is rationalized by the information richness excited by external cycling signals. A 3D OCV-H-SOC map that captures the relationship between OCV, hysteresis, and SOC was proposed as the backbone, and can be generalizable to other widely adopted parameter-identification methods. Extensive validation under ideal and real-world use scenarios, including SOC-OCV flat zones, current bias, voltage quantization errors, low temperatures, and insufficient current excitations, have been performed using 4 driving profiles, i.e., the Orange County Transit Bus Cycle, the California Unified Cycle, the US06 Drive Cycle, and the New York City Cycle, where the results demonstrate superiority over the state-of-the-art unscented Kalman filter, long short-term memory networks and transformer in all validation cases.

Paperid: 2131, https://arxiv.org/pdf/2512.24686.pdf

Abstract:
Fault diagnosis of lithium-ion batteries is critical for system safety. While existing deep learning methods exhibit superior detection accuracy, their "black-box" nature hinders interpretability. Furthermore, restricted by binary classification paradigms, they struggle to provide root cause analysis and maintenance recommendations. To address these limitations, this paper proposes BatteryAgent, a hierarchical framework that integrates physical knowledge features with the reasoning capabilities of Large Language Models (LLMs). The framework comprises three core modules: (1) A Physical Perception Layer that utilizes 10 mechanism-based features derived from electrochemical principles, balancing dimensionality reduction with physical fidelity; (2) A Detection and Attribution Layer that employs Gradient Boosting Decision Trees and SHAP to quantify feature contributions; and (3) A Reasoning and Diagnosis Layer that leverages an LLM as the agent core. This layer constructs a "numerical-semantic" bridge, combining SHAP attributions with a mechanism knowledge base to generate comprehensive reports containing fault types, root cause analysis, and maintenance suggestions. Experimental results demonstrate that BatteryAgent effectively corrects misclassifications on hard boundary samples, achieving an AUROC of 0.986, which significantly outperforms current state-of-the-art methods. Moreover, the framework extends traditional binary detection to multi-type interpretable diagnosis, offering a new paradigm shift from "passive detection" to "intelligent diagnosis" for battery safety management.

Paperid: 2132, https://arxiv.org/pdf/2512.23205.pdf

Abstract:
This paper presents a new learning based Stochastic Hybrid System (LSHS) framework designed for the detection and classification of contingencies in modern power systems. Unlike conventional monitoring schemes, the proposed approach is capable of identifying unobservable events that remain hidden from standard sensing infrastructures, such as undetected protection system malfunctions. The framework operates by analyzing deviations in system outputs and behaviors, which are then categorized into three groups: physical, control, and measurement contingencies based on their impact on the SHS model. The SHS model integrates both system dynamics and observer-driven state estimation error dynamics. Within this architecture, machine learning classifiers are employed to achieve rapid and accurate categorization of contingencies. The effectiveness of the method is demonstrated through simulations on the IEEE 5-bus and 30-bus systems, where results indicate substantial improvements in both detection speed and accuracy compared with existing approaches.

Paperid: 2133, https://arxiv.org/pdf/2512.21081.pdf

Abstract:
Controlling systems with complex, nonlinear dynamics poses a significant challenge, particularly in achieving efficient and robust control. In this paper, we propose a Dyna-Style Reinforcement Learning control framework that integrates Sparse Identification of Nonlinear Dynamics (SINDy) with Twin Delayed Deep Deterministic Policy Gradient (TD3) reinforcement learning. SINDy is used to identify a data-driven model of the system, capturing its key dynamics without requiring an explicit physical model. This identified model is used to generate synthetic rollouts that are periodically injected into the reinforcement learning replay buffer during training on the real environment, enabling efficient policy learning with limited data available. By leveraging this hybrid approach, we mitigate the sample inefficiency of traditional model-free reinforcement learning methods while ensuring accurate control of nonlinear systems. To demonstrate the effectiveness of this framework, we apply it to a bi-rotor system as a case study, evaluating its performance in stabilization and trajectory tracking. The results show that our SINDy-TD3 approach achieves superior accuracy and robustness compared to direct reinforcement learning techniques, highlighting the potential of combining data-driven modeling with reinforcement learning for complex dynamical systems.

Paperid: 2134, https://arxiv.org/pdf/2512.20880.pdf

Abstract:
Underground pumped hydro energy storage (UPHES) systems play a critical role in grid-scale energy storage for renewable integration, yet optimal day-ahead scheduling remains computationally prohibitive due to nonlinear turbine performance characteristics and discrete operational modes. This paper presents a decision-focused learning (DFL) framework that addresses the computational-accuracy trade-off in UPHES day-ahead scheduling. The proposed methodology employs neural networks to predict penalty weights that guide recursive linearization, transforming the intractable MINLP into a sequence of convex quadratic programs trained end-to-end via differentiable optimization layers. Case studies across 19 representative Belgian electricity market scenarios demonstrate that the DFL framework effectively navigates the trade-off between solution quality and computation time. As a refinement tool, the framework improves profit by 1.1% over piecewise MIQP baselines. Alternatively, as a real-time scheduler initialized with linear approximations, it achieves a 300-fold speedup (3.87s vs 1205.79s) while maintaining profitability within 3.6% of the piecewise MIQP benchmark. Thus, the presented DFL framework enables flexible prioritization between profit maximization and real-time responsiveness.

Paperid: 2135, https://arxiv.org/pdf/2512.19447.pdf

Abstract:
Differentiable optimal control, particularly differentiable nonlinear model predictive control (NMPC), provides a powerful framework that enjoys the complementary benefits of machine learning and control theory. A key enabler of differentiable optimal control is the computation of derivatives of the optimal trajectory with respect to problem parameters, i.e., trajectory derivatives. Previous works compute trajectory derivatives by solving a differential Karush-Kuhn-Tucker (KKT) system, and achieve this efficiently by constructing an equivalent auxiliary system. However, we find that directly exploiting the matrix structures in the differential KKT system yields significant computation speed improvements. Motivated by this insight, we propose FastDOC, which applies a Gauss-Newton approximation of Hessian and takes advantage of the resulting block-sparsity and positive semidefinite properties of the matrices involved. These structural properties enable us to accelerate the computationally expensive matrix factorization steps, resulting in a factor-of-two speedup in theoretical computational complexity, and in a synthetic benchmark FastDOC achieves up to a 180% time reduction compared to the baseline method. Finally, we validate the method on an imitation learning task for human-like autonomous driving, where the results demonstrate the effectiveness of the proposed FastDOC in practical applications.

Paperid: 2136, https://arxiv.org/pdf/2512.19408.pdf

Abstract:
An energy-based modeling framework for the nonlinear dynamics of spatial Cosserat rods undergoing large displacements and rotations is proposed. The mixed formulation features independent displacement, velocity and stress variables and is further objective and locking-free. Finite rotations are represented using a director formulation that avoids singularities and yields a constant mass matrix. This results in an infinite-dimensional nonlinear port-Hamiltonian (PH) system governed by partial differential-algebraic equations with a quadratic energy functional. Using a time-differentiated compliance form of the stress-strain relations allows for the imposition of kinematic constraints, such as inextensibility or shear-rigidity. A structure-preserving finite element discretization leads to a finite-dimensional system with PH structure, thus facilitating the design of an energy-momentum consistent integration scheme. Dissipative material behavior (via the generalized-Maxwell model) and non-standard actuation approaches (via pneumatic chambers or tendons) integrate naturally into the framework. As illustrated by selected numerical examples, the present framework establishes a new approach to energy-momentum consistent formulations in computational mechanics involving finite rotations.

Paperid: 2137, https://arxiv.org/pdf/2512.19168.pdf

Abstract:
We present a vision simulator device (Katsim), a compact near-eye optical display designed for assessing postoperative corrected vision, preoperative intraocular lens (IOL) assessment, and objective IOL characterization. The system forms a virtual image using an amplitude-modulated LCoS spatial light modulator (AM-SLM), RGB LED illumination, and a high-speed varifocal lens. In the proposed architecture, the LED illumination and varifocal lens diopter changes are triggered in synchrony with the SLM RGB subframes, rendering three depth planes perceptually simultaneously via high-frequency time-multiplexing. Operating at 60 frames per second (fps), the system achieves an effective 180 Hz depth-coded cycle, enabling sharp, multi-depth rendering within a dynamically adjustable depth range from 0.2 m to optical infinity. The system's eyebox is configurable from 1 to 5 mm, while maintaining a fixed spatial location and preserving angular magnification regardless of changes in focus or eyebox size. The designed system features a 9.15-degree field of view. An integrated infrared pupil-tracking module detects non-cataractous regions of the cataractous crystalline lens, and the projected imagery is mechanically steered through those clear zones in real time. The proposed vision simulator supports both subjective simulation of post-surgical vision for patient-specific counseling and objective optical evaluation of IOLs, including resolution and contrast fidelity (e.g., modulation transfer function, contrast transfer function, and defocus curves). By decoupling depth modulation from eyebox position and size, the system offers a modular, portable platform that supports enhanced preoperative planning, personalized IOL selection, objective IOL characterization, and use as a novel research vision tool.

Paperid: 2138, https://arxiv.org/pdf/2512.17057.pdf

Abstract:
This paper develops a smooth safety-filtering framework for nonlinear control-affine systems under limited perception. Classical Control Barrier Function (CBF) filters assume global availability of the safety function - its value and gradient must be known everywhere - an assumption incompatible with sensing-limited settings, and the resulting filters often exhibit nonsmooth switching when constraints activate. We propose two complementary perception-aware safety filters applicable to general control-invariant safety sets. The first introduces a smooth perception gate that modulates barrier constraints based on sensing range, yielding a closed-form Lipschitz-safe controller with forward-invariance guarantees. The second replaces the hard CBF constraint with a differentiable penalty term, leading to a smooth unconstrained optimization-based safety filter consistent with CBF principles. For both designs, we establish existence, uniqueness, and forward invariance of the closed-loop trajectories. Numerical results demonstrate that the proposed smooth filters enable the synthesis of higher-order tracking controllers for systems such as drones and second-order ground robots, offering substantially smoother and more robust safety-critical behaviors than classical CBF-based filters.

Paperid: 2139, https://arxiv.org/pdf/2512.15996.pdf

Abstract:
This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applications due to sequential modeling through self-attention mechanisms, they have not been used within adaptive control architectures that provide stability guarantees. Existing transformer-based approaches for control rely on offline training with fixed weights, resulting in open-loop implementations that lack real-time adaptation capabilities and stability assurances. To address these limitations, a continuous LyAT controller is developed that adaptively estimates drift and diffusion uncertainties in stochastic dynamical systems without requiring offline pre-training. A key innovation is the analytically derived adaptation law constructed from a Lyapunov-based stability analysis, which enables real-time weight updates while guaranteeing probabilistic uniform ultimate boundedness of tracking and parameter estimation errors. Experimental validation on a quadrotor demonstrates the performance of the developed controller.

Paperid: 2140, https://arxiv.org/pdf/2512.15725.pdf

Abstract:
Designing controllers that simultaneously achieve strong performance and provable closed-loop stability remains a central challenge in control engineering. This work introduces a diffusion-based generative framework for linear controller synthesis grounded in the Youla-Kucera parameterization, enabling the construction of stabilizing controllers by design. The diffusion model learns a conditional mapping from plant dynamics and desired performance metrics to feasible Youla parameters, guaranteeing internal stability while flexibly accommodating user-specified targets. Trained on synthetically generated stable SISO plants with fixed-order Youla parameters, the proposed approach reliably synthesizes controllers that meet prescribed sensitivity and settling-time specifications on previously unseen systems. To the best of our knowledge, this work provides the first demonstration that diffusion models can generate stabilizing controllers, combining rigorous control-theoretic guarantees with the versatility of modern generative modeling.

Paperid: 2141, https://arxiv.org/pdf/2512.15583.pdf

Abstract:
The increasing electrification of human activities and the rapid integration of variable renewable energy sources strain the power grid. A solution to address the need for more grid storage is to use the battery of electric vehicles as a back-up capacity. However, drivers tend to disconnect their electric vehicle when its battery is needed the most. We propose a charge scheduler that incentivizes drivers to delay their disconnection to improve vehicle-to-grid services. We also leverage drivers' temporal flexibility to alleviate congestion in oversubscribed charging stations. We formulate the computation of an optimal flexible schedule as a mixed-integer quadratic problem. We tractably approximate its solution using the Alternating Direction Method of Multipliers. Considering the possibility that strategic drivers misreport their charging preferences to the station coordinator, we then propose a Vickrey-Clarke-Groves mechanism that incentivizes truthful reporting. We conclude with a simulated case study using real-world data to quantitatively assess the added value of drivers' temporal flexibility for enhancing vehicle-to-grid services and reducing station congestion.

Paperid: 2142, https://arxiv.org/pdf/2512.14682.pdf

Abstract:
Orbital debris poses an escalating threat to space missions and the long-term sustainability of Earth's orbital environment. The literature proposes various approaches for orbital debris remediation, including the use of multiple space-based lasers that collaboratively engage debris targets. While the proof of concept for this laser-based approach has been demonstrated, critical questions remain about its scalability and responsiveness as the debris population continues to expand rapidly. This paper introduces constellation reconfiguration as a system-level strategy to address these limitations. Through coordinated orbital maneuvers, laser-equipped satellites can dynamically adapt their positions to respond to evolving debris distributions and time-critical events. We formalize this concept as the Reconfigurable Laser-to-Debris Engagement Scheduling Problem (R-L2D-ESP), an optimization framework that determines the optimal sequence of constellation reconfigurations and laser engagements to maximize debris remediation capacity, which quantifies the constellation's ability to nudge, deorbit, or perform just-in-time collision avoidance maneuvers on debris objects. To manage the complexity of this combinatorial optimization problem, we employ a receding horizon approach. Our experiments reveal that reconfigurable constellations significantly outperform static ones, achieving greater debris remediation capacity and successfully deorbiting substantially more debris objects. Additionally, our sensitivity analyses identify the key parameters that influence remediation performance the most, providing essential insights for future system design. These findings demonstrate that constellation reconfiguration represents a promising advancement for laser-based debris removal systems, offering the adaptability and scalability necessary to enhance this particular approach to orbital debris remediation.

Paperid: 2143, https://arxiv.org/pdf/2512.14242.pdf

Abstract:
The growing sophistication, frequency, and diversity of cyberattacks increasingly exceed the capacity of individual entities to fully understand and counter them. While existing solutions, such as Security Information and Event Management (SIEM) systems, Security Orchestration, Automation, and Response (SOAR) platforms, and Security Operation Center (SOC), play a vital role in mitigating known threats, they often struggle to effectively address emerging and unforeseen attacks. To increase the effectiveness of cyber defense, it is essential to foster greater information sharing between entities; however, this requires addressing the challenge of exchanging sensitive data without compromising confidentiality or operational security. To address the challenges of secure and confidential Cyber Threat Intelligence (CTI) sharing, we propose a novel architecture that federates Intrusion Tolerant Systems (ITSs) and leverages concepts from Malware Information Sharing Platform (MISP) to empower SOCs. This framework enables controlled collaboration and data privacy while enhancing collective defenses. As a proof of concept, we evaluate one module by applying Differential Privacy (DP) to Federated Learning (FL), observing a manageable accuracy drop from 98.42% to 85.98% (average loss 12.44%) while maintaining reliable detection of compromised messages. These results highlight the viability of secure data sharing and establishes a foundation for the future full-scale implementation of LegionITS.

Paperid: 2144, https://arxiv.org/pdf/2512.13439.pdf

Abstract:
We study the trade-off between Age of Information (AoI) and maximal leakage (MaxL) in discrete-time status updating systems. A source generates time-stamped update packets that are processed by a server that delivers them to a monitor. An adversary, who eavesdrops on the server-monitor link, wishes to infer the timing of the underlying source update sequence. The server must balance the timeliness of the status information at the monitor against the timing information leaked to the adversary. We consider a model with Bernoulli source updates under two classes of Last-Come-First-Served (LCFS) service policies: (1) Coupled policies that tie the server's deliveries to the update arrival process in a preemptive queue; (2) Decoupled (dumping) policies in which the server transmits its freshest update according to a schedule that is independent of the update arrivals. For each class, we characterize the structure of the optimal policy that minimizes AoI for a given MaxL rate. Our analysis reveals that decoupled dumping policies offer a superior age-leakage trade-off to coupled policies. When subject to a MaxL constraint, we prove that the optimal dumping strategy is achieved by dithering between two adjacent deterministic dump periods.

Paperid: 2145, https://arxiv.org/pdf/2512.12850.pdf

Abstract:
Low-latency, resource-efficient neural network inference on FPGAs is essential for applications demanding real-time capability and low power. Lookup table (LUT)-based neural networks are a common solution, combining strong representational power with efficient FPGA implementation. In this work, we introduce KANELÉ, a framework that exploits the unique properties of Kolmogorov-Arnold Networks (KANs) for FPGA deployment. Unlike traditional multilayer perceptrons (MLPs), KANs employ learnable one-dimensional splines with fixed domains as edge activations, a structure naturally suited to discretization and efficient LUT mapping. We present the first systematic design flow for implementing KANs on FPGAs, co-optimizing training with quantization and pruning to enable compact, high-throughput, and low-latency KAN architectures. Our results demonstrate up to a 2700x speedup and orders of magnitude resource savings compared to prior KAN-on-FPGA approaches. Moreover, KANELÉ matches or surpasses other LUT-based architectures on widely used benchmarks, particularly for tasks involving symbolic or physical formulas, while balancing resource usage across FPGA hardware. Finally, we showcase the versatility of the framework by extending it to real-time, power-efficient control systems.

Paperid: 2146, https://arxiv.org/pdf/2512.09611.pdf

Abstract:
Real-time model predictive control of non-smooth switching systems remains challenging due to discontinuities and the presence of discrete modes, which complicate numerical integration and optimization. This paper presents a real-time feasible non-smooth model predictive control scheme for a physical three-tank process, implemented without mixed-integer formulations. The approach combines Filippov system modeling with finite elements and switch detection for time discretization, leading to a finite-dimensional optimal control problem formulated as a mathematical program with complementarity constraints. The mathematical program is solved via a homotopy of smooth nonlinear programs. We introduce modeling adjustments that make the three-tank dynamics numerically tractable, including additional modes to avoid non-Lipschitz points and undefined function values. Hardware experiments demonstrate efficient handling of switching events, mode-consistent tracking across reference changes, correct boundary handling, and constraint satisfaction. Furthermore, we investigate the impact of model mismatch and show that the tracking performance and computation times remain within real-time limits for the chosen sampling time. The complete controller is implemented using the non-smooth optimal control framework NOSNOC

Paperid: 2147, https://arxiv.org/pdf/2512.08465.pdf

Abstract:
Modern power networks face increasing vulnerability to cascading failures due to high complexity and the growing penetration of intermittent resources, necessitating rigorous security assessment beyond the conventional $N-1$ criterion. Current approaches often struggle to achieve the computational tractability required for exhaustive $N-2$ contingency analysis integrated with complex stability evaluations like small-signal stability. Addressing this computational bottleneck and the limitations of deterministic screening, this paper presents a scalable methodology for the vulnerability assessment of modern power networks, integrating $N-2$ contingency analysis with small-signal stability evaluation. To prioritize critical components, we propose a probabilistic \textbf{Risk Index ($R_i$)} that weights the deterministic \textit{severity} of a contingency (including optimal power flow divergence, islanding, and oscillatory instability) by the \textit{failure frequency} of the involved elements based on reliability data. The proposed framework is implemented using High-Performance Computing (HPC) techniques through the PyCOMPSs parallel programming library, orchestrating optimal power flow simulations (VeraGrid) and small-signal analysis (STAMP) to enable the exhaustive exploration of massive contingency sets. The methodology is validated on the IEEE 118-bus test system, processing more than \num{57000} scenarios to identify components prone to triggering cascading failures. Results demonstrate that the risk-based approach effectively isolates critical assets that deterministic $N-1$ criteria often overlook. This work establishes a replicable and efficient workflow for probabilistic security assessment, suitable for large-scale networks and capable of supporting operator decision-making in near real-time environments.

Paperid: 2148, https://arxiv.org/pdf/2512.08463.pdf

Abstract:
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of skill acquisition under fully controlled conditions, we bypass human subjects. Instead, we directly interface a generalist reinforcement learning agent with a spinning cylinder in a tabletop circulating water channel to maximize or minimize drag. This setup has several desirable properties. First, it is a physical system, with the rich interactions and complex dynamics that only the physical world has: the flow is highly chaotic and extremely difficult, if not impossible, to model or simulate accurately. Second, the objective -- drag minimization or maximization -- is easy to state and can be captured directly in the reward, yet good strategies are not obvious beforehand. Third, decades-old experimental studies provide recipes for simple, high-performance open-loop policies. Finally, the setup is inexpensive and far easier to reproduce than human studies. In our experiments we find that high-dimensional flow feedback lets the agent discover high-performance drag-control strategies with only minutes of real-world interaction. When we later replay the same action sequences without any feedback, we obtain almost identical performance. This shows that feedback, and in particular flow feedback, is not needed to execute the learned policy. Surprisingly, without flow feedback during training the agent fails to discover any well-performing policy in drag maximization, but still succeeds in drag minimization, albeit more slowly and less reliably. Our studies show that learning a high-performance skill can require richer information than executing it, and learning conditions can be kind or wicked depending solely on the goal, not on dynamics or policy complexity.

Paperid: 2149, https://arxiv.org/pdf/2512.07550.pdf

Abstract:
In this paper, we propose a data-driven robust safety verification framework for stochastic dynamical systems modeled as Markov decision processes with time-varying and uncertain transition probabilities. Rather than assuming access to the exact nominal transition kernel, we consider the realistic setting where only samples from multiple system executions are available. These samples may correspond to different transition models inside an ambiguity set around the nominal transition kernel. Using these observations, we construct a unified ambiguity set that captures both inherent run-to-run variability in the transition dynamics and finite-sample statistical uncertainty. This ambiguity set is formalized through a Wasserstein-distance ball around a nominal empirical distribution and naturally induces an interval Markov decision process representation of the underlying system. Within this representation, we introduce a robust safety function that characterizes reach-avoid type probabilistic safety under all transition kernels consistent with the interval Markov decision process. We further derive high-confidence safety guarantees for the true, unknown time-varying system. A numerical example illustrates the applicability and effectiveness of the proposed approach.

Paperid: 2150, https://arxiv.org/pdf/2512.07316.pdf

Abstract:
Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to perform a shared task. Existing approaches for the docking between autonomous USVs generally consider one USV as a stationary target, while the second one is tasked to reach the required docking pose. In this work, we propose a cooperative approach for USV-USV docking, where two USVs work together to dock at an agreed location. We use a centralized Model Predictive Control (MPC) approach to solve the control problem, obtaining feasible trajectories that also guarantee constraint satisfaction. Owing to its model-based nature, this approach allows the rejection of disturbances, inclusive of exogenous inputs, by anticipating their effect on the USVs through the MPC prediction model. This is particularly effective in case of almost-stationary disturbances such as water currents. In simulations, we demonstrate how the proposed approach allows for a faster and more efficient docking with respect to existing approaches.

Paperid: 2151, https://arxiv.org/pdf/2512.06982.pdf

Abstract:
Designing state encoders for reinforcement learning (RL) with multiple information sources -- such as sensor measurements, time-series signals, image observations, and textual instructions -- remains underexplored and often requires manual design. We formalize this challenge as a problem of composite neural architecture search (NAS), where multiple source-specific modules and a fusion module are jointly optimized. Existing NAS methods overlook useful side information from the intermediate outputs of these modules -- such as their representation quality -- limiting sample efficiency in multi-source RL settings. To address this, we propose an LLM-driven NAS pipeline that leverages language-model priors and intermediate-output signals to guide sample-efficient search for high-performing composite state encoders. On a mixed-autonomy traffic control task, our approach discovers higher-performing architectures with fewer candidate evaluations than traditional NAS baselines and the LLM-based GENIUS framework.

Paperid: 2152, https://arxiv.org/pdf/2512.06369.pdf

Abstract:
The increasing penetration of inverter-based resources (IBRs) is fundamentally reshaping power system dynamics and creating new challenges for stability assessment. Data-driven approaches, and in particular machine learning models, require large and representative datasets that capture how system stability varies across a wide range of operating conditions and control settings. This paper presents an open-source, high-performance computing framework for the systematic generation of such datasets. The proposed tool defines a scalable operating space for large-scale power systems, explores it through an adaptive sampling strategy guided by sensitivity analysis, and performs small-signal stability assessments to populate a high-information-content dataset. The framework efficiently targets regions near the stability margin while maintaining broad coverage of feasible operating conditions. The workflow is fully implemented in Python and designed for parallel execution. The resulting tool enables the creation of high-quality datasets that support data-driven stability studies in modern power systems with high IBR penetration.

Paperid: 2153, https://arxiv.org/pdf/2512.05910.pdf

Abstract:
The Brunovsky canonical form provides sparse structural representations that are beneficial for computational optimal control, yet existing methods fail to compute it reliably. We propose a technique that produces Brunovsky transformations with substantially lower construction errors and improved conditioning. A controllable linear system is first reduced to staircase form via an orthogonal similarity transformation. We then derive a simple linear parametrization of the transformations yielding the unique Brunovsky form. Numerical stability is further enhanced by applying a deadbeat gain before computing system matrix powers and by optimizing the linear parameters to minimize condition numbers.

Paperid: 2154, https://arxiv.org/pdf/2512.05727.pdf

Abstract:
A non-overshooting quasi-continuous sliding mode control with sub-optimal damping was recently introduced in Ruderman and Efimov (2025) for perturbed second-order systems. The present work proposes an essential modification of the nonlinear control law which (i) allows for a parameterizable control amplitude limitation in a large subset of the initial values, (ii) admits an entire state-space R2 (that was not given in Ruderman and Efimov (2025)) for the finite-time control, and finally (iii) enables for the found analytic solution of the state trajectories in the unperturbed case. The latter allows also for an exact estimation of the finite convergence time, and open an avenue for other potentially interesting analysis of the control properties in the future. For a perturbed case, the solution-based and Lyapunov function-based approaches are developed to show the uniform global asymptotic stability. The proposed robustness and convergence analysis are accompanied by several illustrative numerical examples.

Paperid: 2155, https://arxiv.org/pdf/2512.05337.pdf

Abstract:
We consider the problem of learning the parameters of a $N$-dimensional stochastic linear dynamics under both full and partial observations from a single trajectory of time $T$. We introduce and analyze a new estimator that achieves a small maximum element-wise error on the recovery of symmetric dynamic matrices using only $T=\mathcal{O}(\log N)$ observations, irrespective of whether the matrix is sparse or dense. This estimator is based on the method of moments and does not rely on problem-specific regularization. This is especially important for applications such as structure discovery.

Paperid: 2156, https://arxiv.org/pdf/2512.05071.pdf

Abstract:
Interactive surfaces have evolved from capacitive touch and IR based systems into a diverse ecosystem of sensing technologies that support rich and expressive human computer interaction. This survey traces that progression, beginning with infrared vision based approaches, such as FTIR and diffuse illumination, and the rise of capacitive touch as the dominant technology in modern devices, to focusing on contemporary modalities including vision and acoustic sensing. New technologies under development are also discussed, including mmWave radar, and vibration based techniques. Each sensing technique is examined in terms of its operating principles, resolution, scalability, and applications, along with discussions of multimodal integration. By comparing tradeoffs between sensing modalities, the survey highlights the technical and design factors that shape interactive surface performance and user experience. The review concludes by identifying persistent challenges, including sensing accuracy, power constraints, and privacy concerns, and outlines how emerging sensing modalities can enable future interactive environments to be ubiquitous and intelligent.

Paperid: 2157, https://arxiv.org/pdf/2512.04781.pdf

Abstract:
Data-driven methods have become paramount in modern systems and control problems characterized by growing levels of complexity. In safety-critical environments, deploying these methods requires rigorous guarantees, a need that has motivated much recent work at the interface of statistical learning and control. However, many existing approaches achieve this goal at the cost of sacrificing valuable data for testing and calibration, or by constraining the choice of learning algorithm, thus leading to suboptimal performances. In this paper, we describe Pick-to-Learn (P2L) for Systems and Control, a framework that allows any data-driven control method to be equipped with state-of-the-art safety and performance guarantees. P2L enables the use of all available data to jointly synthesize and certify the design, eliminating the need to set aside data for calibration or validation purposes. In presenting a comprehensive version of P2L for systems and control, this paper demonstrates its effectiveness across a range of core problems, including optimal control, reachability analysis, safe synthesis, and robust control. In many of these applications, P2L delivers designs and certificates that outperform commonly employed methods, and shows strong potential for broad applicability in diverse practical settings.

Paperid: 2158, https://arxiv.org/pdf/2512.04647.pdf

Abstract:
This paper presents an auto-optimal model predictive control (MPC) framework enhanced with active learning, designed to autonomously track optimal operational conditions in an unknown environment,where the conditions may dynamically adjust to environmental changes. First, an exploitation-oriented MPC (EO-MPC) is proposed, integrating real-time sampling data with robust set-based parameter estimation techniques to address the critical challenge of parameter identification. By introducing virtual excitation signals into the terminal constraint and establishing a validation mechanism for persistent excitation condition, the EO-MPC effectively resolves the issue of insufficient persistent excitation in parameter identification. Building upon this foundation, an active learning MPC (AL-MPC) approach is developed to integrate both available and virtual future data to resolve the fundamental conflict between tracking an unknown optimal operational condition and parameter identification. The recursive feasibility and convergence of the proposed methods are rigorously established, and numerous examples substantiate the reliability and effectiveness of the approach in practical applications.

Paperid: 2159, https://arxiv.org/pdf/2512.04439.pdf

Abstract:
In modern power systems, frequency regulation is a fundamental prerequisite for ensuring system reliability and assessing the robustness of expansion projects. Conventional feedback control schemes, however, exhibit limited accuracy under varying operating conditions because their gains remain static. Consequently, deep reinforcement learning methods are increasingly employed to design adaptive controllers that can be generalized to diverse frequency control tasks. At the same time, recent advances in quantum computing provide avenues for embedding quantum capabilities into such critical applications. In particular, the potential of quantum algorithms can be more effectively explored and harnessed on near-term quantum devices by leveraging insights from active controller design. In this work, we incorporate a quantum circuit together with an ansatz into the operation of a deep deterministic policy gradient agent. The simulation results of the IEEE 14-bus test system demonstrate the potential of this integrated approach that can achieve reliable, robust performance across diverse real-world challenges.

Paperid: 2160, https://arxiv.org/pdf/2512.04095.pdf

Abstract:
Dynamic security control (DSC) is considered a pivotal step for the future power grid, which is increasingly penetrated by inverter-based resources. However, the efficiency of such practices, whether governed by automatic generation control or virtual inertia scheduling, can be intractable due to the complexity of the problem and the need to solve the differentialalgebraic equation in a timely manner with the required accuracy. In this regard, the model-free deep reinforcement learning algorithm demonstrates reliable performance. In addition, the introduction of fault-tolerant and near-term quantum computing terminologies, i.e., noisy intermediate-scale quantum, opens avenues for improving the performance of model-free algorithms leveraging quantum capabilities. This paper provides an organized framework and assesses its dependability by evaluating the performance of a quantum-embedded algorithm on the DSC of the IEEE 39-bus test system. Hence, the obtained results demonstrate promising applications, along with shortcomings that can be addressed and further developed later.

Paperid: 2161, https://arxiv.org/pdf/2512.03871.pdf

Abstract:
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and limited adaptability to diverse patient conditions. To address these issues, this paper proposes an assist-as-needed (AAN) control algorithm that integrates a human-robot coupling dynamics model, a human torque-momentum observer (HTMO), and an adaptive parameter controller (APC). The algorithm first employs inverse dynamics to compute the joint torques required for the rehabilitation trajectory. The HTMO then estimates the torque exerted by the patient's joints and determines the torque error, which the exoskeleton compensates for via a spring-damper system, ultimately generating the target trajectory. Finally, the APC ensures adaptive assistive control. The proposed method is validated for its effectiveness in MATLAB/Simulink.

Paperid: 2162, https://arxiv.org/pdf/2512.03680.pdf

Abstract:
This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve precise positioning. Firstly, by enhancing the coupling relationship between the trolley displacement and swing angle, a composite signal with an error term was designed. Then, an energy-based Lyapunov function was constructed using the composite error signal, which incorporated a new formulation of the inertia matrix and potential energy function. Subsequently, using the backstepping method in conjunction with the hyperbolic tangent function, a controller with partial performance constraints was designed. In addition, to further enhance the system's dynamic performance, a fuzzy control scheme with online adjustable system parameters was designed. Finally, the stability of the system is proven using Lyapunov theory combined with LaSalle's invariance principle. Simulation results demonstrate that the proposed controller exhibits superior performance and robustness.

Paperid: 2163, https://arxiv.org/pdf/2512.02298.pdf

Abstract:
This paper addresses the problem of frequency-weighted extended balanced truncation for discrete and continuous-time linear time-invariant plants. We show that the frequency-weighted discrete-time plant admits block-diagonal solutions to both the Lyapunov inequality and its extended form. A recursive algorithm for extended balanced truncation is proposed, together with corresponding a-priori error bounds. Theoretical results are extended to continuous-time systems and validated through numerical examples.

Paperid: 2164, https://arxiv.org/pdf/2512.01876.pdf

Abstract:
In this paper, we consider the problem of designing input signals for an unknown linear time-invariant system in such a way that the resulting input-state data is suitable for identification or stabilization. We will take into account prior knowledge on system-theoretic properties of the system, in particular, controllability and stabilizability. For this, we extend the notion of universal inputs to incorporate prior knowledge on the system. An input is called universal for identification (resp., stabilization) if, when applied to any system complying with the prior knowledge, it results in data suitable for identification (resp., stabilization) regardless of the initial condition. We provide a full characterization of such universal inputs. In addition, we discuss online experiment design using prior knowledge, and we study cases where this approach results in the shortest possible experiment for identification and stabilization.

Paperid: 2165, https://arxiv.org/pdf/2512.01056.pdf

Abstract:
Accurate remote state estimation is a fundamental component of many autonomous and networked dynamical systems, where multiple decision-making agents interact and communicate over shared, bandwidth-constrained channels. These communication constraints introduce an additional layer of complexity, namely, the decision of when to communicate. This results in a fundamental trade-off between estimation accuracy and communication resource usage. Traditional extensions of classical estimation algorithms (e.g., the Kalman filter) treat the absence of communication as 'missing' information. However, silence itself can carry implicit information about the system's state, which, if properly interpreted, can enhance the estimation quality even in the absence of explicit communication. Leveraging this implicit structure, however, poses significant analytical challenges, even in relatively simple systems. In this paper, we propose CALM (Communication-Aware Learning and Monitoring), a novel learning-based framework that jointly addresses the dual challenges of communication scheduling and estimator design. Our approach entails learning not only when to communicate but also how to infer useful information from periods of communication silence. We perform comparative case studies on multiple benchmarks to demonstrate that CALM is able to decode the implicit coordination between the estimator and the scheduler to extract information from the instances of 'silence' and enhance the estimation accuracy.

Paperid: 2166, https://arxiv.org/pdf/2511.23385.pdf

Abstract:
This paper considers state estimation for general nonlinear discrete-time systems subject to measurement noise and possibly unbounded unknown inputs. To approach this problem, we first propose the concept of strong nonlinear detectability. This condition is sufficient and necessary for the existence of unknown input state estimators (UISEs), which reconstruct states from noisy sampled measurements and yield bounded estimation error even for unbounded unknown inputs. Based on the proposed detectability notion, a UISE is designed via a moving horizon estimation strategy using a full-order model as well as past and current measurements. Next, we tighten this detectability notion to design a two-stage MHE-based UISE, which is computationally more efficient than the MHE-based UISE using full-order models. In a simulation example with a plant growth process, both variants of MHE-based UISEs are compared with a conventional MHE to illustrate the merits of the developed methods.

Paperid: 2167, https://arxiv.org/pdf/2511.23322.pdf

Abstract:
Providing rigorous reachability guarantees for unknown complex systems is a crucial and challenging task. In this paper, we present a novel data-driven framework that addresses this challenge by leveraging Koopman operator theory. Instead of operating in the state space, the proposed method encodes model uncertainty from finite data directly into Koopman spectral representation with quantifiable error bounds. Leveraging this spectral information, we systematically determine time intervals within which trajectories from the initial set are guaranteed, with a prescribed probability, to reach the target set. This enables the rigorous reachability verification without explicit computation of reachable sets, thereby offering a significant advantage in scalability and applicability. We finally validate the effectiveness of the proposed framework through case studies on representative dynamical systems.

Paperid: 2168, https://arxiv.org/pdf/2511.21619.pdf

Abstract:
As the cost of batteries lowers, sizing and control methods that are both fast and can achieve their promised performances when deployed are becoming more important. In this paper, we show how stochastically tuned rule based controllers (RBCs) can be effectively used to achieve both these goals, providing more realistic estimates in terms of achievable levelised cost of energy (LCOE), and better performances while in operation when compared to deterministic model predictive control (MPC). We test the proposed methodology on yearly profiles from real meters for peak shaving applications and provide strong evidence about these claims.

Paperid: 2169, https://arxiv.org/pdf/2511.20939.pdf

Abstract:
This paper demonstrates how Extended Dynamic Mode Decomposition (EDMD), grounded in Koopman operator theory, can effectively identify the main contributor(s) to oscillations in power grids. We use PMU data recorded from a real 0.15 Hz oscillation event in Denmark for post-event analysis. To this end, the EDMD algorithm processed only voltage and current phasors from nineteen PMUs at different voltage levels across the Danish grid. In such a blind-test setting with no supplementary system information, EDMD accurately pinpointed the location of the main contributor to the 0.2 Hz oscillation, consistent with the location of the problematic IBR plant later confirmed by Energinet, where the underlying cause was a control system issue. Conventional approaches, such as the dissipating energy flow (DEF) method used in the ISO-NE OSL tool did not clearly identify this plant. This joint validation with Energinet, reinforcing earlier studies using simulated IBR-dominated systems and real PMU data from ISO-NE, highlights the potential of EDMD-based post-event analysis for identifying major oscillation contributors and enabling targeted SSO mitigation.

Paperid: 2170, https://arxiv.org/pdf/2511.19231.pdf

Abstract:
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of the system's Lipschitz constant. Previously, an invariant set was synthesized by iteratively expanding an initial invariant set. In contrast, this work iteratively prunes the constraint set to synthesize an invariant set -- eliminating the need for a known, initial invariant set. Furthermore, we provide stability assurances by characterizing the asymptotic stability of the system relative to an invariant approximation of the minimal positive invariant set through synthesis of a discontinuous piecewise affine Lyapunov function over the computed invariant set. The proposed method takes inspiration from subdivision techniques and requires no prior system knowledge beyond Lipschitz continuity.

Paperid: 2171, https://arxiv.org/pdf/2511.17894.pdf

Abstract:
Chatter is a self-excited vibration in milling that degrades surface quality and accelerates tool wear. This paper presents an adaptive process controller that suppresses chatter by leveraging machine learning-based online estimation of the Stability Lobe Diagram (SLD) and surface roughness in the process. Stability analysis is conducted using the semi-discretization method for milling dynamics modeled by delay differential equations. An integrated machine learning framework estimates the SLD from sensor data and predicts surface roughness for chatter detection in real time. These estimates are integrated into an optimal controller that adaptively adjusts spindle speed to maintain process stability and improve surface finish. Simulations and experiments are performed to demonstrate the superior performance compared to the existing approaches.

Paperid: 2172, https://arxiv.org/pdf/2511.17489.pdf

Abstract:
It is known that reinforcement learning (RL) is data-hungry. To improve sample-efficiency of RL, it has been proposed that the learning algorithm utilize data from 'approximately similar' processes. However, since the process models are unknown, identifying which other processes are similar poses a challenge. In this work, we study this problem in the context of the benchmark Linear Quadratic Regulator (LQR) setting. Specifically, we consider a setting with multiple agents, each corresponding to a copy of a linear process to be controlled. The agents' local processes can be partitioned into clusters based on similarities in dynamics and tasks. Combining ideas from sequential elimination and zeroth-order policy optimization, we propose a new algorithm that performs simultaneous clustering and learning to output a personalized policy (controller) for each cluster. Under a suitable notion of cluster separation that captures differences in closed-loop performance across systems, we prove that our approach guarantees correct clustering with high probability. Furthermore, we show that the sub-optimality gap of the policy learned for each cluster scales inversely with the size of the cluster, with no additional bias, unlike in prior works on collaborative learning-based control. Our work is the first to reveal how clustering can be used in data-driven control to learn personalized policies that enjoy statistical gains from collaboration but do not suffer sub-optimality due to inclusion of data from dissimilar processes. From a distributed implementation perspective, our method is attractive as it incurs only a mild logarithmic communication overhead.

Paperid: 2173, https://arxiv.org/pdf/2511.16983.pdf

Abstract:
Semantic communication can improve transmission efficiency by focusing on task-relevant information. However, under packet-based communication protocols, any error typically results in the loss of an entire packet, making semantic communication particularly vulnerable to packet loss. Since high-dimensional semantic features must be partitioned into one-dimensional transmission units during packetization. A critical open question is how to partition semantic features to maximize robustness. To address this, we systematically investigate the performance of two mainstream architectures, Transformer and Convolutional neural networks (CNN), under various feature partitioning schemes. The results show that the Transformer architecture exhibits inherent robustness to packet loss when partitioned along the channel dimension. In contrast, the CNN-based baseline exhibits imbalanced channel utilization, causing severe degradation once dominant channels are lost. To enhance the CNN resilience, we propose a lightweight Semantic Equalization Mechanism (SEM) that balances channel contributions and prevents a few channels from dominating. SEM consists of two parallel approaches: a Dynamic Scale module that adaptively adjusts channel importance, and a Broadcast module that facilitates information interaction among channels. Experimental results demonstrate that CNN equipped with SEM achieve graceful degradation under packet loss (retaining about 85% of lossless PSNR at 40% packet loss), comparable to that of Transformer models. Our findings indicate that, under an appropriate partitioning strategy, maintaining a balanced semantic representation is a fundamental condition for achieving intrinsic robustness against packet loss. These insights may also extend to other modalities such as video and support practical semantic communication design.

Paperid: 2174, https://arxiv.org/pdf/2511.16898.pdf

Abstract:
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel Tactile Skin (SPTS), a paradigm that uses compressive sampling to reconstruct rich tactile information from an entire sensor array via a single output channel. This is achieved through a direct circuit-level implementation where each sensing element, equipped with a miniature microcontroller, contributes a dynamically weighted analog signal to a global sum, performing distributed compressed sensing in hardware. Our flexible, daisy-chainable design simplifies wiring to a few input lines and one output, and significantly reduces measurement requirements compared to raster scanning methods. We demonstrate the system's performance by achieving object classification at an effective 3500 FPS and by capturing transient dynamics, resolving an 8 ms projectile impact into 23 frames. A key feature is the support for adaptive reconstruction, where sensing fidelity scales with measurement time. This allows for rapid contact localization using as little as 7% of total data, followed by progressive refinement to a high-fidelity image - a capability critical for responsive robotic systems. This work offers an efficient pathway towards large-scale tactile intelligence for robotics and human-machine interfaces.

Paperid: 2175, https://arxiv.org/pdf/2511.16819.pdf

Abstract:
This paper presents a hybrid energy system (HES) experimental testbed developed at the University of Vermont to support prototyping and validation of advanced control and optimization strategies for grid services. The platform integrates hardware-in-the-loop (HIL) simulation with a reconfigurable set of kilowatt-scale assets, including solar photovoltaic (PV), battery storage, an electrolyzer as a controllable load, and grid-tied inverters. A unified monitoring and communication architecture supports real-time data acquisition, model validation, and control implementation. The testbed's capabilities are demonstrated through a controller hardware-in-the-loop (CHIL) experiment in which a battery system participates in PV power smoothing.

Paperid: 2176, https://arxiv.org/pdf/2511.16297.pdf

Abstract:
Optimal operation of chemical processes is vital for energy, resource, and cost savings in chemical engineering. The problem of optimal operation can be tackled with reinforcement learning, but traditional reinforcement learning methods face challenges due to hard constraints related to quality and safety that must be strictly satisfied, and the large amount of required training data. Chemical processes often cannot provide sufficient experimental data, and while detailed dynamic models can be an alternative, their complexity makes it computationally intractable to generate the needed data. Optimal control methods, such as model predictive control, also struggle with the complexity of the underlying dynamic models. Consequently, many chemical processes rely on manually defined operation recipes combined with simple linear controllers, leading to suboptimal performance and limited flexibility. In this work, we propose a novel approach that leverages expert knowledge embedded in operation recipes. By using reinforcement learning to optimize the parameters of these recipes and their underlying linear controllers, we achieve an optimized operation recipe. This method requires significantly less data, handles constraints more effectively, and is more interpretable than traditional reinforcement learning methods due to the structured nature of the recipes. We demonstrate the potential of our approach through simulation results of an industrial batch polymerization reactor, showing that it can approach the performance of optimal controllers while addressing the limitations of existing methods.

Paperid: 2177, https://arxiv.org/pdf/2511.15318.pdf

Abstract:
This paper describes a method for computing price signals for prosumers, incentivizing them to adjust their consumption according to the constraints of the distribution grids to which they are connected, thereby preventing voltage violations and line congestion. The proposed method leverages an interpretation of the Alternating Direction Method of Multipliers (ADMM), which enables the extraction of a price signal to coordinate the operations of prosumers and the distribution grid's constraints while limiting the sharing of sensitive information among them. The method can be used by Distribution System Operators (DSOs) to dynamically adjust a pre-existing retail electricity tariff (e.g., a constant or time-of-use tariff), thereby triggering grid-support actions from prosumers. The method is validated experimentally in a 9-node low-voltage distribution grid laboratory with real components (lines and controllable power converters). The experiments validate the algorithm's performance in terms of convergence and operational efficiency, demonstrating its viability in a real-life setting.

Paperid: 2178, https://arxiv.org/pdf/2511.14755.pdf

Abstract:
As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification of such systems remains challenging, largely due to the complexity of the controllers, which are often nonlinear, nonconvex, learning-based, and/or black-box. Prior works propose verification algorithms that are based on approximate reachability methods, but they often restrict the class of controllers and systems that can be handled or result in overly conservative analyses. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification tool for general nonlinear systems that can compute optimal reachable sets under worst-case system uncertainties; however, its application to perception-based systems is currently underexplored. In this work, we propose RoVer-CoRe, a framework for the Robust Verification of Controllers via HJ Reachability. To the best of our knowledge, RoVer-CoRe is the first HJ reachability-based framework for the verification of perception-based systems under perceptual uncertainty. Our key insight is to concatenate the system controller, observation function, and the state estimation modules to obtain an equivalent closed-loop system that is readily compatible with existing reachability frameworks. Within RoVer-CoRe, we propose novel methods for formal safety verification and robust controller design. We demonstrate the efficacy of the framework in case studies involving aircraft taxiing and NN-based rover navigation. Code is available at the link in the footnote.

Paperid: 2179, https://arxiv.org/pdf/2511.14358.pdf

Abstract:
We address cost identification in a finite-horizon linear quadratic Gaussian game. We characterize the set of cost parameters that generate a given Nash equilibrium policy. We propose a backpropagation algorithm to identify the time-varying cost parameters. We derive a probabilistic error bound when the cost parameters are identified from finite trajectories. We test our method in numerical and driving simulations. Our algorithm identifies the cost parameters that can reproduce the Nash equilibrium policy and trajectory observations.

Paperid: 2180, https://arxiv.org/pdf/2511.13971.pdf

Abstract:
Finding clear economic signals for distribution-network operation and expansion is increasingly important as single-phase loads and distributed energy resources escalate. These devices create phase-to-phase imbalances that manifest as voltage unbalance, a power quality issue that accelerates insulation aging in machines and increases network losses, thereby raising costs for operators and consumers. Traditional grid codes address unbalance via disparate hard limits on various indices thresholds that differ across standards, offer no dynamic economic incentive and undermine optimality. This paper proposes instead to treat voltage unbalance as a `soft limit' by adding penalty terms to grid operation costs within a three-phase optimal power flow to reflect the cost of the decrease in lifetime of assets due to being subject to voltage unbalance. This unified approach yields dynamic economic signals unbalance-aware Distribution Locational Marginal Prices (DLMP) that reflect the cost of power quality deviations. A novel mathematical decomposition of DLMP is developed, isolating the energy, loss, congestion, and unbalance components. Case studies conducted on two benchmark networks demonstrate the effectiveness and practical value of the proposed method. The results indicate that unbalance penalties reshape nodal prices, produce unexpected phase-level effects, and even allow scenarios where added load reduces unbalance and lowers costs, while providing planners and market designers with actionable insights to balance investment, operation, and power quality in modern distribution systems.

Paperid: 2181, https://arxiv.org/pdf/2511.13546.pdf

Abstract:
This contribution develops an algebraic approach to obtain a controller form for a class of linear hyperbolic MIMO systems, bidirectionally coupled with a linear ODE system at the unactuated boundary. After a short summary of established controller forms for SISO and MIMO ODE as well as SISO hyperbolic PDE systems, it is shown that the direct ap- proach to state a controller form fails already for a very simple MIMO example. Next, a generalised hyperbolic controller form with different variants is proposed and a new flatnesss-based scheme to compute said form is presented. Therein, the system is treated in an algebraic setting where generalised polynomials with real exponents are used to describe the predictions and delays in the system. The proposed algorithm is then applied to the motivating example.

Paperid: 2182, https://arxiv.org/pdf/2511.13188.pdf

Abstract:
This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a quadtree-based method to generate structured, axis-aligned collision-free regions from occupancy maps. These regions serve as both a basis for developing safe corridors and as linear constraints within the MPC formulation, enabling efficient and reliable navigation without requiring direct obstacle encoding. The complete pipeline combines safe-area extraction, connectivity graph construction, trajectory generation, and B-spline smoothing into one coherent system. Experimental results demonstrate consistent success and superior performance compared to baseline approaches across complex environments.

Paperid: 2183, https://arxiv.org/pdf/2511.11453.pdf

Abstract:
Virtual power plants (VPPs) are indispensable for coordinating the rapidly growing portfolios of distributed energy resources (DERs) and enabling them to deliver multiple services into higher-level electricity markets. However, the profit allocation procedures that govern VPP participants become increasingly challenging to keep incentive-compatible due to the enlarged DER market power within each VPP, compared to directly bidding into the wholesale market. In this paper, we formulate both the VPP's market participation and its internal operation and profit allocation as consistent market-clearing processes. Building on this unified view, we propose the concept of a translation-symmetric market (TSM) framework, in which market-clearing models maintain identical structural forms across all hierarchical levels. We prove that translation symmetry induces an inductive property: once incentive compatibility holds at one level, it propagates downward to the internal settlements between the VPP and its constituent DERs. TSM also preserves service prices across levels, ensuring competitive conditions and enabling transparent valuation of resource contributions. Theoretical analysis and case studies illustrate how TSM secures incentive-compatible profit allocation in aggregating DERs to provide multiple services.

Paperid: 2184, https://arxiv.org/pdf/2511.11183.pdf

Abstract:
Differential flatness serves as a powerful tool for controlling continuous time nonlinear systems in problems such as motion planning and trajectory tracking. A similar notion, called difference flatness, exists for discrete-time systems. Although many control systems evolve in continuous time, control implementation is performed digitally, requiring discretization. It is well known in the literature that discretization does not necessarily preserve structural properties, and it has been established that, in general, flatness is not preserved under discretization (whether exact or approximate). In this paper, inspired by our previous work [1] and based on the notion of discretization maps, we construct numerical schemes that preserve flatness.

Paperid: 2185, https://arxiv.org/pdf/2511.10158.pdf

Abstract:
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, significantly affecting manoeuvrability and safety. Existing numerical approaches such as computational fluid dynamics (CFD) can accurately capture these effects but are computationally expensive and unsuitable for real-time control or estimation. This paper presents a closed-form, first-principles model of banking effects. The model coefficients are identified using physics-informed regression on towing tank experiment data for a scaled container vessel. Validation through Shapley value analysis confirms the significance of the banking terms in reproducing the measured forces and moments. Lastly, the derived coefficients are shown to be non-dimensional, making the model applicable across different scales that preserve vessel geometry.

Paperid: 2186, https://arxiv.org/pdf/2511.09830.pdf

Abstract:
We present a load frequency control strategy deploying a decentralized robust global integral terminal sliding mode control (GITSMC) method to maintain stable frequency and tie-line power in multi-area interconnected microgrids with aggregated uncertainties. To achieve this, firstly, we have developed a mathematical model of the multi-area interconnected system incorporating disturbances from solar photovoltaic (PV), wind turbine (WT) generation and load demand, as aggregated uncertainties. Secondly, we have designed a global integral terminal sliding surface with an exponential reaching law for each area to enhance system dynamic performance and suppress chattering within a finite time. Thirdly, the overall stability of the closed-loop system is analyzed using the Lyapunov stability theorem. Finally, extensive simulations are conducted on the IEEE 10-generator New England 39-bus power system, including load disturbances and variable PV and WT generation. The results demonstrate the performance of the proposed GITSMC approach, achieving approximately 94.9% improvement in ITSE and 94.4% improvement in ISE, confirming its superior accuracy and dynamic performance compared to the existing controller.

Paperid: 2187, https://arxiv.org/pdf/2511.09799.pdf

Abstract:
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation that guarantees safety by construction. The controller modifies an arbitrary nominal input through a closed-form expression. The resulting closed-form feedback has a projection structure that interpolates between the nominal control and its orthogonal projection onto the obstacle boundary, ensuring forward invariance of a user-defined safety margin. The control law depends only on the distance and bearing to obstacles and requires no map, switching, or set construction. When the nominal input is a gradient descent of a navigation potential, we prove that the closed-loop system achieves almost global asymptotic stability (AGAS) to the goal. Undesired equilibria are shown to be unstable under a mild geometric curvature condition, which compares the normal curvature of the obstacle boundary with that of the potential level sets. We refer to the proposed method as SPF (Safe Penalty-based Feedback), which ensures safe and smooth navigation with minimal computational overhead, as demonstrated through simulations in complex 2D and 3D environments.

Paperid: 2188, https://arxiv.org/pdf/2511.08106.pdf

Abstract:
This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in self-tuning super-twisting controllers may introduce some conservatism in relation to initial estimations of the perturbation rate bound. Moreover, discrete time implementation of the algorithm does not necessarily guarantee the boundedness of the closed-loop trajectories when sudden changes in the perturbation occur in between two time samples. The salient features of the proposed methodology pertain to extending the use of positive semidefinite barrier functions to Super-Twisting controller adaptation and the employment of a "nested barriers" scheme that ensures boundedness of the solutions even for "unfavourable" perturbations-to-sampling time ratios. The stability of the closed-loop system is assessed via Lyapunov analysis and simulations demonstrate the efficacy of the proposed framework.

Paperid: 2189, https://arxiv.org/pdf/2511.07323.pdf

Abstract:
The feasibility and cost-effectiveness of continued growth in solar photovoltaics are closely tied to siting decisions. But trade-offs between costs and technical potential between land categories, especially brownfields and rooftop sites, have not been quantified, despite increasing resistance to and policy interest in reducing use of greenfield sites (e.g., prime agricultural lands). We examine the effect of siting decisions across land types for utility-scale and rooftop PV on the feasibility and cost of meeting solar deployment targets across the Eastern U.S. We build a database of solar PV supply curves by land type for each county in the Eastern Interconnect (EI) region (~2,400 counties). Our supply curves quantify technical potential versus levelized cost across greenfield, brownfield, and rooftop land types. With these supply curves and a 2035 solar deployment target (435 GW) aligned with a decarbonized power system, we quantify cost and capacity trade-offs using scenarios that prioritize solar PV deployment on different land types. We find greenfield, particularly prime agriculture, sites offer the lowest levelized costs for meeting capacity targets, of 39 to 57 $/MWh. Contaminated lands, often prioritized in policy to reduce land use conflict, have limited technical potential and impose a cost premium of 14-33% relative to greenfield sites. Rooftop PV provides enough technical potential for meeting capacity targets but comes at consistently higher costs, with minimum LCOEs of roughly 70 $/MWh or well above the highest-cost greenfield sites. Our results detail heterogeneous siting trade-offs across the Eastern United States, enabling targeted policy design to meet deployment targets while balancing costs and land use conflicts.

Paperid: 2190, https://arxiv.org/pdf/2511.06841.pdf

Abstract:
Unmanned Aerial Vehicles (UAVs) are widely used for aerial photography and remote sensing applications. One of the main challenges is to stitch together multiple images into a single high-resolution image that covers a large area. Featurebased image stitching algorithms are commonly used but can suffer from errors and ambiguities in feature detection and matching. To address this, several approaches have been proposed, including using bundle adjustment techniques or direct image alignment. In this paper, we present a novel method that uses a combination of IMU data and computer vision techniques for stitching images captured by a UAV. Our method involves several steps such as estimating the displacement and rotation of the UAV between consecutive images, correcting for perspective distortion, and computing a homography matrix. We then use a standard image stitching algorithm to align and blend the images together. Our proposed method leverages the additional information provided by the IMU data, corrects for various sources of distortion, and can be easily integrated into existing UAV workflows. Our experiments demonstrate the effectiveness and robustness of our method, outperforming some of the existing feature-based image stitching algorithms in terms of accuracy and reliability, particularly in challenging scenarios such as large displacements, rotations, and variations in camera pose.

Paperid: 2191, https://arxiv.org/pdf/2511.06839.pdf

Abstract:
This paper explores the application of vision-based system identification techniques in quadrotor modeling and control. Through experiments and analysis, we address the complexities and limitations of quadrotor modeling, particularly in relation to thrust and drag coefficients. Grey-box modeling is employed to mitigate uncertainties, and the effectiveness of an onboard vision system is evaluated. An LQR controller is designed based on a system identification model using data from the onboard vision system. The results demonstrate consistent performance between the models, validating the efficacy of vision based system identification. This study highlights the potential of vision-based techniques in enhancing quadrotor modeling and control, contributing to improved performance and operational capabilities. Our findings provide insights into the usability and consistency of these techniques, paving the way for future research in quadrotor performance enhancement, fault detection, and decision-making processes.

Paperid: 2192, https://arxiv.org/pdf/2511.06199.pdf

Abstract:
Integrated Sensing and Communication (ISAC) is considered as a key component of future 6G technologies, especially in the millimeter-wave (mmWave) bands. Recently, the performances of ISAC were experimentally evaluated and demonstrated in various scenarios by developing ISAC systems. These systems generally consist of coherent transmitting (Tx) and receiving (Rx) modules. However, actively transmitting radio waves for experiments is not easy due to regulatory restrictions of radio. Meanwhile, the Tx/Rx should be synchronized and Rx need the information of Tx. In this paper, a fully passive mmWave sensing system is developed with software-defined radio for blind ISAC. It only consists of a passive Rx module which does not depend on the Tx. Since the proposed system is not synchronized with Tx and has no knowledge of the transmitted signals, a differential structure with two oppositely-oriented receivers is introduced to realize the sensing function. This structure can mitigate the influences of unknown source signals and other distortions. With the proposed sensing system, the ambient mmWave communication signals are leveraged for sensing without interrupting the existing systems. It can be deployed for field applications such as signal detection and dynamic human activity recognition since it does not emit signals. The efficacy of the developed system is first verified with a metallic plate with known motion pattern. The measured Doppler spectrogram shows good agreement with the simulation results, demonstrating the correctness of the sensing results. Further, the system is evaluated in complex scenarios, including handwaving, single- and multi-person motion detection. The sensing results successfully reflect the corresponding motions, demonstrating that the proposed sensing system can be utilized for blind ISAC in various applications.

Paperid: 2193, https://arxiv.org/pdf/2511.05116.pdf

Abstract:
The Transient Stability-Constrained Optimal Power Flow (TSC-OPF) incorporates dynamic stability constraints into the OPF formulation to ensure secure and economical operation under disturbances. While discretizing system dynamics enables the use of nonlinear programming techniques, it significantly increases computational burden. To enhance scalability, many studies simplify the network by representing loads as constant admittances, allowing the use of Kron reduction. However, computing the Kron reduction outside the optimization requires a voltage-based assumption to convert loads from constant power to constant admittance. This paper proposes a practical voltage-based load admittance approximation and evaluates the errors it may introduce in rotor angle and speed deviation trajectories. Case studies on the WECC 9-bus system show that the proposed approach reproduces rotor dynamics consistent with time-domain simulations during the first few seconds while considerably reducing implementation effort and mitigating convergence issues. The proposed framework thus offers a simple and effective strategy for scalable TSC-OPF implementations.

Paperid: 2194, https://arxiv.org/pdf/2511.04451.pdf

Abstract:
Nonlinear dynamical systems with input delays pose significant challenges for prediction, estimation, and control due to their inherent complexity and the impact of delays on system behavior. Traditional linear control techniques often fail in these contexts, necessitating innovative approaches. This paper introduces a novel approach to approximate the Koopman operator using an LSTM-enhanced Deep Koopman model, enabling linear representations of nonlinear systems with time delays. By incorporating Long Short-Term Memory (LSTM) layers, the proposed framework captures historical dependencies and efficiently encodes time-delayed system dynamics into a latent space. Unlike traditional extended Dynamic Mode Decomposition (eDMD) approaches that rely on predefined dictionaries, the LSTM-enhanced Deep Koopman model is dictionary-free, which mitigates the problems with the underlying dynamics being known and incorporated into the dictionary. Quantitative comparisons with extended eDMD on a simulated system demonstrate highly significant performance gains in prediction accuracy in cases where the true nonlinear dynamics are unknown and achieve comparable results to eDMD with known dynamics of a system.

Paperid: 2195, https://arxiv.org/pdf/2511.03265.pdf

Abstract:
For a given set $Ω\subseteq \mathbb{C}$, a matrix pair $(E,A)$ is called $Ω$-admissible if it is regular, impulse-free and its eigenvalues lie inside the region $Ω$. In this paper, we provide a dissipative Hamiltonian characterization for the matrix pairs that are $Ω$-admissible where $Ω$ is an LMI region. We then use these results for solving the nearest $Ω$-admissible matrix pair problem: Given a matrix pair $(E,A)$, find the nearest $Ω$-admissible pair $(\tilde E, \tilde A)$ to the given pair $(E,A)$. We illustrate our results on several data sets and compare with the state of the art.

Paperid: 2196, https://arxiv.org/pdf/2511.03221.pdf

Abstract:
We propose a moving horizon estimation (MHE) scheme for general nonlinear constrained systems with parametric or static nonlinear uncertainties and a predetermined state feedback controller that is assumed to robustly stabilize the system in the absence of estimation errors. Leveraging integral quadratic constraints (IQCs), we introduce a new notion of detectability that is robust to possibly non-parametric uncertainties and verifiable in practice. Assuming that the uncertain system driven by the controller satisfies this notion of detectability, we provide an MHE formulation such that the closed-loop system formed of the uncertain system, the controller and MHE is input-to-state stable w.r.t. exogenous disturbances.

Paperid: 2197, https://arxiv.org/pdf/2511.03039.pdf

Abstract:
Incast traffic in data centers can lead to severe performance degradation, such as packet loss and increased latency. Effectively addressing incast requires prompt and accurate detection. Existing solutions, including MA-ECN, BurstRadar and Pulser, typically rely on fixed thresholds of switch port egress queue lengths or their gradients to identify microburst caused by incast flows. However, these queue length related methods often suffer from delayed detection and high error rates. In this study, we propose a distributed incast detection method for data center networks at the switch-level, leveraging a probabilistic hypothesis test with an optimal detection threshold. By analyzing the arrival intervals of new flows, our algorithm can immediately determine if a flow is part of an incast traffic from its initial packet. The experimental results demonstrate that our method offers significant improvements over existing approaches in both detection speed and inference accuracy.

Paperid: 2198, https://arxiv.org/pdf/2511.02646.pdf

Abstract:
We introduce GasRL, a simulator that couples a calibrated representation of the natural gas market with a model of storage-operator policies trained with deep reinforcement learning (RL). We use it to analyse how optimal stockpile management affects equilibrium prices and the dynamics of demand and supply. We test various RL algorithms and find that Soft Actor Critic (SAC) exhibits superior performance in the GasRL environment: multiple objectives of storage operators - including profitability, robust market clearing and price stabilisation - are successfully achieved. Moreover, the equilibrium price dynamics induced by SAC-derived optimal policies have characteristics, such as volatility and seasonality, that closely match those of real-world prices. Remarkably, this adherence to the historical distribution of prices is obtained without explicitly calibrating the model to price data. We show how the simulator can be used to assess the effects of EU-mandated minimum storage thresholds. We find that such thresholds have a positive effect on market resilience against unanticipated shifts in the distribution of supply shocks. For example, with unusually large shocks, market disruptions are averted more often if a threshold is in place.

Paperid: 2199, https://arxiv.org/pdf/2511.02592.pdf

Abstract:
In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of interest while keeping communication with each other simultaneously. First, we demonstrate the unique challenges encountered in this collaborative system, i.e., the coupling and heterogeneity of the UAV/USV's trajectories. Then, we formulate a total energy consumption minimization problem to jointly optimize the trajectories, flying and hovering times, target scheduling, and beamformers under the constraints of water currents, collision avoidance, and Sensing and Communication (S\&C) requirements. To address the strong coupling of the variables, we divide the original problem into two subproblems, namely, the hover point selection and the joint trajectory planning and beamforming design. In the first subproblem, we propose a three-step hierarchical method including: (1) a virtual base station coverage (VBSC) and clustering algorithm to obtain the target scheduling and rough position of hover points; (2) a Bi-traveling salesman problem with neighborhood (Bi-TSPN)-based algorithm to determine the visiting order sequence of the hover points; (3) a hover point refinement and time allocation algorithm to further optimize the time allocation. In the latter subproblem, we complete the remaining trajectory planning and beamforming design in each flying and hovering stage by developing a semi-definite relaxation (SDR) and successive convex approximation (SCA) method. Finally, we conduct a series of simulations to demonstrate the superiority of the proposed scheme over existing sequential access and leader-follower strategies.

Paperid: 2200, https://arxiv.org/pdf/2511.02574.pdf

Abstract:
This paper proposes a novel formulation of effective regional inertia that explicitly accounts for both system topology and the spatial distribution of inertia. Unlike traditional approaches that model a region as an aggregated machine with an equivalent inertia, the proposed metric provides a topology-aware representation. The methodology builds on an analytical framework that extends classical slow coherency theory to address network partitioning and regional frequency stability. Based on these partitions, we develop a systematic procedure to evaluate the effective inertia of each region, enabling a more accurate interpretation of local inertial contributions, including those from virtual inertia provided by inverter-based resources (IBRs). Case studies on the IEEE 39-bus and 68-bus systems demonstrate that the integration of inertial devices does not uniformly improve system frequency response, underscoring the importance of the proposed metric for effective regional inertia assessment.

Paperid: 2201, https://arxiv.org/pdf/2511.02526.pdf

Abstract:
This paper presents a novel approach to many-vs-many missile guidance using virtual targets (VTs) generated by a Normalizing Flows-based trajectory predictor. Rather than assigning n interceptors directly to m physical targets through conventional weapon target assignment algorithms, we propose a centralized strategy that constructs n VT trajectories representing probabilistic predictions of maneuvering target behavior. Each interceptor is guided toward its assigned VT using Zero-Effort-Miss guidance during midcourse flight, transitioning to Proportional Navigation guidance for terminal interception. This approach treats many-vs-many engagements as many-vs-distribution scenarios, exploiting numerical superiority (n > m) by distributing interceptors across diverse trajectory hypotheses rather than pursuing identical deterministic predictions. Monte Carlo simulations across various target-interceptor configurations (1-6 targets, 1-8 interceptors) demonstrate that the VT method matches or exceeds baseline straight-line prediction performance by 0-4.1% when n = m, with improvements increasing to 5.8-14.4% when n > m. The results confirm that probabilistic VTs enable effective exploitation of numerical superiority, significantly increasing interception probability in many-vs-many scenarios.

Paperid: 2202, https://arxiv.org/pdf/2511.02482.pdf

Abstract:
This paper proposes a novel control framework designed for Inverter-Based Resources (IBRs), denoted as Generalized Swing Control (GSC). The proposed GSC framework generalizes the definition of Grid-Forming (GFM) control schemes and exploits the coupling between active and reactive power dynamics. To validate the proposed scheme, we conduct extensive time-domain simulations and small-signal analysis using a modified version of the WSCC 9-bus system and a 1479-bus dynamic model of the all-island Irish transmission system. The case studies focus on evaluating the dynamic performance of the proposed framework under different configurations, including Virtual Synchronous Machine (VSM), coupled-VSM and dual-VSM schemes. To address the nonlinear nature of power system dynamics, sensitivity analysis based on Monte Carlo methods are employed to improve parameter tuning and assess the stability of GSC configurations in the studied systems.

Paperid: 2203, https://arxiv.org/pdf/2511.02016.pdf

Abstract:
We present ABIDES-MARL, a framework that combines a new multi-agent reinforcement learning (MARL) methodology with a new realistic limit-order-book (LOB) simulation system to study equilibrium behavior in complex financial market games. The system extends ABIDES-Gym by decoupling state collection from kernel interruption, enabling synchronized learning and decision-making for multiple adaptive agents while maintaining compatibility with standard RL libraries. It preserves key market features such as price-time priority and discrete tick sizes. Methodologically, we use MARL to approximate equilibrium-like behavior in multi-period trading games with a finite number of heterogeneous agents-an informed trader, a liquidity trader, noise traders, and competing market makers-all with individual price impacts. This setting bridges optimal execution and market microstructure by embedding the liquidity trader's optimization problem within a strategic trading environment. We validate the approach by solving an extended Kyle model within the simulation system, recovering the gradual price discovery phenomenon. We then extend the analysis to a liquidity trader's problem where market liquidity arises endogenously and show that, at equilibrium, execution strategies shape market-maker behavior and price dynamics. ABIDES-MARL provides a reproducible foundation for analyzing equilibrium and strategic adaptation in realistic markets and contributes toward building economically interpretable agentic AI systems for finance.

Paperid: 2204, https://arxiv.org/pdf/2511.00814.pdf

Abstract:
Autonomous systems often must predict the motions of nearby agents from partial and noisy data. This paper asks and answers the question: "can we learn, in real-time, a nonlinear predictive model of another agent's motions?" Our online framework denoises and forecasts such dynamics using a modified sliding-window Hankel Dynamic Mode Decomposition (Hankel-DMD). Partial noisy measurements are embedded into a Hankel matrix, while an associated Page matrix enables singular-value hard thresholding (SVHT) to estimate the effective rank. A Cadzow projection enforces structured low-rank consistency, yielding a denoised trajectory and local noise variance estimates. From this representation, a time-varying Hankel-DMD lifted linear predictor is constructed for multi-step forecasts. The residual analysis provides variance-tracking signals that can support downstream estimators and risk-aware planning. We validate the approach in simulation under Gaussian and heavy-tailed noise, and experimentally on a dynamic crane testbed. Results show that the method achieves stable variance-aware denoising and short-horizon prediction suitable for integration into real-time control frameworks.

Paperid: 2205, https://arxiv.org/pdf/2511.00564.pdf

Abstract:
Accurate prediction of the remaining useful life (RUL) of industrial machinery is essential for reducing downtime and optimizing maintenance schedules. Existing approaches, such as long short-term memory (LSTM) networks and convolutional neural networks (CNNs), often struggle to model both global temporal dependencies and fine-grained degradation trends in multivariate sensor data. We propose a hybrid model, FTT-GRU, which combines a Fast Temporal Transformer (FTT) -- a lightweight Transformer variant using linearized attention via fast Fourier transform (FFT) -- with a gated recurrent unit (GRU) layer for sequential modeling. To the best of our knowledge, this is the first application of an FTT with a GRU for RUL prediction on NASA CMAPSS, enabling simultaneous capture of global and local degradation patterns in a compact architecture. On CMAPSS FD001, FTT-GRU attains RMSE 30.76, MAE 18.97, and $R^2=0.45$, with 1.12 ms CPU latency at batch=1. Relative to the best published deep baseline (TCN--Attention), it improves RMSE by 1.16\% and MAE by 4.00\%. Training curves averaged over $k=3$ runs show smooth convergence with narrow 95\% confidence bands, and ablations (GRU-only, FTT-only) support the contribution of both components. These results demonstrate that a compact Transformer-RNN hybrid delivers accurate and efficient RUL predictions on CMAPSS, making it suitable for real-time industrial prognostics.

Paperid: 2206, https://arxiv.org/pdf/2510.26722.pdf

Abstract:
Over-the-air (OTA) federated learning (FL) has been well recognized as a scalable paradigm that exploits the waveform superposition of the wireless multiple-access channel to aggregate model updates in a single use. Existing OTA-FL designs largely enforce zero-bias model updates by either assuming \emph{homogeneous} wireless conditions (equal path loss across devices) or forcing zero-bias updates to guarantee convergence. Under \emph{heterogeneous} wireless scenarios, however, such designs are constrained by the weakest device and inflate the update variance. Moreover, prior analyses of biased OTA-FL largely address convex objectives, while most modern AI models are highly non-convex. Motivated by these gaps, we study OTA-FL with stochastic gradient descent (SGD) for general smooth non-convex objectives under wireless heterogeneity. We develop novel OTA-FL SGD updates that allow a structured, time-invariant model bias while facilitating reduced variance updates. We derive a finite-time stationarity bound (expected time average squared gradient norm) that explicitly reveals a bias-variance trade-off. To optimize this trade-off, we pose a non-convex joint OTA power-control design and develop an efficient successive convex approximation (SCA) algorithm that requires only statistical CSI at the base station. Experiments on a non-convex image classification task validate the approach: the SCA-based design accelerates convergence via an optimized bias and improves generalization over prior OTA-FL baselines.

Paperid: 2207, https://arxiv.org/pdf/2510.26602.pdf

Abstract:
The increasing integration of renewable energy sources and distributed energy resources (DER) into modern power systems introduces significant uncertainty, posing challenges for maintaining grid flexibility and reliability. Hybrid energy systems (HES), composed of controllable generators, flexible loads, and battery storage, offer a decentralized solution to enhance flexibility compared to single centralized resources. This paper presents a two-level framework to enable HES participation in frequency regulation markets. The upper level performs a chance-constrained optimization to choose capacity bids based on historical regulation signals. At the lower level, a real-time control strategy disaggregates the regulation power among the constituent resources. This real-time control strategy is then benchmarked against an offline optimal dispatch to evaluate flexibility performance. Additionally, the framework evaluates the profitability of overbidding strategies and identifies thresholds beyond which performance degradation may lead to market penalties or disqualification. The proposed framework also compare the impact of imbalance of power capacities on performance and battery state of charge (SoC) through asymmetric HES configurations.

Paperid: 2208, https://arxiv.org/pdf/2510.25562.pdf

Abstract:
Reliable downlink communication in satellite-to-underground networks remains challenging due to severe signal attenuation caused by underground soil and refraction in the air-soil interface. To address this, we propose a novel cooperative rate-splitting (CRS)-aided transmission framework, where an aboveground relay decodes and forwards the common stream to underground devices (UDs). Based on this framework, we formulate a max-min fairness optimization problem that jointly optimizes power allocation, message splitting, and time slot scheduling to maximize the minimum achievable rate across UDs. To solve this high-dimensional non-convex problem under uncertain channels, we develop a deep reinforcement learning solution framework based on the proximal policy optimization (PPO) algorithm that integrates distribution-aware action modeling and a multi-branch actor network. Simulation results under a realistic underground pipeline monitoring scenario demonstrate that the proposed approach achieves average max-min rate gains exceeding $167\%$ over conventional benchmark strategies across various numbers of UDs and underground conditions.

Paperid: 2209, https://arxiv.org/pdf/2510.24933.pdf

Abstract:
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex operational scenarios. Many constraints encountered in practice, such as bounds on battery state of charge in electric vehicles, recommended speed envelopes, and comfort constraints in passenger-carrying vehicles, are inherently soft. Soft constraints allow temporary violations within predefined safety margins to accommodate uncertainty and competing operational demands, albeit at a cost such as increased wear or higher operational expenses. This paper introduces a novel soft-constrained reachability framework that extends Hamilton-Jacobi reachability analysis for the formal verification of safety-critical systems subject to both hard and soft constraints. Specifically, the framework characterizes a subset of the state space, referred to as the soft-constrained reach-avoid set, from which the system is guaranteed to reach a desired set safely, under worst-case disturbances, while ensuring that cumulative soft-constraint violations remain within a user-specified budget. The framework comprises two principal components: (i) an augmented-state model with an auxiliary budget state that tracks soft-constraint violations, and (ii) a regularization-based approximation of the discontinuous Hamilton-Jacobi value function associated with the reach-avoid differential game studied herein. The effectiveness of the proposed framework is demonstrated through numerical examples involving the landing of a simple point-mass model and a fixed-wing aircraft executing an emergency descent, both under wind disturbances. The simulation results validate the framework's ability to simultaneously manage both hard and soft constraints in safety-critical settings

Paperid: 2210, https://arxiv.org/pdf/2510.24391.pdf

Abstract:
Neural-network-based controllers (NNCs) can represent complex, highly nonlinear control laws, but verifying the closed-loop stability of dynamical systems using them remains challenging. This work presents contributions to a state-of-the-art stability verification procedure for NNC-controlled systems which relies on semialgebraic-set-based input-output modeling to pose the search for a Lyapunov function as an optimization problem. Specifically, this procedure's conservatism when analyzing NNCs using transcendental activation functions and the restriction to feedforward NNCs are addressed by a) introducing novel semialgebraic activation functions that preserve key properties of common transcendental activations and b) proving compatibility of NNCs from the broader class of recurrent equilibrium networks (RENs) with this procedure. Furthermore, the indirect optimization of a local region of attraction (RoA) estimate using a restricted set of candidate Lyapunov functions is greatly improved via c) the introduction of a richer parameterization of candidate Lyapunov functions than previously reported and d) the formulation of novel semidefinite programs (SDPs) that directly optimize the resulting RoA estimate. The value of these contributions is highlighted in two numerical examples.

Paperid: 2211, https://arxiv.org/pdf/2510.23820.pdf

Abstract:
Realizing high long-term task completion rates represents a fundamental challenge in battery-less Internet of Things (IoT) devices powered by ambient energy harvesting. This difficulty is primarily due to the stochastic and time-varying characteristics of the available energy, which significantly complicate the design of optimal task scheduling policies. In this paper, we consider a battery-less IoT device that must periodically report sensing measurements to a monitoring center. We adopt the Markov decision process (MDP) framework to handle energy variability while aiming to maximize the long-term task completion rate. For this, we first identify its components and then define two appropriate reward functions. We demonstrate the inherent properties associated with the MDP formulation and the related optimal policy. Subsequently, we solve the resulting optimization problem, leading to the optimal stationary threshold-based (OSTB) scheduling. Simulation results demonstrate that OSTB outperforms the well-known ``as late as possible'' (ALAP) scheduling strategy. For instance, an $8.6\%$ increase in the task completion rate, along with a $65\%$ reduction in power failures and a $86.29\%$ decrease in execution delays during task execution are registered assuming a $4.7$ mF capacitor.

Paperid: 2212, https://arxiv.org/pdf/2510.23819.pdf

Abstract:
Cardiac auscultation is an essential clinical skill, requiring excellent hearing to distinguish subtle differences in timing and pitch of heart sounds. However, diagnosing solely from these sounds is often challenging due to interference from surrounding noise, and the information may be limited. Existing solutions that adaptively cancel external noise are either not real-time or are computationally intensive, making them unsuitable for implementation in a portable system. This work proposes an end-to-end system with a real-time adaptive noise cancellation pipeline integrated into a device that simultaneously acquires electrocardiogram (ECG) and phonocardiogram (PCG) signals. The performance of the system is validated using real-world hospital noise datasets and recordings captured with the dual-modality device. For PCG and ECG signals recorded from the device in noisy hospital settings, the proposed algorithms achieved signal-to-noise ratio improvements of 37.01 dB and 30.32 dB, respectively. These results demonstrate the systems effectiveness in enabling reliable and accessible cardiac screening, including noisy hospital environments typical of resource-constrained settings.

Paperid: 2213, https://arxiv.org/pdf/2510.23129.pdf

Abstract:
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with low-level control. Tasks are assigned and scheduled using the compositional algorithm ComSat, which generates time-parameterized routes for each robot. These schedules are then used by a distributed Model Predictive Control (MPC) system in real time to compute local reference trajectories, accounting for static and dynamic obstacles. The approach ensures safe, collision-free operation, and supports rapid rescheduling in response to disruptions such as robot failures or environmental changes. We evaluate the method in simulated 2D environments with varying road capacities and traffic conditions, demonstrating high task completion rates and robust behavior even under congestion. The modular structure of the framework allows for computational tractability and flexibility, making it suitable for deployment in complex, real-world industrial scenarios.

Paperid: 2214, https://arxiv.org/pdf/2510.23125.pdf

Abstract:
Dependability is the ability to consistently deliver trusted and uninterrupted service in the face of operational uncertainties. Ensuring dependable operation in large-scale, energy-constrained Internet of Things (IoT) deployments is as crucial as challenging, and calls for context-aware protocols where context refers to situational or state information. In this paper, we identify four critical context dimensions for IoT networks, namely energy status, information freshness, task relevance, and physical/medium conditions, and show how each one underpins core dependability attributes. Building on these insights, we propose a two-step protocol design framework that incorporates operation-specific context fields. Through three representative use cases, we demonstrate how context awareness can significantly enhance system dependability while imposing only minimal control-plane overhead.

Paperid: 2215, https://arxiv.org/pdf/2510.22496.pdf

Abstract:
This paper derives a new class of vector-valued reproducing kernel Hilbert spaces (vRKHS) defined in terms of operator-valued kernels for the representation of functional uncertainty arising in nonparametric adaptive control methods. These are referred to as maneuver or trajectory vRKHS KM in the paper, and they are introduced to address the curse of dimensionality that can arise for some types of nonparametric adaptive control strategies. The maneuver vRKHSs are derived based on the structure of a compact, l-dimensional, smooth Riemannian manifold M that is regularly embedded in the state space X = Rn, where M is assumed to approximately support the ultimate dynamics of the reference system to be tracked.

Paperid: 2216, https://arxiv.org/pdf/2510.22429.pdf

Abstract:
When electric vehicles (EVs) are integrated into standalone DC microgrids (DCMGs), stability issues arise due to their constant power load (CPL) behavior, which provides negative incremental impedance (NII). In addition, the microgrids suffer from an inherent low-inertia problem. Therefore, this study presents a composite controller incorporating a global integral terminal sliding mode controller with a backstepping controller. A virtual capacitor is employed to mitigate the low-inertia issue and strengthen the DC-bus response. An improved fractional power-based reaching law decreases chattering and accelerates convergence. Exact feedback linearization converts the nonlinear boost converter model into Brunovsky's canonical form, mitigating NII effects and non-minimum phase issues. The entire system stability is verified using Lyapunov control theory. Simulation outcomes confirm superior performance, with 34.4-53.3% reduction in overshoot, 52.9-74.9% in undershoot, and 12-47.4% in settling time compared to the existing controller.

Paperid: 2217, https://arxiv.org/pdf/2510.22374.pdf

Abstract:
This paper combines vector-valued reproducing kernel Hilbert space (vRKHS) embedding with robust adaptive observation, yielding an algorithm that is both non-parametric and robust. The main contribution of this paper lies in the ability of the proposed system to estimate the state of a plan model whose matched uncertainties are elements of an infinite-dimensional native space. The plant model considered in this paper also suffers from unmatched uncertainties. Finally, the measured output is affected by disturbances as well. Upper bounds on the state observation error are provided in an analytical form. The proposed theoretical results are applied to the problem of estimating the state of a rigid body.

Paperid: 2218, https://arxiv.org/pdf/2510.21944.pdf

Abstract:
We formulate and solve the fixed horizon linear quadratic covariance steering problem in continuous time with a terminal cost measured in Hilbert-Schmidt (i.e., Frobenius) norm error between the desired and the controlled terminal covariances. For this problem, the necessary conditions of optimality become a coupled matrix ODE two-point boundary value problem. To solve this system of equations, we design a matricial recursive algorithm and prove its convergence. The proposed algorithm and its analysis make use of the linear fractional transforms parameterized by the state transition matrix of the associated Hamiltonian matrix. To illustrate the results, we provide two numerical examples: one with a two dimensional and another with a six dimensional state space.

Paperid: 2219, https://arxiv.org/pdf/2510.20544.pdf

Abstract:
The increasing share of converter based resources in power systems calls for scalable methods to analyse stability without relying on exhaustive system wide simulations. Decentralized small gain and small-phase criteria have recently been proposed for this purpose, but their applicability to grid forming converters is severely limited by the sectoriality assumption, which is not typically satisfied at low frequencies. This work revisits and extends mixed gain phase conditions by introducing loop shaping transformations that reformulate converter and network models in alternative coordinate frames. The proposed approach resolves intrinsic non sectoriality at low frequencies and reduces conservativeness, thereby improving the applicability of decentralized stability certification. Analytical results are illustrated using an infinite bus system first and then extended to the IEEE 14 bus network, demonstrating the practicality and scalability of the method. These findings provide a pathway toward less conservative and more widely applicable decentralized stability certificates in power grids.

Paperid: 2220, https://arxiv.org/pdf/2510.20415.pdf

Abstract:
We present a multifunctional, antenna-integrated capacitive sensing (MAiCaS) platform for passive, wireless, and real-time cardiovascular monitoring. Unlike conventional systems that require separate sensors and wireless modules, our device unifies sensing, telemetry, and mechanical functionality into a compact and scalable design by exploiting the parasitic capacitance of an inductive antenna as a strain-sensitive element. The sensor is fabricated using a cleanroom-free, single-step UV laser patterning process on a flexible PDMS substrate, reducing manufacturing complexity and enabling high reproducibility. The MAiCaS is suitable for three different applications: as a sensor for epicardial strain measurement, a stent as a sensor, and a vascular graft sensor. We demonstrate MAiCaS's versatility by validating its wireless resonance-based response to strain, pressure, and deformation across unrolled and rolled forms. In vitro experiments demonstrated consistent resonance frequency shifts under physiological conditions, with stable performance on skin, in PBS, human serum, and simulated vascular environments. Repeatability and aging tests confirmed its long-term reliability and elasticity under cyclic loading. Calibration curves revealed high sensitivity across all configurations, with wireless interrogation achieved through S11 parameter measurements and resonance frequency shift as the output metric. The sensitivity of the device was measured to be 2.9 MHz per 1% strain, 0.43 MHz/mmHg, and 309.6kHz/\textmu m for epicardial patch, graft, and stent integrated sensor, respectively. The operation of MAiCaS was evaluated in a human experiment. This monolithic sensor architecture provides a scalable and cost-effective solution for battery-free monitoring of vascular dynamics, with potential for remote diagnostics, post-surgical follow-up, and continuous cardiovascular health management.

Paperid: 2221, https://arxiv.org/pdf/2510.19165.pdf

Abstract:
Zeroth-order optimization (ZO) has been a powerful framework for solving black-box problems, which estimates gradients using zeroth-order data to update variables iteratively. The practical applicability of ZO critically depends on the efficiency of single-step gradient estimation and the overall query complexity. However, existing ZO algorithms cannot achieve efficiency on both simultaneously. In this work, we consider a general constrained optimization model with black-box objective and constraint functions. To solve it, we propose novel algorithms that can achieve the state-of-the-art overall query complexity bound of $\mathcal{O}(d/ε^4)$ to find an $ε$-stationary solution ($d$ is the dimension of variable space), while reducing the queries for estimating a single-step gradient from $\mathcal{O}(d)$ to $\mathcal{O}(1)$. Specifically, we integrate block updates with gradient descent ascent and a block gradient estimator, which leads to two algorithms, ZOB-GDA and ZOB-SGDA, respectively. Instead of constructing full gradients, they estimate only partial gradients along random blocks of dimensions, where the adjustable block sizes enable high single-step efficiency without sacrificing convergence guarantees. Our theoretical results establish the finite-sample convergence of the proposed algorithms for nonconvex optimization. Finally, numerical experiments on a practical problem demonstrate that our algorithms require over ten times fewer queries than existing methods.

Paperid: 2222, https://arxiv.org/pdf/2510.19070.pdf

Abstract:
This paper proposes a time-domain fault location identification method for mixed overhead-underground power distribution systems that can handle challenging fault scenarios such as sub-cycle faults, arcing faults and evolving faults. The proposed method is formulated based on differential equations of the system and accounts for the peculiarities of power distribution systems with distributed generations. It considers the presence of loads, multi-phase laterals and sub-laterals, heterogenous overhead and underground lines, and infeeds and remote-end fault current contributions of distributed generations. It utilizes data collected by limited number of measuring devices installed in modern power distribution systems to systematically eliminate possible multiple fault location estimations to provide a single correct estimation of the actual location of the fault. The performance of the proposed method is demonstrated using IEEE 34-node test system.

Paperid: 2223, https://arxiv.org/pdf/2510.19068.pdf

Abstract:
The functionality and natural motion of prosthetic hands remain limited by the challenges in controlling compliant wrist mechanisms. Current control strategies often lack adaptability and incur high computational costs, which impedes real-time deployment in assistive robotics. To address this gap, this study presents a computationally efficient Neural Network (NN)-based Model Reference Adaptive Controller (MRAC) for a tendon-driven soft continuum wrist integrated with a prosthetic hand. The dynamic modeling of the wrist is formulated using Timoshenko beam theory, capturing both shear and bending deformations. The proposed NN-MRAC estimates the required tendon forces from deflection errors and minimizes deviation from a reference model through online adaptation. Simulation results demonstrate improved precision with a root mean square error (RMSE) of $6.14 \times 10^{-4}$ m and a settling time of $3.2$s. Experimental validations confirm real-time applicability, with an average RMSE of $5.66 \times 10^{-3}$ m, steady-state error of $8.05 \times 10^{-3}$ m, and settling time of $1.58$ s. These results highlight the potential of the controller to enhance motion accuracy and responsiveness in soft prosthetic systems, thereby advancing the integration of adaptive intelligent control in wearable assistive devices.

Paperid: 2224, https://arxiv.org/pdf/2510.19059.pdf

Abstract:
This paper proposes graph analysis methods to fully automate the fault location identification task in power distribution systems. The proposed methods take basic unordered data from power distribution systems as input, including branch parameters, load values, and the location of measuring devices. The proposed data preparation and analysis methods automatically identify the system's topology and extract essential information, such as faulted paths, structures, loading of laterals and sublaterals, and estimate the fault location accordingly. The proposed graph analysis methods do not require complex node and branch numbering processes or renumbering following changes in the system topology. The proposed methods eliminate the need for human intervention at any step of the fault location identification process. They are scalable and applicable to systems of any size. The performance of the proposed algorithm is demonstrated using the IEEE 34-bus distribution test system.

Paperid: 2225, https://arxiv.org/pdf/2510.19035.pdf

Abstract:
Within the project management context, project scheduling serves as an indispensable component, functioning as a fundamental tool for planning, monitoring, controlling, and managing projects more broadly. Although the resource-constrained project scheduling problem (RCPSP) lies at the core of project management activities, it remains largely disconnected from the broader literature on model-based systems engineering (MBSE), thereby limiting its integration into the design and management of complex systems. The original contribution of this paper is twofold. First, the paper seeks to reconcile the RCPSP with the broader literature and vocabulary of model-based systems engineering and hetero-functional graph theory (HFGT). A concrete translation pipeline from an activity-on-node network to a SysML activity diagram, and then to an operand net is constructed. Using this representation, it specializes the hetero-functional network minimum-cost flow (HFNMCF) formulation to the RCPSP context as a systematic means of HFGT for quantitative analysis and proves that the RCPSP is recoverable as a special case of a broader model. Secondly, on an illustrative instance with renewable and non-renewable operands, the specialized HFNMCF, while producing similar schedules, yields explicit explanations of the project states that enable richer monitoring and control. Overall, the framework preserves the strengths of the classical RCPSP while accommodating real-world constraints and enterprise-level decision processes encountered in large, complex megaprojects.

Paperid: 2226, https://arxiv.org/pdf/2510.18738.pdf

Abstract:
Quantized observations are ubiquitous in a wide range of applications across engineering and the social sciences, and algorithms based on the $\ell_1$-norm are well recognized for their robustness to outliers compared with their $\ell_2$-based counterparts. Nevertheless, adaptive identification methods that integrate quantized observations with $\ell_1$-optimization remain largely underexplored. Motivated by this gap, we develop a novel $\ell_1$-based adaptive identification algorithm specifically designed for quantized observations. Without relying on the traditional persistent excitation condition, we establish global convergence of the parameter estimates to their true values and show that the average regret asymptotically vanishes as the data size increases. Finally, we apply our new identification algorithm to a judicial sentencing problem using real-world data, which demonstrates its superior performance and practical significance.

Paperid: 2227, https://arxiv.org/pdf/2510.17835.pdf

Abstract:
Electrochemical Impedance Spectroscopy (EIS) is a non-invasive technique widely used for understanding charge transfer and charge transport processes in electrochemical systems and devices. Standard approaches for the interpretation of EIS data involve starting with a hypothetical circuit model for the physical processes in the device based on experience/intuition, and then fitting the EIS data to this circuit model. This work explores a mathematical approach for extracting key characteristic features from EIS data by relying on fundamental principles of complex analysis. These characteristic features can ascertain the presence of inductors and constant phase elements (non-ideal capacitors) in circuit models and enable us to answer questions about the identifiability and uniqueness of equivalent circuit models. In certain scenarios such as models with only resistors and capacitors, we are able to enumerate all possible families of circuit models. Finally, we apply the mathematical framework presented here to real-world electrochemical systems and highlight results using impedance measurements from a lithium-ion battery coin cell.

Paperid: 2228, https://arxiv.org/pdf/2510.17769.pdf

Abstract:
The increasing penetration of inverter-based resources into the power grid, with often only black-box models available, challenges long-standing frequency control methods. Most recent works take a decentralized approach without online device coordination via communication. This paper considers both dynamic behavior and communication within secondary frequency control on an intermediate timescale. We develop a distributed data-driven approach that utilizes peer-to-peer communication between inverters to avoid the need for a central control center. To enable a trade off between communication network requirements and control performance, we present a framework to guide communication topology design for secondary frequency regulation. Following design of the inter-agent information exchange scheme, we design a controller that is structured according to the communication topology with a closed-loop stability guarantee. Case studies on the IEEE 39-bus system validate the framework and illustrate the trade-off between communication requirements and control performance that is enabled by our approach.

Paperid: 2229, https://arxiv.org/pdf/2510.17403.pdf

Abstract:
This paper presents the development of a process automation architecture leveraging Radio Frequency Identification (RFID) technology for secure, transparent and efficient voting systems. The proposed architecture automates the voting workflow through RFID-enabled voter identification, encrypted vote casting, and secure data transmission. Each eligible voter receives a smart RFID card containing a uniquely encrypted identifier, which is verified using an RC522 reader interfaced with a microcontroller. Upon successful verification, the voter interacts with a touchscreen interface to cast a vote, which is then encrypted using AES-128 and securely stored on a local SD card or transmitted via GSM to a central server. A tamper-proof monitoring mechanism records each session with time-stamped digital signatures, ensuring auditability and data integrity. The architecture is designed to function in both online and offline modes, with an automated batch synchronization mechanism that updates vote records once network connectivity is restored. System testing in simulated environments confirmed 100% voter authentication accuracy, minimized latency (average voting time of 11.5 seconds), and robustness against cloning, double voting, and data interception. The integration of real-time monitoring and secure process control modules enables electoral authorities to automate data logging, detect anomalies, and validate system integrity dynamically. This work demonstrates a scalable, automation-driven solution for voting infrastructure, offering enhanced transparency, resilience, and deployment flexibility, especially in environments where digital transformation of electoral processes is critically needed.

Paperid: 2230, https://arxiv.org/pdf/2510.16693.pdf

Abstract:
A variety of algorithms have been proposed to address the power system state estimation problem in the presence of uncertainties in the data. However, less emphasis has been given to handling perturbations in the model. In the context of linear state estimation (LSE), which is the focus of this paper, perturbations in the model come from variations in the line parameters. Since the actual values of the line parameters can be different from the values stored in a power utility's database, we investigate three approaches in this paper to estimate the states in the presence of bounded uncertainties in the data and the model. The first approach is based on interval arithmetic, the second is based on convex optimization, and the third is based on generalized linear fractional programming. The three algorithms are applied to multiple IEEE test systems and compared in terms of their speed and accuracy. The results indicate that the first two algorithms are extremely fast and give expected results, while the third suffers from scalability issues and is unsuitable for LSE.

Paperid: 2231, https://arxiv.org/pdf/2510.16650.pdf

Abstract:
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to uncertainties in the aerodynamic model of the sUAS. The controller is trained using the Robust Adversarial Reinforcement Learning framework, where an adversary perturbs the environment (aerodynamic model) to expose the agent (sUAS) to demanding scenarios. In our formulation, the adversary introduces rate-bounded perturbations to the aerodynamic model coefficients. We demonstrate that adversarial training improves robustness compared to controllers trained using stochastic model uncertainty. The learned controller is also benchmarked against a switched uncertain initial condition controller. The effectiveness of the approach is validated through high-fidelity simulations using a realistic six-degree-of-freedom fixed-wing aircraft model, showing accurate and robust path-following performance under a variety of uncertain aerodynamic conditions.

Paperid: 2232, https://arxiv.org/pdf/2510.16622.pdf

Abstract:
The vehicular density in urbanizing cities of developing countries such as Dhaka, Bangladesh result in a lot of traffic congestion, causing poor on-road experiences. Traffic signaling is a key component in effective traffic management for such situations, but the advancements in intelligent traffic signaling have been exclusive to developed countries with structured traffic. The non-lane-based, heterogeneous traffic of Dhaka City requires a contextual approach. This study focuses on the development of an intelligent traffic signaling system feasible in the context of developing countries such as Bangladesh. We propose a pipeline leveraging Real Time Streaming Protocol (RTSP) feeds, a low resources system Raspberry Pi 4B processing, and a state of the art YOLO-based object detection model trained on the Non-lane-based and Heterogeneous Traffic (NHT-1071) dataset to detect and classify heterogeneous traffic. A multi-objective optimization algorithm, NSGA-II, then generates optimized signal timings, minimizing waiting time while maximizing vehicle throughput. We test our implementation in a five-road intersection at Palashi, Dhaka, demonstrating the potential to significantly improve traffic management in similar situations. The developed testbed paves the way for more contextual and effective Intelligent Traffic Signaling (ITS) solutions for developing areas with complicated traffic dynamics such as Dhaka City.

Paperid: 2233, https://arxiv.org/pdf/2510.16408.pdf

Abstract:
The secure operation of power distribution systems is challenged by the growing integration of distributed energy resources. Leveraging the flexibility of battery storage offers a cost-effective alternative to measures like generation curtailment, which results in energy losses. However, developing an effective operational model for battery storage is hindered by inaccurate grid models, unavailability of load data, nonlinear relationship between power injections and network states, intertemporal constraints, and complex electrochemical and thermal dynamics. To address these challenges, this paper proposes a data-driven operational control scheme for battery storage in distribution systems. Linear and convex quadratic operational constraints are constructed based on real-time distribution system and battery storage measurements. Lyapunov optimization decouples multi-period battery operation, enabling a real-time, forecast-free control strategy with low computational complexity. Numerical studies using nonlinear distribution system and battery storage simulators validate the effectiveness of the approach in ensuring secure distribution system operation and satisfaction of voltage and thermal constraints of battery storage.

Paperid: 2234, https://arxiv.org/pdf/2510.16376.pdf

Abstract:
Conformal Prediction (CP) is a powerful statistical machine learning tool to construct uncertainty sets with coverage guarantees, which has fueled its extensive adoption in generating prediction regions for decision-making tasks, e.g., Trajectory Optimization (TO) in uncertain environments. However, existing methods predominantly employ a sequential scheme, where decisions rely unidirectionally on the prediction regions, and consequently the information from decision-making fails to be fed back to instruct CP. In this paper, we propose a novel Feedback-Based CP (Fb-CP) framework for shrinking-horizon TO with a joint risk constraint over the entire mission time. Specifically, a CP-based posterior risk calculation method is developed by fully leveraging the realized trajectories to adjust the posterior allowable risk, which is then allocated to future times to update prediction regions. In this way, the information in the realized trajectories is continuously fed back to the CP, enabling attractive feedback-based adjustments of the prediction regions and a provable online improvement in trajectory performance. Furthermore, we theoretically prove that such adjustments consistently maintain the coverage guarantees of the prediction regions, thereby ensuring provable safety. Additionally, we develop a decision-focused iterative risk allocation algorithm with theoretical convergence analysis for allocating the posterior allowable risk which closely aligns with Fb-CP. Furthermore, we extend the proposed method to handle distribution shift. The effectiveness and superiority of the proposed method are demonstrated through benchmark experiments.

Paperid: 2235, https://arxiv.org/pdf/2510.16262.pdf

Abstract:
This article presents an overview and analysis of spatial-to-spectral harmonic-modulated arrays (SHAs). Compared to traditional analog or digital beamforming arrays, SHAs enable concurrent multi-beamforming without requiring substantial hardware replication. SHAs replace the need for hardware replication with frequency-domain multiplexing. Furthermore, SHAs have the potential to become key contributors to future 6G networks by enabling scalable multi-user communications, joint communication and sensing, and spatial interference mitigation. In addition, an analysis of the SHA's harmonic-modulation waveform and its effects on gain, noise and bandwidth is presented. A comb-like modulation waveform for SHAs that minimizes spectral inefficiency is proposed. Further, an analysis of the SHA's capability to independently steer multiple beams is presented. This capability is quantified in terms of the SHA's spatial-to-spectral degrees of freedom. Lastly, this work introduces a novel SHA architecture that provides three spatial-to-spectral degrees of freedom with minimal hardware replication.

Paperid: 2236, https://arxiv.org/pdf/2510.15847.pdf

Abstract:
Microgrids are emerging as key enablers of resilient, sustainable, and intelligent power systems, but they continue to face challenges in dynamic disturbance handling, protection coordination, and uncertainty. Recent efforts have explored Brain Emotional Learning (BEL) controllers as bio-inspired solutions for microgrid control. Building on this growing trajectory, this article introduces a new paradigm for Neuro-Microgrids, inspired by the brain's sensorimotor gating mechanisms, specifically the Prepulse Inhibition (PPI) and Prepulse Facilitation (PPF). Sensorimotor gating offers a biological model for selectively suppressing or amplifying responses depending on contextual relevance. By mapping these principles onto the hierarchical control architecture of microgrids, we propose a Sensorimotor Gating-Inspired Neuro-Microgrid (SG-NMG) framework. In this architecture, PPI-like control decisions correspond to protective damping in primary and secondary management of microgrids, whereas PPF-like decisions correspond to adaptive amplification of corrective control actions. The framework is presented through analytical workflow design, neuro-circuitry analogies, and integration with machine learning methods. Finally, open challenges and research directions are outlined, including the mathematical modeling of gating, digital twin validation, and cross-disciplinary collaboration between neuroscience and industrial power systems. The resulting paradigm highlights sensorimotor gating as a promising framework for designing self-protective, adaptive, and resilient microgrids.

Paperid: 2237, https://arxiv.org/pdf/2510.15797.pdf

Abstract:
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral motions (i.e., prevents the vehicle from spinning out) while minimizing the stopping distance. We address this safety-critical control problem in the presence of input constraints, since braking forces are limited by the available friction on the road. We use backup control barrier functions for safe control design. As this approach requires the construction of a backup set and a backup controller, we propose a novel, systematic method to creating valid backup set-backup controller pairs based on feedback linearization and continuous-time Lyapunov equations. We use simple examples to demonstrate our proposed safety-critical control method. Finally, we implement our approach on a four-wheel vehicle model for braking on asymmetric surfaces and present simulation results.

Paperid: 2238, https://arxiv.org/pdf/2510.15707.pdf

Abstract:
This paper proposes a pitch control strategy to mitigate the underwater acoustic footprint of offshore wind turbines, a measure that will soon become necessary to minimize impacts on marine life, which rely on sound for communication, navigation, and survival. First, we quantify the underwater acoustic signature of blade-generated aerodynamic noise from three reference turbines, the NREL 5 MW, DTU 10 MW, and IEA 22 MW, using coupling blade element momentum and coupled air-water acoustic propagation modeling. Second, we propose and implement an open-loop individual pitch control (IPC) strategy that modulates the pitch of the blade at the blade passing frequency to attenuate the overall sound pressure level (OSPL) and the amplitude modulation (AM) of the transmitted noise. Third, we benchmark IPC performance against conventional pitch schemes. The results indicate that up to 5 dB reductions in OSPL and a decrease in AM depth 20% can be achieved with a pitch variation of $Δθ\approx 5^\circ$, with small losses (5-10%) in energy capture. These findings highlight a previously underappreciated noise pathway and demonstrate that targeted blade-pitch modulation can mitigate its impact.

Paperid: 2239, https://arxiv.org/pdf/2510.15613.pdf

Abstract:
This paper presents a predictive control strategy to manage low-voltage distribution systems. The proposed approach relies on an aggregate of the flexibility at the residential unit level into a three-dimensional chart that represents the injected active and reactive power, and the flexibility cost. First, this method solves a multiparametric optimization problem offline at the residential unit level to aggregate the flexibility of the assets. Then, a semi-explicit model predictive control problem is solved to account for forecasts. By combining the results of these problems with measurements, the method generates the desired flexibility chart. The proposed approach is compatible with realtime control requirements, as heavy computations are performed offline locally, making it naturally parallelizable. By linking realtime flexibility assessment with energy scheduling, our approach enables efficient, low-cost, and privacy-preserving management of low-voltage distribution systems. We validate this method on a low-voltage network of 5 buses by comparing it with an ideal technique.

Paperid: 2240, https://arxiv.org/pdf/2510.15504.pdf

Abstract:
JT-60SA is a large superconducting tokamak built in Naka, Japan. After the successful achievement of its first MA-class plasma, the installation of several additional sub-systems, including a set of non-axisymmetric Error Field Correction Coils (EFCC), is ongoing. Optimization of future JT-60SA plasma scenarios will critically depend on the correct use of EFCC, including careful fulfillment of system specifications. In addition to that, preparation and risk mitigation of early ITER operations will greatly benefit from the experience gained by early EFCC application to JT-60SA experiments, in particular to optimize error field detection and control strategies. In this work, EFCC application in JT-60SA Initial Research Phase I perspective scenarios is modeled including plasma response. Impact of (Resonant) Magnetic Perturbations on the different plasma scenarios is assessed for both core and pedestal regions by the linear resistive MHD code MARS-F. The dominant core response to EFs is discussed case by case and compared to mode locking thresholds from literature. Typical current/voltage amplitudes and wave-forms are then compared to EFCC specifications in order to assess a safe operational space.

Paperid: 2241, https://arxiv.org/pdf/2510.15485.pdf

Abstract:
Apache Spark is a widely adopted framework for large-scale data processing. However, in industrial analytics environments, Spark's built-in schedulers, such as FIFO and fair scheduling, struggle to maintain both user-level fairness and low mean response time, particularly in long-running shared applications. Existing solutions typically focus on job-level fairness which unintentionally favors users who submit more jobs. Although Spark offers a built-in fair scheduler, it lacks adaptability to dynamic user workloads and may degrade overall job performance. We present the User Weighted Fair Queuing (UWFQ) scheduler, designed to minimize job response times while ensuring equitable resource distribution across users and their respective jobs. UWFQ simulates a virtual fair queuing system and schedules jobs based on their estimated finish times under a bounded fairness model. To further address task skew and reduce priority inversions, which are common in Spark workloads, we introduce runtime partitioning, a method that dynamically refines task granularity based on expected runtime. We implement UWFQ within the Spark framework and evaluate its performance using multi-user synthetic workloads and Google cluster traces. We show that UWFQ reduces the average response time of small jobs by up to 74% compared to existing built-in Spark schedulers and to state-of-the-art fair scheduling algorithms.

Paperid: 2242, https://arxiv.org/pdf/2510.15285.pdf

Abstract:
Offshore renewable energy systems offer promising solutions for sustainable power generation, yet most existing platforms harvest either wind or wave energy in isolation. This study presents a hybrid floating offshore platform that integrates a wind turbine with three oscillating surge wave energy converters (WECs) into a hexagonal semi-submersible structure. In this configuration, the flaps are integrated with the platform geometry to provide both energy extraction and hydrodynamic stability. A modeling and simulation framework was developed using WEC-Sim and benchmarked against the NREL 5 MW semisubmersible reference. Metacentric height analysis confirmed hydrostatic stability across a range of prescribed flap angles. Sensitivity analysis of twelve geometric variables identified flap dimensions and tower length as dominant drivers of stability, energy capture, and tower stress. Time-domain simulations revealed dependence on wave incidence angle, with variations in flap power sharing, capture width ratio (CWR), and platform response. The feasibility of using flap sweeps to modulate pitch motion was also demonstrated. Annual energy production (AEP) estimates based on site-specific data indicate 16.86 GWh from wind and 3.65 GWh from wave energy, with WECs contributing about 18% of the total. These results highlight the potential of integrated wind-wave platforms and point toward future studies on structural modeling and advanced control.

Paperid: 2243, https://arxiv.org/pdf/2510.15166.pdf

Abstract:
The Koopman operator, originally defined for dynamical systems without input, has inspired many applications in control. Yet, the theoretical foundations underpinning this progress in control remain underdeveloped. This paper investigates the theoretical structure and connections between two extensions of Koopman theory to control: (i) Koopman operator via infinite input sequences and (ii) the Koopman control family. Although these frameworks encode system information in fundamentally different ways, we show that under certain conditions on the function spaces they operate on, they are equivalent. The equivalence is both in terms of the actions of the Koopman-based formulations in each framework as well as the function values on the system trajectories. Our analysis provides constructive tools to translate between the frameworks, offering a unified perspective for Koopman methods in control.

Paperid: 2244, https://arxiv.org/pdf/2510.15150.pdf

Abstract:
Advances in leveraging Gaussian processes (GP) have enabled learning and inferring dynamic grid behavior from scarce PMU measurements. However, real measurements can be corrupted by various random and targeted threats, leading to inaccurate and meaningless results. This paper develops robust transient learning to overcome this challenge by exploiting the sparse corruption patterns in the data flow. Specifically, we integrate sparse optimization with method of moments (MoM) to make learning robust to a sparse distribution of data corruptions; then, we optimize sparse weights to identify corrupted meter locations. To improve inference speed on large-scale systems, we further adopt K-medoid clustering of locations to develop dimension reduction (DR) and aggregate representation (AR) heuristics. Experimental results demonstrate robustness against random large errors, targeted false data injections, and local PMU clock drifts. On a 1354-bus system, inference turns out to be 18x faster using DR and 400x faster when further combined with AR heuristics.

Paperid: 2245, https://arxiv.org/pdf/2510.14931.pdf

Abstract:
In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma m-QP) framework, which unifies control Lyapunov functions (CLFs) and control barrier functions (CBFs) to enforce both stability and safety in the closed-loop system. For the first time, we construct a global, time-invariant, strict Lyapunov function for the closed-loop nonholonomic mobile robot system with a nominal stabilization controller in polar coordinates; this strict Lyapunov function then serves as the CLF in the QP design. Next, by exploiting the inherent cascaded structure of the vehicle dynamics, we develop a CBF for the mobile robot via an integrator backstepping procedure. Our main results guarantee both asymptotic stability and safety for the closed-loop system. Both the simulation and experimental results are presented to illustrate the effectiveness and performance of our approach.

Paperid: 2246, https://arxiv.org/pdf/2510.14834.pdf

Abstract:
Integration of distributed energy resources has created a need for autonomous, dynamic voltage regulation. Decentralized Volt-VAr Control (VVC) of grid-connected inverters presents a unique opportunity for voltage management but, if designed poorly, can lead to unstable behavior when in feedback with the grid. We model the grid-VVC closed-loop dynamics with a linearized power flow approach, leveraging historical data, which shows improvement over the commonly used LinDistFlow model. This model is used to design VVC slopes by minimizing steady-state voltage deviation from the nominal value, subject to a non-convex spectral radius stability constraint, which has not been previously implemented within this context. We compare this constraint to existing convex restrictions and demonstrate, through simulations on a realistic feeder, that using the spectral radius results in more effective voltage regulation.

Paperid: 2247, https://arxiv.org/pdf/2510.14696.pdf

Abstract:
Transmission Expansion Planning (TEP) optimizes power grid upgrades and investments to ensure reliable, efficient, and cost-effective electricity delivery while addressing grid constraints. To support growing demand and renewable energy integration, energy storage is emerging as a pivotal asset that provides temporal flexibility and alleviates congestion. This paper develops a multiperiod, two-stage PTDF formulation that co-optimizes transmission upgrades and storage siting/sizing. To ensure scalability, a trust-region, multicut Benders scheme warm-started from per-representative-day optima is proposed. Applied to a 2,000-bus synthetic Texas system under high-renewable projections, the method attains final optimality gaps below 1% and yields a plan with storage at about 180 nodes (32% of peak renewable capacity). These results demonstrate that the proposed PTDF-based methodology efficiently handles large distributed storage fleets, demonstrating scalability at high spatial resolution

Paperid: 2248, https://arxiv.org/pdf/2510.13682.pdf

Abstract:
This paper presents a fast impedance measurement IC for large-scale piezo-resistive sensor array. It features a unified differential time-to-digital demodulation architecture that readout impedance directly through the excitation circuit. The proposed pre-saturation adaptive bias technique further improves power efficiency. The chip scans 253 sensors in 12.2 ms (82 fps) at 125 kHz, consuming 158 μW (7.5 nJ/sensor). With loads from 20 Ω to 500 kΩ, it achieves 0.5% error and up to 71.1 dB SNR.

Paperid: 2249, https://arxiv.org/pdf/2510.13052.pdf

Abstract:
Classical optimization theory deals with fixed, time-invariant objective functions. However, time-varying optimization has emerged as an important subject for decision-making in dynamic environments. In this work, we study the problem of learning from streaming data through a time-varying optimization lens. Unlike prior works that focus on generic formulations, we introduce a structured, \emph{weight-based} formulation that explicitly captures the streaming-data origin of the time-varying objective, where at each time step, an agent aims to minimize a weighted average loss over all the past data samples. We focus on two specific weighting strategies: (1) uniform weights, which treat all samples equally, and (2) discounted weights, which geometrically decay the influence of older data. For both schemes, we derive tight bounds on the ``tracking error'' (TE), defined as the deviation between the model parameter and the time-varying optimum at a given time step, under gradient descent (GD) updates. We show that under uniform weighting, the TE vanishes asymptotically with a $\mathcal{O}(1/t)$ decay rate, whereas discounted weighting incurs a nonzero error floor controlled by the discount factor and the number of gradient updates performed at each time step. Our theoretical findings are validated through numerical simulations.

Paperid: 2250, https://arxiv.org/pdf/2510.12919.pdf

Abstract:
Level set methods underpin modern safety techniques such as control barrier functions (CBFs), while also serving as implicit surface representations for geometric shapes via distance fields. Inspired by these two paradigms, we propose a unified framework where the implicit surface itself acts as a CBF. We leverage Gaussian process (GP) implicit surface (GPIS) to represent the safety boundaries, using safety samples which are derived from sensor measurements to condition the GP. The GP posterior mean defines the implicit safety surface (safety belief), while the posterior variance provides a robust safety margin. Although GPs have favorable properties such as uncertainty estimation and analytical tractability, they scale cubically with data. To alleviate this issue, we develop a sparse solution called sparse Gaussian CBFs. To the best of our knowledge, GPIS have not been explicitly used to synthesize CBFs. We validate the approach on collision avoidance tasks in two settings: a simulated 7-DOF manipulator operating around the Stanford bunny, and a quadrotor navigating in 3D around a physical chair. In both cases, Gaussian CBFs (with and without sparsity) enable safe interaction and collision-free execution of trajectories that would otherwise intersect the objects.

Paperid: 2251, https://arxiv.org/pdf/2510.12611.pdf

Abstract:
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and remain computationally efficient for safety-critical applications. In this work, we present a novel neural-augmented feedback controller for agile flight control. The controller addresses individual limitations of existing state-of-the-art control paradigms and unifies their strengths. We demonstrate the controller's capabilities, including the accurate tracking of highly aggressive trajectories that surpass the feasibility of the actuators. Notably, the controller provides universal stability guarantees, enhancing its robustness and tracking performance even in exceedingly disturbance-prone settings. Its nonlinear feedback structure is highly efficient enabling fast computation at high update rates. Moreover, the learning process in simulation is both fast and stable, and the controller's inherent robustness allows direct deployment to real-world platforms without the need for training augmentations or fine-tuning.

Paperid: 2252, https://arxiv.org/pdf/2510.12539.pdf

Abstract:
Connected braking can reduce fatal collisions in connected and autonomous vehicles (CAVs) by using reliable, low-latency 5G New Radio (NR) links, especially NR Sidelink Vehicle-to-Everything (V2X). In rural areas, road side units are sparse and power-constrained or off-grid, so energy efficiency must be considered alongside safety. This paper studies how three communication control factors including subcarrier spacing ($\mathrm{SCS}$), modulation and coding scheme ($\mathrm{MCS}$), and transmit power ($P_{\mathrm{t}}$) should be configured to balance safety and energy consumption in rural line-of-sight (LOS) scenarios in light and heavy traffic scenarios. Safety is quantified by the packet receive ratio ($\mathrm{PRR}$) against the minimum communication distance $D_{\mathrm{comm}}$, defined as the distance that the vehicle travels during the transmission of the safety message. Results show that, under heavy traffic, increasing $P_{\mathrm{t}}$ and selecting a low-rate $\mathrm{MCS}$ at $\mathrm{SCS} = 30$ kHz sustains high $\mathrm{PRR}$ at $D_{\mathrm{comm}}$, albeit with higher energy cost. In light traffic, maintaining lower $P_\mathrm{t}$ with low $\mathrm{MCS}$ levels achieves a favorable reliability-energy trade-off while preserving acceptable $\mathrm{PRR}$ at $D_{\mathrm{comm}}$. These findings demonstrate the necessity of adaptive, energy-aware strategy to guarantee both safety and energy efficiency in rural V2X systems.

Paperid: 2253, https://arxiv.org/pdf/2510.11388.pdf

Abstract:
A data-driven framework is proposed for online estimation of quadrotor motor efficiency via residual minimization. The problem is formulated as a constrained nonlinear optimization that minimizes trajectory residuals between measured flight data and predictions generated by a quadrotor dynamics model. A sliding-window strategy enables online estimation, and the optimization is efficiently solved using an iteratively reweighted least squares (IRLS) scheme combined with a primal-dual interior-point method, with inequality constraints enforced through a logarithmic barrier function. Robust z-score weighting is employed to reject outliers, which is particularly effective in motor clipping scenarios where the proposed estimator exhibits smaller spikes than an EKF baseline. Compared to traditional filter-based approaches, the batch-mode formulation offers greater flexibility by selectively incorporating informative data segments. This structure is well-suited for onboard implementation, particularly for applications such as fault detection and isolation (FDI), health monitoring, and predictive maintenance in aerial robotic systems. Simulation results under various degradation scenarios demonstrate the accuracy and robustness of the proposed estimator.

Paperid: 2254, https://arxiv.org/pdf/2510.10892.pdf

Abstract:
We propose a novel framework for estimating the parameters of an aggregated distributed energy resources (der_a) model. First, we introduce a rigorous method to determine whether all model parameters are estimable. When they are not, our approach identifies the subset of parameters that can be estimated. The proposed framework offers new insights into the number and specific parameters that can be reliably estimated based on commonly available measurements. It also highlights the limitations of calibrating such models. Second, we introduce a Kalman filtering method to calibrate the der_a model. Since we account for nonlinear effects such as saturation and deadbands, we develop a specific mechanism to handle smoothing functions within the Kalman filter. Specifically, we consider the extended and the unscented Kalman filter. We demonstrate the effectiveness of the proposed framework on a modified IEEE 34-node distribution feeder with inverter-based resources. Our findings align with the North American Electric Reliability Corporation's parameterization guideline and underscore the importance of model calibration in accurately capturing the collective dynamics of distributed energy resources installed on distribution systems.

Paperid: 2255, https://arxiv.org/pdf/2510.10856.pdf

Abstract:
Electricity storage is used for intertemporal price arbitrage and for ancillary services that balance unforeseen supply and demand fluctuations via frequency regulation. We present an optimization model that computes bids for both arbitrage and frequency regulation and ensures that storage operators can honor their market commitments at all times for all fluctuation signals in an uncertainty set inspired by market rules. This requirement, initially expressed by an infinite number of nonconvex functional constraints, is shown to be equivalent to a finite number of deterministic constraints. The resulting formulation is a mixed-integer bilinear program that admits mixed-integer linear relaxations and restrictions. Empirical tests on European electricity markets show a negligible optimality gap between the relaxation and the restriction. The model can account for intraday trading and, with a solution time of under 5 seconds, may serve as a building block for more complex trading strategies. Such strategies become necessary as battery capacity exceeds the demand for ancillary services. In a backtest from 1 July 2020 through 30 June 2024 joint market participation more than doubles profits and almost halves energy storage output compared to arbitrage alone.

Paperid: 2256, https://arxiv.org/pdf/2510.10651.pdf

Abstract:
Coordination of distributed energy resources (DERs) can engender flexibility necessary to improve grid reliability. Packetized Energy Management (PEM) is a method for coordinating DERs, such as thermostatically controlled loads (TCLs) and electric vehicles, within customer quality-of-service (QoS) limits. In PEM, a DER uses local information to offer flexibility by sending a request to the DER coordinator to turn-ON or turn-OFF. Much work has focused on modeling and analyzing aggregations of DERs under PEM with fixed packet durations and only turn-ON requests. Different recent efforts to enable variable packet lengths have shown an increase in available flexibility and ramping capability, but have not been modeled in aggregate, which limits systematic analyses. To address this issue, this paper presents a new aggregate bin-based (macro) model of PEM loads that incorporates both turn-ON and turn-OFF request features, enabling the model to accurately characterize the capability of the fleet of DERs to track a power reference signal, population temperature dynamics, aggregate request rates, and variable packet lengths. Simulation-based validation is performed against an agent-based (micro) model to evaluate robustness and quantify model accuracy. Finally, the distribution of variable packet lengths from macro-model simulations are applied to inform past work on PEM with randomized packet lengths

Paperid: 2257, https://arxiv.org/pdf/2510.10552.pdf

Abstract:
The study is anchored to the principles of Nearly-Zero Energy Building (NZEB). It aimed to transform the Tarlac State University Gymnasium into a facility with energy-efficient equipment to contribute to reducing carbon footprints by integrating a solar PV system as its renewable energy source. The researchers found out that the electrical infrastructure of the Gym was outdated, and the lighting was not energy efficient, and there were too few convenience or power outlets. There was also insufficient cooling equipment to maintain a comfortable temperature. Analysis shows that the payback period is within the average range, making it a cost-effective investment for the University. Aside from the cost of the PV System, adherence to engineering design standards will mean additional costs to replace the metal halides with LED high bay lamps, installation of additional air conditioning units, and provision of additional convenience outlets. These additional costs should be considered when evaluating the feasibility of the project. It is recommended that the integrity of the existing roof system of the Gymnasium be considered. The total cost of putting up the whole electrical system, including new lighting, cooling, and convenience loads, must be calculated to determine the total cost of implementing the whole NZEB project. Other factors in the economic evaluation may be considered to determine a more stringent result.

Paperid: 2258, https://arxiv.org/pdf/2510.09445.pdf

Abstract:
In this paper, a robust nonlinear control scheme is designed for the motion control of a class of piezo-actuated nano-positioning systems using frequency-domain analysis. The hysteresis, the nonlinearity in the piezoelectric material, degrades the precision in tracking references with high frequency contents and different travel ranges. The hysteresis compensation by the inverse model, as the state-of-the-art solution, is not reliable alone. Therefore, a control framework with robustness against the remaining nonlinearity is needed. It is shown that there is an unavoidable limitation in robust linear control design to improve the performance. A robust control methodology based on a complex-order element is established to relax the limitation. Then, a constant-in-gain-lead-in-phase (CgLp) reset controller is utilized to realize the complex-order control. The control design is based on the sinusoidal input describing function (SIDF) and the higher-order SIDF (HOSIDF) tools. A constrained optimization problem is provided to tune the control parameters. The achieved improvements by the CgLp control is validated by the simulation.

Paperid: 2259, https://arxiv.org/pdf/2510.09138.pdf

Abstract:
Numerous types of antennas have been employed for microwave imaging of stratified media for ground penetrating radar (GPR), through-the-wall-radar imaging (TWRI), etc. This letter aims to investigate the impact of the different antennas with their characteristics on the image reconstruction of those media. Hence, three types of antennas, including horn antennas, open waveguide and Vivaldi antennas, are chosen as almost directional antennas, operating at X-band 8-12 GHz. The antenna's far-field and near-field characteristics are analyzed. A diffraction tomography (DT)-based algorithm is used to reconstruct the target location within the stratified media using monostatic and multistatic data. It is observed that the more directional antennas provide a better-reconstructed image with less shadowing image of the stratified media.

Paperid: 2260, https://arxiv.org/pdf/2510.08754.pdf

Abstract:
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate these capabilities we present a system to play dynamic table tennis for quadrupedal robots that integrates high speed perception, trajectory prediction, and agile control. Our system uses external cameras for high-speed ball localization, physical models with learned residuals to infer spin and predict trajectories, and a novel model predictive control (MPC) formulation for agile full-body control. Notably, a continuous set of stroke strategies emerge automatically from different ball return objectives using this control paradigm. We demonstrate our system in the real world on a Spot quadruped, evaluate accuracy of each system component, and exhibit coordination through the system's ability to aim and return balls with varying spin types. As a further demonstration, the system is able to rally with human players.

Paperid: 2261, https://arxiv.org/pdf/2510.08288.pdf

Abstract:
Constraint management is a central challenge in modern control systems. A solution is the Reference Governor (RG), which is an add-on strategy to pre-stabilized feedback control systems to enforce state and input constraints by shaping the reference command. While robust formulations of RG exist for linear systems, their extension to nonlinear systems is often computationally intractable. This paper develops a scenario-based robust RG formulation for nonlinear systems and investigates its parallel implementation on multi-core CPUs and CUDA-enabled GPUs. We analyze the computational structure of the algorithm, identify parallelization opportunities, and implement the resulting schemes on modern parallel hardware. Benchmarking on a nonlinear hydrogen fuel cell model demonstrates order-of-magnitude speedups (by as much as three orders of magnitude) compared to sequential implementations.

Paperid: 2262, https://arxiv.org/pdf/2510.08121.pdf

Abstract:
New-generation space missions require satellites to carry substantial amounts of liquid propellant, making it essential to analyse the coupled control-structure-propellant dynamics in detail. While Computational Fluid Dynamics (CFD) offers high-fidelity predictions, its computational cost limits its use in iterative design. Equivalent Mechanical Models (EMMs) provide a faster alternative, though their predictive performance, especially in closed-loop scenarios, remains largely unexplored. This work presents a comparative analysis of a spacecraft under feedback control, using both CFD and a reduced-order sloshing model. Results show good agreement, validating the simplified model for the manoeuvrer considered. This validation enables efficient sensitivity and stability studies, offering a practical tool for early-stage spacecraft design.

Paperid: 2263, https://arxiv.org/pdf/2510.08082.pdf

Abstract:
Stroke is a leading cause of long-term disability and the second most common cause of death worldwide. Although acute treatments have advanced, recovery remains challenging and limited. Brain-computer interfaces (BCIs) have emerged as a promising tool for post-stroke rehabilitation by promoting neuroplasticity. However, clinical outcomes remain variable, and optimal protocols have yet to be established. This study explores strategies to optimize BCI-based rehabilitation by comparing motor imagery of affected hand movement versus rest, instead of the conventional left-versus-right motor imagery. This alternative aims to simplify the task and address the weak contralateral activation commonly observed in stroke patients. Two datasets, one from healthy individuals and one from stroke patients, were used to evaluate the proposed approach. The results showed improved performance using both FBCSP and EEGNet. Additionally, we investigated the impact of session duration and found that shorter training sessions produced better BCI performance than longer sessions.

Paperid: 2264, https://arxiv.org/pdf/2510.07700.pdf

Abstract:
We propose enforcing constraints on Model-Based Diffusion by introducing emerging barrier functions inspired by interior point methods. We show that constraints on Model-Based Diffusion can lead to catastrophic performance degradation, even on simple 2D systems due to sample inefficiency in the Monte Carlo approximation of the score function. We introduce Emerging-Barrier Model-Based Diffusion (EB-MBD) which uses progressively introduced barrier constraints to avoid these problems, significantly improving solution quality, without the need for computationally expensive operations such as projections. We analyze the sampling liveliness of samples each iteration to inform barrier parameter scheduling choice. We demonstrate results for 2D collision avoidance and a 3D underwater manipulator system and show that our method achieves lower cost solutions than Model-Based Diffusion, and requires orders of magnitude less computation time than projection based methods.

Paperid: 2265, https://arxiv.org/pdf/2510.07329.pdf

Abstract:
In complex production lines, it is essential to have strict, fast-acting rules to determine whether the system is In Control (InC) or Out of Control (OutC). This study explores a bio-inspired method that digitally mimics ant colony behavior to classify InC/OutC states and forecast imminent transitions requiring maintenance. A case study on industrial potato chip frying provides the application context. During each two-minute frying cycle, sequences of eight temperature readings are collected. Each sequence is treated as a digital ant depositing virtual pheromones, generating a Base Score. New sequences, representing new ants, can either reinforce or weaken this score, leading to a Modified Base Score that reflects the system's evolving condition. Signals such as extreme temperatures, large variations within a sequence, or the detection of change-points contribute to a Threat Score, which is added to the Modified Base Score. Since pheromones naturally decay over time unless reinforced, an Environmental Score is incorporated to reflect recent system dynamics, imitating real ant behavior. This score is calculated from the Modified Base Scores collected over the past hour. The resulting Total Score - the sum of the Modified Base Score, Threat Score, and Environmental Score - is used as the main indicator for real-time system classification and forecasting of transitions from InC to OutC. This ant colony optimization-inspired approach provides an adaptive and interpretable framework for process monitoring and predictive maintenance in industrial environments.

Paperid: 2266, https://arxiv.org/pdf/2510.07292.pdf

Abstract:
In recent years, Unmanned Aerial Vehicles (UAVs) have brought a new true revolution to military tactics. While UAVs already constitute an advantage when operating alone, multi-UAV swarms expand the available possibilities, allowing the UAVs to collaborate and support each other as a team to carry out a given task. This entails the capability to exchange information related with situation awareness and action coordination by means of a suitable wireless communication technology. In such scenario, the adversary is expected to disrupt communications by jamming the communication channel. The latter becomes the Achilles heel of the swarm. While anti-jamming techniques constitute a well covered topic in the literature, the use of intelligent swarm behaviors to leverage those techniques is still an open research issue. This paper explores the use of Genetic Algorithms (GAs) to jointly optimize UAV swarm formation, beam-steering antennas and traffic routing in order to mitigate the effect of jamming in the main coordination channel, under the assumption that a more robust and low data rate channel is used for formation management signaling. Simulation results show the effectiveness of proposed approach. However, the significant computational cost paves the way for further research.

Paperid: 2267, https://arxiv.org/pdf/2510.07116.pdf

Abstract:
Neurotechnologies are transforming how we measure, interpret, and modulate brain-body interactions, integrating real-time sensing, computation, and stimulation to enable precise physiological control. They hold transformative potential across clinical and non-clinical domains, from treating disorders to enhancing cognition and performance. Realizing this potential requires navigating complex, interdisciplinary challenges spanning neuroscience, materials science, device engineering, signal processing, computational modelling, and regulatory and ethical frameworks. This Perspective presents a strategic roadmap for neurotechnology development, created by early-career researchers, highlighting their role at the intersection of disciplines and their capacity to bridge traditional silos. We identify five cross-cutting trade-offs that constrain progress across functionality, scalability, adaptability, and translatability, and illustrate how technical domains influence their resolution. Rather than a domain-specific review, we focus on shared challenges and strategic opportunities that transcend disciplines. We propose a unified framework for collaborative innovation and education, highlight ethical and regulatory priorities, and outline a timeline for overcoming key bottlenecks. By aligning technical development with translational and societal needs, this roadmap aims to accelerate equitable, effective, and future-ready adaptive neurotechnologies, guiding coordinated efforts across the global research and innovation community.

Paperid: 2268, https://arxiv.org/pdf/2510.06368.pdf

Abstract:
The normal forms provide useful approximations for many trajectories of interest within the circular restricted three-body problem. This paper aims to thoroughly compare two of these forms: the Birkhoff normal form and the resonant normal form, highlighting the strengths of each for the representation of center manifold trajectories. A method of station-keeping is introduced, analogous to Floquet modes, in which the unstable component is minimized at specific points along a trajectory through impulsive maneuvers. Three different formulations of the same station-keeping approach are posed, collectively spanning Lyapunov, vertical, and halo orbits, as well as Lissajous and quasihalo trajectories.

Paperid: 2269, https://arxiv.org/pdf/2510.06091.pdf

Abstract:
Mixtures of linear dynamical systems (MoLDS) provide a path to model time-series data that exhibit diverse temporal dynamics across trajectories. However, its application remains challenging in complex and noisy settings, limiting its effectiveness for neural data analysis. Tensor-based moment methods can provide global identifiability guarantees for MoLDS, but their performance degrades under noise and complexity. Commonly used expectation-maximization (EM) methods offer flexibility in fitting latent models but are highly sensitive to initialization and prone to poor local minima. Here, we propose a tensor-based method that provides identifiability guarantees for learning MoLDS, which is followed by EM updates to combine the strengths of both approaches. The novelty in our approach lies in the construction of moment tensors using the input-output data to recover globally consistent estimates of mixture weights and system parameters. These estimates can then be refined through a Kalman EM algorithm, with closed-form updates for all LDS parameters. We validate our framework on synthetic benchmarks and real-world datasets. On synthetic data, the proposed Tensor-EM method achieves more reliable recovery and improved robustness compared to either pure tensor or randomly initialized EM methods. We then analyze neural recordings from the primate somatosensory cortex while a non-human primate performs reaches in different directions. Our method successfully models and clusters different conditions as separate subsystems, consistent with supervised single-LDS fits for each condition. Finally, we apply this approach to another neural dataset where monkeys perform a sequential reaching task. These results demonstrate that MoLDS provides an effective framework for modeling complex neural data, and that Tensor-EM is a reliable approach to MoLDS learning for these applications.

Paperid: 2270, https://arxiv.org/pdf/2510.06081.pdf

Abstract:
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples linear and angular velocities and regulates heading, a third, delay-dependent layer that achieves exact model matching from the orientation angle command to the orientation angle is introduced. The proposed outer loop controller is a delay dependent dynamic measurable output-feedback controller with dynamic proper precompensator. Parameterization yields a simple characteristic quasi-polynomial with coefficients constrained to satisfy stability for all delays up to a computable bound. Computational experiments confirm accurate tracking, fast settling and bounded internal signals and control voltages. The approach offers an analytic design alternative to AI-based tuning for delayed robotic systems.

Paperid: 2271, https://arxiv.org/pdf/2510.06010.pdf

Abstract:
The comparative evaluation between classical and quantum reinforcement learning (QRL) paradigms was conducted to investigate their convergence behavior, robustness under observational noise, and computational efficiency in a benchmark control environment. The study employed a multilayer perceptron (MLP) agent as a classical baseline and a parameterized variational quantum circuit (VQC) as a quantum counterpart, both trained on the CartPole-v1 environment over 500 episodes. Empirical results demonstrated that the classical MLP achieved near-optimal policy convergence with a mean return of 498.7 +/- 3.2, maintaining stable equilibrium throughout training. In contrast, the VQC exhibited limited learning capability, with an average return of 14.6 +/- 4.8, primarily constrained by circuit depth and qubit connectivity. Noise robustness analysis further revealed that the MLP policy deteriorated gracefully under Gaussian perturbations, while the VQC displayed higher sensitivity at equivalent noise levels. Despite the lower asymptotic performance, the VQC exhibited significantly lower parameter count and marginally increased training time, highlighting its potential scalability for low-resource quantum processors. The results suggest that while classical neural policies remain dominant in current control benchmarks, quantum-enhanced architectures could offer promising efficiency advantages once hardware noise and expressivity limitations are mitigated.

Paperid: 2272, https://arxiv.org/pdf/2510.05553.pdf

Abstract:
Artificial Potential Field (APF) methods are widely used for reactive flocking control, but they often suffer from challenges such as deadlocks and local minima, especially in the presence of obstacles. Existing solutions to address these issues are typically passive, leading to slow and inefficient collective navigation. As a result, many APF approaches have only been validated in obstacle-free environments or simplified, pseudo 3D simulations. This paper presents GO-Flock, a hybrid flocking framework that integrates planning with reactive APF-based control. GO-Flock consists of an upstream Perception Module, which processes depth maps to extract waypoints and virtual agents for obstacle avoidance, and a downstream Collective Navigation Module, which applies a novel APF strategy to achieve effective flocking behavior in cluttered environments. We evaluate GO-Flock against passive APF-based approaches to demonstrate their respective merits, such as their flocking behavior and the ability to overcome local minima. Finally, we validate GO-Flock through obstacle-filled environment and also hardware-in-the-loop experiments where we successfully flocked a team of nine drones, six physical and three virtual, in a forest environment.

Paperid: 2273, https://arxiv.org/pdf/2510.05443.pdf

Abstract:
Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to perform effectively in uncertain environments using model-based controllers, these systems require dynamics models capable of responding to environmental variations, especially when direct access to environmental information is limited. To enable such adaptivity and facilitate integration with model predictive control, we propose an adaptive dynamics model which bypasses the need for direct environmental knowledge by inferring operational environments from state-action history. The dynamics model is based on neural ordinary equations, and a two-phase training procedure is used to learn latent environment representations. We demonstrate the effectiveness of our approach through goal-reaching and path-tracking tasks on three robotic platforms of increasing complexity: a 2D differential wheeled robot with changing wheel contact conditions, a 3D quadrotor in variational wind fields, and the Sphero BOLT robot under two contact conditions for real-world deployment. Empirical results corroborate that our method can handle temporally and spatially varying environmental changes in both simulation and real-world systems.

Paperid: 2274, https://arxiv.org/pdf/2510.05374.pdf

Abstract:
Intelligent intersections play a pivotal role in urban mobility, demanding innovative solutions such as digital twins to enhance safety and efficiency. This literature review investigates the integration and application of digital twins for intelligent intersections, a critical area within smart urban traffic systems. The review systematically categorizes existing research into five key thematic areas: (i) Digital Twin Architectures and Frameworks; (ii) Data Processing and Simulation Techniques; (iii) Artificial Intelligence and Machine Learning for Adaptive Traffic Control; (iv) Safety and Protection of Vulnerable Road Users; and (v) Scaling from Localized Intersections to Citywide Traffic Networks. Each theme is explored comprehensively, highlighting significant advancements, current challenges, and critical insights. The findings reveal that multi-layered digital twin architectures incorporating real-time data fusion and AI-driven decision-making enhances traffic efficiency and safety. Advanced simulation techniques combined with sophisticated AI/ML algorithms demonstrate notable improvements in real-time responsiveness and predictive accuracy for traffic management. Additionally, the integration of digital twins has shown substantial promise in safeguarding vulnerable road users through proactive and adaptive safety strategies. Despite these advancements, key challenges persist, including interoperability of diverse data sources, scalability of digital twins for extensive traffic networks, and managing uncertainty within dynamic urban environments. Addressing these challenges will be essential for the future development and deployment of intelligent, adaptive, and sustainable intersection management systems.

Paperid: 2275, https://arxiv.org/pdf/2510.05043.pdf

Abstract:
The displacement of synchronous generators by converter-interfaced renewable energy sources obliges wind farms to provide inertia, damping, and voltage support, above all in increasingly weak grid conditions. This paper presents a co-ordinated frequency-domain methodology for tuning all control layers of doubly-fed induction generators (DFIGs) within a wind farm operated as a Virtual Synchronous Machine (VSM). Starting from a full small-signal linearisation that preserves loop-to-loop and machine-to-machine couplings, the procedure reshapes every local open loop to explicit phase-margin targets through a single, prioritised iteration. The resulting controllers provide a step response and stability margins close to those programmed at the design stage, in spite of the cross coupling between control loops. Since controller synthesis relies exclusively on classical loop-shaping tools available in commercial simulation suites, it is readily applicable to industrial-scale projects.

Paperid: 2276, https://arxiv.org/pdf/2510.04965.pdf

Abstract:
We propose a multi-stage stochastic programming model for the optimal participation of energy communities in electricity markets. The multi-stage aspect captures the different times at which variable renewable generation and electricity prices are observed. This results in large-scale optimization problem instances containing large scenario trees with 34 stages, to which scenario reduction techniques are applied. Case studies with real data are discussed to analyse proposed regulatory frameworks in Europe. The added value of considering stochasticity is also analysed.

Paperid: 2277, https://arxiv.org/pdf/2510.04652.pdf

Abstract:
In the digital age, data frequently crosses organizational and jurisdictional boundaries, making effective governance essential. Usage control policies have emerged as a key paradigm for regulating data usage, safeguarding privacy, protecting intellectual property, and ensuring compliance with regulations. A central mechanism for usage control is the handling of obligations, which arise as a side effect of using and sharing data. Effective monitoring of obligations requires capturing usage traces and accounting for temporal aspects such as start times and deadlines, as obligations may evolve over times into different states, such as fulfilled, violated, or expired. While several solutions have been proposed for obligation monitoring, they often lack formal semantics or provide limited support for reasoning over obligation states. To address these limitations, we extend GUCON, a policy framework grounded in the formal semantics of SPAQRL graph patterns, to explicitly model the temporal aspects of an obligation. This extension enables the expressing of temporal obligations and supports continuous monitoring of their evolving states based on usage traces stored in temporal knowledge graphs. We demonstrate how this extended model can be represented using RDF-star and SPARQL-star and propose an Obligation State Manager that monitors obligation states and assess their compliance with respect to usage traces. Finally, we evaluate both the extended model and its prototype implementation.

Paperid: 2278, https://arxiv.org/pdf/2510.04615.pdf

Abstract:
This paper outlines the design vision and planned evolution of Blexer v3, a modular and AI-driven rehabilitation ecosystem based on serious games. Building on insights from previous versions of the system, we propose a new architecture that aims to integrate multimodal sensing, real-time reasoning, and intelligent control. The envisioned system will include distinct modules for data collection, user state inference, and gameplay adaptation. Key features such as dynamic difficulty adjustment (DDA) and procedural content generation (PCG) are also considered to support personalized interventions. We present the complete conceptual framework of Blexer v3, which defines the modular structure and data flow of the system. This serves as the foundation for the next phase: the development of a functional prototype and its integration into clinical rehabilitation scenarios.

Paperid: 2279, https://arxiv.org/pdf/2510.04591.pdf

Abstract:
This article proposes a data-driven PID controller design based on the principle of adaptive gain optimization, leveraging Physics-Informed Neural Networks (PINNs) generated for predictive modeling purposes. The proposed control design method utilizes gradients of the PID gain optimization, achieved through the automatic differentiation of PINNs, to apply model predictive control using a cost function based on tracking error and control inputs. By optimizing PINNs-based PID gains, the method achieves adaptive gain tuning that ensures stability while accounting for system nonlinearities. The proposed method features a systematic framework for integrating PINNs-based models of dynamical control systems into closed-loop control systems, enabling direct application to PID control design. A series of numerical experiments is conducted to demonstrate the effectiveness of the proposed method from the control perspectives based on both time and frequency domains.

Paperid: 2280, https://arxiv.org/pdf/2510.04470.pdf

Abstract:
Contingency screening is a crucial part of electric power systems all the time. Power systems frequently encounter multiple challenging operational dilemmas that could lead to the instability of power systems. Contingency analysis is effort-consuming by utilizing traditional numerical analysis methods. It is commonly addressed by generating a whopping number of possible contingencies or manipulating network parameters to determine the worst scenarios. This paper proposes a novel approach that diverts the nature of contingency analysis from pre-defined scenario screening to proactive-unsupervised screening. The potentially risky scenarios of power systems are generated from learning how the previous ones occurred. In other words, the internal perturbation that initiates contingencies is learned prior to being self-replicated for rendering the worst scenarios. By leveraging the perturbation diffusion technique, a proposed model is built to point out the worst scenarios instead of repeatedly simulating one-by-one scenarios to define the highest-risk ones. Empirical experiments are implemented on the IEEE systems to test and validate the proposed solution.

Paperid: 2281, https://arxiv.org/pdf/2510.03982.pdf

Abstract:
We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach employs a normalized nearest-neighbor rule to assign, at each state, a finite-duration control signal derived from stored data, after which the process repeats. Unlike recent works that model the system as linear, polynomial, or polynomial fraction, we only assume the system to be locally Lipschitz. Our analysis builds on the framework of Recurrent Lyapunov Functions (RLFs), which enable data-driven certification of practical stability using standard norm functions instead of requiring the explicit construction of a classical Lyapunov function. To extend this framework, we introduce the concept of Recurrent Control Lyapunov Functions (R-CLFs), which can certify the existence of an NCP that practically stabilizes an arbitrarily small c-neighborhood of an equilibrium point. We also provide an explicit sample complexity guarantee of O((3/rho)^d log(R/c)) number of trajectories, where R is the domain radius, d the state dimension, and rho a system-dependent constant. The proposed Chain Policies are nonparametric, thus allowing new verified data to be readily incorporated into the policy to either improve convergence rate or enlarge the certified region. Numerical experiments illustrate and validate these properties.

Paperid: 2282, https://arxiv.org/pdf/2510.03974.pdf

Abstract:
Pollinators are critical to the world's ecosystems and food supply, yet recent studies have found pollination shortfalls in several crops, including strawberry. This is troubling because wild and managed pollinators are currently experiencing declines. One possibility is to try and provide supplemental pollination solutions. These solutions should be affordable and simple for farmers to implement if their use is to be widespread; quadcopters are a great example, already used for monitoring on many farms. This paper investigates a new method for artificial pollination based on wind pollination that bears further investigation. After determining the height where the lateral flow is maximized, we performed field experiments with a quadcopter assisting natural pollinators. Although our results in the field were inconclusive, lab studies show that the idea shows promise and could be adapted for better field results.

Paperid: 2283, https://arxiv.org/pdf/2510.03887.pdf

Abstract:
The electrification of aircraft is reshaping the foundations of aerospace design by positioning electrical systems at the center of propulsion, control, and onboard functionality. This chapter provides an overview of electrical system architectures for electric and hybrid electric aircraft, highlighting both established principles and emerging design strategies. The discussion begins with the motivations for electrification, including reducing environmental impact, improving operational efficiency, and replacing complex pneumatic and hydraulic subsystems with lighter and more reliable electrical alternatives. Aircraft electrical architectures are classified into four major categories: conventional, more electric, all electric, and hybrid electric. A range of system topologies is examined, including direct current (DC), alternating current (AC), hybrid, and distributed configurations. Each is considered in terms of its effectiveness in delivering power, enabling redundancy, supporting fault isolation, and managing thermal performance. Real world examples are presented to demonstrate practical applications, with case studies drawn from the Boeing 787 Dreamliner, the Eviation Alice commuter aircraft, and NASA X57 Maxwell demonstrator. These examples illustrate the ongoing transition from incremental subsystem electrification toward fully integrated architectures that promise higher efficiency and greater sustainability.

Paperid: 2284, https://arxiv.org/pdf/2510.03686.pdf

Abstract:
Indoor farming enables year-round food production but its reliance on artificial lighting significantly increases energy consumption, peak load charges, and energy costs for growers. Recent studies indicate that plants are able to tolerate interruptions in light, enabling the design of 24-hour lighting schedules (or "recipes") with strategic light modulation in alignment with day-ahead pricing. Thus, we propose an optimal lighting control strategy for indoor farming that modulates light intensity and photoperiod to reduce energy costs. The control strategy is implemented within a model predictive control framework and augmented with transformer-based neural networks to forecast 24-hour ahead solar radiation and electricity prices to improve energy cost reduction. The control strategy is informed by real-world experimentation on lettuce crops to discover minimum light exposure and appropriate dark-light intervals, which are mathematically formulated as constraints to maintain plant health. Simulations for a one-hectare greenhouse, based on real electricity market data from Ontario, demonstrate an annual cost reduction of $318,400 (20.9%), a peak load decrease of 1.6 MW (33.32%), and total energy savings of 1890 MWh (20.2%) against a baseline recipe. These findings highlight the potential of intelligent lighting control to improve the sustainability and economic feasibility of indoor farming.

Paperid: 2285, https://arxiv.org/pdf/2510.03640.pdf

Abstract:
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road boundaries by incorporating time-dependent grid projections of obstacle movements, thus enabling precise and adaptive path planning. The main control loop utilizes Nonlinear Model Predictive Control (NMPC) for real-time path optimization, wherein homotopy-based constraint relaxation is employed to improve the solvability of the optimal control problem (OCP). Furthermore, an independent backup loop runs concurrently to provide safe fallback trajectories when an optimal trajectory cannot be computed by the main loop within a critical time frame, thus enhancing safety and real-time performance. Our evaluation showcases the benefits of the proposed methods in various driving scenarios, highlighting the real-time applicability and robustness of our approach. Overall, the framework represents a significant step towards safer and more reliable autonomous driving in complex and dynamic environments.

Paperid: 2286, https://arxiv.org/pdf/2510.03635.pdf

Abstract:
System restoration is critical for power system resilience, nonetheless, its growing reliance on artificial intelligence (AI)-based load forecasting introduces significant cybersecurity risks. Inaccurate forecasts can lead to infeasible planning, voltage and frequency violations, and unsuccessful recovery of de-energized segments, yet the resilience of restoration processes to such attacks remains largely unexplored. This paper addresses this gap by quantifying how adversarially manipulated forecasts impact restoration feasibility and grid security. We develop a gradient-based sparse adversarial attack that strategically perturbs the most influential spatiotemporal inputs, exposing vulnerabilities in forecasting models while maintaining stealth. We further create a restoration-aware validation framework that embeds these compromised forecasts into a sequential restoration model and evaluates operational feasibility using an unbalanced three-phase optimal power flow formulation. Simulation results show that the proposed approach is more efficient and stealthier than baseline attacks. It reveals system-level failures, such as voltage and power ramping violations that prevent the restoration of critical loads. These findings provide actionable insights for designing cybersecurity-aware restoration planning frameworks.

Paperid: 2287, https://arxiv.org/pdf/2510.03609.pdf

Abstract:
This paper presents a data-driven approach for jointly learning a robust full-state observer and its robustness certificate for systems with unknown dynamics. Leveraging incremental input-to-state stability (delta ISS) notions, we jointly learn a delta ISS Lyapunov function that serves as the robustness certificate and prove practical convergence of the estimation error under standard fidelity assumptions on the learned models. This renders the observer safety-compatible: they can be consumed by certificate-based safe controllers so that, when the controller tolerates bounded estimation error, the controller's certificate remains valid under output feedback. We further extend the approach to interconnected systems via the small-gain theorem, yielding a distributed observer design framework. We validate the approach on a variety of nonlinear systems.

Paperid: 2288, https://arxiv.org/pdf/2510.03571.pdf

Abstract:
Fault detection in power distribution grids is critical for ensuring system reliability and preventing costly outages. Moreover, fault detection methodologies should remain robust to evolving grid topologies caused by factors such as reconfigurations, equipment failures, and Distributed Energy Resource (DER) integration. Current data-driven state-of-the-art methods use Recurrent Neural Networks (RNNs) for temporal modeling and Graph Neural Networks (GNNs) for spatial learning, in an RNN+GNN pipeline setting (RGNN in short). Specifically, for power system fault diagnosis, Graph Convolutional Networks (GCNs) have been adopted. Yet, various more advanced GNN architectures have been proposed and adopted in domains outside of power systems. In this paper, we set out to systematically and consistently benchmark various GNN architectures in an RNN+GNN pipeline model. Specifically, to the best of our knowledge, we are the first to (i) propose to use GraphSAGE and Graph Attention (GAT, GATv2) in an RGNN for fault diagnosis, and (ii) provide a comprehensive benchmark against earlier proposed RGNN solutions (RGCN) as well as pure RNN models (especially Gated Recurrent Unit (GRU)), particularly (iii) exploring their generalization potential for deployment in different settings than those used for training them. Our experimental results on the IEEE 123-node distribution network show that RGATv2 has superior generalization capabilities, maintaining high performance with an F1-score reduction of $\sim$12% across different topology settings. In contrast, pure RNN models largely fail, experiencing an F1-score reduction of up to $\sim$60%, while other RGNN variants also exhibit significant performance degradation, i.e., up to $\sim$25% lower F1-scores.

Paperid: 2289, https://arxiv.org/pdf/2510.03354.pdf

Abstract:
Model Predictive Control (MPC) faces computational demands and performance degradation from model inaccuracies. We propose two architectures combining Neural Network-approximated MPC (NNMPC) with Reinforcement Learning (RL). The first, Warm Start RL, initializes the RL actor with pre-trained NNMPC weights. The second, RLMPC, uses RL to generate corrective residuals for NNMPC outputs. We introduce a downsampling method reducing NNMPC input dimensions while maintaining performance. Evaluated on a rotary inverted pendulum, both architectures demonstrate runtime reductions exceeding 99% compared to traditional MPC while improving tracking performance under model uncertainties, with RL+MPC achieving 11-40% cost reduction depending on reference amplitude.

Paperid: 2290, https://arxiv.org/pdf/2510.03300.pdf

Abstract:
The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs capable of interpreting their surroundings and responding intelligently. While AVs offer significant advantages, such as enhanced safety and improved traffic efficiency, they also face several challenges that need to be addressed. Existing survey papers often lack a comprehensive analysis of these challenges and their potential solutions. Our paper stands out by meticulously identifying these gaps in current ACC research and offering impactful future directions to guide researchers in designing next-generation ACC systems. Our survey provides a detailed and systematic review, addressing the limitations of previous studies and proposing innovative approaches to achieve sustainable and fault-resilient urban transportation.

Paperid: 2291, https://arxiv.org/pdf/2510.02946.pdf

Abstract:
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on which it swings or rotates. The motion is imposed by repositioning the robot's center of mass, which is performed using a crank-slide mechanism. Based on a non-linear model, an optimal control strategy is proposed, for repositioning the center of mass in a bang-bang manner. Consequently, utilizing the concept of input-output linearization, a continuous control strategy is proposed that takes into account the limited torque of the crank-slide mechanism and its geometry. An increased attention is paid to energy accumulation towards the subsequent jump stage of the brachiation. These two strategies are validated and compared in simulations. The continuous control strategy is then also implemented within a low-cost STM32-based control system, and both the swing and rotation stages of the brachiation motion are experimentally validated.

Paperid: 2292, https://arxiv.org/pdf/2510.02933.pdf

Abstract:
Commercial building Heating, Ventilation, and Air Conditioning (HVAC) systems can provide flexibility to the electricity grid. Some researchers have found it convenient to model HVAC systems as virtual batteries. These models also better align with models used by grid planners and operators. However, experiments have shown that HVAC load shifting can be inefficient, and virtual battery models do not capture this inefficiency well. While the models typically use the average room temperature as the system's ``state of charge," they do not capture other factors that affect HVAC power/energy such as airflow and mixing. Here, we develop a new analytical building model to explore how incomplete mixing of supply air into a conditioned space leads to inefficiency in a virtual battery capturing the dynamics of HVAC fan power load shifting. The model qualitatively matches experimental results better than previous models, and shows that, as mixing becomes worse, the virtual battery becomes less efficient. Unfortunately, air mixing is unmeasured/unmeasurable. However, we show that, by closing the loop around measurements of fan power, we can improve the virtual battery's performance without the need for air mixing measurements. For example, in one case, we show a roundtrip efficiency improvement from 0.75 to 0.99.

Paperid: 2293, https://arxiv.org/pdf/2510.02636.pdf

Abstract:
This paper presents a synthesis approach aiming to guarantee a minimum upper-bound for the time taken to reach a target set of non-zero measure that encompasses the origin, while taking into account uncertainties and input and state constraints. This approach is based on a harmonic transformation of the Lyapunov function and a novel piecewise quadratic representation of this transformed Lyapunov function over a simplicial partition of the state space. The problem is solved in a policy iteration fashion, whereas the evaluation and improvement steps are formulated as linear matrix inequalities employing the structural relaxation approach. Though initially formulated for uncertain polytopic systems, extensions to piecewise and nonlinear systems are discussed. Three examples illustrate the effectiveness of the proposed approach in different scenarios.

Paperid: 2294, https://arxiv.org/pdf/2510.02269.pdf

Abstract:
Numerous elements drive the spread of infectious diseases in complex real-world networks. Of particular interest is social behaviors that evolve in tandem with the spread of disease. Moreover, recent studies highlight the importance of understanding how multiple strains spread simultaneously through a population (e.g. Delta and Omicron variants of SARS-CoV-2). In this paper, we propose a bi-virus SIS epidemic model coupled with a game-theoretic social distancing behavior model. The behaviors are governed by replicator equations from evolutionary game theory. The prevalence of each strain impacts the choice of an individual to social distance, and, in turn, their behavior affects the spread of each virus in the SIS model. Our analysis identifies equilibria of the system and their local stability properties, which reveal several isolated fixed points with varying levels of social distancing. We find that endemic co-existence is possible only when the reproduction numbers of both strains are equal. Assuming the reproduction number for each virus is the same, we identify suitable parameter regimes that give rise to lines of coexistence equilibria. Moreover, we also identify conditions for local exponential stability of said lines of equilibria. We illustrate our findings with several numerical simulations.

Paperid: 2295, https://arxiv.org/pdf/2510.02072.pdf

Abstract:
Single-master multi-slave (SMMS) teleoperation systems can perform multiple tasks remotely in a shorter time, cover large-scale areas, and adapt more easily to single-point failures, thereby effectively encompassing a broader range of applications. As the number of slave manipulators sharing a communication network increases, the limitation of communication bandwidth becomes critical. To alleviate bandwidth usage, the Try-Once-Discard (TOD) scheduling protocol and event-triggered mechanisms are often employed separately. In this paper, we combine both strategies to optimize network bandwidth and energy consumption for SMMS teleoperation systems. Specifically, we propose event-triggered control and communication schemes for a class of SMMS teleoperation systems using the TOD scheduling protocol. Considering dynamic uncertainties, the unavailability of relative velocities, and time-varying delays, we develop adaptive controllers with virtual observers based on event-triggered schemes to achieve master-slave synchronization. Stability criteria for the SMMS teleoperation systems under these event-triggered control and communication schemes are established, demonstrating that Zeno behavior is excluded. Finally, experiments are conducted to validate the effectiveness of the proposed algorithms.

Paperid: 2296, https://arxiv.org/pdf/2510.02047.pdf

Abstract:
Clinician scheduling remains a persistent challenge due to limited clinical resources and fluctuating demands. This complexity is especially acute in large academic anesthesiology departments as physicians balance responsibilities across multiple clinical sites with conflicting priorities. Further, scheduling must account for individual clinical and lifestyle preferences to ensure job satisfaction and well-being. Traditional approaches, often based on statistical or rule-based optimization models, rely on structured data and explicit domain knowledge. However, these methods often overlook unstructured information, e.g., free-text notes from routinely administered clinician well-being surveys and scheduling platforms. These notes may reveal implicit and underutilized clinical resources. Neglecting such information can lead to misaligned schedules, increased burnout, overlooked staffing flexibility, and suboptimal utilization of available resources. To address this gap, we propose a predict-then-optimize framework that integrates classification-based clinician availability predictions with a mixed-integer programming schedule optimization model. Large language models (LLMs) are employed to extract actionable preferences and implicit constraints from unstructured schedule notes, enhancing the reliability of availability predictions. These predictions then inform the schedule optimization considering four objectives: first, ensuring clinical full-time equivalent compliance, second, reducing workload imbalances by enforcing equitable proportions of shift types, third, maximizing clinician availability for assigned shifts, and fourth, schedule consistency. By combining the interpretive power of LLMs with the rigor of mathematical optimization, our framework provides a robust, data-driven solution that enhances operational efficiency while supporting equity and clinician well-being.

Paperid: 2297, https://arxiv.org/pdf/2510.01761.pdf

Abstract:
Magnetic continuum robots (MCRs) enable minimally invasive navigation through tortuous anatomical channels, yet axially magnetized designs have largely been limited to bending-only motion. To expand deformation capabilities, this paper presents a simple assembly that embeds permanent magnets radially within the catheter wall, allowing a single externally steered permanent magnet to independently induce either bending or torsion. A physics-based formulation together with finite-element analysis establishes the actuation principles, and benchtop experiments validate decoupled mode control under practical fields. Building on this, a dual-layer blockage mechanism consisting of outer grooves and inner plates leverages torsional shear to achieve on-demand drug release. Finally, an in-phantom intervention experiment demonstrates end-to-end operation: lumen following by bending for target approach, followed by twist-activated release at the site. The resulting compact, cable-free platform combines versatile deformation with precise payload delivery, indicating strong potential for next-generation, site-specific therapies.

Paperid: 2298, https://arxiv.org/pdf/2510.01580.pdf

Abstract:
We study the stability of opinion dynamics in the time-varying Friedkin-Johnsen (TVFJ) model, which captures both persistent individual biases and adaptive social influence. We introduce two temporal structures, defected temporal graphs (DTGs) and weakly defected temporal graphs (WDTGs), that serve as graph-theoretic certificates linking stubborn influence and temporal connectivity to contraction of the state-transition matrix. Using these tools, we prove asymptotic stability of TVFJ dynamics under infinitely recurring DTGs, exponential stability in semi-periodic defected networks, and asymptotic stability of a trust-based extension under the weaker condition of recurring WDTGs. We also establish boundedness of the omega-limit set, showing that long-run opinions remain within the convex hull of innate beliefs, and characterize the limit set for periodically switching systems via a p-LTI decomposition with the tight bound that the size of the omega-limit set is at most p. Finally, we show that exponential stability persists under bounded perturbations, ensuring robustness in noisy or imperfect networks. These results unify algebraic contraction tests with interpretable graph-based reasoning, providing scalable and resilient tools for analyzing opinion formation in evolving social and human-AI networks.

Paperid: 2299, https://arxiv.org/pdf/2510.01541.pdf

Abstract:
Complex, interconnected cyber-physical systems (CPS) are increasingly prevalent in domains such as power systems. Cyber-resilient architectures have been proposed to recover compromised cyber components of CPS. Recent works have studied tuning the recovery times of such architectures to guarantee safety in single-system settings. Extending these designs to interconnected CPS is more challenging, since solutions must account for attacks on multiple subsystems that can occur in any order and potentially infinite possible temporal overlap. This paper aims to address the aforementioned challenge by developing a scalable framework to assign resilient architectures and to inform the tuning of their recovery times. Our approach introduces a scalar index that quantifies the impact of each subsystem on safety under compromised input. These indices aggregate linearly across subsystems, enabling scalable analysis under arbitrary attack orderings and temporal overlaps. We establish a linear inequality relating each subsystem's index and recovery time that guarantees safety and guides resilient architecture assignment. We also propose a segmentation-based approach to strengthen the previously derived conditions. We then present algorithms to compute the proposed indices and to find a cost-optimal architecture assignment with a safety guarantee. We validate the framework through a case study on temperature regulation in interconnected rooms under different attack scenarios.

Paperid: 2300, https://arxiv.org/pdf/2510.01489.pdf

Abstract:
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially converging baseline controller while complying with control input saturation constraints. We also incorporate the uncertainty and disturbance estimator (UDE) technique to dynamically compensate for persistent disturbances. The proposed framework yields a modularized design, allowing the controller and estimator to perform their individual tasks and achieve a zero trajectory tracking error if the disturbances meet certain assumptions. The stability and robustness of the complete system, incorporating both the CCM controller and the UDE compensator, are presented. Simulations are conducted to demonstrate the capability of the proposed control design to follow complicated trajectories under external disturbances.

Paperid: 2301, https://arxiv.org/pdf/2510.01479.pdf

Abstract:
Offline reinforcement learning (RL) enables policy optimization from fixed datasets, making it suitable for safety-critical applications where online exploration is infeasible. However, these datasets are often contaminated by adversarial poisoning, system errors, or low-quality samples, leading to degraded policy performance in standard behavioral cloning (BC) and offline RL methods. This paper introduces Density-Ratio Weighted Behavioral Cloning (Weighted BC), a robust imitation learning approach that uses a small, verified clean reference set to estimate trajectory-level density ratios via a binary discriminator. These ratios are clipped and used as weights in the BC objective to prioritize clean expert behavior while down-weighting or discarding corrupted data, without requiring knowledge of the contamination mechanism. We establish theoretical guarantees showing convergence to the clean expert policy with finite-sample bounds that are independent of the contamination rate. A comprehensive evaluation framework is established, which incorporates various poisoning protocols (reward, state, transition, and action) on continuous control benchmarks. Experiments demonstrate that Weighted BC maintains near-optimal performance even at high contamination ratios outperforming baselines such as traditional BC, batch-constrained Q-learning (BCQ) and behavior regularized actor-critic (BRAC).

Paperid: 2302, https://arxiv.org/pdf/2510.01406.pdf

Abstract:
This paper examines a robust data-driven approach for the safe deployment of systems with nonlinear dynamics using their imperfect digital twins. Our contribution involves proposing a method that fuses the digital twin's nominal trajectory with online, data-driven uncertainty quantification to synthesize robust tracking controllers. Specifically, we derive data-driven bounds to capture the deviations of the actual system from its prescribed nominal trajectory informed via its digital twin. Subsequently, the dataset is used in the synthesis of quadratic funnels -- robust positive invariant tubes around the nominal trajectory -- via linear matrix inequalities built on the time-series data. The resulting controller guarantees constraint satisfaction while adapting to the true system behavior through a segmented learning strategy, where each segment's controller is synthesized using uncertainty information from the previous segment. This work establishes a systematic framework for obtaining safety certificates in learning-based control of nonlinear systems with imperfect models.

Paperid: 2303, https://arxiv.org/pdf/2510.01377.pdf

Abstract:
In this paper, we propose DeMuon, a method for decentralized matrix optimization over a given communication topology. DeMuon incorporates matrix orthogonalization via Newton-Schulz iterations-a technique inherited from its centralized predecessor, Muon-and employs gradient tracking to mitigate heterogeneity among local functions. Under heavy-tailed noise conditions and additional mild assumptions, we establish the iteration complexity of DeMuon for reaching an approximate stochastic stationary point. This complexity result matches the best-known complexity bounds of centralized algorithms in terms of dependence on the target tolerance. To the best of our knowledge, DeMuon is the first direct extension of Muon to decentralized optimization over graphs with provable complexity guarantees. We conduct preliminary numerical experiments on decentralized transformer pretraining over graphs with varying degrees of connectivity. Our numerical results demonstrate a clear margin of improvement of DeMuon over other popular decentralized algorithms across different network topologies.

Paperid: 2304, https://arxiv.org/pdf/2510.01269.pdf

Abstract:
Structural vibrations induced by external excitations pose significant risks, including safety hazards for occupants, structural damage, and increased maintenance costs. While conventional model-based control strategies, such as Linear Quadratic Regulator (LQR), effectively mitigate vibrations, their reliance on accurate system models necessitates tedious system identification. This tedious system identification process can be avoided by using a model-free Reinforcement learning (RL) method. RL controllers derive their policies solely from observed structural behaviour, eliminating the requirement for an explicit structural model. For an RL controller to be truly model-free, its training must occur on the actual physical system rather than in simulation. However, during this training phase, the RL controller lacks prior knowledge and it exerts control force on the structure randomly, which can potentially harm the structure. To mitigate this risk, we propose guiding the RL controller using a Linear Quadratic Regulator (LQR) controller. While LQR control typically relies on an accurate structural model for optimal performance, our observations indicate that even an LQR controller based on an entirely incorrect model outperforms the uncontrolled scenario. Motivated by this finding, we introduce a hybrid control framework that integrates both LQR and RL controllers. In this approach, the LQR policy is derived from a randomly selected model and its parameters. As this LQR policy does not require knowledge of the true or an approximate structural model the overall framework remains model-free. This hybrid approach eliminates dependency on explicit system models while minimizing exploration risks inherent in naive RL implementations. As per our knowledge, this is the first study to address the critical training safety challenge of RL-based vibration control and provide a validated solution.

Paperid: 2305, https://arxiv.org/pdf/2510.01050.pdf

Abstract:
The rapid expansion of data center infrastructure is reshaping power system dynamics by significantly increasing electricity demand while also offering potential for fast and controllable flexibility. To ensure reliable operation under such conditions, the frequency secured unit commitment problem must be solved with enhanced modeling of demand side frequency response. In this work, we propose a data-driven linearization framework based on decision tree based constraint learning to embed nonlinear nadir frequency constraints into mixed-integer linear programming. This approach enables tractable optimization of generation schedules and fast frequency response from data centers. Through case studies on both a benchmark system and a 2030 future scenario with higher DC penetration, we demonstrate that increasing the proportion of flexible DC load consistently improves system cost efficiency and supports renewable integration. However, this benefit exhibits diminishing marginal returns, motivating the introduction of the Marginal Flexibility Value metric to quantify the economic value of additional flexibility. The results highlight that as DCs become a larger share of system load, their active participation in frequency response will be increasingly indispensable for maintaining both economic and secure system operations.

Paperid: 2306, https://arxiv.org/pdf/2510.00960.pdf

Abstract:
In the complex landscape of multivariate time series forecasting, achieving both accuracy and interpretability remains a significant challenge. This paper introduces the Fuzzy Transformer (Fuzzformer), a novel recurrent neural network architecture combined with multi-head self-attention and fuzzy inference systems to analyze multivariate stock market data and conduct long-term time series forecasting. The method leverages LSTM networks and temporal attention to condense multivariate data into interpretable features suitable for fuzzy inference systems. The resulting architecture offers comparable forecasting performance to conventional models such as ARIMA and LSTM while providing meaningful information flow within the network. The method was examined on the real world stock market index S\&P500. Initial results show potential for interpretable forecasting and identify current performance tradeoffs, suggesting practical application in understanding and forecasting stock market behavior.

Paperid: 2307, https://arxiv.org/pdf/2510.00939.pdf

Abstract:
Vehicular Ad-hoc Networks (VANETs), a subclass of Mobile Ad-hoc Networks (MANETs), are expected to play a crucial role in the future of intelligent transportation systems (ITSs). A key objective of VANETs is to enable efficient and cost-effective communication among vehicles while supporting a large number of network participants and minimizing infrastructure dependency. However, the highly dynamic nature of vehicular networks poses significant challenges to their deployment. Clustering techniques are employed to address these challenges, with a strong emphasis on stability, as they directly influence the routing process and enhance the quality of service (QoS). This paper explores the feasibility of reducing reliance on roadside units (RSUs) in metropolitan areas while improving cluster stability. We propose an efficient clustering algorithm tailored for urban environments, leveraging existing metropolitan infrastructure to compensate for the absence of RSUs. Our approach designates public transportation buses as primary cluster heads (CHs), minimizing reliance on additional infrastructure, while stand-alone vehicles (SAVs) dynamically select additional CHs. Through comprehensive case studies and comparative analysis with existing algorithms, our results demonstrate the superior performance of the proposed method across different transmission ranges (TRs).

Paperid: 2308, https://arxiv.org/pdf/2510.00357.pdf

Abstract:
Bound states in the continuum (BICs) have emerged as a revolutionary paradigm in terahertz (THz) photonics, enabling metasurfaces with theoretically infinite quality factors (Q-factors) and unprecedented light-matter control. This review synthesizes a decade of progress in THz-BIC research, tracing the evolution from foundational symmetry-protected designs to application-optimized quasi-BICs. We dissect multipolar origins, topological robustness, and symmetry-breaking strategies underpinning high-Q resonances, alongside computational frameworks for predictive design. The timeline highlights key milestones: early dielectric metasurfaces with high Q-factor, flexible biosensors achieving microgram detection limits, and Kerker-conditioned gas spectrometers reducing path lengths by few orders of magnitude. Emerging frontiers in reconfigurable MEMS-BICs and chiral quantum photonics are critically evaluated. Despite breakthroughs, scalability barriers persist for 6G integration, including nano-fabrication tolerances, material loss trade-offs, and dynamic control gaps. This review establishes BIC metasurfaces as pivotal enablers of compact, high-efficiency THz technologies poised to bridge the gap between fundamental discovery and commercialization of THz-based 6G communication and MedTech.

Paperid: 2309, https://arxiv.org/pdf/2509.26530.pdf

Abstract:
Detection of emerging attacks on network infrastructure is a critical aspect of security management. To meet the growing scale and complexity of modern threats, machine learning (ML) techniques offer valuable tools for automating the detection of malicious activities. However, as these techniques become more complex, their internal operations grow increasingly opaque. In this context, we address the need for explainable physical-layer attack detection methods. First, we analyze the inner workings of various classifiers trained to alert about physical layer intrusions, examining how the influence of different monitored parameters varies depending on the type of attack being detected. This analysis not only improves the interpretability of the models but also suggests ways to enhance their design for increased speed. In the second part, we evaluate the detectors' resilience to malicious parameter noising. The results highlight a key trade-off between model speed and resilience. This work serves as a design guideline for developing fast and robust detectors trained on available network monitoring data.

Paperid: 2310, https://arxiv.org/pdf/2509.25008.pdf

Abstract:
This paper details the implementation and experimental validation of a real-time control system for a three-phase induction motor using the Texas Instruments TMS320F28379D microcontroller. The system integrates pulse-width modulation (PWM) generation, analog-to-digital conversion (ADC), digital-to-analog conversion (DAC), and quadrature encoder feedback to facilitate precise control under various strategies. A current sensing solution based on the AMC1301 isolation amplifier and shunt resistor ensures accurate and safe current measurement for feedback loops. Two control algorithms, V/f and Field-Oriented Control (FOC) are implemented and tested. Real-time parameter tuning and data visualization are achieved using GUI Composer, enabling efficient system debugging and interaction. Experimental results demonstrate smooth speed reversal, fast dynamic response, and stable performance under both step and multi-step inputs. While GUI Composer effectively supports general monitoring and control, limitations in signal bandwidth are noted compared to professional-grade platforms. The results confirm the robustness and effectiveness of the implemented control strategies for high-performance induction motor applications.

Paperid: 2311, https://arxiv.org/pdf/2509.24738.pdf

Abstract:
Ultra-wideband (UWB) is a promising technology for indoor position estimation for various localization applications of object swarms, such as in 3D analysis of human movement with multiple on-body sensors or a swarm of drones in an indoor environment. However, most UWB-only position estimation methods are based on a star topology, where the position of a mobile node is estimated using distances from several fixed anchors. These approaches ignore the valuable inter-node distance estimates, possible in a fully-connected 'Swarm' topology, which could provide more redundancy in the set of available distance estimates used for the position estimation. This would improve the accuracy and consistency of the position estimates. Also, published studies do not analyze how input measurement errors affect the final position estimates, which makes it difficult to assess the reliability under varying conditions. Therefore, this study first proposes a UWB swarm optimization-based position estimation method that utilizes all available internode distances to enhance accuracy and compare against the traditional trilateration method that utilizes the star configuration. All validations were done with synthetic UWB data, to enable testing all input error situations. The comprehensive error sensitivity analysis was conducted to evaluate its robustness under varying noise conditions. The proposed method consistently outperformed trilateration, with position estimation error around 5.7 cm for realistic UWB distance input estimates, while for higher noise conditions, the proposed method had errors around 6 cm lower than the trilateration method, which had position estimation errors around 19 cm. This study demonstrates the general potential of the Swarm optimization-based method for position estimation as a more accurate and consistent alternative to traditional star-based trilateration methods.

Paperid: 2312, https://arxiv.org/pdf/2509.24059.pdf

Abstract:
Rising global energy demand from population growth raises concerns about the sustainability of fossil fuels. Consequently, the energy sector has increasingly transitioned to renewable energy sources like solar and wind, which are naturally abundant. However, the periodic and unpredictable nature of these resources pose significant challenges for power system reliability. Accurate forecasting is essential to ensure grid stability and optimize energy management. But due to the high variability in weather conditions which directly affected wind and solar energy, achieving precise predictions remains difficult. Advancements in Artificial Intelligence (AI), particularly in Machine Learning (ML) and Deep Learning (DL), offer promising solutions to improve forecasting accuracy. The study highlights three widely used algorithms for solar and wind energy prediction: Long Short-Term Memory (LSTM), Random Forest (RF), and Extreme Gradient Boosting (XGBoost). These models are capable of learning complex patterns from historical and environmental data, enabling more accurate forecasts and contributing to the enhanced efficiency and reliability of renewable energy systems. This review aims to provide an overview on RF, XGBoost, and LSTM by conducting a comparative analysis across three essential criteria: research prevalence, model complexity, and computational execution time.

Paperid: 2313, https://arxiv.org/pdf/2509.23837.pdf

Abstract:
Electric vehicles and renewable energy systems need batteries that charge quickly, last many years and still store a lot of energy, but current chemistries struggle to deliver all three. Inspired by electric fish that deliver bursts of current and birds that sleep with half their brains, we propose a hybrid battery concept called SwiftPulse. It combines sodium-ion cells that provide energy with niobium-oxide cells that accept high-power pulses. A pulse-based charger and a battery-management strategy rotate clusters of cells into rest so they can recover. We derive simple models of energy density, diffusion and capacity fade to show that a pack made mostly of sodium-ion modules with a smaller fraction of niobium-oxide modules could exceed 175 Wh per kg, endure more than ten thousand charge-discharge cycles and recharge to eighty percent in less than ten minutes. Simulations suggest that pulsed charging reduces ion buildup at the surface and slows degradation. We outline a roadmap for cell-level and module-level experiments and suggest integrating machine learning to adapt pulse parameters and rest scheduling. By blending ideas from biology, electrochemistry and data-driven control, this work points toward batteries that are safer, faster to charge and longer lasting.

Paperid: 2314, https://arxiv.org/pdf/2509.23456.pdf

Abstract:
The manifold extended Kalman filter (Manifold EKF) has found extensive application for attitude determination. Magnetometers employed as sensors for such attitude determination are easily prone to disturbances by their sensitivity to calibration and external magnetic fields. The TRIAD (Tri-Axial Attitude Determination) algorithm is well known as a sub-optimal attitude estimator. In this article, we incorporate this sub-optimal feature of the TRIAD in mitigating the influence of the magnetometer reading in the pitch and roll axis determination in the Manifold EKF algorithm. We substantiate our results with experiments.

Paperid: 2315, https://arxiv.org/pdf/2509.23269.pdf

Abstract:
The capacity market provides economic guidance for generation investment and ensures the adequacy of generation capability for power systems. With the rapidly increasing proportion of renewable energy, the adequacy of flexibility and resilience becomes more crucial for the secure operation of power systems. In this context, this paper incorporates the flexibility and resilience demand into the capacity market by formulating the capacity demand curves for ramping capability, inertia and recovery capabilities besides the generation capability. The guidance on generation investment of the capacity market is also taken into account by solving the generation investment equilibrium among generation companies with a Nash Cournot model employing an equivalent quadratic programming formulation. The overall problem is established as a trilevel game and an iterative algorithm is devised to formulate the capacity demand curves in the upper level based on Genco's investment acquired from the middle and lower levels. The case study further demonstrates that to incorporate flexibility and resilience demand into the capacity market could stimulate proper generation investment and ensure the adequacy of flexibility and resilience in power systems.

Paperid: 2316, https://arxiv.org/pdf/2509.22976.pdf

Abstract:
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory information. The communication time delay may be a result of various factors that arise in human-robot collaboration tasks, such as sensor processing or fusion to estimate trajectory/intent, network delays, or computational limitations. The developed adaptive controller uses Barrier Lyapunov Function (BLF) to constrain the Cartesian coordinates of the robot to ensure safety, an ICL-based adaptive law to account for the unknown kinematics, and a gradient-based adaptive law to estimate unknown dynamics. Barrier Lyapunov-Krasovskii (LK) functionals are used for the stability analysis to show that the synchronization and parameter estimation errors remain semi-globally uniformly ultimately bounded (SGUUB). The simulation results based on a human-robot synchronization scenario with time delay are provided to demonstrate the effectiveness of the designed synchronization controller with safety constraints.

Paperid: 2317, https://arxiv.org/pdf/2509.22795.pdf

Abstract:
Reliable detection and classification of power system events are critical for maintaining grid stability and situational awareness. Existing approaches often depend on limited labeled datasets, which restricts their ability to generalize to rare or unseen disturbances. This paper proposes a novel framework that integrates generative modeling, sliding-window temporal processing, and decision fusion to achieve robust event detection and classification using synchrophasor data. A variational autoencoder-generative adversarial network is employed to model normal operating conditions, where both reconstruction error and discriminator error are extracted as anomaly indicators. Two complementary decision strategies are developed: a threshold-based rule for computational efficiency and a convex hull-based method for robustness under complex error distributions. These features are organized into spatiotemporal detection and classification matrices through a sliding-window mechanism, and an identification and decision fusion stage integrates the outputs across PMUs. This design enables the framework to identify known events while systematically classifying previously unseen disturbances into a new category, addressing a key limitation of supervised classifiers. Experimental results demonstrate state-of-the-art accuracy, surpassing machine learning, deep learning, and envelope-based baselines. The ability to recognize unknown events further highlights the adaptability and practical value of the proposed approach for wide-area event analysis in modern power systems.

Paperid: 2318, https://arxiv.org/pdf/2509.22671.pdf

Abstract:
We develop a Hybrid Optimal Velocity-Drag (OVD) model that combines the behavioral structure of the classical Optimal Velocity Model (OVM) with a drag-based saturation law motivated by Newtonian mechanics. The model retains the OVM principle that desired speed depends on headway, but replaces the linear relaxation law with a formulation that enforces bounded accelerations and smooth convergence to equilibrium. After reviewing the OVM framework and its stability properties, we introduce the OVD dynamics and derive the dispersion relation from a linear stability analysis of uniform flow. This analysis shows that the OVD formulation preserves the instability mechanisms responsible for stop-and-go waves, while avoiding the unrealistic acceleration predictions of the classical OVM. We also illustrate the model using desired velocity functions of hyperbolic tangent type, a common choice in the OVM literature, and highlight applications to large-scale traffic simulation and empirical data studies. Taken together, our results demonstrate that the OVD model enforces bounded accelerations while preserving the nonlinear instabilities of the classical OVM, providing a physically grounded and interpretable foundation for advancing traffic flow research.

Paperid: 2319, https://arxiv.org/pdf/2509.22567.pdf

Abstract:
The adoption of low-voltage direct current sections within grid architectures is emerging as a promising design option in the naval sector. This paper presents a preliminary comparative assessment of three different grid topologies, using an existing MVAC-LVAC shipboard power system as a reference: a conventional MVAC-LVAC radial distribution with an additional LVDC section, a full LVDC radial distribution and a zonal LVDC distribution. Each architecture includes typical elements such as synchronous generators, propulsion motors, energy storage system units, extra propulsive loads, and pulse power loads. The analysis exploits five key performance indicators: weight, volume, technology readiness level, average system interruption duration index, and pulsed power loads interruption index.

Paperid: 2320, https://arxiv.org/pdf/2509.22065.pdf

Abstract:
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to understand the terramechanical properties of their environments, especially for traversing on loose, deformable substrates. Recent research suggested that legged robots with direct-drive and low-gear ratio actuators can sensitively detect external forces, and therefore possess the potential to measure terrain properties with their legs during locomotion, providing unprecedented sampling speed and density while accessing terrains previously too risky to sample. This paper explores these ideas by investigating the impact of gait on proprioceptive terrain sensing accuracy, particularly comparing a sensing-oriented gait, Crawl N' Sense, with a locomotion-oriented gait, Trot-Walk. Each gait's ability to measure the strength and texture of deformable substrate is quantified as the robot locomotes over a laboratory transect consisting of a rigid surface, loose sand, and loose sand with synthetic surface crusts. Our results suggest that with both the sensing-oriented crawling gait and locomotion-oriented trot gait, the robot can measure a consistent difference in the strength (in terms of penetration resistance) between the low- and high-resistance substrates; however, the locomotion-oriented trot gait contains larger magnitude and variance in measurements. Furthermore, the slower crawl gait can detect brittle ruptures of the surface crusts with significantly higher accuracy than the faster trot gait. Our results offer new insights that inform legged robot "sensing during locomotion" gait design and planning for scouting the terrain and producing scientific measurements on other worlds to advance our understanding of their geology and formation.

Paperid: 2321, https://arxiv.org/pdf/2509.21745.pdf

Abstract:
Efficient traffic signal control (TSC) is crucial for reducing congestion, travel delays, pollution, and for ensuring road safety. Traditional approaches, such as fixed signal control and actuated control, often struggle to handle dynamic traffic patterns. In this study, we propose a novel adaptive TSC framework that leverages Reinforcement Learning (RL), using the Proximal Policy Optimization (PPO) algorithm, to minimize total queue lengths across all signal phases. The challenge of efficiently representing highly stochastic traffic conditions for an RL controller is addressed through multiple state representations, including an expanded state space, an autoencoder representation, and a K-Planes-inspired representation. The proposed algorithm has been implemented using the Simulation of Urban Mobility (SUMO) traffic simulator and demonstrates superior performance over both traditional methods and other conventional RL-based approaches in reducing queue lengths. The best performing configuration achieves an approximately 29% reduction in average queue lengths compared to the traditional Webster method. Furthermore, comparative evaluation of alternative reward formulations demonstrates the effectiveness of the proposed queue-based approach, showcasing the potential for scalable and adaptive urban traffic management.

Paperid: 2322, https://arxiv.org/pdf/2509.21726.pdf

Abstract:
This paper proposes a novel framework for safety-critical optimal trajectory tracking in nonlinear systems based on the state-dependent Riccati equation (SDRE) methodology. By embedding barrier states into the system dynamics, the proposed strategy simultaneously ensures safety and tracking requirements, even in scenarios where these objectives may be inherently conflicting. A discounted pseudo-quadratic cost function is formulated to achieve a suboptimal trade-off between tracking accuracy, control effort, and safety objective. We present two distinct controller designs: one utilizing a single barrier state to enforce overall safety constraints, and another employing multiple barrier states to individually tuning the system's conservatism with respect to each safety constraint, providing enhanced flexibility in tuning the system's conservatism toward individual constraints. We establish sufficient conditions to ensure the solvability of the associated Riccati equations. The proposed safe controller is well-suited for real-time implementation in practical systems, given its reasonable computational requirements and compatibility with widely available embedded microprocessors. This is supported by simulation studies involving a mechanical system and a mobile robot collision avoidance scenario, where the safe SDRE controller consistently maintained safety while achieving trajectory tracking objectives in challenging conditions. Additionally, experimental results on a cable-driven parallel robot further demonstrate the practical applicability and effectiveness of the proposed method in real-world control tasks.

Paperid: 2323, https://arxiv.org/pdf/2509.21642.pdf

Abstract:
Active power oscillations frequently arise in inverter-dominated power systems with multiple converters operating under Virtual Synchronous Generator control, posing risks to system stability and protection coordination. While various mitigation strategies have been proposed, many rely on prior knowledge of system parameters, offer limited damping performance, or involve complex models that lack physical interpretability, making them difficult to apply in practice. To address these challenges, this paper first introduces a physically intuitive RLC equivalent circuit model to explain the root causes of APOs in both stand-alone and grid-connected modes. By mapping inertia, damping, and feeder impedance to capacitive, resistive, and inductive elements, respectively, the model reveals how mismatches among converters lead to inter-unit oscillations characterized by LC resonance. Building on this insight, we propose two mode-specific mitigation strategies: in SA mode, a graph theory based impedance control ensures proportional reactive power sharing and effectively suppresses APOs; and in GC mode, adaptive inertia and damping control with feedforward filtering is designed to reshape transient power dynamics while preserving frequency stability. The proposed methods are validated through extensive simulations and real-time hardware-in-the-loop experiments, demonstrating their effectiveness in suppressing oscillations and enhancing the robustness of multi-converter power systems.

Paperid: 2324, https://arxiv.org/pdf/2509.21640.pdf

Abstract:
This paper presents a new and comprehensive equivalent circuit model for high overtone bulk acoustic resonators (HBARs). HBARs demonstrate several very sharp resonance modes distributed nearly periodically over a very wide frequency range. This spectrum response of HBARs offers unique advantages but poses significant modeling challenges. The proposed circuit incorporates and models the unique physical components of the HBAR: piezoelectric transducer, substrate (a perfectly periodic multimode cavity), piezoelectric coupling, and critically, the imperfectly matched transducer-substrate interface which imparts characteristic aperiodicity to the HBAR mode spectrum. By judicious use of fixed, periodic, or tightly constrained virtual lumped-element branches, and sets of branches, the model retains clear and intuitive links to the physical device, while reducing the complexity needed for fitting dense, broadband datasets. We demonstrate the validity and power of this model by simultaneously fitting measured data for 61 modes of a GaN/NbN/sapphire HBAR over a span of 1 GHz, and extracting modal parameters such as quality factors and coupling coefficients. We show that this new model is compact and yet scalable: by leveraging the inherent internal relationships in an HBAR, the model can be easily expanded to include multiple transducer overtones and envelopes, multiple distinct transducers, and spurious modes. In addition to fitting measured datasets, the new model can also be used to easily analyze various perturbations to the nominal state of the HBAR. We expect the new model to be useful for the design of classical HBAR-based oscillators, filters, and sensors, and for the integration of HBARs into quantum circuits.

Paperid: 2325, https://arxiv.org/pdf/2509.21406.pdf

Abstract:
This paper presents and discusses a mathematical model inspired by control theory to derive optimal public policies for minimizing costs associated with the reduction and control of criminal activity in a population. Specifically, we analyze the optimal control problem \begin{equation*} \min G(u_1, u_2, u_3) = \int_{0}^{t_{\text{F}}} \left( I(t) - R(t) + \frac{B_1}{2} u_1^2(t) + \frac{B_2}{2} u_2^2(t) + \frac{B_3}{2} u_3^2(t) \right) \, dt. \end{equation*} where $I=I(t)$ and $R=R(t)$ satisfies the system of equations \begin{equation*} \left\{ \begin{aligned} \dot{S} &= Î- (1-u_1)SI - Î¼S + ((1+u_3)Î³_2)I + ÏÎ©R,\\ \dot{I} &= (1-u_1)SI - (Î¼+ Î´_1)I - ((1+u_2)Î³_1)I - ((1+u_3)Î³_2)I + (1-Î©)ÏR,\\ \dot{R} &= ((1+u_2)Î³_1)I - (Î¼+ Î´_2 + Ï)R. \end{aligned} \right. \end{equation*} Our approach assumes that the social and economic effects of criminal behavior can be modeled by a dynamic SIR-type system, which serves as a constraint on a cost functional associated with the strategies implemented by government and law enforcement authorities to reduce criminal behavior. Using optimal control theory, the proposed controls, i.e., preventive policies (such as community and social cohesion programs), are expected to have a significant and positive impact on crime reduction, generating opportunities for the most disadvantaged sectors of Cali society and contributing to long-term security. Given that resources to address this problem are limited, this research aims to determine an optimal combination of public interventions and policies that minimize criminality at the lowest possible economic cost, using an SIR model, tools from variational calculus, and optimal control theory.

Paperid: 2326, https://arxiv.org/pdf/2509.21219.pdf

Abstract:
Bearings are among the most failure-prone components in rotating machinery, and their condition directly impacts overall performance. Therefore, accurately diagnosing bearing faults is essential for ensuring system stability. However, detecting such malfunctions in noisy environments, where data is collected from multiple sensors, necessitates the extraction and selection of informative features. This paper proposes an improved distance evaluation algorithm combined with a weighted K-nearest neighbor (KNN) classifier for bearing fault diagnosis. The process begins with extracting and integrating statistical features of vibration across the time, frequency, and time-frequency domains. Next, the improved distance evaluation algorithm assigns weights to the extracted features, retaining only the most informative ones by eliminating insensitive features. Finally, the selected features are used to train the weighted KNN classifier. To validate the proposed method, we employ bearing data from the University of Ottawa. The results demonstrate the effectiveness of our approach in accurately identifying bearing faults.

Paperid: 2327, https://arxiv.org/pdf/2509.21210.pdf

Abstract:
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for manipulating the angles of the propeller axes. This addresses the mentioned limitations, making the systems "omniorientational". We comprehensively derived detailed dynamic models for all introduced configurations and validated by a methodology using Simscape Multibody simulations. Two controllers are designed: a sliding mode controller for robust handling of disturbances and a novel PID-based controller with gravity compensation integrating linear and non-linear allocators, designed for computational efficiency. A custom control allocation strategy is implemented to manage the input-non-affine nature of these systems, seeking to maximize battery life by minimizing the "Power Consumption Factor" defined in this study. Moreover, the controllers effectively managed harsh disturbances and uncertainties. Simulations compare and analyze the proposed configurations and controllers, majorly considering their power consumption. Furthermore, we conduct a qualitative comparison to evaluate the impact of different types of uncertainties on the control system, highlighting areas for potential model or hardware improvements. The analysis in this study provides a roadmap for future researchers to design omniorientational drones based on their design objectives, offering practical insights into configuration selection and controller design. This research aligns with the project SAC-1, one of the objectives of Sharif AgRoLab.

Paperid: 2328, https://arxiv.org/pdf/2509.20649.pdf

Abstract:
In this article, we investigate small-signal frequency and DC voltage stability of hybrid AC/DC power systems that combine AC and DC transmission, conventional machine- based generation, and converter-interfaced generation. The main contributions of this work are a compact frequency domain representation of hybrid AC/DC systems and associated stability conditions that can be divided into conditions on the individual bus dynamics and conditions on each DC network. The bus- level conditions apply to a wide range of technologies (e.g., synchronous generators, synchronous condensers, grid-forming renewables and energy storage). Moreover, the system-level conditions establish that hybrid AC/DC systems combining a wide range of devices are stable independently of the network topology provided that the frequency response of converters on each DC network is sufficiently coherent relative to the network coupling strength. Additionally, we develop and validate a novel reduced- order damper winding model for multi-machine systems.

Paperid: 2329, https://arxiv.org/pdf/2509.20561.pdf

Abstract:
A tethered multirotor autogyro can function as an unmanned aerial vehicle for energy-efficient and prolonged deployment, as it uses the available wind energy to sustain flight. This article presents an adaptive altitude control strategy for such a device. At a constant wind speed, the equilibrium altitude can be approximated by a quadratic function of the pitch angle. The proposed adaptive control estimates the coefficients of this quadratic function. The estimates are used for altitude control and to attain the maximum altitude (and minimum horizontal drift) for a given wind speed. A feedback controller based on regenerative differential rotor braking is used as the actuation to modulate the autogyro's pitch angle. Implementation of the controller using a control-oriented, higher-order dynamic model demonstrates the controller's capability to regulate the altitude and maintain stable flights under varying wind speeds. Based on the system's maximum altitude tracking performance, the adaptive control is adjusted to improve performance under substantial changes in wind speeds.

Paperid: 2330, https://arxiv.org/pdf/2509.20389.pdf

Abstract:
The logistic growth model is a classical framework for describing constrained growth phenomena, widely applied in areas such as population dynamics, epidemiology, and resource management. This study presents a generalized extension using Atangana-Baleanu in Caputo sense (ABC)-type fractional derivatives. Proportional time delay is also included, allowing the model to capture memory-dependent and nonlocal dynamics not addressed in classical formulations. Free parameters provide flexibility for modeling complex growth in industrial, medical, and social systems. The Hybrid Sumudu Variational (HSV) method is employed to efficiently obtain semi-analytical solutions. Results highlight the combined effects of fractional order and delay on system behavior. This approach demonstrates the novelty of integrating ABC-type derivatives, proportional delay, and HSV-based solutions for real-world applications.

Paperid: 2331, https://arxiv.org/pdf/2509.20100.pdf

Abstract:
This paper presents a data-driven modelling method for nonlinear dynamics of drag-free satellite based on Koopman operator theory, and a model predictive controller is designed based on the identified model. The nonlinear dynamics of drag-free satellite are identified and controlled based on Sparse Identification of Nonlinear Dynamics (SINDy). Using the manually constructed nonlinear function dictionary as observables, the system approximation is obtained by SINDy algorithm, and a linear Model Predictive Control (MPC) controller is designed for test mass capture based on the SINDy model. Finally, the effectiveness of MPC control is verified by numerical examples.

Paperid: 2332, https://arxiv.org/pdf/2509.19869.pdf

Abstract:
Deep learning is increasingly used for complex, large-scale systems where first-principles modeling is difficult. However, standard deep learning models often fail to enforce physical structure or preserve convexity in downstream control, leading to physically inconsistent predictions and discontinuous inputs owing to nonconvexity. We introduce sign constraints--sign restrictions on Jacobian entries--that unify monotonicity, positivity, and sign-definiteness; additionally, we develop model-construction methods that enforce them, together with a control-synthesis procedure. In particular, we design exactly linearizable deep models satisfying these constraints and formulate model predictive control as a convex quadratic program, which yields a unique optimizer and a Lipschitz continuous control law. On a two-tank system and a hybrid powertrain, the proposed approach improves prediction accuracy and produces smoother control inputs than existing methods.

Paperid: 2333, https://arxiv.org/pdf/2509.19832.pdf

Abstract:
The distributed biased min-consensus (DBMC) protocol is an iterative scheme that solves the shortest path problem asymptotically, requiring only local information exchange between neighboring nodes. By appropriately designing the gain function, prior work [1] proposed a DBMC-based system that ensures convergence within a pre-specified time interval. However, this guarantee assumes the absence of disturbances. In this paper, we study the DBMC-based system under disturbances affecting the edge weights. We first establish rigorous error bounds on the resulting state estimates. Building on this analysis, we then propose a practical early termination strategy to prevent potential singularities, specifically, unbounded gain, that may arise in the presence of disturbances, while still ensuring that the shortest paths are correctly identified.Simulations are performed to validate and illustrate the theoretical results.

Paperid: 2334, https://arxiv.org/pdf/2509.19688.pdf

Abstract:
We present a method for formal safety verification of learning-based generative motion planners. Generative motion planners (GMPs) offer advantages over traditional planners, but verifying the safety and dynamic feasibility of their outputs is difficult since neural network verification (NNV) tools scale only to a few hundred neurons, while GMPs often contain millions. To preserve GMP expressiveness while enabling verification, our key insight is to imitate the GMP by stabilizing references sampled from the GMP with a small neural tracking controller and then applying NNV to the closed-loop dynamics. This yields reachable sets that rigorously certify closed-loop safety, while the controller enforces dynamic feasibility. Building on this, we construct a library of verified GMP references and deploy them online in a way that imitates the original GMP distribution whenever it is safe to do so, improving safety without retraining. We evaluate across diverse planners, including diffusion, flow matching, and vision-language models, improving safety in simulation (on ground robots and quadcopters) and on hardware (differential-drive robot).

Paperid: 2335, https://arxiv.org/pdf/2509.19650.pdf

Abstract:
The threat of quantum malware is real and a growing security concern that will have catastrophic scientific and technological impacts, if not addressed early. If weaponised or exploited especially by the wrong hands, malware will undermine highly sophisticated critical systems supported by next-generation quantum architectures, for example, in defence, communications, energy, and space. This paper explores the fundamental nature and implications of quantum malware to enable the future development of appropriate mitigations and defences, thereby protecting critical infrastructure. By conducting a systematic literature review (SLR) that draws on knowledge frameworks such as ontologies and taxonomies to explore malware, this provides insights into how malicious behaviours can be translated into attacks on quantum technologies, thereby providing a lens to analyse the severity of malware against quantum technologies. This study employs the European Competency Framework for Quantum Technologies (CFQT) as a guide to map malware behaviour to several competency layers, creating a foundation in this emerging field.

Paperid: 2336, https://arxiv.org/pdf/2509.19601.pdf

Abstract:
In several applications, including in synthetic biology, one often has input/output data on a system composed of many modules, and although the modules' input/output functions and signals may be unknown, knowledge of the composition architecture can significantly reduce the amount of training data required to learn the system's input/output mapping. Learning the modules' input/output functions is also necessary for designing new systems from different composition architectures. Here, we propose a modular learning framework, which incorporates prior knowledge of the system's compositional structure to (a) identify the composing modules' input/output functions from the system's input/output data and (b) achieve this by using a reduced amount of data compared to what would be required without knowledge of the compositional structure. To achieve this, we introduce the notion of modular identifiability, which allows recovery of modules' input/output functions from a subset of the system's input/output data, and provide theoretical guarantees on a class of systems motivated by genetic circuits. We demonstrate the theory on computational studies showing that a neural network (NNET) that accounts for the compositional structure can learn the composing modules' input/output functions and predict the system's output on inputs outside of the training set distribution. By contrast, a neural network that is agnostic of the structure is unable to predict on inputs that fall outside of the training set distribution. By reducing the need for experimental data and allowing module identification, this framework offers the potential to ease the design of synthetic biological circuits and of multi-module systems more generally.

Paperid: 2337, https://arxiv.org/pdf/2509.19516.pdf

Abstract:
With their great scalability and flexibility, cascaded-bridge and modular multilevel converters have enabled a variety of energy applications, such as offshore wind power, high-voltage dc power transmission, power-quality management, and cutting-edge medical instrumentation. The incorporation of parallel connectivity between modules equips systems with advantages such as sensorless balancing, switched-capacitor energy exchange, and reduced impedance. However, existing topologies require many individual switches -- eight transistors per module. Efforts to use fewer switches, instead, have previously compromised their functionality. We propose a new module topology, named the direction-selective parallel (DiSeP) structure, which requires only four transistors per module -- the same as an H bridge -- but can achieve bidirectional equilibration, bipolar module output, and inter-module switched-capacitor features. This topology is highly attractive for existing converters with cascaded bridge elements, as the addition of only four diodes enables key features such as sensorless balancing and inter-module energy exchange. Thus, the module can outcompete H bridges in their applications, as it adds parallel modes without any additional transistors. Compared to double-H bridges (CH2B), it saves as many as half of the transistors. We elaborate on its working principles and key design considerations. We validate our theories on an experimental prototype with six modules. This prototype attains a total voltage harmonic distortion plus noise (THD+N) of 10.3% and a peak efficiency of 96.3%. Furthermore, the modules achieve autonomous sensorless balancing under open-loop control.

Paperid: 2338, https://arxiv.org/pdf/2509.19477.pdf

Abstract:
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state measurements and formulates a target enclosing guidance law in which the vehicle's lateral acceleration serves as the steering control, making it well-suited for aerial vehicles with turning constraints. Our approach generalizes and extends existing guidance strategies that are limited to target encirclement and provides a degree of optimality. At the same time, the exact information of the target's maneuver is unnecessary during the design. The guidance law is developed within the framework of a state-dependent Riccati equation (SDRE), thereby providing a systematic way to handle nonlinear dynamics through a pseudo-linear representation to design locally optimal feedback guidance commands through state-dependent weighting matrices. While SDRE ensures near-optimal performance in the absence of strong disturbances, we further augment the design to incorporate an integral sliding mode manifold to compensate when disturbances push the system away from the nominal trajectory, and demonstrate that the design provides flexibility in the sense that the (possibly time-varying) stand-off curvature could also be treated as unknown. Simulations demonstrate the efficacy of the proposed approach.

Paperid: 2339, https://arxiv.org/pdf/2509.19110.pdf

Abstract:
Reinforcement learning-based controller design methods often require substantial data in the initial training phase. Moreover, the training process tends to exhibit strong randomness and slow convergence. It often requires considerable time or high computational resources. Another class of learning-based method incorporates Lyapunov stability theory to obtain a control policy with stability guarantees. However, these methods generally require an initially stable neural network control policy at the beginning of training. Evidently, a stable neural network controller can not only serve as an initial policy for reinforcement learning, allowing the training to focus on improving controller performance, but also act as an initial state for learning-based Lyapunov control methods. Although stable controllers can be designed using traditional control theory, designers still need to have a great deal of control design knowledge to address increasingly complicated control problems. The proposed neural network rapid initialization method in this paper achieves the initial training of the neural network control policy by constructing datasets that conform to the stability conditions based on the system model. Furthermore, using the image-based visual servoing control for multicopter interception as a case study, simulations and experiments were conducted to validate the effectiveness and practical performance of the proposed method. In the experiment, the trained control policy attains a final interception velocity of 15 m/s.

Paperid: 2340, https://arxiv.org/pdf/2509.18825.pdf

Abstract:
In this paper, we consider nonlinear control systems subject to bounded disturbances and to both state and input constraints. We introduce the definition of robust admissible set - the set of all initial states from which the state and input constraints can be satisfied for all times against all admissible disturbances. We focus on its boundary that can be decomposed into the usable part on the state constraint boundary and the barrier, interior to the state constraints. We show that, at the intersection of these two components, the boundary of the admissible set must be tangent to the state constraints and separate the interior of the robust admissible set and its complement. Moreover, we prove that the barrier must satisfy a saddle-point principle on a Hamiltonian, in the spirit of Pontryagin's maximum principle, thus providing a direct computational tool. Lastly, we illustrate our results by calculating the robust admissible set for an adaptive cruise control example.

Paperid: 2341, https://arxiv.org/pdf/2509.17898.pdf

Abstract:
Robustness certification against bounded input noise or adversarial perturbations is increasingly important for deployment recurrent neural networks (RNNs) in safety-critical control applications. To address this challenge, we present RNN-SDP, a relaxation based method that models the RNN's layer interactions as a convex problem and computes a certified upper bound on the Lipschitz constant via semidefinite programming (SDP). We also explore an extension that incorporates known input constraints to further tighten the resulting Lipschitz bounds. RNN-SDP is evaluated on a synthetic multi-tank system, with upper bounds compared to empirical estimates. While incorporating input constraints yields only modest improvements, the general method produces reasonably tight and certifiable bounds, even as sequence length increases. The results also underscore the often underestimated impact of initialization errors, an important consideration for applications where models are frequently re-initialized, such as model predictive control (MPC).

Paperid: 2342, https://arxiv.org/pdf/2509.17435.pdf

Abstract:
This paper proposes an image-based visual servoing (IBVS) framework for UAV navigation and collision avoidance using only an RGB camera. While UAV navigation has been extensively studied, it remains challenging to apply IBVS in missions involving multiple visual targets and collision avoidance. The proposed method achieves navigation without explicit path planning, and collision avoidance is realized through AI-based monocular depth estimation from RGB images. Unlike approaches that rely on stereo cameras or external workstations, our framework runs fully onboard a Jetson platform, ensuring a self-contained and deployable system. Experimental results validate that the UAV can navigate across multiple AprilTags and avoid obstacles effectively in GPS-denied environments.

Paperid: 2343, https://arxiv.org/pdf/2509.17434.pdf

Abstract:
Multiobjective optimization problems are important in analysis and application of nonlinear dynamical systems. As a first step, this paper studies a biobjective optimization problem in a simple nonlinear switched dynamical system: a piecewise linear system based on a boost converter with photovoltaic input. The piecewise linearity enables us to analyze the nonlinear dynamics exactly. In the biobjective optimization problem, the first objective evaluates stability of circuit operation and the second objective evaluates average input power. A main task is analysis of a trade-off between the two objectives. Using the piecewise exact solutions, the two objectives are formulated theoretically. Using the theoretical formulae, the existence of a trade-off between the two objectives is clarified exactly. Relationship between the trade-off and parameters is also considered. The results provide fundamental information to analyze multiobjective optimization problems in various nonlinear systems and to realize their engineering applications.

Paperid: 2344, https://arxiv.org/pdf/2509.17097.pdf

Abstract:
The growing demand for reliable electricity in universities necessitates intelligent energy management. This study proposes a machine learning-based load shedding framework for the University of Lagos, designed to optimize distribution and reduce waste. The methodology followed three main stages. First, a dataset of 3,648 hourly records from 55 buildings was compiled to develop building-level consumption models. Second, Principal Component Analysis was applied for dimensionality reduction, and clustering validation techniques were used to determine the optimal number of demand groups. Mini-Batch K-Means was then employed to classify buildings into high-, medium-, and low-demand clusters. Finally, short-term load forecasting was performed at the cluster level using multiple statistical and deep learning models, including ARIMA, SARIMA, Prophet, LSTM, and GRU. Results showed Prophet offered the most reliable forecasts, while Mini-Batch K-Means achieved stable clustering performance. By integrating clustering with forecasting, the framework enabled a fairer, data-driven load shedding strategy that reduces inefficiencies and supports climate change mitigation through sustainable energy management.

Paperid: 2345, https://arxiv.org/pdf/2509.17002.pdf

Abstract:
We study communication over control systems, where a controller-encoder selects inputs to a dynamical system in order to simultaneously regulate the system and convey a message to an observer that has access to the system's output measurements. This setup reflects implicit communication, as the controller embeds a message in the control signal. The capacity of a control system is the maximal reliable rate of the embedded message subject to a closed-loop control-cost constraint. We focus on linear quadratic Gaussian (LQG) control systems, in which the dynamical system is given by a state-space model with Gaussian noise, and the control cost is a quadratic function of the system inputs and system states. Our main result is a convex optimization upper bound on the capacity of LQG systems. In the case of scalar systems, we prove that the upper bound yields the exact LQG system capacity. The upper bound also recovers all known results, including LQG control, feedback capacity of Gaussian channels with memory, and the LQG system capacity with a state-feedback. For vector LQG control systems, we provide a sufficient condition for tightness of the upper bound, based on the Riccati equation. Numerical simulations indicate the upper bound tightness in all tested examples, suggesting that the upper bound may be equal to the LQG system capacity in the vector case as well.

Paperid: 2346, https://arxiv.org/pdf/2509.16836.pdf

Abstract:
This paper addresses the robustness of a prescribed-time observer for a class of nonlinear systems in the presence of disturbances and unmodeled dynamics. It is proven and demonstrated through simulations that the proposed observer completely rejects the effects of arbitrarily large bounded disturbances and unmodeled dynamics, enabling accurate estimation of both the states and the disturbances. Furthermore, a comparison with the standard high-gain observer is provided to highlight the superiority of the prescribed-time observer in reducing the peaking phenomenon and improving estimation accuracy.

Paperid: 2347, https://arxiv.org/pdf/2509.16821.pdf

Abstract:
This paper presents a pioneering approach to solving the linear quadratic regulation (LQR) and linear quadratic tracking (LQT) problems with constrained inputs using a novel off-policy continuous-time Q-learning framework. The proposed methodology leverages a novel concept of the Advantage function for linear continuous systems, enabling solutions to be obtained without the need for prior knowledge of the reward matrix weights, state resetting, or assuming the existence of a predefined admissible controller. This framework includes multiple algorithms (Algs) tailored to address these control problems under model-free conditions, without requiring any knowledge about system dynamics. Two distinct implementation methods are explored: the first processes state and input data over a fixed time interval, making it well-suited for LQR problems, while the second method operates over multiple intervals, offering a practical solution for tracking problems with constrained inputs. The convergence of the proposed algorithms is verified theoretically. Finally, the simulation results of the F-16 aircraft system are presented for the two problems to validate the effectiveness of the proposed method.

Paperid: 2348, https://arxiv.org/pdf/2509.16818.pdf

Abstract:
This paper investigates the problem of dynamical sampling for graph signals influenced by a constant source term. We consider signals evolving over time according to a linear dynamical system on a graph, where both the initial state and the source term are bandlimited. We introduce two random space-time sampling regimes and analyze the conditions under which stable recovery is achievable. While our framework extends recent work on homogeneous dynamics, it addresses a fundamentally different setting where the evolution includes a constant source term. This results in a non-orthogonal-diagonalizable system matrix, rendering classical spectral techniques inapplicable and introducing new challenges in sampling design, stability analysis, and joint recovery of both the initial state and the forcing term. A key component of our analysis is the spectral graph weighted coherence, which characterizes the interplay between the sampling distribution and the graph structure. We establish sampling complexity bounds ensuring stable recovery via the Restricted Isometry Property (RIP), and develop a robust recovery algorithm with provable error guarantees. The effectiveness of our method is validated through extensive experiments on both synthetic and real-world datasets.

Paperid: 2349, https://arxiv.org/pdf/2509.16744.pdf

Abstract:
The signal of system states needed for feedback controllers is estimated by state observers. One state observer design is the Kazantzis-Kravaris/Luenberger (KKL) observer, a generalization of the Luenberger observer for linear systems. The main challenge in applying the KKL design is constructing an injective mapping of the states, which requires solving PDEs based on a first-principles model. This paper proposes a data-driven, Koopman operator-based method for the construction of KKL observers for planar limit cycle systems. Specifically, for such systems, the KKL injective mapping is guaranteed to be a linear combination of Koopman eigenfunctions. Hence, the determination of such an injection is reduced to a least-squares regression problem, and the inverse of the injective mapping is then approximated using kernel ridge regression. The entire synthesis procedure uses solely convex optimization. We apply the proposed approach to the Brusselator system, demonstrating accurate estimations of the system states.

Paperid: 2350, https://arxiv.org/pdf/2509.16698.pdf

Abstract:
Six-dimensional movable antenna (6DMA) has been widely studied for capacity enhancement, but its potential for physical layer security (PLS) remains largely unexplored. By adjusting both three-dimensional (3D) positions and 3D rotations of distributed antenna surfaces, 6DMA can increase spatial degrees of freedom (DoFs). The extra DoFs enable dynamic shaping of legitimate channels and suppresses eavesdropping channels, thereby offering unique advantages in enhancing secrecy performance. Motivated by this, this letter proposes a novel 6DMA-assisted secure wireless communication system, where the base station (BS) is equipped with 6DMA to enhance secrecy performance. Specifically, to simultaneously serve multiple legitimate users and counter cooperative interception by multiple eavesdroppers (Eves), we formulate a sum secrecy rate (SSR) maximization problem by jointly optimizing the transmit and artificial noise (AN) beamformers, as well as the 3D positions and 3D rotations of antenna surfaces. To solve this non-convex problem, we propose an alternating optimization (AO) algorithm that decomposes the original problem into two subproblems and solves them iteratively to obtain a high-quality suboptimal solution. Simulation results demonstrate the superior secrecy performance over partially movable and conventional fixed-position antenna systems.

Paperid: 2351, https://arxiv.org/pdf/2509.16550.pdf

Abstract:
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to monitor the task's states and make precise, timely adjustments. Current touch sensing solutions are either insensitive to detect subtle changes or demand excessive sensor data. Here, we introduce TranTac, a data-efficient and low-cost tactile sensing and control framework that integrates a single contact-sensitive 6-axis inertial measurement unit within the elastomeric tips of a robotic gripper for completing fine insertion tasks. Our customized sensing system can detect dynamic translational and torsional deformations at the micrometer scale, enabling the tracking of visually imperceptible pose changes of the grasped object. By leveraging transformer-based encoders and diffusion policy, TranTac can imitate human insertion behaviors using transient tactile cues detected at the gripper's tip during insertion processes. These cues enable the robot to dynamically control and correct the 6-DoF pose of the grasped object. When combined with vision, TranTac achieves an average success rate of 79% on object grasping and insertion tasks, outperforming both vision-only policy and the one augmented with end-effector 6D force/torque sensing. Contact localization performance is also validated through tactile-only misaligned insertion tasks, achieving an average success rate of 88%. We assess the generalizability by training TranTac on a single prism-slot pair and testing it on unseen data, including a USB plug and a metal key, and find that the insertion tasks can still be completed with an average success rate of nearly 70%. The proposed framework may inspire new robotic tactile sensing systems for delicate manipulation tasks.

Paperid: 2352, https://arxiv.org/pdf/2509.16267.pdf

Abstract:
The growing global demand for critical raw materials (CRMs) has highlighted the need to access difficult and hazardous environments such as abandoned underground mines. These sites pose significant challenges for conventional machinery and human operators due to confined spaces, structural instability, and lack of infrastructure. To address this, we propose a modular multi-robot system designed for autonomous operation in such environments, enabling sequential mineral extraction tasks. Unlike existing work that focuses primarily on mapping and inspection through global behavior or central control, our approach incorporates physical interaction capabilities using specialized robots coordinated through local high-level behavior control. Our proposed system utilizes Hierarchical Finite State Machine (HFSM) behaviors to structure complex task execution across heterogeneous robotic platforms. Each robot has its own HFSM behavior to perform sequential autonomy while maintaining overall system coordination, achieved by triggering behavior execution through inter-robot communication. This architecture effectively integrates software and hardware components to support collaborative, task-driven multi-robot operation in confined underground environments.

Paperid: 2353, https://arxiv.org/pdf/2509.16083.pdf

Abstract:
We address the problem of temperature regulation and optimal energy sharing in district heating systems (DHSs) where the demand and system parameters are unknown. We propose a temperature regulation scheme that employs data-driven on-policy updates that achieve these objectives. In particular, we show that the proposed control scheme converges to an optimal equilibrium point of the system, while also having guaranteed convergence to an optimal LQR control policy, thus providing good transient performance. The efficiency of our approach is also demonstrated through extensive simulations.

Paperid: 2354, https://arxiv.org/pdf/2509.16012.pdf

Abstract:
Active noise control (ANC) has become popular for reducing noise and thus enhancing user comfort in headphones. While feedback control offers an effective way to implement ANC, it is restricted by uncertainty of the controlled system that arises, e.g., from differing wearing situations. Widely used unstructured models which capture these variations tend to overestimate the uncertainty and thus restrict ANC performance. As a remedy, this work explores uncertainty models that provide a more accurate fit to the observed variations in order to improve ANC performance for over-ear and in-ear headphones. We describe the controller optimization based on these models and implement an ANC prototype to compare the performances associated with conventional and proposed modeling approaches. Extensive measurements with human wearers confirm the robustness and indicate a performance improvement over conventional methods. The results allow to safely increase the active attenuation of ANC headphones by several decibels.

Paperid: 2356, https://arxiv.org/pdf/2509.15799.pdf

Abstract:
Achieving safe and coordinated behavior in dynamic, constraint-rich environments remains a major challenge for learning-based control. Pure end-to-end learning often suffers from poor sample efficiency and limited reliability, while model-based methods depend on predefined references and struggle to generalize. We propose a hierarchical framework that combines tactical decision-making via reinforcement learning (RL) with low-level execution through Model Predictive Control (MPC). For the case of multi-agent systems this means that high-level policies select abstract targets from structured regions of interest (ROIs), while MPC ensures dynamically feasible and safe motion. Tested on a predator-prey benchmark, our approach outperforms end-to-end and shielding-based RL baselines in terms of reward, safety, and consistency, underscoring the benefits of combining structured learning with model-based control.

Paperid: 2357, https://arxiv.org/pdf/2509.15491.pdf

Abstract:
We present an explainable AI-enhanced supervisory control framework for multi-agent robotics that combines (i) a timed-automata supervisor for safe, auditable mode switching, (ii) robust continuous control (Lyapunov-based controller for large-angle maneuver; sliding-mode controller (SMC) with boundary layers for precision and disturbance rejection), and (iii) an explainable predictor that maps mission context to gains and expected performance (energy, error). Monte Carlo-driven optimization provides the training data, enabling transparent real-time trade-offs. We validated the approach in two contrasting domains, spacecraft formation flying and autonomous underwater vehicles (AUVs). Despite different environments (gravity/actuator bias vs. hydrodynamic drag/currents), both share uncertain six degrees of freedom (6-DOF) rigid-body dynamics, relative motion, and tight tracking needs, making them representative of general robotic systems. In the space mission, the supervisory logic selects parameters that meet mission criteria. In AUV leader-follower tests, the same SMC structure maintains a fixed offset under stochastic currents with bounded steady error. In spacecraft validation, the SMC controller achieved submillimeter alignment with 21.7% lower tracking error and 81.4% lower energy consumption compared to Proportional-Derivative PD controller baselines. At the same time, in AUV tests, SMC maintained bounded errors under stochastic currents. These results highlight both the portability and the interpretability of the approach for safety-critical, resource-constrained multi-agent robotics.

Paperid: 2358, https://arxiv.org/pdf/2509.15245.pdf

Abstract:
Urban crises reveal the true essence of cities: their ability to either withstand disorder or collapse under its pressure. This article explores how antifragility principles can transforms urban disruption into levers for reinforcement and innovation. While resilience seeks to restore a lost balance, antifragility goes further: it pushes cities to improve through shocks. Across a critical analysis of post-crisis strategies and the identification of fifteen fundamental theoretical principles, this work proposes a new framework, structuring a proactive and evolutionary approach to urban development. MedellÃn, Singapore and Fukushima already illustrate this dynamic, showing that adversity can catalyse profound transformations. By integrating institutional flexibility, strategic diversity and self-organization, antifragility poses itself as an alternative to the limits of resilience. Can this model really redefine the way cities adapt to crises? This article paves the way for a decisive reflection to rethink urban planning in an uncertain world.

Paperid: 2359, https://arxiv.org/pdf/2509.15071.pdf

Abstract:
In this paper we address the problem of control Lyapunov-barrier function (CLBF)-based safe stabilization for a class of nonlinear control-affine systems. A difficulty may arise for the case when a constraint has the relative degree larger than 1, at which computing a proper CLBF is not straightforward. Instead of adding an (possibly non-existent) control barrier function (CBF) to a control Lyapunov function (CLF), our key idea is to simply scale the value of the CLF on the unsafe set, by utilizing a sigmoid function as a scaling factor. We provide a systematic design method for the CLBF, with a detailed condition for the parameters of the sigmoid function to satisfy. It is also seen that the proposed approach to the CLBF design can be applied to the problem of task-space control for a planar robot manipulator with guaranteed safety, for which a safe feedback linearization-based controller is presented.

Paperid: 2360, https://arxiv.org/pdf/2509.14372.pdf

Abstract:
The secret protection problem (SPP) seeks to synthesize a minimum-cost policy ensuring that every execution from an initial state to a secret state includes a sufficient number of protected events. Previous work showed that the problem is solvable in polynomial time under the assumptions that transitions are uniquely labeled and that the clearance level for every event is uniformly set to one. When these assumptions are relaxed, the problem was shown to be weakly NP-hard, leaving the complexity of the uniform variant open. In this paper, we close this gap by proving that the uniform secret protection problem is NP-hard, even if all parameters are restricted to binary values. Moreover, we strengthen the existing results by showing that the general problem becomes NP-hard as soon as the uniqueness constraint on event labels is removed. We further propose a formulation of SPP as an Integer Linear Programming (ILP) problem. Our empirical evaluation demonstrates the scalability and effectiveness of the ILP-based approach on relatively large systems. Finally, we examine a variant of SPP in which only distinct protected events contribute to clearance and show that its decision version is $Î£_{2}^{P}$-complete.

Paperid: 2361, https://arxiv.org/pdf/2509.14186.pdf

Abstract:
In the classical quickest change detection problem, an observer performs a single experiment to monitor a stochastic process. The goal in the classical problem is to detect a change in the statistical properties of the process, with the minimum possible delay, subject to a constraint on the rate of false alarms. This paper considers the case where, at each observation time, the decision-maker must choose between multiple experiments with varying information qualities and costs. The change can be detected using any of the experiments. The goal here is to detect the change with the minimum delay, subject to constraints on the rate of false alarms and the fraction of time each experiment is performed before the time of change. The constraint on the fraction of time can be used to control the overall cost of using the system of experiments. An algorithm called the two-experiment cumulative sum (2E-CUSUM) algorithm is first proposed to solve the problem when there are only two experiments. The algorithm for the case of multiple experiments, starting with three experiments, is then designed iteratively using the 2E-CUSUM algorithm. Two key ideas used in the design are the scaling of undershoots and the truncation of tests. The multiple-experiment algorithm can be designed to satisfy the constraints and can achieve the delay performance of the experiment with the highest quality within a constant. The important concept of data efficiency, where the observer has the choice of not performing any experiment, is explored as well.

Paperid: 2362, https://arxiv.org/pdf/2509.13985.pdf

Abstract:
Generalized Nash equilibrium problem (GNEP) is fundamental for practical applications where multiple self-interested agents work together to make optimal decisions. In this work, we study GNEP with shared distributionally robust chance constraints (DRCCs) for incorporating inevitable uncertainties. The DRCCs are defined over the Wasserstein ball, which can be explicitly characterized even with limited sample data. To determine the equilibrium of the GNEP, we propose an exact approach to transform the original computationally intractable problem into a deterministic formulation using the Nikaido-Isoda function. Specifically, we show that when all agents' objectives are quadratic in their respective variables, the equilibrium can be obtained by solving a typical mixed-integer nonlinear programming (MINLP) problem, where the integer and continuous variables are decoupled in both the objective function and the constraints. This structure significantly improves computational tractability, as demonstrated through a case study on the charging station pricing problem.

Paperid: 2363, https://arxiv.org/pdf/2509.13840.pdf

Abstract:
Electromyography (EMG) signals are obtained from muscle cell activity. The recording and analysis of EMG signals has several applications. The EMG is of diagnostic importance for treating patients suffering from neurological and neuromuscular disorders. Conventional methods involve placement of invasive electrodes within the muscles to record EMG signals. The goal is to showcase the usage of surface based EMG signals to characterize all possible human limb movements. An in-house non-invasive EMG signal acquisition system that offers characterization of human limb actions is a suitable candidate for motor impairment studies and easily extendable to design bionics control specifically for neuromuscular disorder patients. An in-house 8-channel surface-EMG signal acquisition system was designed, fabricated, and employed for characterizing specific movements of upper and lower limb. The non-invasive acquisition system captures the compound electromuscular activity generated from the group of muscles. The EMG acquisition system was designed as a modular structure where the front end analog circuit designs were replicated for all 8 channels, and were designed to function independently. Support vector machine (SVM) as classifier models were developed offline to successfully characterize different human limb actions. The in house built 8 channel acquisition system with ML classifier models were utilized to successfully characterize movements at various joints of the upper and lower limb including fingers, wrist, elbow, shoulder, knee, and ankle individually.

Paperid: 2364, https://arxiv.org/pdf/2509.13719.pdf

Abstract:
Inductively heated metamaterial reactors, which utilize an open cell lattice baffle structure as a heating susceptor for magnetic induction, are promising candidates for scaled electrified thermochemical reactor operation due to their ability to support volumetric heating profiles and enhanced heat transfer properties. In this work, we present a systematic scale up analysis of inductive metamaterial reactors where we utilize a combination of analytic modeling, numerical simulations, and experiments to project the capabilities and performance of scaled reactors. We use reverse water gas shift as a model reaction system and show that for reactor configurations featuring a uniform metamaterial susceptor, the total system efficiency increases with scale. However, the throughput of these scaled reactors is limited by radial temperature gradients. We further show this bottleneck can be overcome by tailoring the radial effective conductivity profile of the susceptor, which can enable scaled reactors with nearly ideal plug flow-like capabilities. These concepts provide a pathway towards scaled electrified thermochemical reactors with optimal chemical conversion capabilities.

Paperid: 2365, https://arxiv.org/pdf/2509.13585.pdf

Abstract:
This paper addresses zero-sum ``turn'' games, in which only one player can make decisions at each state. We show that pure saddle-point state-feedback policies for turn games can be constructed from dynamic programming fixed-point equations for a single value function or Q-function. These fixed-points can be constructed using a suitable form of Q-learning. For discounted costs, convergence of this form of Q-learning can be established using classical techniques. For undiscounted costs, we provide a convergence result that applies to finite-time deterministic games, which we use to illustrate our results. For complex games, the Q-learning iteration must be terminated before exploring the full-state, which can lead to policies that cannot guarantee the security levels implied by the final Q-function. To mitigate this, we propose an ``opponent-informed'' exploration policy for selecting the Q-learning samples. This form of exploration can guarantee that the final Q-function provides security levels that hold, at least, against a given set of policies. A numerical demonstration for a multi-agent game, Atlatl, indicates the effectiveness of these methods.

Paperid: 2366, https://arxiv.org/pdf/2509.13558.pdf

Abstract:
This paper presents the modeling and verification of multibody structural dynamics for offshore wind turbines. The flexible tower and support structure of a monopile-based offshore wind turbine are modeled using an acausal, lumped-parameter, multibody approach that incorporates structural flexibility, soil-structure interaction, and hydrodynamic models. Simulation results are benchmarked against alternative modeling approaches, demonstrating the model's ability to accurately capture both static and dynamic behaviors under various wind and wave conditions while maintaining computational efficiency. This work provides a valuable tool for analyzing key structural characteristics of wind turbines, including eigenfrequencies, mode shapes, damping, and internal forces.

Paperid: 2367, https://arxiv.org/pdf/2509.13531.pdf

Abstract:
This paper evaluates the impact of three system models on the reference trajectory tracking error of the LQR optimal controller, in the challenging problem of guidance and control of the state of a system under strong perturbations and reconfiguration. We compared a smooth Linear Time Variant system learned from data (DD-LTV) with state of the art Linear Time Variant (LTV) system identification methods, showing its superiority in the task of state propagation. Moreover, we have found that DD-LTV allows for better performance in terms of trajectory tracking error than the standard solutions of a Linear Time Invariant (LTI) system model, and comparable performance to a linearized Linear Time Variant (L-LTV) system model. We tested the three approaches on the perturbed and time varying spring-mass-damper systems.

Paperid: 2368, https://arxiv.org/pdf/2509.13383.pdf

Abstract:
Maintenance bases are crucial for the safe and stable operation of high-speed trains, necessitating significant financial investment for their construction and operation. Planning the location and task allocation of these bases in the vast high-speed railway network is a complex combinatorial optimization problem. This paper explored the strategic planning of identifying optimal locations for maintenance bases, introducing a bi-level programming model. The upper-level objective was to minimize the annualized total cost, including investment for new or expanding bases and total maintenance costs, while the lower-level focused on dispatching high-speed trains to the most suitable base for maintenance tasks, thereby reducing maintenance operation dispatch costs under various investment scenarios. A case study of the Northwest China high-speed rail network demonstrated the application of this model, and included the sensitivity analysis reflecting maintenance policy reforms. The results showed that establishing a new base in Hami and expanding Xi'an base could minimize the total annualized cost during the planning period, amounting to a total of 2,278.15 million RMB. This paper offers an optimization method for selecting maintenance base locations that ensures reliability and efficiency in maintenance work as the number of trains increases in the future.

Paperid: 2369, https://arxiv.org/pdf/2509.13371.pdf

Abstract:
Thermal energy storage (TES) is an effective method for load shifting and demand response in buildings. Optimal TES control and management are essential to improve the performance of the cooling system. Most existing TES systems operate on a fixed schedule, which cannot take full advantage of its load shifting capability, and requires extensive investigation and optimization. This study proposed a novel integrated load prediction and optimized control approach for ice-based TES in commercial buildings. A cooling load prediction model was developed and a mid-day modification mechanism was introduced into the prediction model to improve the accuracy. Based on the predictions, a rule-based control strategy was proposed according to the time-of-use tariff; the mid-day control adjustment mechanism was introduced in accordance with the mid-day prediction modifications. The proposed approach was applied in the ice-based TES system of a commercial complex in Beijing, and achieved a mean absolute error (MAE) of 389 kW and coefficient of variance of MAE of 12.5%. The integrated prediction-based control strategy achieved an energy cost saving rate of 9.9%. The proposed model was deployed in the realistic building automation system of the case building and significantly improved the efficiency and automation of the cooling system.

Paperid: 2370, https://arxiv.org/pdf/2509.13227.pdf

Abstract:
A rich vehicle routing problem is considered, allowing multiple trips of heterogeneous vehicles stationed at geographically distributed vehicle depots having access to different modes of transportation. The problem arises from the real-world requirement of optimizing the disaster response time by minimizing the makespan of vehicular routes. Multiple diversely-functional vertices are considered, including Transhipment Ports as inter-modal resource transfer stations. Both simultaneous and split pickup and delivery are considered, for multiple cargo types, along with Vehicle-Cargo and Transhipment Port-Cargo compatibilities. The superiority of the proposed cascaded minimization approach is demonstrated over the existing makespan minimization approaches through our developed Mixed-Integer Linear Programming formulation. To solve the problem quickly for practical implementation in a Disaster Management-specific Decision Support System, an extensive Heuristic Algorithm is devised which utilizes Decision Tree based structuring of possible routes; the Decision Tree approach helps to inherently capture the compatibility issues, while also explore the solution space through stochastic weights. Preferential generation of small route elements is performed, which are integrated into route clusters; we consider multiple different logical integration approaches, as well as shuffling the logics to simultaneously produce multiple independent solutions. Finally, perturbations of the different solutions are done to find better neighbouring solutions. The computational performance of the PSR-GIP Heuristic, on our created novel datasets, indicates that it is able to give good solutions swiftly for practical problems involving large integer instances that the MILP is unable to solve.

Paperid: 2371, https://arxiv.org/pdf/2509.12953.pdf

Abstract:
We present a probabilistic framework for modeling structured spatiotemporal dynamics from sparse observations, focusing on cardiac motion. Our approach integrates neural ordinary differential equations (NODEs), graph neural networks (GNNs), and neural processes into a unified model that captures uncertainty, temporal continuity, and anatomical structure. We represent dynamic systems as spatiotemporal multiplex graphs and model their latent trajectories using a GNN-parameterized vector field. Given the sparse context observations at node and edge levels, the model infers a distribution over latent initial states and control variables, enabling both interpolation and extrapolation of trajectories. We validate the method on three synthetic dynamical systems (coupled pendulum, Lorenz attractor, and Kuramoto oscillators) and two real-world cardiac imaging datasets - ACDC (N=150) and UK Biobank (N=526) - demonstrating accurate reconstruction, extrapolation, and disease classification capabilities. The model accurately reconstructs trajectories and extrapolates future cardiac cycles from a single observed cycle. It achieves state-of-the-art results on the ACDC classification task (up to 99% accuracy), and detects atrial fibrillation in UK Biobank subjects with competitive performance (up to 67% accuracy). This work introduces a flexible approach for analyzing cardiac motion and offers a foundation for graph-based learning in structured biomedical spatiotemporal time-series data.

Paperid: 2372, https://arxiv.org/pdf/2509.12847.pdf

Abstract:
The role of energy communities in grid operations is highly dependent on the spatial distribution of their participants. In particular, when local energy producers and consumers are concentrated in different feeders, economic incentives from energy communities have the potential to affect local grid congestion. To address this challenge, we propose a feeder-aware allocation strategy that reflects grid topology in energy sharing. This strategy prioritizes energy sharing within the same feeder, thus incentivizing local generation-demand balance and improving grid operation. Different sharing coefficients are tested, such as equal, proportional, and rank-based, in both static and dynamic formulations. The proposed strategy is tested on data from a real energy community, whose participants are assumed to be distributed across four feeders. The analysis is carried out from the perspectives of the community as a whole, individual feeders, and single participants. Simulation results show that the feeder-aware strategy, in addition to promoting local energy balance, leads to higher and more stable revenues for most participants.

Paperid: 2373, https://arxiv.org/pdf/2509.12739.pdf

Abstract:
In this work, deep neural networks made up of multiple hidden Long Short-Term Memory (LSTM) and Feedforward layers are trained to predict the thermal behavior of the joint motors of robot manipulators. A model-free and scalable approach is adopted. It accommodates complexity and uncertainty challenges stemming from the derivation, identification, and validation of a large number of parameters of an approximation model that is hardly available. To this end, sensed joint torques are collected and processed to foresee the thermal behavior of joint motors. Promising prediction results of the machine learning based capture of the temperature dynamics of joint motors of a redundant robot with seven joints are presented.

Paperid: 2374, https://arxiv.org/pdf/2509.12531.pdf

Abstract:
In visuomotor policy learning, the control policy for the robotic agent is derived directly from visual inputs. The typical approach, where a policy and vision encoder are trained jointly from scratch, generalizes poorly to novel visual scene changes. Using pre-trained vision models (PVMs) to inform a policy network improves robustness in model-free reinforcement learning (MFRL). Recent developments in Model-based reinforcement learning (MBRL) suggest that MBRL is more sample-efficient than MFRL. However, counterintuitively, existing work has found PVMs to be ineffective in MBRL. Here, we investigate PVM's effectiveness in MBRL, specifically on generalization under visual domain shifts. We show that, in scenarios with severe shifts, PVMs perform much better than a baseline model trained from scratch. We further investigate the effects of varying levels of fine-tuning of PVMs. Our results show that partial fine-tuning can maintain the highest average task performance under the most extreme distribution shifts. Our results demonstrate that PVMs are highly successful in promoting robustness in visual policy learning, providing compelling evidence for their wider adoption in model-based robotic learning applications.

Paperid: 2375, https://arxiv.org/pdf/2509.12364.pdf

Abstract:
We study a stochastic model for the installation of renewable energy capacity under demand uncertainty and jump driven dynamics. The system is governed by a multidimensional Ornstein-Uhlenbeck (OU) process driven by a subordinator, capturing abrupt variations in renewable generation and electricity load. Installation decisions are modeled through control actions that increase capacity in response to environmental and economic conditions. We consider two distinct solution approaches. First, we implement a structured threshold based control rule, where capacity is increased proportionally when the stochastic capacity factor falls below a fixed level. This formulation leads to a nonlinear partial integro-differential equation (PIDE), which we solve by reformulating it as a backward stochastic differential equation with jumps. We extend the DBDP solver in \cite{hure2020deep} to the pure jump setting, employing a dual neural network architecture to approximate both the value function and the jump sensitivity. Second, we propose a fully data driven deep control algorithm that directly learns the optimal feedback policy by minimizing the expected cost functional using neural networks. This approach avoids assumptions on the form of the control rule and enables adaptive interventions based on the evolving system state. Numerical experiments highlight the strengths of both methods. While the threshold based BSDE approach offers interpretability and tractability, the deep control strategy achieves improved performance through flexibility in capacity allocation. Together, these tools provide a robust framework for decision support in long term renewable energy expansion under uncertainty.

Paperid: 2376, https://arxiv.org/pdf/2509.12225.pdf

Abstract:
The increasing integration of renewable energy introduces a great challenge to the supply and demand balance of the power grid. To address this challenge, this paper formulates a Stackelberg Markov game (SMG) between an aggregator and multiple users, where the aggregator sets electricity prices and users make demand and storage decisions. Considering that users' storage levels are private information, we introduce private states and propose the new concepts of private Markovian strategies (PMS) and private Markovian equilibrium (PME). We establish the existence of a pure PME in the lower-level Markov game and prove that it can be computed in polynomial time. Notably, computing equilibrium in general Markov games is hard, and polynomial-time algorithms are rarely available. Based on these theoretical results, we develop a scalable solution framework combining centralized and decentralized algorithms for the lower-level PME computation with upper-level pricing optimization. Numerical simulations with up to 50 users based on real data validate the effectiveness and scalability of the proposed methods, whereas prior studies typically consider no more than 5 users.

Paperid: 2377, https://arxiv.org/pdf/2509.12214.pdf

Abstract:
This paper presents a cost optimization framework for electric vehicle (EV) charging stations that leverages on-site photovoltaic (PV) generation and explicitly accounts for electricity price uncertainty through a Bertsimas--Sim robust formulation. The model is formulated as a linear program that satisfies vehicle energy demands, respects charging and grid capacity constraints, and minimizes procurement cost. Evaluations on real charging data from the Caltech ACN dataset show average savings of about 12\% compared to a first-come--first-served baseline, with peak monthly reductions up to 19.2\%. A lightweight sensitivity analysis indicates that a modest $\sim$5\% increase in nominal cost can reduce worst-case exposure by 14\%. Computational tests confirm real-time feasibility, with instances of up to 50 concurrent EVs solved in under 5 seconds on a standard laptop. The proposed method provides a practical, grid-friendly, and scalable solution for future EV charging operations.

Paperid: 2378, https://arxiv.org/pdf/2509.11917.pdf

Abstract:
This paper addresses the problem of privacy-preserving consensus control for multi-agent systems (MAS) using differential privacy. We propose a novel distributed finite-horizon linear quadratic regulator (LQR) framework, in which agents share individual state information while preserving the confidentiality of their local pairwise weight matrices, which are considered sensitive data in MAS. Protecting these matrices effectively safeguards each agent's private cost function and control preferences. Our solution injects consensus error-dependent Laplace noise into the communicated state information and employs a carefully designed time-dependent scaling factor in the local cost functions. {This approach guarantees bounded consensus and achieves rigorous $Îµ$-differential privacy for the weight matrices without relying on specific noise distribution assumptions.} Additionally, we analytically characterize the trade-off between consensus accuracy and privacy level, offering clear guidelines on how to enhance consensus performance through appropriate scaling of the LQR weight matrices and the privacy budget.

Paperid: 2379, https://arxiv.org/pdf/2509.11441.pdf

Abstract:
This study considers a set of routes used by public transportation vehicles and dedicated distribution fleets in a general network. We aim to optimally locate alternative fuel refueling stations in the network to serve these dedicated routes. Deviations from prescribed routes for refueling purposes are allowed. Unlike most related literature, our approach considers all points in the network as candidate refueling station locations. We derive coverage constraints for any candidate location to serve a given route. Then we develop an exact algorithm to establish a finite dominating set (FDS) of candidate locations guaranteed to include an optimal solution to the problem. This set can be used in a mathematical model to minimize the number of stations required to cover all flows in the network. Numerical experiments on realistic networks are presented to illustrate the proposed methodology and to demonstrate its scalability and sensitivity to changes in parameter values.

Paperid: 2380, https://arxiv.org/pdf/2509.11396.pdf

Abstract:
The paper deals with the makespan minimization in the hybrid flow shop scheduling problem with multiprocessor tasks. The hybrid flow shop (HFS) generalizes the classical flow shop processor configuration by replacing each processor (processing stage) by some number of identical parallel processors. Similarly, the multiprocessor tasks generalize the classical assumption, by allowing a task to require more than one processor simultaneously for its processing. In this work we present the algorithm for solving the problem based on the tabu search technique. The proposed algorithm uses parallel and distributed mechanisms for neighborhood evaluation and well balances heterogeneous network environment.

Paperid: 2381, https://arxiv.org/pdf/2509.11383.pdf

Abstract:
We study optimal scheduling in multi-class queueing systems with reentrance, where jobs may return for additional service after completion. Such reentrance creates feedback loops that fundamentally alter congestion dynamics and challenge classical scheduling results. We model two distinct dimensions of the reentrance behavior, the probability of return and the speed of return, and show that their product, the effective return rate, is the key statistic that governs optimal priorities. Our main result establishes a dichotomy: when the effective return rate of the smaller job class (the class with lower expected total workload) is lower, a fixed priority rule is optimal; when it is higher, fixed rules are suboptimal and the optimal policy must be state dependent. This characterization clarifies how reentrance changes the externalities that jobs impose on one another and provides structural guidance for designing scheduling policies.

Paperid: 2382, https://arxiv.org/pdf/2509.11346.pdf

Abstract:
A self-powered system is a control technology that powers itself by harvesting energy from exogenous disturbances. This article details the design and experimental validation of a prototype self-powered vibration control system, for larger-scale applications (i.e., power flows above 1W and forces on the order of 1kN.) The prototype consists of a linear ballscrew coupled with a permanent-magnet synchronous machine. A custom three-phase inverter is used to control power flow, and a custom half-bridge DC-DC power converter is used to facilitate power flow to and from a storage capacitor. Due to parasitics in the control hardware, feedback laws for self-powered systems must adhere to a feasibility condition tighter than mere passivity. This article implements a tractable control design approach that accounts for this feasibility constraint. The control design is validated via hardware-in-the-loop experiments pertaining to a stochastically-excited tuned vibration absorber.

Paperid: 2383, https://arxiv.org/pdf/2509.11015.pdf

Abstract:
Due to climate change and the disruption of ecosystems worldwide, wildfires are increasingly impacting environment, infrastructure, and human lives globally. Additionally, an exacerbating climate crisis means that these losses would continue to grow if preventative measures are not implemented. Though recent advancements in artificial intelligence enable wildfire management techniques, most deployed solutions focus on detecting wildfires after ignition. The development of predictive techniques with high accuracy requires extensive datasets to train machine learning models. This paper presents the California Wildfire Inventory (CAWFI), a wildfire database of over 37 million data points for building and training wildfire prediction solutions, thereby potentially preventing megafires and flash fires by addressing them before they spark. The dataset compiles daily historical California wildfire data from 2012 to 2018 and indicator data from 2012 to 2022. The indicator data consists of leading indicators (meteorological data correlating to wildfire-prone conditions), trailing indicators (environmental data correlating to prior and early wildfire activity), and geological indicators (vegetation and elevation data dictating wildfire risk and spread patterns). CAWFI has already demonstrated success when used to train a spatio-temporal artificial intelligence model, predicting 85.7% of future wildfires larger than 300,000 acres when trained on 2012-2017 indicator data. This dataset is intended to enable wildfire prediction research and solutions as well as set a precedent for future wildfire databases in other regions.

Paperid: 2384, https://arxiv.org/pdf/2509.11013.pdf

Abstract:
In this paper we present global and person-by-person (PbP) optimality conditions for general decentralized stochastic dynamic optimal control problems, using a discrete-time version of Girsanov's change of measure. The PbP optimality conditions are applied to the Witsenhausen counterexample to show that the two strategies satisfy two coupled nonlinear integral equations. Further, we prove a fixed point theorem in a function space, establishing existence and uniqueness of solutions to the integral equations. We also provide numerical solutions of the two integral equations using the Gauss Hermite Quadrature scheme, and include a detail comparison to other numerical methods of the literature. The numerical solutions confirm Witsehausen's observation that, for certain choices of parameters, linear or affine strategies are optimal, while for other choices of parameters nonlinear strategies outperformed affine strategies.

Paperid: 2385, https://arxiv.org/pdf/2509.10899.pdf

Abstract:
This study investigates how navigation uncertainty affects conflict detection and resolution (CD&R) for uncrewed aircraft in U-space. Position and velocity errors are modelled as zero-mean Gaussian noise consistent with ADS-L accuracy, and propagated through conflict metrics using Monte Carlo and analytical approximations. Under uncertainty, state-based detection becomes probabilistic. The probability of detection depends on both the level of uncertainty and the encounter geometry, and falls below 50% when the nominal intrusion time equals the look-ahead. Operationally, detection is re-evaluated over time as the encounter develops, yielding multiple observations with varying probabilities. Two resolution algorithms are compared: Modified Voltage Potential (MVP) and Velocity Obstacle (VO). MVP proves more robust under uncertainty because it explicitly maximises distance at the closest point of approach (CPA). By maximising CPA distance, MVP maintains an outward push and avoids reversal behaviour during the manoeuvre, whereas VO performance degrades at low relative speeds and shallow angles. BlueSky simulations confirm these effects: MVP achieves higher intrusion-prevention rates and larger post-resolution miss distances across conflict scenarios, with its advantage most pronounced at low relative velocity. The findings highlight the importance of maximising CPA distance as a conflict resolution strategy. Moreover, the look-ahead horizon and protected zone can be tuned to achieve a desired target level of safety.

Paperid: 2386, https://arxiv.org/pdf/2509.10512.pdf

Abstract:
Recently, federated learning (FL) has emerged as a novel framework for distributed model training. In FL, the task publisher (TP) releases tasks, and local model owners (LMOs) use their local data to train models. Sometimes, FL suffers from the lack of training data, and thus workers are recruited for gathering data. To this end, this paper proposes an adaptive incentive mechanism from a service-oriented perspective, with the objective of maximizing the utilities of TP, LMOs and workers. Specifically, a Stackelberg game is theoretically established between the LMOs and TP, positioning TP as the leader and the LMOs as followers. An analytical Nash equilibrium solution is derived to maximize their utilities. The interaction between LMOs and workers is formulated by a multi-agent Markov decision process (MAMDP), with the optimal strategy identified via deep reinforcement learning (DRL). Additionally, an Adaptively Searching the Optimal Strategy Algorithm (ASOSA) is designed to stabilize the strategies of each participant and solve the coupling problems. Extensive numerical experiments are conducted to validate the efficacy of the proposed method.

Paperid: 2387, https://arxiv.org/pdf/2509.10489.pdf

Abstract:
Premature infant mortality remains a critical challenge in low- and middle-income countries (LMICs), with continuous vital sign monitoring being essential for early detection of life-threatening conditions. This paper presents an integrated system combining NeoWarm, a novel biomedical device, with NeoRoo, a mobile application, and NeoSmartML, a machine learning infrastructure, to enable comprehensive vital sign monitoring during Kangaroo Mother Care (KMC). Our power-optimized device achieves 6-6.5 days of continuous operation on a single charge, while the mobile application implements an offline-first architecture with efficient data synchronization. The optical character recognition pipeline demonstrates promising accuracy (F1 scores 0.78-0.875) for automated vital sign extraction from existing NICU monitors. Experimental validation shows the system's feasibility for deployment in resource-constrained settings, though further optimization of heart rate and temperature detection, along with the risk classification foundation model is needed.

Paperid: 2388, https://arxiv.org/pdf/2509.10055.pdf

Abstract:
Thermal-Hydraulic (TH) experiments provide valuable insight into the physics of heat and mass transfer and qualified data for code development, calibration and validation. However, measurements are typically collected from sparsely distributed sensors, offering limited coverage over the domain of interest and phenomena of interest. Determination of the spatial configuration of these sensors is crucial and challenging during the pre-test design stage. This paper develops a data-driven framework for optimizing sensor placement in TH experiments, including (i) a sensitivity analysis to construct datasets, (ii) Proper Orthogonal Decomposition (POD) for dimensionality reduction, and (iii) QR factorization with column pivoting to determine optimal sensor configuration under spatial constraints. The framework is demonstrated on a test conducted in the TALL-3D Lead-bismuth eutectic (LBE) loop. In this case, the utilization of optical techniques, such as Particle Image Velocimetry (PIV), are impractical. Thereby the quantification of momentum and energy transport relies heavily on readings from Thermocouples (TCs). The test section was previously instrumented with many TCs determined through a manual process combining simulation results with expert judgement. The proposed framework provides a systematic and automated approach for sensor placement. The resulting TCs exhibit high sensitivity to the variation of uncertain input parameters and enable accurate full field reconstruction while maintaining robustness against measurement noise.

Paperid: 2389, https://arxiv.org/pdf/2509.09863.pdf

Abstract:
Traditional reinforcement learning lacks the ability to provide stability guarantees. More recent algorithms learn Lyapunov functions alongside the control policies to ensure stable learning. However, the current self-learned Lyapunov functions are sample inefficient due to their on-policy nature. This paper introduces a method for learning Lyapunov functions off-policy and incorporates the proposed off-policy Lyapunov function into the Soft Actor Critic and Proximal Policy Optimization algorithms to provide them with a data efficient stability certificate. Simulations of an inverted pendulum and a quadrotor illustrate the improved performance of the two algorithms when endowed with the proposed off-policy Lyapunov function.

Paperid: 2390, https://arxiv.org/pdf/2509.09789.pdf

Abstract:
This paper introduces a single-switch high-gain voltage-multiplier coupled quadratic boost converter (HGVM-QBC), developed from the conventional quadratic boost converter (QBC). The proposed topology is designed to achieve higher voltage gain, lower semiconductor voltage stress, and continuous current operation, making it particularly suitable for small-scale photovoltaic (PV) systems. By incorporating a voltage multiplier cell into the QBC, the converter significantly improves voltage boosting capability while mitigating stress on switching devices. In this configuration, the output voltage is obtained by combining the voltages across multiple output capacitors, thereby enhancing the overall voltage level. A detailed comparative study with recently reported converter topologies demonstrates the superior gain and reduced device stress offered by the HGVM-QBC. The design is validated through MATLAB/Simulink simulations, which confirm improved performance in terms of gain and voltage stress. Furthermore, an experimental prototype achieves an output of 151 Vdc from a 12 Vdc input at a 55% duty cycle, corresponding to a gain of 12.59. These results establish the HGVM-QBC as an efficient and reliable solution for PV applications that demand high voltage output from low input sources.

Paperid: 2391, https://arxiv.org/pdf/2509.09466.pdf

Abstract:
We consider a discrete-time dynamical system in a car-following context. The system was recently introduced to parsimoniously model human driving behavior based on utility maximization. The parameters of the model were calibrated using vehicle trajectory data from the Sugiyama experiment. It was shown that such a system can accurately reproduce the observed collective phenomena of a more elaborate experiment by Tadaki et al. Once the heterogeneity and noise are switched off, the model defines a map of the corresponding discrete-time dynamical system. We first perform a bifurcation analysis of the map by studying the stability of its limit solutions: a free-flow fixed point and a stop-and-go quasi-periodic orbit. When the vehicle density is varied, our model displays a bifurcation diagram qualitatively similar to those found in a class of optimal velocity models based on an ordinary differential equation approach, including regimes where one or both of the limit solutions are stable. In a 2D bifurcation diagram we further demonstrate that imposing a vehicle density-dependent speed advisory can dissipate the stop-and-go quasi-periodic orbit. This in turn lays the mathematical foundation for a simple, yet effective proposal [1] to tame stop-and-go waves, improving traffic flow and smoothness simultaneously via variable speed advisory.

Paperid: 2392, https://arxiv.org/pdf/2509.09299.pdf

Abstract:
Networked Control Systems (NCSs) have been instrumental in realizing fully connected and responsive intelligent environments within the context of real-time virtual control and management. However, traditional NCSs face considerable challenges in handling the vast amounts of data generated by large-scale control applications, particularly in terms of data acquisition, storage, and computational processing. To address these challenges, the emergence of cloud computing and advancements in control theory have empowered the new paradigm known as Cloud Control Systems (CCSs). Recently, CCSs have received substantial attention from industries for their potential properties, such as large-scale data management, complex computations, and data-centric optimized decisions. This study presents an extensive review of recent progress in CCSs spanning over multiple studies published between 2012 and 2025. Specifically, the focus is on providing a taxonomy of the current findings in CCS research, encompassing various perspectives, such as its efficient implementations in industrial automation, security and privacy considerations, and cloud-based control techniques. Each category is examined in depth through selected state-of-the-art analyses of different approaches and contrasting methodologies. Furthermore, we discuss future directions aimed at designing more efficient and practical CCSs. The insights gained from this study can help researchers, practitioners, and decision-makers in their domain for effective CCS design and deployment.

Paperid: 2393, https://arxiv.org/pdf/2509.09178.pdf

Abstract:
Wallace tree multipliers are a parallel digital multiplier architecture designed to minimize the worst-case time complexity of the circuit depth relative to the input size [1]. In particular, it seeks to perform long multiplication in the binary sense, reducing as many partial products per stage as possible through full and half adders circuits, achieving O(log(n)) where n = bit length of input. This paper provides an overview of the design, progress and methodology in the final project of ECE 55900, consisting of the schematic and layout of a Wallace tree 8-bit input multiplier on the gpdk45 technology in Cadence Virtuoso, as well as any design attempts prior to the final product. This also includes our endeavors in designing the final MAC (Multiply Accumulate) unit with undefined targets, which we chose to implement as a 16 bit combinational multiply-add.

Paperid: 2394, https://arxiv.org/pdf/2509.09075.pdf

Abstract:
We propose and study a compartmental model for epidemiology with human behavioral effects. Specifically, our model incorporates governmental prevention measures aimed at lowering the disease infection rate, but we split the population into those who comply with the measures and those who do not comply and therefore do not receive the reduction in infectivity. We then allow the attitude of noncompliance to spread as a social contagion parallel to the disease. We derive the reproductive ratio for our model and provide stability analysis for the disease-free equilibria. We then propose a control scenario wherein a policy-maker with access to control variables representing disease prevention mandates, treatment efforts, and educational campaigns aimed at encouraging compliance minimizes a cost functional incorporating several cost concerns. We characterize optimal controls via the Pontryagin optimality principle and present simulations which demonstrate the behavior of the control maps in several different parameter regimes.

Paperid: 2395, https://arxiv.org/pdf/2509.09048.pdf

Abstract:
Distribution networks face challenges from the increasing deployment of Distributed Energy Resources (DERs) and the emergence of bidirectional power flows. We propose a decentralized Volt/VAr control method based on a saddle-point reformulation and consensus+innovation (C+I) updates. Each agent at a controllable bus computes and enforces its own set-points using only neighbor communication. Our method embeds passive buses directly, preserves network physics through a linearized Jacobian model, and avoids any supervisory nodes. Simulation results on a modified CIGRE low-voltage network show voltage stability improvement within operational limits, indicating the viability of a fully decentralized (edge-based) Volt/VAr control solution.

Paperid: 2396, https://arxiv.org/pdf/2509.08568.pdf

Abstract:
Achieving net-zero targets requires the phase-out of fossil-based heating. A major challenge is the seasonal mismatch between renewable heat supply and demand. District heating networks often dispose of excess heat in summer and rely on fossil backups in winter. Large-scale thermal energy storage offers a solution by storing surplus summer heat for use during winter, thus reducing the need for fossil fuels. This study investigates the feasibility of a large-scale thermal storage system at a power production site that supplies a large district heating network in the city of Bern, Switzerland. Specifically, the study examines the potential of a geothermal storage system to offset fossil fuel heat generation in winter by utilising heat stored during the summer months. Using a Python-based multi-energy system model, we simulate the optimal operation of the geothermal storage system with respect to cost and emissions, considering both supply and demand on an hourly basis over one year. Multi-objective optimisation is applied to generate a Pareto-optimal front. The results show that the geothermal storage system eliminates the requirement of 8 GWh of gas-powered heat supply and increases the waste heat utilisation by 20%, therefore lowering emissions. This effect is further increased when combined with an expansion of the district heating network, as individual, emission-heavy heaters are replaced by low-emission heat from the district heating network. The findings presented in this study can prove useful when evaluating similar systems across Switzerland.

Paperid: 2397, https://arxiv.org/pdf/2509.08166.pdf

Abstract:
Regulators and utilities have been exploring hourly retail electricity pricing, with several existing programs providing day-ahead hourly pricing schedules. At the same time, customers are deploying distributed energy resources and smart energy management systems that have significant flexibility and can optimally follow price signals. In aggregate, these optimally controlled loads can create congestion management issues for distribution system operators (DSOs). In this paper, we describe a new linear pricing mechanism for day-ahead retail electricity pricing that provides a signal for customers to follow to mitigate over-consumption while still consuming energy at hours that are preferential for system performance. We show that by broadcasting a linear price designed for price-signal control of cost-optimizing loads, we can shape customer load profiles to provide congestion management without the need for bi-directional communication or customer bidding programs.

Paperid: 2398, https://arxiv.org/pdf/2509.08152.pdf

Abstract:
In developing EnergyNet we have leveraged and are extending lessons from telecom's shift from a centralized, circuit-switched phone system to decentralized, packet-switched data networks. EnergyNet utilizes 1) an Energy Router that enforces galvanic separation and utilizes software-controlled energy flows over a DC backplane, 2) Energy Local and Wide Area Networks (ELAN/EWAN) based on DC microgrids that interconnect through an open Energy Protocol (EP), and 3) a control plane comprised of the Energy Router Operating System (EROS) and EP Server which is managed at operator scale through an Energy Network Management System (ENMS). We distinguish the architectural contribution (Tier-1 including components, interfaces, and operating model) from expected outcomes contingent on adoption (Tier-2). The latter includes local-first autonomy with global interoperability, near-real-time operation with local buffering, removal of EV-charging bottlenecks, freed grid capacity for data centers and industrial electrification, as well as a trend toward low, predictable, fixed-cost clean energy. Evidence from early municipal demonstrators illustrates feasibility and migration paths. The contribution is a coherent, open, and testable blueprint for software-defined, decentralized energy distribution, aligning power-systems engineering with networking principles and offering a practical route from legacy, synchronous grids to resilient, digitally routed energy distribution systems.

Paperid: 2399, https://arxiv.org/pdf/2509.07918.pdf

Abstract:
Distribution networks will experience more installations of distributed generation (DG) that is unpredictable and stochastic in nature. Greater distributed control and intelligence will allow challenges such as voltage control to be handled effectively. The partitioning of power networks into smaller clusters provides a method to split the control problem into manageable sub-problems. This paper presents a community detection-based partitioning technique for distribution networks considering local DGs, allowing them to be grouped and controlled in a distributed manner by using local signals and measurements. This method also allows each community to control the voltage using only neighboring DGs, and for each community to self-organize to reflect varying DG conditions and to maintain stable control. Simulations demonstrate that the partitioning of the large distribution network is effective, and each community is able to self-organize and to regulate the voltage independently using only its local DGs.

Paperid: 2400, https://arxiv.org/pdf/2509.07707.pdf

Abstract:
This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical need of a robust control strategy for maintaining a desired altitude for the quadcopter to safe the hardware and the payload in physical applications. The proposed framework investigates two RL methodologies Dynamic Programming (DP) and Deep Deterministic Policy Gradient (DDPG), to overcome the challenges posed by the rotor failure mechanism of the quadcopter. DP, a model-based approach, is leveraged for its convergence guarantees, despite high computational demands, whereas DDPG, a model-free technique, facilitates rapid computation but with constraints on solution duration. The research challenge arises from training RL algorithms on large dimensions and action domains. With modifications to the existing DP and DDPG algorithms, the controllers were trained not only to cater for large continuous state and action domain and also achieve a desired state after an inflight propeller failure. To verify the robustness of the proposed control framework, extensive simulations were conducted in a MATLAB environment across various initial conditions and underscoring its viability for mission-critical quadcopter applications. A comparative analysis was performed between both RL algorithms and their potential for applications in faulty aerial systems.

Paperid: 2401, https://arxiv.org/pdf/2509.07703.pdf

Abstract:
This article proposes a distributed control method for matrix-scaled multi-agent networks aimed at achieving convergence within a user-defined time frame. The control law of each individual agent relies only on information from neighboring agents and is updated at discrete intervals determined by state-dependent triggering functions, reducing the frequency of agent interactions. To this end, first, the controller is augmented with a time-varying gain. Then, the dynamics of the closed-loop system over the finite-time interval is transformed into an infinite-time frame using time scaling. Lyapunov-based analysis is employed to derive suitable triggering conditions that guarantee the asymptotic convergence of the time-transformed system, thereby ensuring the prescribed-time convergence of the original system.

Paperid: 2402, https://arxiv.org/pdf/2509.07402.pdf

Abstract:
The Electric Vehicle Routing Problem with Time Windows and Station-based or Route-based Charging Options addresses fleet optimization incorporating both conventional charging stations and continuous wireless charging infrastructure. This paper extends Schneider et al.'s foundational EVRP-TW model with arc-based dynamic wireless charging representation, partial coverage modeling, and hierarchical multi-objective optimization prioritizing fleet minimization. Computational experiments on Schneider benchmark instances demonstrate substantial operational benefits, with distance and time improvements ranging from 0.7% to 35.9% in secondary objective components. Analysis reveals that 20% wireless coverage achieves immediate benefits, while 60% coverage delivers optimal performance across all test instances for infrastructure investment decisions.

Paperid: 2403, https://arxiv.org/pdf/2509.07400.pdf

Abstract:
The Internet of Things (IoT) plays a crucial role in enabling seamless connectivity and intelligent home automation, particularly in food management. By integrating IoT with computer vision, the smart fridge employs an ESP32-CAM to establish a monitoring subsystem that enhances food management efficiency through real-time food detection, inventory tracking, and temperature monitoring. This benefits waste reduction, grocery planning improvement, and household consumption optimization. In high-density inventory conditions, capturing partial or layered images complicates object detection, as overlapping items and occluded views hinder accurate identification and counting. Besides, varied angles and obscured details in multi-layered setups reduce algorithm reliability, often resulting in miscounts or misclassifications. Our proposed system is structured into three core modules: data pre-processing, object detection and management, and a web-based visualization. To address the challenge of poor model calibration caused by overconfident predictions, we implement a variant of focal loss that mitigates over-confidence and under-confidence in multi-category classification. This approach incorporates adaptive, class-wise error calibration via temperature scaling and evaluates the distribution of predicted probabilities across methods. Our results demonstrate that robust functional calibration significantly improves detection reliability under varying lighting conditions and scalability challenges. Further analysis demonstrates a practical, user-focused approach to modern food management, advancing sustainable living goals through reduced waste and more informed consumption.

Paperid: 2404, https://arxiv.org/pdf/2509.07384.pdf

Abstract:
This paper proposes a unified adaptive event-triggered model predictive control (ETMPC) scheme for linear parameter-varying (LPV) systems subject to state delays, actuator saturation, and external disturbances. In existing studies, only a limited number of ETMPC methods have attempted to address either state delays or actuator saturation, and even these few methods typically lack co-design optimization between adaptive event-triggering mechanisms and the control law. To overcome these limitations, this paper presents a Lyapunov-Krasovskii-based adaptive ETMPC strategy that enables the co-design optimization of both the triggering mechanism and the controller. Specifically, the event-triggering parameter matrix is adaptively optimized by embedding an internal adaptive variable within the Lyapunov-Krasovskii-like function. Furthermore, the actuator saturation nonlinearity is transformed into a convex hull representation. The infinite-horizon robust optimization problem is reformulated as a convex optimization problem with linear matrix inequality (LMI) constraints. Invariant set constraints are introduced to ensure recursive feasibility, and mean-square input-to-state stability (ISS) under multiple uncertainties is rigorously established. Simulations on an industrial electric heating system validate the proposed method's effectiveness in reducing communication load.

Paperid: 2405, https://arxiv.org/pdf/2509.07356.pdf

Abstract:
To address non-linear disturbances and uncertainties in complex marine environments, this paper proposes a disturbance-resistant controller for deep-sea cranes. The controller integrates hierarchical sliding mode control, adaptive control, and neural network compensation techniques. By designing a global sliding mode surface, the dynamic coordination between the driving and non-driving subsystems is achieved, ensuring overall system stability. The subsystem surfaces reduce oscillations and enhance tracking accuracy. Adaptive control dynamically adjusts system parameters, enhancing robustness against external uncertainties, while the neural network compensates for time-varying disturbances through real-time learning. The stability of the control scheme is verified on the basis of Lyapunov theory. The simulation results demonstrate that, compared to traditional PID control, the proposed controller exhibits significant advantages in trajectory tracking accuracy, response speed, and disturbance rejection.

Paperid: 2406, https://arxiv.org/pdf/2509.07009.pdf

Abstract:
The article provides an overview of approaches to modeling the human psyche in the perspective of building an artificial one. Based on the review, a concept of cognitive architecture is proposed, where the psyche is considered as an operating system of a living or artificial subject, including a space of needs that determines its life meanings in connection with stimuli from the external world, and intelligence as a decision-making system for actions in relation to this world in order to satisfy these needs. Based on the concept, a computational formalization is proposed for creating artificial intelligence systems through learning from experience in the space of a space of needs, taking into account their biological or existential significance for an intelligent agent. Thus, the problem of building general artificial intelligence as a system for making optimal decisions in the space of agent-specific needs under conditions of uncertainty is formalized, with maximization of success in achieving goals, minimization of existential risks and maximization of energy efficiency. A minimal experimental implementation of the model is also provided.

Paperid: 2407, https://arxiv.org/pdf/2509.06853.pdf

Abstract:
The inherent complexity of living cells as production units creates major challenges for maintaining stable and optimal bioprocess conditions, especially in open Photobioreactors (PBRs) exposed to fluctuating environments. To address this, we propose a Reinforcement Learning (RL) control approach, combined with Behavior Cloning (BC), for pH regulation in open PBR systems. This represents, to the best of our knowledge, the first application of an RL-based control strategy to such a nonlinear and disturbance-prone bioprocess. Our method begins with an offline training stage in which the RL agent learns from trajectories generated by a nominal Proportional-Integral-Derivative (PID) controller, without direct interaction with the real system. This is followed by a daily online fine-tuning phase, enabling adaptation to evolving process dynamics and stronger rejection of fast, transient disturbances. This hybrid offline-online strategy allows deployment of an adaptive control policy capable of handling the inherent nonlinearities and external perturbations in open PBRs. Simulation studies highlight the advantages of our method: the Integral of Absolute Error (IAE) was reduced by 8% compared to PID control and by 5% relative to standard off-policy RL. Moreover, control effort decreased substantially-by 54% compared to PID and 7% compared to standard RL-an important factor for minimizing operational costs. Finally, an 8-day experimental validation under varying environmental conditions confirmed the robustness and reliability of the proposed approach. Overall, this work demonstrates the potential of RL-based methods for bioprocess control and paves the way for their broader application to other nonlinear, disturbance-prone systems.

Paperid: 2408, https://arxiv.org/pdf/2509.06657.pdf

Abstract:
Modern industrial systems require updated approaches to safety management, as the tight interplay between cyber-physical, human, and organizational factors has driven their processes toward increasing complexity. In addition to dealing with known risks, managing system resilience acquires great value to address complex behaviors pragmatically. This manuscript starts from the System-Theoretic Accident Model and Processes (STAMP) as a modelling initiative for such complexity. The STAMP can be natively integrated with simulation-based approaches, which however fail to realistically represent human behaviors and their influence on the system performance. To overcome this limitation, this paper proposes a Human-Hardware-in-the-Loop (HHIL) modeling and simulation framework aimed at supporting a more realistic and comprehensive assessments of systemic resilience. The approach is tested on an experimental oil and gas plant experiencing cyber-attacks, where two personas of operators (experts and novices) work. This research provides a mean to quantitatively assess how variations in operator behavior impact the overall system performance, offering insights into how resilience should be understood and implemented in complex socio-technical systems at large.

Paperid: 2409, https://arxiv.org/pdf/2509.06599.pdf

Abstract:
Dynamic nonlinear systems exhibit distortions arising from coupled static and dynamic effects. Their intertwined nature poses major challenges for data-driven modeling. This paper presents a theoretical framework grounded in structured decomposition, variance analysis, and task-centric complexity bounds. The framework employs a directional lower bound on interactions between measurable system components, extending orthogonality in inner product spaces to structurally asymmetric settings. This bound supports variance inequalities for decomposed systems. Key behavioral indicators are introduced along with a memory finiteness index. A rigorous power-based condition establishes a measurable link between finite memory in realizable systems and the First Law of Thermodynamics. This offers a more foundational perspective than classical bounds based on the Second Law. Building on this foundation, we formulate a `Behavioral Uncertainty Principle,' demonstrating that static and dynamic distortions cannot be minimized simultaneously. We identify that real-world systems seem to resist complete deterministic decomposition due to entangled static and dynamic effects. We also present two general-purpose theorems linking function variance to mean-squared Lipschitz continuity and learning complexity. This yields a model-agnostic, task-aware complexity metric, showing that lower-variance components are inherently easier to learn. These insights explain the empirical benefits of structured residual learning, including improved generalization, reduced parameter count, and lower training cost, as previously observed in power amplifier linearization experiments. The framework is broadly applicable and offers a scalable, theoretically grounded approach to modeling complex dynamic nonlinear systems.

Paperid: 2410, https://arxiv.org/pdf/2509.06425.pdf

Abstract:
Boost converters are essential for modern electrification and intelligent technologies. However, conventional Boost converter models relying on steady-state assumptions fail to accurately predict transient behaviors during input voltage and load fluctuations, which cause significant output voltage overshoots and instability, resulting in failures of electrical systems, thereby restricting their use in space. This study introduces a first-principle modeling framework that derives precise dynamic equations for Boost converters by incorporating non-ideal component coupling. As compared to the most accurate existing Boost converter model, the proposed models reduce steady-state and dynamic-state errors between experimental and simulated output voltages by factors of 11.0 (from 20.9% to 1.9%) and 15.4 (from 77.1% to 5.0%) under input voltage variations, and by factors of 10.2 (from 15.3% to 1.5%) and 35.1 (from 42.1% to 1.2%) under load changes, respectively. Consequently, a reliable Boost converter is accordingly designed and on-orbit deployed for precise energy conversions.

Paperid: 2411, https://arxiv.org/pdf/2509.06229.pdf

Abstract:
Operating an intelligent smart building automation system in 2025 is met with many challenges: hardware failures, vendor obsolescence, evolving security threats and more. None of these have been comprehensibly addressed by the industrial building nor home automation industries, limiting feasibility of operating large, truly smart automation deployments. This paper introduces KaOS, a distributed control platform for constructing robust and evolvable smart building automation systems using affordable, off-the-shelf IoT hardware. Supporting control applications and distributed system operations by leveraging containerisation and managed resource access, KaOS seeks to achieve flexibility, security, and fault tolerance without sacrificing cost-effectiveness. Initial evaluation confirms the practical feasibility of our approach, highlighting its potential to sustainably maintain and incrementally evolve building control functionalities over extended timeframes.

Paperid: 2412, https://arxiv.org/pdf/2509.05191.pdf

Abstract:
Feedback Linearisation (FBL) is a widely used technique that applies feedback laws to transform input-affine nonlinear dynamical systems into linear dynamical systems, allowing for the use of linear controller design methods such as pole placement. However, for problems with state constraints, controlling the linear system induced by FBL can be more challenging than controlling the original system. This is because simple state constraints in the original nonlinear system become complex nonlinear constraints in the FBL induced linearised system, thereby diminishing the advantages of linearisation. To avoid increasing the complexity of state constraints under FBL, this paper introduces a method to first augment system dynamics to capture state constraints before applying FBL. We show that our proposed augmentation method leads to ill-defined relative degrees at state constraint boundaries. However, we show that ill-defined relative degrees can be overcome by using a switching FBL controller. Numerical experiments illustrate the capabilities of this method for handling state constraints within the FBL framework.

Paperid: 2413, https://arxiv.org/pdf/2509.05182.pdf

Abstract:
This work describes a collective decision-making dynamical process in a multiagent system under the assumption of cooperative higher-order interactions within the community, modeled as a hypernetwork. The nonlinear interconnected system is characterized by saturated nonlinearities that describe how agents transmit their opinion state to their neighbors in the hypernetwork, and by a bifurcation parameter representing the community's social effort. We show that the presence of higher-order interactions leads to the unfolding of a pitchfork bifurcation, introducing an interval for the social effort parameter in which the system exhibits bistability. With equilibrium points representing collective decisions, this implies that, depending on the initial conditions, the community will either remain in a deadlock state (with the origin as the equilibrium point) or reach a nontrivial decision. A numerical example is given to illustrate the results.

Paperid: 2414, https://arxiv.org/pdf/2509.05167.pdf

Abstract:
Model predictive control (MPC) is one of the most successful modern control methods. It relies on repeatedly solving a finite-horizon optimal control problem and applying the beginning piece of the optimal input. In this paper, we develop a modular framework for improving efficiency and robustness of quantum optimal control (QOC) via MPC. We first provide a tutorial introduction to basic concepts of MPC from a QOC perspective. We then present multiple MPC schemes, ranging from simple approaches to more sophisticated schemes which admit stability guarantees. This yields a modular framework which can be used 1) to improve efficiency of open-loop QOC and 2) to improve robustness of closed-loop quantum control by incorporating feedback. We demonstrate these benefits with numerical results, where we benchmark the proposed methods against competing approaches.

Paperid: 2415, https://arxiv.org/pdf/2509.05020.pdf

Abstract:
Nowadays, the majority of wearable thermal feedback systems designed for use in virtual reality applications are not compatible or not integrated to standard controllers and are based on temperature control. The objectives of the present work is to enable integration with existing controllers, in this case Valve Index controllers, and to propose an alternative approach to managing thermal stimulation with Peltier modules by controlling heat flow instead of temperature. We introduce StimulHeat as a wireless, low power thermal feedback system, based on the continuous relationship between heat and current injection in thermoelectric device (TED). First, we designed an optimized TED driver capable of injecting a continuous, bidirectional current into the TED, thereby driving it as a heater or cooler. Subsequently, this driver was implemented in an electronic board to include temperature and heat flow control loops, as well as Bluetooth Low Energy interface for remote control. A mechanical integration was conducted, in the form of a controller extension which is non-intrusive and can be clipped to Valve Index controllers to enclose the TED, temperature sensors and electronics. Finally, we present a user study validating StimulHeat for use in Virtual Reality, utilizing a Unity-built virtual environment with our open-source package.

Paperid: 2416, https://arxiv.org/pdf/2509.05003.pdf

Abstract:
There is growing interest in using public cellular networks for specialized communication applications, replacing standalone sector-specific networks. One such application is transitioning from the aging GSM-R railway network to public 4G and 5G networks. Finland is modernizing its railway communication system through the Digirail project, leveraging public cellular networks. To evaluate network performance, a nationwide measurement campaign was conducted in two modes: Best Quality and Packet Replication. However, Best Quality mode introduces artificial delays, making it unsuitable for real-world assessments. In this paper, railway network delays are modeled using machine learning based on measurements from the Packet Replication mode. The best-performing model is then employed to generate a dataset estimating network delays across Finland's railway network. This dataset provides a more accurate representation of network performance. Machine learning based network performance prediction is shown to be feasible, and the results indicate that Finland's public cellular network can meet the stringent performance requirements of railway network control.

Paperid: 2417, https://arxiv.org/pdf/2509.04514.pdf

Abstract:
We consider the problem of finding feasible systems with respect to stochastic constraints when system performance is evaluated through simulation. Our objective is to solve this problem with high computational efficiency and statistical validity. Existing indifference-zone (IZ) procedures introduce a fixed tolerance level, which denotes how much deviation the decision-maker is willing to accept from the threshold in the constraint. These procedures are developed under the assumption that all systems' performance measures are exactly the tolerance level away from the threshold, leading to unnecessary simulations. In contrast, IZ-free procedures, which eliminate the tolerance level, perform well when systems' performance measures are far from the threshold. However, they may significantly underperform compared to IZ procedures when systems' performance measures are close to the threshold. To address these challenges, we propose the Indifference-Zone Relaxation (IZR) procedure, IZR introduces a set of relaxed tolerance levels and utilizes two subroutines for each level: one to identify systems that are clearly feasible and the other to exclude those that are clearly infeasible. We also develop the IZR procedure with estimation (IZE), which introduces two relaxed tolerance levels for each system and constraint: one matching the original tolerance level and the other based on an estimate of the system's performance measure. By employing different tolerance levels, these procedures facilitate early feasibility determination with statistical validity. We prove that IZR and IZE determine system feasibility with the desired probability and show through experiments that they significantly reduce the number of observations required compared to an existing procedure.

Paperid: 2418, https://arxiv.org/pdf/2509.04199.pdf

Abstract:
This brief, aimed at practitioners, offers an analysis of the effect of sampling-time jitter, i. e., the error produced by execution-time inaccuracies. We propose reinterpreting jitter-afflicted linear time-invariant systems through equivalent jitter-free analogs. By constructing a perceived system that absorbs the effects of timing perturbations into its dynamics, we find an affine scaling of jitter. We examine both measurement and implementation scenarios, demonstrating that the presence of jitter effectively scales the system matrices. Moreover, we observe that, in the Laplace domain, jitter can be interpreted as a frequency scaling.

Paperid: 2419, https://arxiv.org/pdf/2509.04137.pdf

Abstract:
Graphene field-effect transistors (GFETs) are among the most promising platforms for ultrasensitive chemical and biological sensing due to their high carrier mobility, large surface area, and low intrinsic noise. However, conventional single-gate GFET sensors in liquid environments suffer from severe limitations, including signal drift, charge trapping, and insufficient signal amplification. Here, we introduce a dual-gate GFET architecture that integrates a high-k hafnium dioxide local back gate with an electrolyte top gate, coupled with real-time feedback biasing. This design enables capacitive signal amplification while simultaneously suppressing gate leakage and low-frequency noise. By systematically evaluating seven distinct operational modes, we identify the Dual Mode Fixed configuration as optimal, achieving up to 20x signal gain, > 15x lower drift compared with gate-swept methods, and up to 7x higher signal to noise ratio across a diverse range of analytes, including neurotransmitters, volatile organic compounds, environmental contaminants, and proteins. We further demonstrate robust, multiplexed detection using a PCB-integrated GFET sensor array, underscoring the scalability and practicality of the platform for portable, high-throughput sensing in complex environments. Together, these advances establish a versatile and stable sensing technology capable of real-time, label-free detection of molecular targets under ambient and physiological conditions, with broad applicability in health monitoring, food safety, agriculture, and environmental screening.

Paperid: 2420, https://arxiv.org/pdf/2509.03899.pdf

Abstract:
Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs generally involves addressing a complex robust optimization problem, which can be intractable. Scenario-based methods have been proposed to simplify this computation. Then, one needs to verify if the CBF actually satisfies the robust constraints. We present an approach to perform this verification that relies on Lipschitz arguments, and forms the basis of a certification algorithm designed for sample efficiency. Through a numerical example, we validated the efficiency of the proposed procedure.

Paperid: 2421, https://arxiv.org/pdf/2509.03879.pdf

Abstract:
Intel SGX and hypervisors isolate non-privileged programs from other software, ensuring confidentiality and integrity. However, side-channel attacks continue to threaten Intel SGX's security, enabling malicious OS to manipulate PTE present bits, induce page faults, and steal memory access traces. Despite extensive research, existing defenses focus on detection or rely on impractical solutions. This paper presents ShieldMMU, a comprehensive solution for mitigating controlled channel attacks, balancing compatibility, performance, and usability. Leveraging a Merkle Tree-inspired Defense Tree (DD-Tree), ShieldMMU protects PTE integrity by detecting, locating, and restoring attacked PTEs. It identifies MMU page table lookup events and side-channel attacks, promptly restoring PTE parameters to prevent page fault traps and ensure secure non-privileged application operation within SGX. Our experiments confirm ShieldMMU's enhanced security and acceptable latency performance.

Paperid: 2422, https://arxiv.org/pdf/2509.03804.pdf

Abstract:
Accurate real-time buoyancy modeling is essential for high-fidelity Autonomous Underwater Vehicle (AUV) simulations, yet NVIDIA Isaac Sim lacks a native buoyancy system, requiring external solutions for precise underwater physics. This paper presents a novel convex hull-based approach to dynamically compute the submerged volume of an AUV in real time. By extracting mesh geometry from the simulation environment and calculating the hull portion intersecting the water level along the z-axis, our method enhances accuracy over traditional geometric approximations. A cross-sectional area extension reduces computational overhead, enabling efficient buoyant force updates that adapt to orientation, depth, and sinusoidal wave fluctuations (+-0.3 m). Tested on a custom AUV design for SAUVC 2025, this approach delivers real-time performance and scalability, improving simulation fidelity for underwater robotics research without precomputed hydrodynamic models.

Paperid: 2423, https://arxiv.org/pdf/2509.03436.pdf

Abstract:
The utilization of robotic technology has gained traction in healthcare facilities due to progress in the field that enables time and cost savings, minimizes waste, and improves patient care. Digital healthcare technologies that leverage automation, such as robotics and artificial intelligence, have the potential to enhance the sustainability and profitability of healthcare systems in the long run. However, the recent COVID-19 pandemic has amplified the need for cyber-physical robots to automate check-ups and medication administration. A robot nurse is controlled by the Internet of Things (IoT) and can serve as an automated medical assistant while also allowing supervisory control based on custom commands. This system helps reduce infection risk and improves outcomes in pandemic settings. This research presents a test case with a nurse robot that can assess a patient's health status and take action accordingly. We also evaluate the system's performance in medication administration, health-status monitoring, and life-cycle considerations.

Paperid: 2424, https://arxiv.org/pdf/2509.03238.pdf

Abstract:
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by stepper motors and dynamically oriented by a vision-based tracking system that follows the movements of exhibition visitors. The original system was limited by oscillatory dynamics, resulting in torsional and pendulum-like vibrations that constrained rotational speed and reduced interactive responsiveness. To address these challenges, the refurbishment involved significant upgrades to both hardware and motion control algorithms. A detailed mathematical model of the flying belt system was developed to accurately capture its dynamic behavior, providing a foundation for advanced control design. An input shaping method, formulated as a convex optimization problem, was implemented to effectively suppress vibrations, enabling smoother and faster belt movements. Experimental results demonstrate substantial improvements in system performance and audience interaction. This work exemplifies the integration of robotics, control engineering, and interactive art, offering new solutions to technical challenges in real-time motion control and vibration damping for large-scale kinetic installations.

Paperid: 2425, https://arxiv.org/pdf/2509.03168.pdf

Abstract:
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed by the agents' limited interaction ranges and collision-free thresholds. By leveraging a Henneberg construction method, we innovatively formulate the target enclosing requirements within an isostatic distance-based formation framework, facilitating the integration of distance constraints. Compared with existing results, our approach ensures the positive definiteness of the underlying rigidity matrix and does not require controlling the target's motion. To eliminate the occurrences of control singularities caused by nonholonomic constraints, we propose a fixed-time angular control law using barrier Lyapunov functions. Additionally, we develop a linear velocity control law using the prescribed performance control approach and transformed error constraints. We rigorously prove that our control laws enable the multi-agent system to asymptotically achieve the desired angular formation pattern around a moving target while satisfying the established distance constraints. Finally, a simulation example is provided to validate the effectiveness of the proposed method.

Paperid: 2426, https://arxiv.org/pdf/2509.03126.pdf

Abstract:
Coordinating the interactions between flexibility assets in multi-carrier integrated energy systems (MIES) can lead to an efficient integration of variable renewable energy resources, and a cost-efficient energy transition. However, the proliferation of flexibility assets and their participation in active demand response increases the complexity of coordinating these interactions. This paper introduces different approaches to model the coordination of flexibility scheduling in MIES. We propose a market auction-inspired model coupling approach to address the challenges of preserving the autonomy and privacy of flexibility providers, and the issue of scalability. We benchmark our approach against co-optimization and an iterative price-response method by conducting experiments with varying problem sizes and computing infrastructure. We show that our approach scales well and is suitable for modeling flexibility in large-scale energy systems in a more realistic way. From an optimality standpoint, the flexibility dispatch schedules and electricity prices are ``near-optimal". Our methodology is implemented as a new open-source software, which offers several practical applications. For example, flexibility providers and network operators can couple their models to simulate the interaction between their systems without disclosing confidential information; policy regulators can use it to investigate new market design and regulations to optimize the utilization of flexibility in MIES.

Paperid: 2427, https://arxiv.org/pdf/2509.03119.pdf

Abstract:
A force balanced manipulator design based on the closed chain planar five bar linkage is developed and experimentally validated. We present 2 variants as a modular design: Forbal-2, a planar 2-DOF manipulator, and its extension to 5-DOF spatial motion called Forbal-5. The design considerations in terms of geometric, kinematic, and dynamic design that fulfill the force balance conditions while maximizing workspace are discussed. Then, the inverse kinematics of both variants are derived from geometric principles. We validate the improvements from force balancing the manipulator through comparative experiments with counter mass balanced and unbalanced configurations. The results show how the balanced configuration yields a reduction in the average reaction moments of up to 66%, a reduction of average joint torques of up to 79%, as well as a noticeable reduction in position error for Forbal-2. For Forbal-5, which has a higher end effector payload mass, the joint torques are reduced up to 84% for the balanced configuration. Experimental results validate that the balanced manipulator design is suitable for applications where the reduction of joint torques and reaction forces/moments helps achieve millimeter level precision.

Paperid: 2428, https://arxiv.org/pdf/2509.02238.pdf

Abstract:
On 21 June 2024, a severe incident happened in the South-Eastern part of the Continental European power system. After a voltage collapse, large parts of Albania, Montenegro, Bosnia and Herzegovina as well as Croatia suffered from a blackout [1]. The initial tripping of two transmission lines resulted in a voltage collapse in these countries. Investigations have shown that a) transformers with on-load tap changers (OLTC) and b) nonlinear loads, in particular air conditioning systems, played a significant role in this event. Motivated by this, we carry out an assessment of the effect of OLTC on voltage stability in the presence of nonlinear loads. By doing this we hope to further shed some light on the potential instability mechanisms that can be triggered in scenarios like the above-mentioned blackout.

Paperid: 2429, https://arxiv.org/pdf/2509.02224.pdf

Abstract:
This paper presents the analysis, design, fabrication, and measurement of an integrated low-noise amplifier (LNA) implemented using a 130 nm CMOS technology, operating in the 2.4 GHz band. The LNA is a crucial component in the performance of receivers, particularly in integrated receivers. The proposed LNA was designed to meet the specifications of the IEEE 802.15.4 standard. Post-layout simulation results, including pads with electrostatic discharge (ESD) protection, are as follows: gain of 10.7 dB, noise figure of 2.7 dB, third-order input intercept point (IIP3) of 0.9 dBm, input and output impedance matching better than -20 dB with respect to 50~$Î©$ terminations, with a power consumption of 505 $Î¼$W powered from a 1.2 V supply. The obtained results fall within the range of those recently reported for the same topology and operating frequency. The measured scattering parameters (S-parameters) are consistent with the simulation results. This work contributes to the development of a new research line in Cuba on the design of radio-frequency (RF) integrated circuits.

Paperid: 2430, https://arxiv.org/pdf/2509.02192.pdf

Abstract:
In this paper, we present a data-driven Forward Selection with Neighborhood Refinement (FSNR) algorithm to determine the number and placement of Phasor Measurement Units (PMUs) for maximizing deep-learning-based fault diagnosis performance. Candidate PMU locations are ranked via a cross-validated Support Vector Machine (SVM) classifier, and each selection is refined through local neighborhood exploration to produce a near-optimal sensor set. The resulting PMU subset is then supplied to a 1D Convolutional Neural Network (CNN) for faulted-line localization and fault-type classification from time-series measurements. Evaluation on modified IEEE 34- and IEEE 123-bus systems demonstrates that the proposed FSNR-SVM method identifies a minimal PMU configuration that achieves the best overall CNN performance, attaining over 96 percent accuracy in fault location and over 99 percent accuracy in fault-type classification on the IEEE 34 system, and approximately 94 percent accuracy in fault location and around 99.8 percent accuracy in fault-type classification on the IEEE 123 system.

Paperid: 2431, https://arxiv.org/pdf/2509.01855.pdf

Abstract:
One might argue that solving a trajectory optimization problem over a million grid points is preposterous. How about solving such a problem at an incredibly fast computational time? On a small form-factor processor? Algorithmic details that make possible this trifecta of breakthroughs are presented in this paper. The computational mathematics that deliver these advancements are: (i) a Birkhoff-theoretic discretization of optimal control problems, (ii) matrix-free linear algebra leveraging Krylov-subspace methods, and (iii) a near-perfect Birkhoff preconditioner that helps achieve $\mathcal{O}(1)$ iteration speed with respect to the grid size,~$N$. A key enabler of this high performance is the computation of Birkhoff matrix-vector products at $\mathcal{O}(N\log(N))$ time using fast Fourier transform techniques that eliminate traditional computational bottlenecks. A numerical demonstration of this unprecedented scale and speed is illustrated for a practical astrodynamics problem.

Paperid: 2432, https://arxiv.org/pdf/2509.01123.pdf

Abstract:
We use Gaussian mixtures to model formation and evolution of multi-modal beliefs and opinion uncertainty across social networks. In this model, opinions evolve by Bayesian belief update when incorporating exogenous factors (signals from outside sources, e.g., news articles) and by non-Bayesian mixing dynamics when incorporating endogenous factors (interactions across social media). The modeling enables capturing the richness of behavior observed in multi-modal opinion dynamics while maintaining interpretability and simplicity of scalar models. We present preliminary results on opinion formation and uncertainty to investigate the effect of stubborn individuals (as social influencers). This leads to a notion of centrality based on the ease with which an individual can disrupt the flow of information across the social network.

Paperid: 2433, https://arxiv.org/pdf/2509.01076.pdf

Abstract:
Noisy data are often viewed as a challenge for decision-making. This paper studies a distributionally robust optimization (DRO) that shows how such noise can be systematically incorporated. Rather than applying DRO to the noisy empirical distribution, we construct ambiguity sets over the \emph{latent} distribution by centering a Wasserstein ball at the noisy empirical distribution in the observation space and taking its inverse image through a known noise kernel. We validate this inverse-image construction by deriving a tractable convex reformulation and establishing rigorous statistical guarantees, including finite-sample performance and asymptotic consistency. Crucially, we demonstrate that, under mild conditions, noisy data may be a ``blessing in disguise." Our noisy-data DRO model is less conservative than its direct counterpart, leading to provably higher optimal values and a lower price of ambiguity. In the context of fair resource allocation problems, we demonstrate that this robust approach can induce solutions that are structurally more equitable. Our findings suggest that managers can leverage uncertainty by harnessing noise as a source of robustness rather than treating it as an obstacle, producing more robust and strategically balanced decisions.

Paperid: 2434, https://arxiv.org/pdf/2509.00896.pdf

Abstract:
In todays rapidly evolving digital landscape, safeguarding network infrastructures against cyberattacks has become a critical priority. This research presents an innovative AI-driven real-time intrusion detection framework designed to enhance network security, particularly in Wireless Sensor Networks (WSNs), Cloud Computing (CC), and Internet of Things (IoT) environments. The system employs classical machine learning models, Logistic Regression, decision trees, and K-Nearest Neighbors, optimized through the novel Energy Valley Optimization (EVO) method using the NSL-KDD dataset. Feature selection significantly reduced the number of input features from 42 to 18, while maintaining strong detection capabilities. The proposed system achieved 98.95 percent. accuracy with Decision Tree, 98.47 percent with K-Nearest Neighbors, and 88.84 percent with Logistic Regression. Moreover, high precision, recall, and F1-scores were attained across all classifiers while substantially reducing training and testing times, making the framework highly suitable for real-time applications. To ensure fair detection across diverse attack types, dataset balancing via Downsampling was applied to address class imbalance challenges. This investigation focuses on the significance of advancing IDSs. in cloud computing and WSNs. Overall, this work advances secure communications by delivering a scalable, low-latency, and high-accuracy intrusion detection solution aligned with the latest trends in artificial intelligence, cybersecurity, and real-time digital networks.

Paperid: 2435, https://arxiv.org/pdf/2509.00870.pdf

Abstract:
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional controller synthesis methods often use formal languages to describe control specifications and are mainly oriented towards single-agent and non-probabilistic systems. With the increasing complexity of systems, the control requirements that need to be satisfied also become more complex. Based on this, this paper proposes a controller synthesis method for semi-cooperative semi-competitive multi-agent probabilistic discrete event systems to solve the controller synthesis problem based on temporal logic specifications. The controller can ensure the satisfaction of specifications to a certain extent. The specification is given in the form of a linear temporal logic formula. This paper designs a controller synthesis algorithm that combines probabilistic model checking. Finally, the effectiveness of this method is verified through a case study.

Paperid: 2436, https://arxiv.org/pdf/2509.00809.pdf

Abstract:
Bipartite matching systems arise in many settings where agents or tasks from two distinct sets must be paired dynamically under compatibility constraints. We consider a high-dimensional bipartite matching system under uncertainty and seek an effective dynamic control policy that maximizes the expected discounted total value generated by the matches minus the congestion-related costs. To derive a tractable approximation, we focus attention on balanced, high-volume systems, i.e., the heavy-traffic regime, and derive an approximating Brownian control problem. We then develop a computational method that relies on deep neural network technology for solving this problem. To show the effectiveness of the policy derived from our computational method, we compare it to the benchmark policies available in the extant literature in the context of the original matching problem. In the test problems attempted thus far, our proposed policy outperforms the benchmarks, and its derivation is computationally feasible for dimensions up to 100 or more.

Paperid: 2437, https://arxiv.org/pdf/2509.00655.pdf

Abstract:
Recent work has proposed machine learning (ML) approaches as fast surrogates for solving AC optimal power flow (AC-OPF), with claims of significant speed-ups and high accuracy. In this paper, we revisit these claims through a systematic evaluation of ML models against a set of simple yet carefully designed linear baselines. We introduce OPFormer-V, a transformer-based model for predicting bus voltages, and compare it to both the state-of-the-art DeepOPF-V model and simple linear methods. Our findings reveal that, while OPFormer-V improves over DeepOPF-V, the relative gains of the ML approaches considered are less pronounced than expected. Simple linear baselines can achieve comparable performance. These results highlight the importance of including strong linear baselines in future evaluations.

Paperid: 2438, https://arxiv.org/pdf/2509.00008.pdf

Abstract:
Traditional power grid infrastructure presents significant barriers to renewable energy integration and perpetuates energy access inequities, with low-income communities experiencing disproportionately longer power outages. This study develops a Markov Decision Process (MDP) framework to optimize renewable energy allocation while explicitly addressing social equity concerns in electricity distribution. The model incorporates budget constraints, energy demand variability, and social vulnerability indicators across eight major U.S. cities to evaluate policy alternatives for equitable clean energy transitions. Numerical experiments compare the MDP-based approach against baseline policies including random allocation, greedy renewable expansion, and expert heuristics. Results demonstrate that equity-focused optimization can achieve 32.9% renewable energy penetration while reducing underserved low-income populations by 55% compared to conventional approaches. The expert policy achieved the highest reward, while the Monte Carlo Tree Search baseline provided competitive performance with significantly lower budget utilization, demonstrating that fair distribution of clean energy resources is achievable without sacrificing overall system performance and providing ways for integrating social equity considerations with climate goals and inclusive access to clean power infrastructure.

Paperid: 2439, https://arxiv.org/pdf/2509.00003.pdf

Abstract:
Our paper is focused on optimal and control of an isolated photovoltaic system with batteries. The control is made by the application of a power management control (PMC). Batteries are kept safe from deep discharges and overloads by the PMC, maintaining a continuous supply to the load. The ease, with which this method can be implemented, as well as its effectiveness without imposing a large computing strain on the user, is noteworthy. The batteries and PV panels in the system under study are connected to a bidirectional converter enabling the batteries to be charged and drained in accordance with weather conditions. The simulation results, clearly highlight good performance of the proposed control across two different profiles.

Paperid: 2440, https://arxiv.org/pdf/2508.20675.pdf

Abstract:
Finite-horizon linear quadratic (LQ) games admit a unique Nash equilibrium, while infinite-horizon settings may have multiple. We clarify the relationship between these two cases by interpreting the finite-horizon equilibrium as a nonlinear dynamical system. Within this framework, we prove that its fixed points are exactly the infinite-horizon equilibria and that any such equilibrium can be recovered by an appropriate choice of terminal costs. We further show that periodic orbits of the dynamical system, when they arise, correspond to periodic Nash equilibria, and we provide numerical evidence of convergence to such cycles. Finally, simulations reveal three asymptotic regimes: convergence to stationary equilibria, convergence to periodic equilibria, and bounded non-convergent trajectories. These findings offer new insights and tools for tuning finite-horizon LQ games using infinite-horizon.

Paperid: 2441, https://arxiv.org/pdf/2508.20479.pdf

Abstract:
Deploying satellites at Earth-Moon Libration Points (LPs) addresses the inherent deep-space coverage gaps of low-altitude GNSS constellations. Integrating LP satellites with GNSS into a joint constellation enables a more robust and comprehensive Positioning, Navigation, and Timing (PNT) system, while also extending navigation and communication services to spacecraft operating in cislunar space (i.e., users). However, the long propagation delays between LP satellites, users, and GNSS satellites result in significantly different link durations compared to those within the GNSS constellation. Scheduling inter-satellite links (ISLs) is a core task of Contact Plan Design (CPD). Existing CPD approaches focus exclusively on GNSS constellations, assuming uniform link durations, and thus cannot accommodate the heterogeneous link timescales present in a joint GNSS-LP system. To overcome this limitation, we introduce a Joint CPD (J-CPD) scheme tailored to handle ISLs with differing duration units across integrated constellations. The key contributions of J-CPD are: (i):introduction of LongSlots (Earth-Moon scale links) and ShortSlots (GNSS-scale links); (ii):a hierarchical and crossed CPD process for scheduling LongSlots and ShortSlots ISLs; (iii):an energy-driven link scheduling algorithm adapted to the CPD process. Simulations on a joint BeiDou-LP constellation demonstrate that J-CPD surpasses the baseline FCP method in both delay and ranging coverage, while maintaining high user satisfaction and enabling tunable trade-offs through adjustable potential-energy parameters. To our knowledge, this is the first CPD framework to jointly optimize navigation and communication in GNSS-LP systems, representing a key step toward unified and resilient deep-space PNT architectures.

Paperid: 2442, https://arxiv.org/pdf/2508.20304.pdf

Abstract:
As the semiconductor manufacturing process technology node shrinks into the nanometer-scale, the CMOS-based Field Programmable Gate Arrays (FPGAs) face big challenges in scalability of performance and power consumption. Multi-walled Carbon Nanotube (MWCNT) serves as a promising candidate for Cu interconnects thanks to the superior conductivity. Moreover, Carbon Nanotube Field Transistor (CNFET) also emerges as a prospective alternative to the conventional CMOS device because of high power efficiency and large noise margin. The combination of MWCNT and CNFET enables the promising CNT-based FPGAs. However, the MWCNT interconnects exhibit significant process variations due to immature fabrication process, leading to delay faults. Also, the non-ideal CNFET fabrication process may generate a few metallic CNTs (m-CNTs), rendering correlated faulty blocks. In this article, we propose a ring oscillator (RO) based testing technique to detect delay faults due to the process variation of MWCNT interconnects. Furthermore, we propose an effective testing technique for the carry chains in CLBs, and an improved circuit design based on the lookup table (LUT) is applied to speed up the fault testing of CNT-based FPGAs. In addition, we propose a testing algorithm to detect m-CNTs in CLBs. Finally, we propose a redundant spare row sharing architecture to improve the yield of CNT-based FPGA further. Experimental results show that the test time for a 6-input LUT can be reduced by 35.49% compared with conventional testing, and the proposed algorithm can achieve a high test coverage with little overhead. The proposed redundant architecture can repair the faulty segment effectively and efficiently.

Paperid: 2443, https://arxiv.org/pdf/2508.19417.pdf

Abstract:
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose behavior is described using a microscopic car-following model. We formulate the optimal control problem where the dynamics of the platoon are describing through a system of non-linear ODEs, with explicit constraints on both the state and the control variables. Theoretically, we analyze the well-posedness of the system dynamics under a reasonable set of admissible controls and establish the existence of minimizers for the optimal control problem. To solve the problem numerically, we propose a gradient descent-based algorithm that leverages the adjoint method, along with a penalty approach to handle state constraints. We demonstrate the effectiveness of the proposed numerical scheme through several experiments, exploring various scenarios with different penetration rates and distributions of controlled vehicles within the platoon.

Paperid: 2444, https://arxiv.org/pdf/2508.18500.pdf

Abstract:
This paper presents a machine-learning based Stochastic Hybrid System (SHS) modeling framework to detect contingencies in active distribution networks populated with inverter-based resources (IBRs). In particular, this framework allows detecting unobservable contingencies, which cannot be identified by normal sensing systems. First, a state-space SHS model combining conventional and IRB-based resources is introduced to formulate the dynamic interaction between continuous states of distribution networks and discrete contingency events. This model forms a randomly switching system, where parameters or network topology can change due to contingencies. We consider two contingency classes: (i) physical events, such as line outages, and (ii) measurement anomalies caused by sensor faults. Leveraging multivariate time series data derived from high-frequency sampling of system states and network outputs, a time series-based learning model is trained for real-time contingency detection and classification. Simulation studies, carried out on the IEEE 33-bus distribution system, demonstrate a 96% overall detection accuracy.

Paperid: 2445, https://arxiv.org/pdf/2508.17251.pdf

Abstract:
The Sylvester equation underpins a wide spectrum of control synthesis and systems analysis tools associated with cascade interconnections. In the preceding Part I [1] of this article, it was shown that such an equation can be reformulated using data, enabling the production of a collection of data-driven stabilisation procedures. In this second part of the article, we continue to develop the framework established in Part I to solve two important control-theoretic problems: model order reduction and output regulation. For the model order reduction problem we provide a solution from input-state measurements, from input-output measurements, and we study the effect of the noise. For the output regulation problem, we provide data-driven solutions for the static and dynamic feedback problem. The proposed designs are illustrated by means of examples.

Paperid: 2446, https://arxiv.org/pdf/2508.17248.pdf

Abstract:
In this article we present a framework for direct data-driven control for general problems involving interconnections of dynamical systems. We first develop a method to determine the solution of a Sylvester equation from data. Such solution is used to describe a subspace that plays a role in a large variety of problems. We then provide an error analysis of the impact that noise has on this solution. This is a crucial contribution because, thanks to the interconnection approach developed throughout the article, we are able to track how the noise propagates at each stage, and thereby provide bounds on the final designs. Among the many potential problems that can be solved with this framework, we focus on three representatives: cascade stabilisation, model order reduction, and output regulation. This manuscript studies the first problem, while the companion Part II addresses the other two. For each of these settings we show how the problems can be recast in our framework. In the context of cascade stabilisation, we consider the 2-cascade problem, the effect of noise through the cascade, as well as N-cascade case, and we demonstrate that our proposed method is data efficient. The proposed designs are illustrated by means of a numerical example.

Paperid: 2447, https://arxiv.org/pdf/2508.16192.pdf

Abstract:
In this paper, we propose a two-stage optimization framework for secure task scheduling in satellite-terrestrial edge computing networks (STECNs). The framework jointly considers secure user association and task offloading to balance transmission delay, energy consumption, and physical-layer security. To address the inherent complexity, we decouple the problem into two stages. In the first stage, a secrecy-aware user association strategy is designed by discretizing artificial noise (AN) power ratios and identifying feasible links that satisfy secrecy constraints, resulting in a set of candidate secure associations. In the second stage, we formulate a delay-energy-aware task scheduling problem as an integer linear program and solve it using a heuristic Mayfly Algorithm (MA) to obtain low-complexity, high-quality solutions. Extensive simulation results demonstrate the effectiveness and superiority of the proposed framework in achieving secure and efficient task scheduling under dynamic satellite environments.

Paperid: 2448, https://arxiv.org/pdf/2508.15616.pdf

Abstract:
This work newly establishes the feasibility and practical value of a sum of squares (SOS)-based stability verification procedure for applied control problems utilizing neural-network-based controllers (NNCs). It successfully verifies closed-loop stability properties of a NNC synthesized using a generalizable procedure to imitate a robust, tube-based model predictive controller (MPC) for a two-wheeled inverted pendulum demonstrator system. This is achieved by first developing a state estimator and control-oriented model for the two-wheeled inverted pendulum. Next, this control-oriented model is used to synthesize a baseline linear-quadratic regulator (LQR) and a robust, tube-based MPC, which is computationally too demanding for real-time execution on the demonstrator system's embedded hardware. The generalizable synthesis procedure generates an NNC imitating the robust, tube-based MPC. Via an SOS-based stability verification procedure, a certificate of local asymptotic stability and a relevant inner estimate of the region of attraction (RoA) are obtained for the closed-loop system incorporating this NNC. Finally, experimental results on the physical two-wheeled inverted pendulum demonstrate that the NNC both stabilizes the system, and improves the control performance compared to the baseline LQR in both regulation and reference-tracking tasks.

Paperid: 2449, https://arxiv.org/pdf/2508.15395.pdf

Abstract:
Urban Air Mobility (UAM) has the potential to revolutionize daily transportation, offering rapid and efficient aerial mobility services. Take-off and merging phases are critical for air corridor operations, requiring the coordination of take-off aircraft and corridor traffic while ensuring safety and seamless transition. This paper proposes an integrated take-off management and trajectory optimization for merging control in UAM corridors. We first introduce a novel take-off airspace design. To our knowledge, this paper is one of the first to propose a structured design for take-off airspace. Based on the take-off airspace design, we devise a hierarchical coordinated take-off and merging management (HCTMM) strategy. To be specific, the take-off airspace design can simplify aircraft dynamics and thus reduce the dimensionality of the trajectory optimization problem whilst mitigating obstacle avoidance complexities. The HCTMM strategy strictly ensures safety and improves the efficiency of take-off and merging operations. At the tactical level, a scheduling algorithm coordinates aircraft take-off times and selects dynamic merging points to reduce conflicts and ensure smooth take-off and merging processes. At the operational level, a trajectory optimization strategy ensures that each aircraft reaches the dynamic merging point efficiently while satisfying safety constraints. Simulation results show that, compared to representative strategies with fixed or dynamic merging points, the HCTMM strategy significantly improves operational efficiency and reduces computational burden, while ensuring safety under various corridor traffic conditions. Further results confirm the scalability of the HCTMM strategy and the computational efficiency enabled by the proposed take-off airspace design.

Paperid: 2450, https://arxiv.org/pdf/2508.13593.pdf

Abstract:
We consider a cellular massive MIMO system where swarms of wireless repeaters are deployed to improve coverage. These repeaters are full-duplex relays with small form factors that receive and instantaneously retransmit signals. They can be deployed in a plug-and-play manner at low cost, while being transparent to the network--conceptually they are active channel scatterers with amplification capabilities. Two fundamental questions need to be addressed in repeater deployments: (I) How can we prevent destructive effects of positive feedback caused by inter-repeater interaction (i.e., each repeater receives and amplifies signals from others)? (ii) How much performance improvement can be achieved given that repeaters also inject noise and may introduce more interference? To answer these questions, we first derive a generalized Nyquist stability criterion for the repeater swarm system, and provide an easy-to-check stability condition. Then, we study the uplink performance and develop an efficient iterative algorithm that jointly optimizes the repeater gains, user transmit powers, and receive combining weights to maximize the weighted sum rate while ensuring system stability. Numerical results corroborate our theoretical findings and show that the repeaters can significantly improve the system performance, both in sub-6 GHz and millimeter-wave bands. The results also warrant careful deployment to fully realize the benefits of repeaters, for example, by ensuring a high probability of line-of-sight links between repeaters and the base station.

Paperid: 2451, https://arxiv.org/pdf/2508.13379.pdf

Abstract:
With rising demands for efficient disease and salinity management in agriculture, early detection of plant stressors is crucial, particularly for high-value crops like avocados. This paper presents a comprehensive evaluation of low-cost sensors deployed in the field for early stress and disease detection in avocado plants. Our monitoring system was deployed across 72 plants divided into four treatment categories within a greenhouse environment, with data collected over six months. While leaf temperature and conductivity measurements, widely used metrics for controlled settings, were found unreliable in field conditions due to environmental interference and positioning challenges, leaf spectral measurements produced statistically significant results when combined with our machine learning approach. For soil data analysis, we developed a two-level hierarchical classifier that leverages domain knowledge about treatment characteristics, achieving 75-86\% accuracy across different avocado genotypes and outperforming conventional machine learning approaches by over 20\%. In addition, performance evaluation on an embedded edge device demonstrated the viability of our approach for resource-constrained environments, with reasonable computational efficiency while maintaining high classification accuracy. Our work bridges the gap between theoretical potential and practical application of low-cost sensors in agriculture and offers insights for developing affordable, scalable monitoring systems.

Paperid: 2452, https://arxiv.org/pdf/2508.12185.pdf

Abstract:
This paper characterizes the fundamental trade-off between throughput and Age of Information (AoI) in wireless networks where multiple devices transmit status updates to a central base station over unreliable channels. To address the complexity introduced by stochastic transmission successes, we propose the throughput-AoI capacity region, which defines all feasible throughput-AoI pairs achievable under any scheduling policy. Using a second-order approximation that incorporates both mean and temporal variance, we derive an outer bound and a tight inner bound for the throughput-AoI capacity region. Furthermore, we propose a simple and low complexity scheduling policy and prove that it achieves every interior point within the tight inner bound. This establishes a systematic and theoretically grounded framework for the joint optimization of throughput and information freshness in practical wireless communication scenarios. To validate our theoretical framework and demonstrate the utility of the throughput-AoI capacity region, extensive simulations are implemented. Simulation results demonstrate that our proposed policy significantly outperforms conventional methods across various practical network optimization scenarios. The findings highlight our approach's effectiveness in optimizing both throughput and AoI, underscoring its applicability and robustness in practical wireless networks.

Paperid: 2453, https://arxiv.org/pdf/2508.10203.pdf

Abstract:
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex Sets (GCS) and the recently developed Space-Time Graphs of Convex Sets (ST-GCS) enable us to generate minimum distance collision-free trajectories without providing an initial guess to the solver. We also explore the derivation of general GCS-compatible constraints and document an intuitive strategy for adapting general constraints to the framework. We show that ST-GCS produces equivalent trajectories to the standard GCS formulation when the environment is static, as well as globally optimal trajectories in cluttered dynamic environments.

Paperid: 2454, https://arxiv.org/pdf/2508.08284.pdf

Abstract:
In crowd evacuation the time interval before decisive movement towards a safe place is defined as the pre-evacuation phase, and it has crucial impact on the total time required for safe egress. This process mainly refers to situation awareness and response to an external stressors, e.g., fire alarm. Due to the complexity of human cognitive process, simulation is used to study this important time interval. In this paper a binary decision process is formulated to simulate pre-evacuation time of many evacuees in a given social context. The model combines classic opinion dynamics with binary phase transition to describe how group pre-evacuation time emerges from individual interaction. The model parameters are quantitatively meaningful to human factors research within socio-psychological background, e.g., whether an individual is stubborn or open-minded, or what kind of the social topology exists among the individuals and how it matters in aggregating individuals into social groups. The modeling framework also describes collective motion of many evacuees in a planar space, and the resulting multi-agent system is partly similar to Vicsek model, and it is meaningful to explore complex crowd behavior in social context.

Paperid: 2455, https://arxiv.org/pdf/2508.07268.pdf

Abstract:
This paper addresses a press control problem in straightening machines with small time delays due to system communication. To handle this, we propose a generalized $Î²$-control method, which replaces conventional linear velocity control with a polynomial of degree $Î²\ge 1$. The resulting model is a delay differential equation (DDE), for which we derive basic properties through nondimensionalization and analysis. Numerical experiments suggest the existence of a threshold initial velocity separating overshoot and non-overshoot dynamics, which we formulate as a conjecture. Based on this, we design a control algorithm under velocity constraints and confirm its effectiveness. We also highlight a connection between threshold behavior and finite-time blow-up in DDEs. This study provides a practical control strategy and contributes new insights into threshold dynamics and blow-up phenomena in delay systems.

Paperid: 2456, https://arxiv.org/pdf/2508.07079.pdf

Abstract:
Safe navigation in pedestrian-rich environments remains a key challenge for autonomous robots. This work evaluates the integration of a deep learning-based Social-Implicit (SI) pedestrian trajectory predictor within a Model Predictive Control (MPC) framework on the physical Continental Corriere robot. Tested across varied pedestrian densities, the SI-MPC system is compared to a traditional Constant Velocity (CV) model in both open-loop prediction and closed-loop navigation. Results show that SI improves trajectory prediction - reducing errors by up to 76% in low-density settings - and enhances safety and motion smoothness in crowded scenes. Moreover, real-world deployment reveals discrepancies between open-loop metrics and closed-loop performance, as the SI model yields broader, more cautious predictions. These findings emphasize the importance of system-level evaluation and highlight the SI-MPC framework's promise for safer, more adaptive navigation in dynamic, human-populated environments.

Paperid: 2457, https://arxiv.org/pdf/2508.06079.pdf

Abstract:
Panel-scale reconfigurable photonic interconnects on a glass substrate up to 500-mm x 500-mm or larger are envisioned by proposing a novel photonic switch fabric that enables all directional panel-edge-to-panel-edge reach without the need for active repeaters while offering high communication bandwidth, planar-direction reconfigurability, low energy consumption, and compelling data bandwidth density for heterogeneous integration of an in-package AI computing system on a single glass-substrate photonic interposer exceeding thousands of centimeters square. The proposed approach focuses on reconfigurable photonic interconnects, which are integration-compatible with commercial processor chiplets and 3D high-bandwidth memory (HBM) stacks on a large-area glass substrate, to create a novel panel-scale heterogeneously integrated interposer or package enabling low-energy and high-capacity wavelength-division-multiplexing (WDM) optical data links using advanced high-speed optical modulators, broadband photodetectors, novel optical crossbar switches with multi-layer waveguides, and in-package frequency comb sources.

Paperid: 2458, https://arxiv.org/pdf/2508.05663.pdf

Abstract:
Random walk (RW)-based algorithms have long been popular in distributed systems due to low overheads and scalability, with recent growing applications in decentralized learning. However, their reliance on local interactions makes them inherently vulnerable to malicious behavior. In this work, we investigate an adversarial threat that we term the ``Pac-Man'' attack, in which a malicious node probabilistically terminates any RW that visits it. This stealthy behavior gradually eliminates active RWs from the network, effectively halting the learning process without triggering failure alarms. To counter this threat, we propose the Average Crossing (AC) algorithm--a fully decentralized mechanism for duplicating RWs to prevent RW extinction in the presence of Pac-Man. Our theoretical analysis establishes that (i) the RW population remains almost surely bounded under AC and (ii) RW-based stochastic gradient descent remains convergent under AC, even in the presence of Pac-Man, with a quantifiable deviation from the true optimum. Our extensive empirical results on both synthetic and real-world datasets corroborate our theoretical findings. Furthermore, they uncover a phase transition in the extinction probability as a function of the duplication threshold. We offer theoretical insights by analyzing a simplified variant of the AC, which sheds light on the observed phase transition.

Paperid: 2459, https://arxiv.org/pdf/2508.04977.pdf

Abstract:
Multistage transistor amplifiers can be effectively modeled as network of dynamic systems where individual amplifier stages interact through couplings that are dynamic in nature. Using circuit analysis techniques, we show that a large class of transistor amplifiers can be modeled as Linear Dynamic Influence Model (LDIM), where the interactions between different amplifier stages are modeled as linear dynamic equations. LDIM modeling of transistor circuits leads to application of data-driven network reconstruction techniques to characterize stage interactions and identify faults and critical circuit parameters efficiently. Employing graphical modeling techniques and Wiener filtering, we demonstrate that the network structure can be reconstructed solely from voltage time-series measurements sampled at specified points in the circuit. The efficacy of these network reconstruction methods in multistage amplifiers is demonstrated through extensive simulations involving multiple amplifier circuits in Cadence, as well as experimental results on physical hardware. The ability to infer network structure directly from measurement data offers designers and users efficient tools to design, analyze, and debug amplifier circuits. To demonstrate the utility of network reconstruction in multistage amplifier circuits, a fault diagnosis method leveraging these techniques is presented.

Paperid: 2460, https://arxiv.org/pdf/2508.04874.pdf

Abstract:
As hybrid electric vehicles (HEVs) gain traction in heavy-duty trucks, adaptive and efficient energy management is critical for reducing fuel consumption while maintaining battery charge for long operation times. We present a new reinforcement learning (RL) framework based on the Soft Actor-Critic (SAC) algorithm to optimize engine control in series HEVs. We reformulate the control task as a sequential decision-making problem and enhance SAC by incorporating Gated Recurrent Units (GRUs) and Decision Transformers (DTs) into both actor and critic networks to capture temporal dependencies and improve planning over time. To evaluate robustness and generalization, we train the models under diverse initial battery states, drive cycle durations, power demands, and input sequence lengths. Experiments show that the SAC agent with a DT-based actor and GRU-based critic was within 1.8% of Dynamic Programming (DP) in fuel savings on the Highway Fuel Economy Test (HFET) cycle, while the SAC agent with GRUs in both actor and critic networks, and FFN actor-critic agent were within 3.16% and 3.43%, respectively. On unseen drive cycles (US06 and Heavy Heavy-Duty Diesel Truck (HHDDT) cruise segment), generalized sequence-aware agents consistently outperformed feedforward network (FFN)-based agents, highlighting their adaptability and robustness in real-world settings.

Paperid: 2461, https://arxiv.org/pdf/2508.04268.pdf

Abstract:
This paper addresses the estimation of the State Of Charge (SOC) of lithium-ion cells via the combination of two widely used paradigms: Kalman Filters (KFs) equipped with Equivalent Circuit Models (ECMs) and machine-learning approaches. In particular, a recent Virtual Sensor (VS) synthesis technique is considered, which operates as follows: (i) learn an Affine Parameter-Varying (APV) model of the cell directly from data, (ii) derive a bank of linear observers from the APV model, (iii) train a machine-learning technique from features extracted from the observers together with input and output data to predict the SOC. The SOC predictions returned by the VS are supplied to an Extended KF (EKF) as output measurements along with the cell terminal voltage, combining the two paradigms. A data-driven calibration strategy for the noise covariance matrices of the EKF is proposed. Experimental results show that the designed approach is beneficial w.r.t. SOC estimation accuracy and smoothness.

Paperid: 2462, https://arxiv.org/pdf/2508.03947.pdf

Abstract:
This paper introduces the notion of control closure certificates to synthesize controllers for discrete-time control systems against $Ï$-regular specifications. Typical functional approaches to synthesize controllers against $Ï$-regular specifications rely on combining inductive invariants (for example, via barrier certificates) with proofs of well-foundedness (for example, via ranking functions). Transition invariants, provide an alternative where instead of standard well-foundedness arguments one may instead search for disjunctive well-foundedness arguments that together ensure a well-foundedness argument. Closure certificates, functional analogs of transition invariants, provide an effective, automated approach to verify discrete-time dynamical systems against linear temporal logic and $Ï$-regular specifications. We build on this notion to synthesize controllers to ensure the satisfaction of $Ï$-regular specifications. To do so, we first illustrate how one may construct control closure certificates to visit a region infinitely often (or only finitely often) via disjunctive well-founded arguments. We then combine these arguments to provide an argument for parity specifications. Thus, finding an appropriate control closure certificate over the product of the system and a parity automaton specifying a desired $Ï$-regular specification ensures that there exists a controller $Îº$ to enforce the $Ï$-regular specification. We propose a sum-of-squares optimization approach to synthesize such certificates and demonstrate their efficacy in designing controllers over some case studies.

Paperid: 2463, https://arxiv.org/pdf/2508.03647.pdf

Abstract:
The variable and unpredictable load demands in hybrid agricultural tractors make it difficult to design optimal rule-based energy management strategies, motivating the use of adaptive, learning-based control. However, existing approaches often rely on basic fuel-based rewards and do not leverage expert demonstrations to accelerate training. In this paper, first, the performance of Q-value-based reinforcement learning algorithms is evaluated for powertrain control in a hybrid agricultural tractor. Three algorithms, Double Q-Learning (DQL), Deep Q-Networks (DQN), and Double DQN (DDQN), are compared in terms of convergence speed and policy optimality. Second, a piecewise domain-specific reward-shaping strategy is introduced to improve learning efficiency and steer agent behavior toward engine fuel-efficient operating regions. Third, the design of the experience replay buffer is examined, with a focus on the effects of seeding the buffer with expert demonstrations and analyzing how different types of expert policies influence convergence dynamics and final performance. Experimental results demonstrate that (1) DDQN achieves 70\% faster convergence than DQN in this application domain, (2) the proposed reward shaping method effectively biases the learned policy toward fuel-efficient outcomes, and (3) initializing the replay buffer with structured expert data leads to a 33\% improvement in convergence speed.

Paperid: 2464, https://arxiv.org/pdf/2508.03324.pdf

Abstract:
We present a neuromorphic radar framework for real-time, low-power hand gesture recognition (HGR) using an event-driven architecture inspired by biological sensing. Our system comprises a 24 GHz Doppler radar front-end and a custom neuromorphic sampler that converts intermediate-frequency (IF) signals into sparse spike-based representations via asynchronous sigma-delta encoding. These events are directly processed by a lightweight neural network deployed on a Cortex-M0 microcontroller, enabling low-latency inference without requiring spectrogram reconstruction. Unlike conventional radar HGR pipelines that continuously sample and process data, our architecture activates only when meaningful motion is detected, significantly reducing memory, power, and computation overhead. Evaluated on a dataset of five gestures collected from seven users, our system achieves > 85% real-time accuracy. To the best of our knowledge, this is the first work that employs bio-inspired asynchronous sigma-delta encoding and an event-driven processing framework for radar-based HGR.

Paperid: 2465, https://arxiv.org/pdf/2508.03001.pdf

Abstract:
Rising electricity demand underscores the need for secure and reliable generation expansion planning that accounts for upstream supply chain constraints. Traditional models often overlook limitations in materials, manufacturing capacity, lead times for deployment, and field availability, which can delay availability of planned resources and thus to threaten system reliability. This paper introduces a multi-stage supply chain-constrained generation expansion planning (SC-GEP) model that optimizes long-term investments while capturing material availability, production limits, spatial and temporal constraints, and material reuse from retired assets. A decomposition algorithm efficiently solves the resulting MILP. A Maryland case study shows that supply chain constraints shift technology choices, amplify deployment delays caused by lead times, and prompt earlier investment in shorter lead-time, low-material-intensity options. In the low-demand scenario, supply chain constraints raise investment costs by $1.2 billion. Under high demand, persistent generation and reserve shortfalls emerge, underscoring the need to integrate upstream constraints into long-term planning.

Paperid: 2466, https://arxiv.org/pdf/2508.02441.pdf

Abstract:
Model predictive control (MPC) is widely used in process control due to its interpretability and ability to handle constraints. As a parametric policy in reinforcement learning (RL), MPC offers strong initial performance and low data requirements compared to black-box policies like neural networks. However, most RL methods rely on first-order updates, which scale well to large parameter spaces but converge at most linearly, making them inefficient when each policy update requires solving an optimal control problem, as is the case with MPC. While MPC policies are typically sparsely parameterized and thus amenable to second-order approaches, existing second-order methods demand second-order policy derivatives, which can be computationally and memory-wise intractable. This work introduces a Gauss-Newton approximation of the deterministic policy Hessian that eliminates the need for second-order policy derivatives, enabling superlinear convergence with minimal computational overhead. To further improve robustness, we propose a momentum-based Hessian averaging scheme for stable training under noisy estimates. We demonstrate the effectiveness of the approach on a nonlinear continuously stirred tank reactor (CSTR), showing faster convergence and improved data efficiency over state-of-the-art first-order methods.

Paperid: 2467, https://arxiv.org/pdf/2508.02083.pdf

Abstract:
Cyber attacks are unavoidable in networked discrete event systems where the plant and the supervisor communicate with each other via networks. Because of the nondeterminism in observation and control caused by cyber attacks, the language generated by the supervised system becomes nondeterministic. The small language is defined as the lower bound on all possible languages that can be generated by the supervised system, which is needed for a supervised system to perform some required tasks under cyber attacks. In this paper, we investigate supervisory control for the small language. After introducing CA-S-controllability and CA-S-observability, we prove that the supervisory control problem of achieving a required small language is solvable if and only if the given language is CA-Scontrollable and CA-S-observable. If the given language is not CA-S controllable and/or CA-S-observable, we derive conditions under which the infimal CA-S-controllable and CA-S-observable superlanguage exists and can be used to design a supervisor satisfying the given requirement.

Paperid: 2468, https://arxiv.org/pdf/2508.01601.pdf

Abstract:
Most existing robust control barrier functions (CBFs) can only handle matched disturbances, restricting their applications in real-world scenarios. While some recent advances extend robust CBFs to unmatched disturbances, they heavily rely on differentiability property of disturbances, and fail to accommodate non-differentiable case for high-relative-degree safety constraints. To address these limitations, this paper proposes a class of disturbance rejection CBFs (DRCBFs), including DRCBFs and adaptive DRCBFs (aDRCBFs). This class of DRCBFs can strictly guarantee safety under general bounded disturbances, which includes both matched or unmatched, differentiable or non-differentiable disturbances as special cases. Morevoer, no information of disturbance bound is needed in aDRCBFs. Simulation results illustrate that this class of DRCBFs outperform existing robust CBFs.

Paperid: 2469, https://arxiv.org/pdf/2508.01552.pdf

Abstract:
The battlefield of information warfare has moved to online social networks, where influence campaigns operate at unprecedented speed and scale. As with any strategic domain, success requires understanding the terrain, modeling adversaries, and executing interventions. This tutorial introduces a formal optimization framework for social media information operations (IO), where the objective is to shape opinions through targeted actions. This framework is parameterized by quantities such as network structure, user opinions, and activity levels - all of which must be estimated or inferred from data. We discuss analytic tools that support this process, including centrality measures for identifying influential users, clustering algorithms for detecting community structure, and sentiment analysis for gauging public opinion. These tools either feed directly into the optimization pipeline or help defense analysts interpret the information environment. With the landscape mapped, we highlight threats such as coordinated bot networks, extremist recruitment, and viral misinformation. Countermeasures range from content-level interventions to mathematically optimized influence strategies. Finally, the emergence of generative AI transforms both offense and defense, democratizing persuasive capabilities while enabling scalable defenses. This shift calls for algorithmic innovation, policy reform, and ethical vigilance to protect the integrity of our digital public sphere.

Paperid: 2470, https://arxiv.org/pdf/2508.01076.pdf

Abstract:
An increasing share of consumers care about the carbon footprint of their electricity. This paper proposes to integrate consumer carbon preferences in the electricity market-clearing through consumer-based carbon costs. Specifically, consumers can submit not only bids for power but also assign a cost to the carbon emissions incurred by their electricity use. We start from a centralized market clearing that maximizes social welfare under consideration of generation costs, consumer utility and consumer carbon costs. We then derive an equivalent equilibrium formulation which incorporates a carbon allocation problem and gives rise to a set of carbon-adjusted electricity prices for both consumers and generators. We prove that the carbon-adjusted prices are higher for low-emitting generators and consumers with high carbon costs. Further, we prove that this new paradigm satisfies the same desirable market properties as standard electricity markets based on locational marginal prices, namely revenue adequacy and individual rationality, and demonstrate that a carbon tax on generators is equivalent to imposing a uniform carbon cost on consumers. Using a simplified three-bus system and the RTS-GMLC system, we illustrate that consumer-based carbon costs contribute to greener electricity market clearing both through generation redispatch and reductions in demand.

Paperid: 2471, https://arxiv.org/pdf/2508.00637.pdf

Abstract:
Integrating Information and Communications Technology (ICT) devices into the power grid brings many benefits. However, it also exposes the grid to new potential cyber threats. Many control and protection mechanisms, such as Load Frequency Control (LFC), responsible for maintaining nominal frequency during load fluctuations and Under Frequency Load Shedding (UFLS) disconnecting portion of the load during an emergency, are dependent on information exchange through the communication network. The recently emerging Load Altering Attacks (LAAs) utilize a botnet of high-wattage devices to introduce load fluctuation. In their dynamic form (DLAAs), they manipulate the load in response to live grid frequency measurements for increased efficiency, posing a notable threat to grid stability. Recognizing the importance of communication networks in power grid cyber security research, this paper presents an open-source co-simulation environment that models the power grid with the corresponding communication network, implementing grid protective mechanisms. This setup allows the comprehensive analysis of the attacks in concrete LFC and UFLS scenarios.

Paperid: 2472, https://arxiv.org/pdf/2508.00106.pdf

Abstract:
Hyperproperties for Time Window Temporal Logic (HyperTWTL) is a domain-specific formal specification language known for its effectiveness in compactly representing security, opacity, and concurrency properties for robotics applications. This paper focuses on HyperTWTL-constrained secure reinforcement learning (SecRL). Although temporal logic-constrained safe reinforcement learning (SRL) is an evolving research problem with several existing literature, there is a significant research gap in exploring security-aware reinforcement learning (RL) using hyperproperties. Given the dynamics of an agent as a Markov Decision Process (MDP) and opacity/security constraints formalized as HyperTWTL, we propose an approach for learning security-aware optimal policies using dynamic Boltzmann softmax RL while satisfying the HyperTWTL constraints. The effectiveness and scalability of our proposed approach are demonstrated using a pick-up and delivery robotic mission case study. We also compare our results with two other baseline RL algorithms, showing that our proposed method outperforms them.

Paperid: 2473, https://arxiv.org/pdf/2507.23139.pdf

Abstract:
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear parameter-varying (LPV) state-space models in higher-dimensional spaces while simultaneously characterizing the uncertain initial states within the lifted state space. Then, convex synthesis conditions are provided to generate full-state feedback nonstationary LPV (NSLPV) controllers for the lifted LPV system. A performance measure similar to the l2-induced norm is used to provide robust performance guarantees in the presence of exogenous disturbances and uncertain initial conditions. The paper also includes results for synthesizing full-state feedback LTI controllers and output feedback NSLPV controllers. Additionally, a robustness analysis approach based on integral quadratic constraint (IQC) theory is developed to analyze and tune the synthesized controllers while accounting for noise associated with state measurements. This analysis approach characterizes model parameters and disturbance inputs using IQCs to reduce conservatism. Finally, the effectiveness of the proposed framework is demonstrated through two illustrative examples.

Paperid: 2474, https://arxiv.org/pdf/2507.22648.pdf

Abstract:
In this paper, we address the average consensus problem of multi-agent systems over wireless networks. We propose a distributed average consensus algorithm by invoking the concept of over-the-air aggregation, which exploits the signal superposition property of wireless multiple-access channels. The proposed algorithm deploys a modified version of the well-known Ratio Consensus algorithm with an additional normalization step for compensating for the arbitrary channel coefficients. We show that, when the noise level at the receivers is negligible, the algorithm converges asymptotically to the average for time-invariant and time-varying channels. Numerical simulations corroborate the validity of our results.

Paperid: 2475, https://arxiv.org/pdf/2507.22340.pdf

Abstract:
Resilient state recovery of cyber-physical systems has attracted much research attention due to the unique challenges posed by the tight coupling between communication, computation, and the underlying physics of such systems. By modeling attacks as additive adversary signals to a sparse subset of measurements, this resilient recovery problem can be formulated as an error correction problem. To achieve exact state recovery, most existing results require less than $50\%$ of the measurement nodes to be compromised, which limits the resiliency of the estimators. In this paper, we show that observer resiliency can be further improved by incorporating data-driven prior information. We provide an analytical bridge between the precision of prior information and the resiliency of the estimator. By quantifying the relationship between the estimation error of the weighted $\ell_1$ observer and the precision of the support prior. This quantified relationship provides guidance for the estimator's weight design to achieve optimal resiliency. Several numerical simulations and an application case study are presented to validate the theoretical claims.

Paperid: 2476, https://arxiv.org/pdf/2507.21625.pdf

Abstract:
\textbf{Objective: }To develop a real-time method for designing gradient waveforms for arbitrary $k$-space trajectories that are time-optimal and hardware-compliant. \textbf{Methods: }The gradient waveform is solved recursively under both the slew-rate and the trajectory constraints. The gradient constraint is enforced by thresholding the $\ell_2$-norm of the next gradient vector. The constraints form a quadratic equation. To ensure the existence of the solution, a novel Discrete-Time Forward and Backward Sweep (DTFBS) strategy is proposed. To ensure the existence of the trajectory derivatives, the trajectory function is reparameterized as a piecewise cubic polynomial function with $C^2$ continuity. To ensure trajectory fidelity, the output gradient waveform is reparameterized by the finite difference of the trajectory samples. Simulation experiments across seven commonly adopted non-Cartesian trajectories were conducted to validate generality, time-optimality, real-time capability, slew-rate accuracy, and improvements over prior work. Imaging feasibility of the designed time-optimal gradient waveform was validated in phantom and in vivo experiments. \textbf{Results: }The proposed method achieves a $>89\%$ reduction in computation time and simultaneously reduces slew-rate overshoot by $>98\%$ compared to the prior method across all involved trajectories. The computation time of the proposed method is shorter than the gradient duration for all tested cases, validating the real-time capability of the proposed method. \textbf{Conclusions: }The proposed method enables real-time and hardware-compliant gradient waveform design, achieving significant reductions in computation time and slew-rate overshoot compared to the previous method. \textbf{Significance: }This is the first method achieving real-time gradient waveform design for arbitrary $k$-space trajectories.

Paperid: 2477, https://arxiv.org/pdf/2507.21281.pdf

Abstract:
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is considered that part of the state vector is not available for real-time measurement. To address this, the proposed approach combines an open-loop predictor with a state observer designed using the Super-Twisting Algorithm, aiming to compensate for the delays and estimate the unmeasured state components. Specifically, the nonlinear observer-based framework enables the reconstruction of unmodeled fault signals without assuming that they originate from a known exogenous system, offering robustness against parametric uncertainties. Meanwhile, the predictor forwards the delayed output in time. Subsequently, a sliding mode control law is formulated to enforce an ideal sliding mode and ensure global stabilization, even under a broader class of perturbations, unmodeled disturbances, parametric uncertainties, and delays, owing to the integration of the Super-Twisting observer. Numerical simulations illustrate the efficiency of the proposed approach.

Paperid: 2478, https://arxiv.org/pdf/2507.20634.pdf

Abstract:
Convergence of dynamic feedback neural networks (NNs), as the Cohen-Grossberg, Hopfield and cellular NNs, has been for a long time a workhorse of NN theory. Indeed, convergence in the presence of multiple stable equilibrium points (EPs) is crucial to implement content addressable memories and solve several other signal processing tasks in real time. There are two typical ways to use a convergent NN, i.e.: a) let the activations evolve while maintaining fixed weights and inputs (activation dynamics) or b) adapt the weights while maintaining fixed activations (weight dynamics). As remarked in a seminal paper by Hirsch, there is another interesting possibility, i.e., let the neuron interconnection weights evolve while simultaneously running the activation dynamics (weight-activation dynamics). The weight-activation dynamics is of importance also because it is more plausible than the other two types for modeling neural systems. The paper breaks new ground by analyzing for the first time in a systematic way the convergence properties of the weight-activation dynamics for a class of memristor feedback dynamic NNs. The main result is that, under suitable assumptions on the structure of the memristor interconnections, the solutions (weights and activations) converge to an EP, except at most for a set of initial conditions with zero measure. The result includes the most important case where the NN has multiple stable EPs.

Paperid: 2479, https://arxiv.org/pdf/2507.18853.pdf

Abstract:
Traditional long-term microgrid planning models assume constant power charging for battery energy storage systems (BESS), overlooking efficiency losses that occur toward the end of charge due to rising internal resistance. While this issue can be mitigated at the cell level using constant current-constant voltage (CCCV) charging, it is impractical at the pack level in large-scale systems. However, battery management systems and inverter controls can emulate this effect by tapering charging power at high state-of-charge (SOC) levels, trading off charging speed for improved efficiency and reduced thermal stress. Ignoring this behavior in planning models can lead to undersized batteries and potential reliability issues. This paper proposes a tractable and scalable approach to approximate CCCV behavior using SOC-dependent tapered charging power (TCP) constraints. A MATLAB-based proof of concept demonstrates the energy delivery and efficiency benefits of tapering. The method is integrated into a long-term planning framework and evaluated under a synthetic load and solar profile. Results show tapering significantly affects BESS sizing, cost, and reliability under dynamic operating conditions that demand fast charging. These findings highlight tapering as a critical modeling factor for accurately capturing BESS performance in long-term microgrid planning.

Paperid: 2480, https://arxiv.org/pdf/2507.18492.pdf

Abstract:
Water utilities aim to reduce the high electrical costs of Water Distribution Networks (WDNs), primarily driven by pumping. However, pump scheduling is challenging due to model uncertainties and water demand forecast errors. This paper presents a Robust Model Predictive Control (RMPC) method for optimal and reliable pump scheduling, extending a previous efficient robust control method tailored to our model. A linear model with bounded additive disturbances is used to represent tank water level evolution, with uncertainty bounds derived from WDN simulation and demand data. At each time step, a pump scheduling policy, affine in past disturbances, is optimized to satisfy system constraints over a prediction horizon. The resulting policies are then applied in a receding horizon fashion. The optimization problem is formulated to require $\mathcal{O}(N^6)$ computations per iteration with an interior-point method, which is reduced to $\mathcal{O}(N^3)$ by reformulating it into a sparse form. When evaluated on a model representing the water distribution network of Randers, a medium-sized town in Denmark, the method surpasses nominal and constraint-tightening model predictive control (MPC) approaches in terms of meeting constraints and provides comparable economic outcomes.

Paperid: 2481, https://arxiv.org/pdf/2507.17096.pdf

Abstract:
We propose Zeroth-Order Random Matrix Search for Learning from Demonstrations (ZORMS-LfD). ZORMS-LfD enables the costs, constraints, and dynamics of constrained optimal control problems, in both continuous and discrete time, to be learned from expert demonstrations without requiring smoothness of the learning-loss landscape. In contrast, existing state-of-the-art first-order methods require the existence and computation of gradients of the costs, constraints, dynamics, and learning loss with respect to states, controls and/or parameters. Most existing methods are also tailored to discrete time, with constrained problems in continuous time receiving only cursory attention. We demonstrate that ZORMS-LfD matches or surpasses the performance of state-of-the-art methods in terms of both learning loss and compute time across a variety of benchmark problems. On unconstrained continuous-time benchmark problems, ZORMS-LfD achieves similar loss performance to state-of-the-art first-order methods with an over $80$\% reduction in compute time. On constrained continuous-time benchmark problems where there is no specialized state-of-the-art method, ZORMS-LfD is shown to outperform the commonly used gradient-free Nelder-Mead optimization method.

Paperid: 2482, https://arxiv.org/pdf/2507.16479.pdf

Abstract:
Strategic bidding tactics employed by prosumers in local markets, including the Local Electricity Market (LEM) and Local Flexibility Market (LFM), have attracted significant attention due to their potential to enhance economic benefits for market participants through optimized energy management and bidding. While existing research has explored strategic bidding in a single market with multi-agent reinforcement learning (MARL) algorithms, arbitrage opportunities across local markets remain unexplored. This paper introduces a hierarchical MARL (HMARL) algorithm designed to enable aggregator arbitrage across multiple local markets. The strategic behavior of these aggregators in local markets is modeled as a two-stage Markov game: the first stage involves the LEM, while the second stage encompasses both the LFM and the balancing market. To solve this two-stage Markov game, the HMARL framework assigns two sub-agents to each aggregator, a primary sub-agent and a secondary sub-agent. Without the arbitrage strategy, these sub-agents operate in silos, with the primary sub-agent focusing on first-stage profits and the secondary sub-agent on second-stage profits, each employing independent MARLs. On the contrary, when implementing the arbitrage strategy with the proposed HMARL, the sub-agents communicate and coordinate to perform arbitrage across multiple local markets, enhancing overall efficiency. The case study, conducted under a scenario where all aggregators employ the arbitrage strategy, shows that despite higher initial costs in the LEM, this strategy generates substantial savings in the LFM and the balancing market, resulting in a total profit increase of $40.6\%$ on average. This highlights the capability of the proposed HMARL to address the two-stage Markov game and facilitate arbitrage across local markets, thereby enhancing profitability for participants.

Paperid: 2483, https://arxiv.org/pdf/2507.16458.pdf

Abstract:
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes an algorithm to achieve formation flights of fixed-wing drones without requiring any actuation over their speed. In particular, we guide all the drones to travel over specific paths, e.g., parallel straight lines, and we superpose an oscillatory behavior onto the guiding vector field that drives the drones to the paths. This oscillation enables control over the average velocity along the path, thereby facilitating inter-drone coordination. Each drone adjusts its oscillation amplitude distributively in a closed-loop manner by communicating with neighboring agents in an undirected and connected graph. A novel consensus algorithm is introduced, leveraging a non-negative, asymmetric saturation function. This unconventional saturation is justified since negative amplitudes do not make drones travel backward or have a negative velocity along the path. Rigorous theoretical analysis of the algorithm is complemented by validation through numerical simulations and a real-world formation flight.

Paperid: 2484, https://arxiv.org/pdf/2507.15362.pdf

Abstract:
Besides the center of inertia (COI) frequency dynamics addressed in Part I, the spatial frequency variation in power systems with grid-following (GFL) converters is also crucial. Part II revisits the effect of GFLs on frequency spatial variation. Leveraging the interfacing state variables and equivalent frequency defined in Part I, an extended frequency divider (FD) formula is proposed. The linearized mapping relationship between network node frequency and synchronous generator (SG) rotor frequency, as well as GFL equivalent frequency, is modeled. The superposition contribution from GFLs is determined by the electrical distance between the generator and the frequency observation node, as well as the system power flow conditions. Additionally, the frequency mapping for branch currents, which is overlooked in previous research, is addressed. Simulation results validate the accuracy of the proposed extended FD formula. They quantitatively demonstrate that the superposition contribution of GFLs to node frequency is relatively weak and that the superposition coefficient is time-varying. The branch frequency superposition reveals a complex and distinctly different pattern.

Paperid: 2485, https://arxiv.org/pdf/2507.15358.pdf

Abstract:
Understanding the impact of grid-following (GFL) converters on system frequency dynamics is crucial, from both the center of inertia (COI) and frequency spatial variation perspectives. Part I of this series clarifies the mechanisms by which GFLs influence COI frequency dynamics. A multi-generator model of the power system with GFLs is developed, incorporating the local dynamics of GFLs and their interaction with synchronous generators via virtual tie lines. By aggregating the multi-generator model into the COI frame, the interaction between the COI frequency and the equivalent frequency of GFLs is revealed. The equivalent inertia and other components at the GFL side, determined by control parameters and operating conditions, support the COI through virtual tying power. Simulation validates the accuracy of the proposed modeling and demonstrates that the impact of GFLs on COI frequency is relatively weak. The equivalent inertia and other components of GFLs still significantly influence COI frequency dynamics, with their effects being both time-variable and adjustable.

Paperid: 2486, https://arxiv.org/pdf/2507.15344.pdf

Abstract:
The regional inertia, which determines the regional rate of change of frequency (RoCoF), should be kept in a secure status in renewable-penetrated power systems. To break away from mapping the regional maximum RoCoF with regional inertia in a linearized form, this paper comprehensively studies the regional inertia security problem from formulation to applications. Firstly, the regional inertia security region (R-ISR) is defined, whose boundary is non-linear and non-convex. Then, a local linearized method is devised to calculate the global maximum of regional RoCoF. The non-convex ISR boundary is expressed by multiple simple boundaries corresponding to each local solution, which can be obtained by a simple search-based method. Finally, the convexified R-ISR constraint is formed by convex decomposition and embedded in an inertia optimal adjustment model. The results on a 3-region system show some counter-intuitive findings, such as increasing the inertia of one region may worsen its RoCoF.

Paperid: 2487, https://arxiv.org/pdf/2507.15261.pdf

Abstract:
Capturing target objects using the quadrotor has gained increasing popularity in recent years, but most studies focus on capturing lightweight objects. The instantaneous contact force generated when capturing objects of a certain mass, along with the payload uncertainty after attachment, will pose significant challenges to the quadrotor control. This paper proposes a novel control architecture, namely Dual-Channel Adaptive Nonlinear Model Predictive Control (DCA-NMPC), which cascades a nonlinear model predictive control with two lower-level model reference adaptive controllers and can resist drastic impact and adapt to uncertain inertial parameters. Numerical simulation experiments are performed for validation.

Paperid: 2488, https://arxiv.org/pdf/2507.14999.pdf

Abstract:
False Data Injection Attacks (FDIAs) pose severe security risks to smart grids by manipulating measurement data collected from spatially distributed devices such as SCADA systems and PMUs. These measurements typically exhibit Non-Independent and Identically Distributed (Non-IID) characteristics across different regions, which significantly challenges the generalization ability of detection models. Traditional centralized training approaches not only face privacy risks and data sharing constraints but also incur high transmission costs, limiting their scalability and deployment feasibility. To address these issues, this paper proposes a privacy-preserving federated learning framework, termed Federated Cluster Average (FedClusAvg), designed to improve FDIA detection in Non-IID and resource-constrained environments. FedClusAvg incorporates cluster-based stratified sampling and hierarchical communication (client-subserver-server) to enhance model generalization and reduce communication overhead. By enabling localized training and weighted parameter aggregation, the algorithm achieves accurate model convergence without centralizing sensitive data. Experimental results on benchmark smart grid datasets demonstrate that FedClusAvg not only improves detection accuracy under heterogeneous data distributions but also significantly reduces communication rounds and bandwidth consumption. This work provides an effective solution for secure and efficient FDIA detection in large-scale distributed power systems.

Paperid: 2489, https://arxiv.org/pdf/2507.14859.pdf

Abstract:
The digital twin of humans is a relatively new concept. While many diverse definitions, architectures, and applications exist, a clear picture is missing on what, in fact, makes a human digital twin. Within this context, researchers and industrial use-case owners alike are unaware about the market potential of the - at the moment - rather theoretical construct. In this work, we draw a holistic vision of the human digital twin, and derive the specification of this holistic human digital twin in form of requirements, stakeholders, and users. For each group of users, we define exemplary applications that fall into the six levels of functionality: store, analyze, personalize, predict, control, and optimize. The functionality levels facilitate an abstraction of abilities of the human digital twin. From the manifold applications, we discuss three in detail to showcase the feasibility of the abstraction levels and the analysis of stakeholders and users. Based on the deep discussion, we derive a comprehensive list of requirements on the holistic human digital twin. These considerations shall be used as a guideline for research and industries for the implementation of human digital twins, particularly in context of reusability in multiple target applications.

Paperid: 2490, https://arxiv.org/pdf/2507.14700.pdf

Abstract:
Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle avoidance by enabling precise and agile trajectory tracking, however, existing methods lack formal safety assurances. To address this issue, we propose a general Control Lyapunov Function (CLF) and Control Barrier Function (CBF) enabled MPCC framework that enforces safety constraints derived from a free-space corridor around the planned trajectory. To enhance feasibility, we dynamically adapt the CBF parameters at runtime using a Soft Actor-Critic (SAC) policy. The approach is validated with extensive simulations and an experiment on mobile robot navigation in unknown cluttered environments.

Paperid: 2491, https://arxiv.org/pdf/2507.14385.pdf

Abstract:
The manufacturing industry is under growing pressure to enhance sustainability while preserving economic competitiveness. As a result, manufacturers have been trying to determine how to integrate onsite renewable energy and real-time electricity pricing into manufacturing schedules without compromising profitability. To address this challenge, we propose a bi-level model predictive control framework that jointly optimizes product prices and production scheduling with explicit consideration of renewable energy availability. The higher level determines the product price to maximize revenue and renewable energy usage. The lower level controls production scheduling in runtime to minimize operational costs and respond to the product demand. Price elasticity is incorporated to model market response, allowing the system to increase demand by lowering the product price during high renewable energy generation. Results from a lithium-ion battery pack manufacturing system case study demonstrate that our approach enables manufacturers to reduce grid energy costs while increasing profit.

Paperid: 2492, https://arxiv.org/pdf/2507.14073.pdf

Abstract:
The paper concentrates on the analysis of the region of attraction (ROA) for unknown autonomous dynamical systems. The aim is to explore a data-driven approach based on moment-sum-of-squares (SoS) hierarchy, which enables novel RoA outer approximations despite the reduced information on the structure of the dynamics. The main contribution of this work is bypassing the system model and, consequently, the recurring constraint on its polynomial structure. Numerical experimentation showcases the influence of data on learned approximating sets, offering a promising outlook on the potential of this method.

Paperid: 2493, https://arxiv.org/pdf/2507.13265.pdf

Abstract:
This paper introduces a framework to address the critical loss of transient stability caused by reduced inertia in grids with high inverter-based resource (IBR) penetration. The proposed method integrates a predictive deep learning (DL) model with information gap decision theory (IGDT) to create a risk-averse dispatch strategy. By reformulating the conventional virtual inertia scheduling (VIS) problem, the framework uses early predictions of post-fault dynamics to proactively redispatch resources, ensuring the system's center of inertia remains stable under worst-case contingencies. Validated on the IEEE 39-bus system with 70% IBR penetration, the proposed approach prevents system collapse where a conventional VIS strategy fails, ensuring frequency stability at a cost increase of only 5%.

Paperid: 2494, https://arxiv.org/pdf/2507.12444.pdf

Abstract:
Bit-serial computation facilitates bit-wise sequential data processing, offering numerous benefits, such as a reduced area footprint and dynamically-adaptive computational precision. It has emerged as a prominent approach, particularly in leveraging bit-level sparsity in Deep Neural Networks (DNNs). However, existing bit-serial accelerators exploit bit-level sparsity to reduce computations by skipping zero bits, but they suffer from inefficient memory accesses due to the irregular indices of the non-zero bits. As memory accesses typically are the dominant contributor to DNN accelerator performance, this paper introduces a novel computing approach called "bit-column-serial" and a compatible architecture design named "BitWave." BitWave harnesses the advantages of the "bit-column-serial" approach, leveraging structured bit-level sparsity in combination with dynamic dataflow techniques. This achieves a reduction in computations and memory footprints through redundant computation skipping and weight compression. BitWave is able to mitigate the performance drop or the need for retraining that is typically associated with sparsity-enhancing techniques using a post-training optimization involving selected weight bit-flips. Empirical studies conducted on four deep-learning benchmarks demonstrate the achievements of BitWave: (1) Maximally realize 13.25x higher speedup, 7.71x efficiency compared to state-of-the-art sparsity-aware accelerators. (2) Occupying 1.138 mm2 area and consuming 17.56 mW power in 16nm FinFet process node.

Paperid: 2495, https://arxiv.org/pdf/2507.12031.pdf

Abstract:
6G networks are composed of subnetworks expected to meet ultra-reliable low-latency communication (URLLC) requirements for mission-critical applications such as industrial control and automation. An often-ignored aspect in URLLC is consecutive packet outages, which can destabilize control loops and compromise safety in in-factory environments. Hence, the current work proposes a link adaptation framework to support extreme reliability requirements using the soft actor-critic (SAC)-based deep reinforcement learning (DRL) algorithm that jointly optimizes energy efficiency (EE) and reliability under dynamic channel and interference conditions. Unlike prior work focusing on average reliability, our method explicitly targets reducing burst/consecutive outages through adaptive control of transmit power and blocklength based solely on the observed signal-to-interference-plus-noise ratio (SINR). The joint optimization problem is formulated under finite blocklength and quality of service constraints, balancing reliability and EE. Simulation results show that the proposed method significantly outperforms the baseline algorithms, reducing outage bursts while consuming only 18\% of the transmission cost required by a full/maximum resource allocation policy in the evaluated scenario. The framework also supports flexible trade-off tuning between EE and reliability by adjusting reward weights, making it adaptable to diverse industrial requirements.

Paperid: 2496, https://arxiv.org/pdf/2507.11535.pdf

Abstract:
Standard Bayesian approaches for linear time-invariant (LTI) system identification are hindered by parameter non-identifiability; the resulting complex, multi-modal posteriors make inference inefficient and impractical. We solve this problem by embedding canonical forms of LTI systems within the Bayesian framework. We rigorously establish that inference in these minimal parameterizations fully captures all invariant system dynamics (e.g., transfer functions, eigenvalues, predictive distributions of system outputs) while resolving identifiability. This approach unlocks the use of meaningful, structure-aware priors (e.g., enforcing stability via eigenvalues) and ensures conditions for a Bernstein--von Mises theorem -- a link between Bayesian and frequentist large-sample asymptotics that is broken in standard forms. Extensive simulations with modern MCMC methods highlight advantages over standard parameterizations: canonical forms achieve higher computational efficiency, generate interpretable and well-behaved posteriors, and provide robust uncertainty estimates, particularly from limited data.

Paperid: 2497, https://arxiv.org/pdf/2507.10352.pdf

Abstract:
This work presents several improvements to the closed-loop stability verification framework using semialgebraic sets and convex semidefinite programming to examine neural-network-based control systems regulating nonlinear dynamical systems. First, the utility of the framework is greatly expanded: two semialgebraic functions mimicking common, smooth activation functions are presented and compatibility with control systems incorporating Recurrent Equilibrium Networks (RENs) and thereby Recurrent Neural Networks (RNNs) is established. Second, the validity of the framework's state-of-the-art stability analyses is established via an alternate proof. Third, based on this proof, two new optimization problems simplifying the analysis of local stability properties are presented. To simplify the analysis of a closed-loop system's Region of Attraction (RoA), the first problem explicitly parameterizes a class of candidate Lyapunov functions larger than in previous works. The second problem utilizes the unique guarantees available under the condition of invariance to further expand the set of candidate Lyapunov functions and directly determine whether an invariant set forms part of the system's RoA. These contributions are successfully demonstrated in two numerical examples and suggestions for future research are provided.

Paperid: 2498, https://arxiv.org/pdf/2507.10204.pdf

Abstract:
Inspection of complex underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage path planning for tethered underwater vehicles), a framework designed to overcome this limitation. REACT comprises a fast geometry-based tether model using the signed distance field (SDF) map for accurate, real-time simulation of taut tether configurations around arbitrary structures in 3D. This model enables an efficient online replanning strategy by enforcing a maximum tether length constraint, thereby actively preventing entanglement. By integrating REACT into a coverage path planning framework, we achieve safe and optimal inspection paths, previously challenging due to tether constraints. The complete REACT framework's efficacy is validated in a pipe inspection scenario, demonstrating safe, entanglement-free navigation and full-coverage inspection. Simulation results show that REACT achieves complete coverage while maintaining tether constraints and completing the total mission 20% faster than conventional planners, despite a longer inspection time due to proactive avoidance of entanglement that eliminates extensive post-mission disentanglement. Real-world experiments confirm these benefits, where REACT completes the full mission, while the baseline planner fails due to physical tether entanglement.

Paperid: 2499, https://arxiv.org/pdf/2507.10123.pdf

Abstract:
We study the optimal placement of an unlimited-capacity battery in power grids under a centralized market model, where the independent system operator (ISO) aims to minimize total generation costs through load shifting. The optimal battery placement is not well understood by the existing literature, especially regarding the influence of network topology on minimizing generation costs. Our work starts with decomposing the Mixed-Integer Linear Programming (MILP) problem into a series of Linear Programming (LP) formulations. For power grids with sufficiently large generation capacity or tree topologies, we derive analytical cost expressions demonstrating that, under reasonable assumptions, the weighted degree is the only topological factor for optimal battery placement. We also discuss the minor impact of higher-order topological conditions on tree-topology networks. To find the localized nature of a single battery's impact, we establish that the relative cost-saving benefit of a single battery decreases as the network scales. Furthermore, we design a low-complexity algorithm for weakly-cyclic networks. Numerical experiments show that our algorithm is not only approximately 100 times faster than commercial solvers but also maintains high accuracy even when some theoretical assumptions are relaxed.

Paperid: 2500, https://arxiv.org/pdf/2507.09855.pdf

Abstract:
Designing satellite constellation systems involves complex multidisciplinary optimization in which coverage serves as a primary driver of overall system cost and performance. Among the various design considerations, constellation configuration -- how satellites are placed and distributed in space relative to each other -- predominantly determines the resulting coverage. In constellation configuration design, coverage can be considered either as an objective or a constraint, driven by mission objectives. State-of-the-art literature addresses each situation on a case-by-case basis, applying a unique set of assumptions, modeling, and solution methods. Although such a problem-based methodology is valuable, users often face implementation challenges when performing trade-off studies across different mission scenarios, as each scenario must be handled distinctly. In response, we propose a unifying framework consisting of five mixed-integer linear program formulations that are of practical significance, extensible to more complex mission narratives using additional constraints, and capable of obtaining provably optimal constellation configurations. It can handle various metrics and mission scenarios, such as percent coverage, average or maximum revisit times, fixed number of satellites, spatiotemporally varying coverage requirements, and ground-, aerial-, or space-based, static or mobile targets. The paper presents several add-ons, case studies, and comparative analyses to demonstrate the versatility of the proposed framework.

Paperid: 2501, https://arxiv.org/pdf/2507.09726.pdf

Abstract:
Public electric vehicle (EV) charging infrastructure is crucial for accelerating EV adoption and reducing transportation emissions; however, disparities in infrastructure access have raised significant equity concerns. This systematic review synthesizes existing knowledge and identifies gaps regarding equity in EV public charging research. Following structured review protocols, 91 peer-reviewed studies from Scopus and Google Scholar were analyzed, focusing explicitly on equity considerations. The findings indicate that current research on EV public charging equity mainly adopted geographic information systems (GIS), network optimization, behavioral modeling, and hybrid analytical frameworks, yet lacks consistent normative frameworks for assessing equity outcomes. Equity assessments highlight four key dimensions: spatial accessibility, cost burdens, reliability and usability, and user awareness and trust. Socio-economic disparities, particularly income, housing tenure, and ethnicity, frequently exacerbate inequitable access, disproportionately disadvantaging low-income, renter, and minority populations. Additionally, infrastructure-specific choices, including charger reliability, strategic location, and pricing strategies, significantly influence adoption patterns and equity outcomes. However, existing literature primarily reflects North American, European, and Chinese contexts, revealing substantial geographical and methodological limitations. This review suggests the need for more robust normative evaluations of equity, comprehensive demographic data integration, and advanced methodological frameworks, thereby guiding targeted, inclusive, and context-sensitive infrastructure planning and policy interventions.

Paperid: 2502, https://arxiv.org/pdf/2507.08684.pdf

Abstract:
The integration of PV systems and increased electrification levels present significant challenges to the traditional design and operation of distribution grids. This paper presents a methodology for extracting, validating, and adapting grid data from a distribution system operator's (DSO) database to facilitate large-scale grid studies, including load flow and optimal power flow analyses. The validation process combines rule-based sanity checks and offline automated power flow analyses to ensure data consistency and detect potential errors in the grid database, allowing for their correction. As a practical application, the paper proposes a method to assess the PV hosting capacity of distribution grids, with a focus on ensuring fairness in their spatial distribution. By incorporating fairness criteria into the analyses, we quantify the costs (in terms of missed revenues from selling PV generation) associated with spatial fairness.

Paperid: 2503, https://arxiv.org/pdf/2507.07805.pdf

Abstract:
High performance and formal safety guarantees are common requirements for industrial control applications. Control barrier function (CBF) methods provide a systematic approach to the modularization of safety and performance. However, the design of such CBFs can be challenging, which limits their applicability to large-scale or data-driven systems. This paper introduces the concept of a set-based CBF for linear systems with convex constraints. By leveraging control invariant sets from reachability analysis and predictive control, the set-based CBF is defined implicitly through the minimal scaling of such a set to contain the current system state. This approach enables the development of implicit, data-driven, and high-dimensional CBF representations. The paper demonstrates the design of a safety filter using set-based CBFs, which is suitable for real-time implementations and learning-based approximations to reduce online computational demands. The effectiveness of the method is illustrated through comprehensive simulations on a high-dimensional mass-spring-damper system and a motion control task, and it is validated experimentally using an electric drive application with short sampling times, highlighting its practical benefits for safety-critical control.

Paperid: 2504, https://arxiv.org/pdf/2507.07507.pdf

Abstract:
Optical orthogonal frequency-division multiplexing (OFDM) and probabilistic constellation shaping (PCS) have emerged as powerful techniques to enhance the performance of optical wireless communications (OWC) systems. While PCS improves spectral efficiency and adaptability, we show that its integration with optical OFDM can inadvertently increase the peak-to-average power ratio (PAPR) of the signal, exacerbating clipping distortion due to signal clipping. This letter investigates the impact of PCS on the PAPR of direct current-biased optical OFDM (DCO-OFDM) waveforms and proposes an optimization of PCS that maximizes channel capacity, considering clipping distortion. The optimization problem is shown to be complex and non-convex. We thus present a suboptimal yet efficient solving approach based on projected gradient descent to solve the problem. Simulation results demonstrate the superiority of the proposed approach over the conventional uniform signaling, particularly under severe clipping distortion conditions.

Paperid: 2505, https://arxiv.org/pdf/2507.06441.pdf

Abstract:
In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a bird's-eye view video processing pipeline and zero-shot VLM capabilities to obtain structured information about surrounding vehicles, including their positions, dimensions, and velocities. Using this rich perception output, we construct elliptical collision-avoidance potential fields around other traffic participants, which are seamlessly integrated into a finite-horizon optimal control problem for trajectory planning. The resulting trajectory optimization is solved via differential dynamic programming with an adaptive regularization scheme and is embedded in an event-triggered MPC loop. To ensure collision-free motion, a safety verification layer is incorporated in the framework that provides an assessment of potential unsafe trajectories. Extensive simulations in Simulation of Urban Mobility (SUMO) demonstrate that VisioPath outperforms conventional MPC baselines across multiple metrics. By combining modern AI-driven perception with the rigorous foundation of optimal control, VisioPath represents a significant step forward in safe trajectory planning for complex traffic systems.

Paperid: 2506, https://arxiv.org/pdf/2507.06439.pdf

Abstract:
Automotive safety and security are paramount in the rapidly advancing landscape of vehicular technology. Building safe and secure vehicles demands a profound understanding of automotive systems, particularly in safety and security. Traditional learning approaches, such as reading materials or observing demonstrations, often fail to provide the practical, hands-on experience essential for developing this expertise. For novice users, gaining access to automotive-grade systems and mastering their associated hardware and software can be challenging and overwhelming. In this paper, we present a novel, affordable, and flexible exploration platform, \hema, that enables users to gain practical, hands-on insights into the security compromises of micro-electromechanical systems (MEMS) sensors, a critical component in modern ADAS systems. Furthermore, we discuss the unique challenges and design considerations involved in creating such a platform, emphasizing its role in enhancing the understanding of automotive safety and security. This framework serves as an invaluable resource for educators, researchers, and practitioners striving to build expertise in the field.

Paperid: 2507, https://arxiv.org/pdf/2507.06392.pdf

Abstract:
Formation control allows agents to maintain geometric patterns using local information, but most existing methods assume ideal communication. This paper introduces a goal-oriented framework combining control, cooperative positioning, and communication scheduling for first-order formation tracking. Each agent estimates its position using 6G network-based triangulation, and the scheduling of information updates is governed by Age of Information (AoI) and Value of Information (VoI) metrics. We design three lightweight, signaling-free scheduling policies and assess their impact on formation quality. Simulation results demonstrate the effectiveness of the proposed approach in maintaining accurate formations with no additional communication overhead, showing that worst-case formation adherence increases by 20%.

Paperid: 2508, https://arxiv.org/pdf/2507.05438.pdf

Abstract:
Identifying the cause of a system-level failure in a cyber-physical system (CPS) can be like tracing a needle in a haystack. This paper approaches the problem by assuming that the CPS has been designed compositionally and that each component in the system is associated with an assume-guarantee contract. We exploit recent advances in contract-based design that show how to compute the contract for the entire system using the component-level contracts. When presented with a system-level failure, our approach is able to efficiently identify the components that are responsible for the system-level failure together with the specific predicates in those components' specifications that are involved in the fault. We implemented this approach using Pacti and demonstrate it through illustrative examples inspired by an autonomous vehicle in the DARPA urban challenge.

Paperid: 2509, https://arxiv.org/pdf/2507.04346.pdf

Abstract:
This paper aims to improve the action smoothness of a cascaded online learning flight control system. Although the cascaded structure is widely used in flight control design, its stability can be compromised by oscillatory control actions, which poses challenges for practical engineering applications. To address this issue, we introduce an online temporal smoothness technique and a low-pass filter to reduce the amplitude and frequency of the control actions. Fast Fourier Transform (FFT) is used to analyze policy performance in the frequency domain. Simulation results demonstrate the improvements achieved by the two proposed techniques.

Paperid: 2510, https://arxiv.org/pdf/2507.04180.pdf

Abstract:
Many biological, technological, and social systems are effectively networks of interacting individual systems. Typically, these networks are not isolated objects, but interact with their environment through both signals and information that is received by specific nodes with an input function or released to the environment by other nodes with an output function. An important question is whether the structure of different networks, together with the particular selection of input and output nodes, is such that it favors the passing or blocking of such signals. For a given network and a given choice of the input and output nodes, the H2-norm provides a natural and general quantification of the extent to which input signals-whether deterministic or stochastic, periodic or arbitrary-are amplified. We analyze a diverse set of empirical networks and conjecture that many naturally occurring systems-such as food webs, signaling pathways, and gene regulatory circuits-are structurally organized to enhance the passing of signals, facilitating the efficient flow of biomass, information, or regulatory activity. This passing behavior culminates in directed acyclic graphs (DAGs), for which we analytically show that amplification depends on the number and length of input-output pathways, which is consistent with the well-known tendency of naturally emerging networks to approximate DAG structures. In contrast, the structure of engineered systems like power grids appears to be intentionally designed to suppress signal propagation, as the transmitted quantity-voltage phase differences-requires tight control to maintain synchronized operation.

Paperid: 2511, https://arxiv.org/pdf/2507.00654.pdf

Abstract:
The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to reduce the impact of these errors and enhance the accuracy of a positioning system. Previous works employing road network data are either limited to offline applications, or rely on Kalman Filter (KF) heuristics with little flexibility and robustness. We instead propose training a Temporal Graph Neural Network (TGNN) to integrate road network information into a KF. The TGNN is designed to predict the correct road segment and its associated uncertainty to be used in the measurement update step of the KF. We validate our approach with real-world GNSS data and open-source road networks, observing a 29% decrease in positioning error for challenging scenarios compared to a GNSS-only KF. To the best of our knowledge, ours is the first deep learning-based approach jointly employing road network data and GNSS measurements to determine the user position on Earth.

Paperid: 2512, https://arxiv.org/pdf/2512.24955.pdf

Abstract:
Achieving provable stability in model-free reinforcement learning (RL) remains a challenge, particularly in balancing exploration with rigorous safety. This article introduces MSACL, a framework that integrates exponential stability theory with maximum entropy RL through multi-step Lyapunov certificate learning. Unlike methods relying on complex reward engineering, MSACL utilizes off-policy multi-step data to learn Lyapunov certificates satisfying theoretical stability conditions. By introducing Exponential Stability Labels (ESL) and a $λ$-weighted aggregation mechanism, the framework effectively balances the bias-variance trade-off in multi-step learning. Policy optimization is guided by a stability-aware advantage function, ensuring the learned policy promotes rapid Lyapunov descent. We evaluate MSACL across six benchmarks, including stabilization and nonlinear tracking tasks, demonstrating its superiority over state-of-the-art Lyapunov-based RL algorithms. MSACL achieves exponential stability and rapid convergence under simple rewards, while exhibiting significant robustness to uncertainties and generalization to unseen trajectories. Sensitivity analysis establishes the multi-step horizon $n=20$ as a robust default across diverse systems. By linking Lyapunov theory with off-policy actor-critic frameworks, MSACL provides a foundation for verifiably safe learning-based control. Source code and benchmark environments will be made publicly available.

Paperid: 2513, https://arxiv.org/pdf/2512.22793.pdf

Abstract:
Reach-avoid (RA) games have significant applications in security and defense, particularly for unmanned aerial vehicles (UAVs). These problems are inherently challenging due to the need to consider obstacles, consider the adversarial nature of opponents, ensure optimality, and account for nonlinear dynamics. Hamilton-Jacobi (HJ) reachability analysis has emerged as a powerful tool for tackling these challenges; however, while it has been applied to games involving two spatial dimensions, directly extending this approach to three spatial dimensions is impossible due to high dimensionality. On the other hand, alternative approaches for solving RA games lack the generality to consider games with three spatial dimensions involving agents with non-trivial system dynamics. In this work, we propose a novel framework for dimensionality reduction by decomposing the problem into a horizontal RA sub-game and a vertical RA sub-game. We then solve each sub-game using HJ reachability analysis and consider second-order dynamics that account for the defender's acceleration. To reconstruct the solution to the original RA game from the sub-games, we introduce a HJ-based tracking control algorithm in each sub-game that not only guarantees capture of the attacker but also tracking of the attacker thereafter. We prove the conditions under which the capture guarantees are maintained. The effectiveness of our approach is demonstrated via numerical simulations, showing that the decomposition maintains optimality and guarantees in the original problem. Our methods are also validated in a Gazebo physics simulator, achieving successful capture of quadrotors in three spatial dimensions space for the first time to the best of our knowledge.

Paperid: 2514, https://arxiv.org/pdf/2512.22680.pdf

Abstract:
This study provides a comprehensive overview of recent advances in electrochemical energy storage, including Na+ -ion, metal-ion, and metal-air batteries, alongside innovations in electrode engineering, electrolytes, and solid-electrolyte interphase control. It also explores the integration of machine learning, digital twins, large language models and predictive analytics to enable intelligent battery management systems, enhancing performance, safety, and operational longevity. Key challenges, research gaps, and future prospects are addressed, highlighting opportunities presented by hybrid chemistry, scalable manufacturing, sustainability, and AI-driven optimization. This survey aims to provide researchers, engineers, and industry profesionnals with a comprehensive understanding of next-generation battery technologies for the evolving electric vehicles sector.

Paperid: 2515, https://arxiv.org/pdf/2512.21343.pdf

Abstract:
Advances in automated systems afford new opportunities for intelligent management of energy at household, local area, and utility scales. Home Energy Management Systems (HEMS) can play a role by optimizing the schedule and use of household energy devices and resources. One challenge is that the goals of a household can be complex and conflicting. For example, a household might wish to reduce energy costs and grid-associated greenhouse gas emissions, yet keep room temperatures comfortable. Another challenge is that an intelligent HEMS agent must make decisions under uncertainty. An agent must plan actions into the future, but weather and solar generation forecasts, for example, provide inherently uncertain estimates of future conditions. This paper introduces EcoNet, a Bayesian approach to household and neighborhood energy management that is based on active inference. The aim is to improve energy management and coordination, while accommodating uncertainties and taking into account potentially conditional and conflicting goals and preferences. Simulation results are presented and discussed.

Paperid: 2516, https://arxiv.org/pdf/2512.21200.pdf

Abstract:
Pedestrian well-being is a critical yet rarely measured component of sustainable urban mobility and livable city design. Existing approaches to evaluating pedestrian environments often rely on static, infrastructure-based indices or retrospective surveys, which overlook the dynamic, subjective, and psychophysiological dimensions of everyday walking experience. This paper introduces a multimodal, human-centered framework for assessing pedestrian well-being in the wild by integrating three complementary data streams: continuous physiological sensing, geospatial tracking, and momentary self-reports collected using the Experience Sampling Method. The framework conceptualizes pedestrian experience as a triangulation enabling a holistic understanding of how urban environments influence well-being. The utility of our framework is then demonstrated through a naturalistic case study conducted in the Greater Philadelphia region, in which participants wore research-grade wearable sensors and carried GPS-enabled smartphones during their regular daily activities. Physiological indicators of autonomic nervous system activity, including heart rate variability and electrodermal activity, were synchronized with spatial trajectories and in situ self-reports of stress, affect, and perceived infrastructure conditions. Results illustrate substantial inter- and intra-individual variability in both subjective experience and physiological response, as well as context-dependent patterns associated with traffic exposure, pedestrian infrastructure quality, and environmental enclosure. The findings also suggest that commonly used walkability indices may not fully capture experiential dimensions of pedestrian well-being. By enabling real-world, multimodal measurement of pedestrian experience, the proposed framework offers a scalable and transferable approach for advancing human-centered urban analytics.

Paperid: 2517, https://arxiv.org/pdf/2512.21051.pdf

Abstract:
Standard formulations of prescribed worstcase disturbance energy-gain control policies for linear time-varying systems depend on all forward model data. In a discrete-time setting, this dependence arises through a backward Riccati recursion. The aim herein is to consider the infinite-horizon $\ell_2$ gain performance of state feedback policies with only finite receding-horizon preview of the model parameters. The proposed synthesis of controllers subject to such a constraint leverages the strict contraction of lifted Riccati operators under uniform controllability and observability. The main approximation result establishes a sufficient number of preview steps for the performance loss to remain below any set tolerance, relative to the baseline gain bound of the associated infinite-preview controller. Aspects of the main result are explored in the context of a numerical example.

Paperid: 2518, https://arxiv.org/pdf/2512.21030.pdf

Abstract:
An input-output model for networks with link uncertainty is developed. The main result presents a set of integral quadratic constraints (IQCs) that collectively imply robust stability of the uncertain network dynamics. The model dependency of each IQC is localized according to an edge-based partition of the network graph. The class of admissible network partitions affords scope for trading-off scalability against conservativeness. This is illustrated by numerical example.

Paperid: 2519, https://arxiv.org/pdf/2512.20748.pdf

Abstract:
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To address these practical challenges, this paper presents a fixed-time prescribed performance control scheme for the 3D path following of underwater gliders subject to model uncertainties and environmental disturbances. The primary contribution is the integration of a finite-time performance function within a fixed-time control framework. This synthesis ensures that the tracking errors are constrained within prescribed performance bounds and converge to a compact set within a fixed time, independent of initial conditions. A second key contribution is the development of a fixed-time sliding mode disturbance observer that provides accurate finite-time estimation of lumped disturbances, enhancing the system's robustness. Integrated with an iLOS guidance law, the proposed controller enables precise and safe waypoint following. Numerical simulations demonstrate that the proposed method outperforms conventional sliding mode and prescribed performance controllers in tracking accuracy, convergence speed, and control effort smoothness, validating its efficacy for robust underwater navigation.

Paperid: 2520, https://arxiv.org/pdf/2512.20719.pdf

Abstract:
Natural disasters often inflict severe damage on distribution grids. Rapid, reliable damage assessment (DA) is essential for storm restoration, yet most optimization work targets repair dispatch after faults are identified. This paper presents a production, rolling horizon DA crew allocation system deployed across multiple U.S. states in Eversource Energy's service territory and used during live storms. The method implements a sequential k-job assignment policy per available crew, executed on a fixed cadence and on operators' control. The objective jointly prioritizes critical facilities and customer impact while controlling travel time on the actual road network via the Google Maps API. A key constraint is the absence of live crew GPS; we infer crew locations from the last confirmed DA site and robustify travel estimates for staleness, yielding stable recommendations without continuous tracking. The operator remains in the loop with controls to limit churn and to publish a feasible plan. Using data from the March 7 New Hampshire storm with 90 moderate outages and seven DA crews, we observe shorter time to first assessment, fewer revisits with reduced distance traveled. To our knowledge, this is among the first multi-state enterprise integrated deployments to treat DA crews as a first-class optimized resource in storm restoration.

Paperid: 2521, https://arxiv.org/pdf/2512.20354.pdf

Abstract:
In many applications of biotechnology, measurements are available at different sampling rates, e.g., due to online sensors and offline lab analysis. Offline measurements typically involve time delays that may be unknown a priori due to the underlying laboratory procedures. This multirate (MR) setting poses a challenge to Kalman filtering, where conventionally measurement data is assumed to be available on an equidistant time grid and without delays. The present study derives the MR version of an extended Kalman filter (EKF) based on sample state augmentation, and applies it to the anaerobic digestion (AD) process in a simulative agricultural setting. The performance of the MR-EKF is investigated for various scenarios, i.e., varying delay lengths, measurement noise levels, plant-model mismatch (PMM), and initial state error. Provided with an adequate tuning, the MR-EKF could be demonstrated to reliably estimate the process state, to appropriately fuse delayed offline measurements, and to smooth noisy online measurements well. Because of the sample state augmentation approach, the delay length of offline measurements does not critically impair state estimation performance, provided observability is not lost during the delays. Poor state initialization and PMM affect convergence more than measurement noise levels. Further, selecting an appropriate tuning was found to be critically important for successful application of the MR-EKF, for which a systematic approach is presented. This study provides implementation guidance for practitioners aiming at successfully applying state estimation for multirate systems. It thereby contributes to develop demand-driven operation of biogas plants, which may aid in stabilizing a renewable electricity grid.

Paperid: 2522, https://arxiv.org/pdf/2512.20201.pdf

Abstract:
In distributed computing systems, reducing the communication load during the data shuffling phase is a critical challenge, as excessive inter-node transmissions are a major performance bottleneck. One promising approach to alleviate this burden is Embedded Index Coding (EIC), which exploits cached data at user nodes to encode transmissions more efficiently. However, most prior work on EIC has focused on minimizing code length in wired, error-free environments-an objective often suboptimal for wireless multiple-input multiple-output (MIMO) systems, where channel conditions and spatial multiplexing gains must be considered. This paper investigates the joint design of EIC and transmit beamforming in MIMO systems to minimize total transmission time, an NP-hard problem. We first present a conventional optimization method that determines the optimal EIC via exhaustive search. To address its prohibitive complexity and adapt to dynamic wireless environments, we propose a novel, low-complexity multi-agent reinforcement learning (MARL) framework. The proposed framework enables decentralized agents to act on local observations while effectively managing the hybrid action space of discrete EIC selection and continuous beamforming design. Simulation results demonstrate that the proposed MARL-based approach achieves near-optimal performance with significantly reduced complexity, underscoring its effectiveness and practicality for real-world wireless systems.

Paperid: 2523, https://arxiv.org/pdf/2512.19394.pdf

Abstract:
This paper presents a control strategy for sun trackers which adapts continuously to different sources of error, avoiding the necessity of any kind of calibration by analyzing the produced electric power to sense the position of the Sun. The proposed strategy is able to meet the strict specifications for HCPV sun trackers despite of mechanical uncertainties (misalignments in the structure itself, misalignment of the solar modules with respect to the wing, etc.) and installation uncertainties (misalignments of the platform with respect to geographical north). Experimental results with an industrial-grade solar tracker showing the validity of the proposed control strategy under sunny and moderate cloudy conditions, as well as with different installation precisions by un-calibrating the system on purpose are exposed.

Paperid: 2524, https://arxiv.org/pdf/2512.18317.pdf

Abstract:
This paper presents a trustworthy reinforcement learning approach for the control of industrial compressed air systems. We develop a framework that enables safe and energy-efficient operation under realistic boundary conditions and introduce a multi-level explainability pipeline combining input perturbation tests, gradient-based sensitivity analysis, and SHAP (SHapley Additive exPlanations) feature attribution. An empirical evaluation across multiple compressor configurations shows that the learned policy is physically plausible, anticipates future demand, and consistently respects system boundaries. Compared to the installed industrial controller, the proposed approach reduces unnecessary overpressure and achieves energy savings of approximately 4\,\% without relying on explicit physics models. The results further indicate that system pressure and forecast information dominate policy decisions, while compressor-level inputs play a secondary role. Overall, the combination of efficiency gains, predictive behavior, and transparent validation supports the trustworthy deployment of reinforcement learning in industrial energy systems.

Paperid: 2525, https://arxiv.org/pdf/2512.18018.pdf

Abstract:
In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such controllers is established using ISS implicit Lyapunov-Razumikhin function approach. To illustrate proposed results, a simulation example validating the efficiency of the method is provided.

Paperid: 2526, https://arxiv.org/pdf/2512.16608.pdf

Abstract:
Resilience in coupled systems is increasingly critical in addressing global challenges such as climate change and pandemics. These systems show unpredictable behaviour due to dynamic complexity and deep uncertainty across spatiotemporal scales. Despite growing interest, few studies systematically integrate both concepts when assessing resilience. This paper conducts an integrative review of 102 English-language publications to identify gaps in current approaches. Findings reveal that most papers address lower levels of uncertainty and rarely consider dynamic complexity and deep uncertainty simultaneously, which limits the effectiveness of resilience strategies. To advance systems research, we propose a conceptual framework and practical tools to support researchers and decision-makers in evaluating and improving resilience. The paper also outlines future research directions for more robust, adaptive, and integrative resilience assessments.

Paperid: 2527, https://arxiv.org/pdf/2512.16402.pdf

Abstract:
Achieving precise control of colloidal self-assembly into specific patterns remains a longstanding challenge due to the complex process dynamics. Recently, machine learning-based state representation and reinforcement learning-based control strategies have started to accumulate popularity in the field, showing great potential in achieving an automatable and generalizable approach to producing patterned colloidal assembly. In this work, we adopted a machine learning-based optimal control framework, combining unsupervised learning and graph convolutional neural work for state observation with deep reinforcement learning-based optimal control policy calculation, to provide a data-driven control approach that can potentially be generalized to other many-body self-assembly systems. With Brownian dynamics simulations, we demonstrated its superior performance as compared to traditional order parameter-based state description, and its efficacy in obtaining ordered 2-dimensional spherical colloidal self-assembly in an electric field-mediated system with an actual success rate of 97%.

Paperid: 2528, https://arxiv.org/pdf/2512.16345.pdf

Abstract:
This paper provides conditions to ensure contractive behavior of Filippov solutions generated by multi-modal piecewise smooth (PWS) systems. These conditions are instrumental in analyzing the asymptotic behavior of PWS systems, such as convergence towards an equilibrium point or a limit cycle. The work is motivated by a known principle for contraction analysis of bimodal PWS systems which ensures that the flow dynamics of each mode and the sliding dynamics on the switching manifold are contracting. This approach is extended first to PWS systems with multiple non-intersecting switching manifolds in Rn, and then to two intersecting switching manifolds in R2. Numerical examples are provided to validate the theoretical findings, along with a discussion on extensions to more general intersecting switching manifolds in Rn.

Paperid: 2529, https://arxiv.org/pdf/2512.16338.pdf

Abstract:
This paper investigates contraction properties of switched dynamical systems for the case that all modes are non-contracting, thereby extending existing results that require at least one mode to be contracting. Leveraging the property that unstable systems may still exhibit stable behavior within certain subspaces, conditions are provided which ensure contracting evolution within a given subspace of the state space of the switched system. These conditions are derived using the concepts of seminorms and semi-contracting systems. Then, by selecting a set of subspaces whose corresponding seminorms form a separating family of the state space, and by verifying whether a given mode is contracting in each subspace, conditions on the activation time of each mode are provided by which contraction on the complete state space is guaranteed. Numerical examples are presented for illustration.

Paperid: 2530, https://arxiv.org/pdf/2512.15733.pdf

Abstract:
Energy and pollution are urging problems of the 21th century. By gradually changing the actual power grid system, smart grid may evolve into different systems by means of size, elements and strategies, but its fundamental requirements and objectives will not change such as optimizing production, transmission, and consumption. Studying the smart grid through modeling and simulation provides us with valuable results which cannot be obtained in real world due to time and cost related constraints. Moreover, due to the complexity of the smart grid, achieving global optimization is not an easy task. In this paper, we propose a complex system based approach to the smart grid modeling, accentuating on the optimization by combining game theoretical and classical methods in different levels. Thanks to this combination, the optimization can be achieved with flexibility and scalability, while keeping its generality.

Paperid: 2531, https://arxiv.org/pdf/2512.15622.pdf

Abstract:
Accurate estimation of a battery's state of charge and state of health is essential for safe and reliable battery management. Existing approaches often decouple these two states, lack stability guarantees, and exhibit limited generalization across operating conditions. This study introduces a unified operator-theoretic framework for aging-aware state of charge and control-informed state of health estimation. The architecture couples a Koopman-based latent dynamics model, which enables linear forecasting of nonlinear discharge-capacity evolution under varying operational conditions, with a neural operator that maps measurable intra-cycle signals to state of charge. The predicted discharge capacity is incorporated as a static correction within the neural operator pathway, yielding an age-aware state of charge estimate. Stability is ensured through spectral-radius clipping of the Koopman operator. The overall framework is trained end-to-end and evaluated on real-world lithium-ion battery datasets, demonstrating real-time capability while maintaining stable dynamics. To handle condition shifts and unseen regimes, the method integrates both zero-shot and few-shot out-of-distribution adaptation using only a limited number of cycles. Results show accurate and stable capacity forecasts, competitive state of charge trajectories on held-out cycles, and a direct, model-consistent mechanism for tracking capacity fade as a surrogate for state of health across diverse operating conditions.

Paperid: 2532, https://arxiv.org/pdf/2512.15568.pdf

Abstract:
Model Predictive Control (MPC) is a powerful strategy for constrained multivariable systems but faces computational challenges in real-time deployment due to its online optimization requirements. While explicit MPC and neural network approximations mitigate this burden, they suffer from scalability issues or lack interpretability, limiting their applicability in safety-critical systems. This work introduces a data-driven framework that directly learns the Linear MPC control law from sampled state-action pairs using Oblique Decision Trees with Linear Predictions (ODT-LP), achieving both computational efficiency and interpretability. By leveraging the piecewise affine structure of Linear MPC, we prove that the Linear MPC control law can be replicated by finite-depth ODT-LP models. We develop a gradient-based training algorithm using smooth approximations of tree routing functions to learn this structure from grid-sampled Linear MPC solutions, enabling end-to-end optimization. Input-to-state stability is established under bounded approximation errors, with explicit error decomposition into learning inaccuracies and sampling errors to inform model design. Numerical experiments demonstrate that ODT-LP controllers match MPC's closed-loop performance while reducing online evaluation time by orders of magnitude compared to MPC, explicit MPC, neural network, and random forest counterparts. The transparent tree structure enables formal verification of control logic, bridging the gap between computational efficiency and certifiable reliability for safety-critical systems.

Paperid: 2533, https://arxiv.org/pdf/2512.15207.pdf

Abstract:
Electromagnetic navigation systems (eMNS) are increasingly used in minimally invasive procedures such as endovascular interventions and targeted drug delivery due to their ability to generate fast and precise magnetic fields. In this paper, we utilize the OctoMag eMNS to achieve remote levitation and control of a rigid body across large air gaps which showcases the dynamic capabilities of clinical eMNS. A compact parametric analytical model maps coil currents to the forces and torques acting on the levitating object, eliminating the need for computationally expensive simulations or lookup tables and leading to a levitator agnostic modeling approach. Translational motion is stabilized using linear quadratic regulators. A nonlinear time-invariant controller is used to regulate the reduced attitude accounting for the inherent uncontrollability of rotations about the dipole axis and stabilizing the full five degrees of freedom controllable pose subspace. We analyze key design limitations and evaluate the approach through trajectory tracking experiments. This work demonstrates the dynamic capabilities and potential of feedback control in electromagnetic navigation, which is likely to open up new medical applications.

Paperid: 2534, https://arxiv.org/pdf/2512.13319.pdf

Abstract:
This paper proposes a parallel-in-time method for computing continuous-time maximum-a-posteriori (MAP) trajectory estimates of the states of partially observed stochastic differential equations (SDEs), with the goal of improving computational speed on parallel architectures. The MAP estimation problem is reformulated as a continuous-time optimal control problem based on the Onsager-Machlup functional. This reformulation enables the use of a previously proposed parallel-in-time solution for optimal control problems, which we adapt to the current problem. The structure of the resulting optimal control problem admits a parallel solution based on parallel associative scan algorithms. In the linear Gaussian special case, it yields a parallel Kalman-Bucy filter and a parallel continuous-time Rauch-Tung-Striebel smoother. These linear computational methods are further extended to nonlinear continuous-time state-space models through Taylor expansions. We also present the corresponding parallel two-filter smoother. The graphics processing unit (GPU) experiments on linear and nonlinear models demonstrate that the proposed framework achieves a significant speedup in computations while maintaining the accuracy of sequential algorithms.

Paperid: 2535, https://arxiv.org/pdf/2512.13214.pdf

Abstract:
Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control applications. We exploit the differentiability of the simulator to optimize a control trajectory in an active damping problem for a hyperelastic rope. The simulator effectively minimizes the kinetic energy of the rope around 2$\times$ faster than a baseline MPPI method and to a 20% lower energy level, while using about 3% of the computation time.

Paperid: 2536, https://arxiv.org/pdf/2512.12475.pdf

Abstract:
Aerocapture is a unique challenge for semi-analytical propagation because its nonconservative dynamics lead to force magnitudes that vary substantially across the trajectory. State transition tensors (STTs), higher-order Taylor series expansions of the solution flow, have been widely used as a computationally efficient semi-analytical propagation method for orbital scenarios, but have not previously been applied to aerocapture. However, obtaining the higher-order STTs requires integrating exponentially more equations. Directional state transition tensors (DSTTs) mitigate this cost by projecting the state into a reduced-dimension basis. This work develops novel dynamics analysis techniques to identify effective bases for this reduction, including augmented higher-order Cauchy Green tensors tailored to quantities of interest such as apoapsis radius. Results show that DSTTs constructed along these bases significantly reduce computational cost while maintaining accuracy in apoapsis and energy prediction. In particular, certain of these DSTTs outperform traditional DSTTs in nonlinear perturbation propagation for key state subsets and quantities of interest. These results establish STTs and DSTTs as practical tools for aerocapture performance analysis to enable robust guidance and navigation.

Paperid: 2537, https://arxiv.org/pdf/2512.12016.pdf

Abstract:
This paper considers the problem of obtaining bounded time-average expected queue sizes in a single-queue system with a partial-feedback structure. Time is slotted; in slot $t$ the transmitter chooses a rate $V(t)$ from a continuous interval. Transmission succeeds if and only if $V(t)\le C(t)$, where channel capacities $\{C(t)\}$ and arrivals are i.i.d. draws from fixed but unknown distributions. The transmitter observes only binary acknowledgments (ACK/NACK) indicating success or failure. Let $\varepsilon>0$ denote a sufficiently small lower bound on the slack between the arrival rate and the capacity region. We propose a phased algorithm that progressively refines a discretization of the uncountable infinite rate space and, without knowledge of $\varepsilon$, achieves a $\mathcal{O}\!\big(\log^{3.5}(1/\varepsilon)/\varepsilon^{3}\big)$ time-average expected queue size uniformly over the horizon. We also prove a converse result showing that for any rate-selection algorithm, regardless of whether $\varepsilon$ is known, there exists an environment in which the worst-case time-average expected queue size is $Ω(1/\varepsilon^{2})$. Thus, while a gap remains in the setting without knowledge of $\varepsilon$, we show that if $\varepsilon$ is known, a simple single-stage UCB type policy with a fixed discretization of the rate space achieves $\mathcal{O}\!\big(\log(1/\varepsilon)/\varepsilon^{2}\big)$, matching the converse up to logarithmic factors.

Paperid: 2538, https://arxiv.org/pdf/2512.11531.pdf

Abstract:
This article presents a data-driven, control-oriented modelling methodology for urban drainage systems (UDS). The proposed framework requires three main key components: input-output data from the element to be modelled, expert knowledge to define the model structure, and data-fitting techniques to obtain optimal parameters. The methodology is evaluated using a realistic benchmark from an UDS in Madrid, Spain. The results show high model accuracy and improved performance within a MPC scheme, reducing discharge and increasing treatment facilities utilization.

Paperid: 2539, https://arxiv.org/pdf/2512.11333.pdf

Abstract:
With the extensive integration of volatile and uncertain renewable energy, power systems face significant challenges in primary frequency regulation due to instantaneous power fluctuations. However, the maximum frequency deviation constraint is inherently non-convex, and commonly used two-stage dispatch methods overlook causality, potentially resulting in infeasible day-ahead decisions. This paper presents a controlled evolution-based day-ahead robust dispatch method to address these issues. First, we suggest the convex relaxation technique to transform the maximum frequency deviation constraint to facilitate optimization. Then, an evolution-based robust dispatch framework is introduced to align day-ahead decisions with intraday strategies, ensuring both frequency security and power supply reliability. Additionally, a novel controlled evolution-based algorithm is developed to solve this framework efficiently. Case studies on a modified IEEE 14-bus system demonstrate the superiority of the proposed method in enhancing frequency security and system reliability.

Paperid: 2540, https://arxiv.org/pdf/2512.10270.pdf

Abstract:
This paper investigates the impact of approximation error in data-driven optimal control problem of nonlinear systems while using the Koopman operator. While the Koopman operator enables a simplified representation of nonlinear dynamics through a lifted state space, the presence of approximation error inevitably leads to deviations in the computed optimal controller and the resulting value function. We derive explicit upper bounds for these optimality deviations, which characterize the worst-case effect of approximation error. Supported by numerical examples, these theoretical findings provide a quantitative foundation for improving the robustness of data-driven optimal controller design.

Paperid: 2541, https://arxiv.org/pdf/2512.07506.pdf

Abstract:
Electrical brain stimulation relies on externally applied currents to modulate neural activity, but safety constraints require each stimulation cycle to be charge-balanced, enforcing a zero net injected charge. However, how such charge-balanced stimulation works remains poorly understood. This paper investigates the ability of charge-balanced inputs to steer state trajectories in discrete-time linear systems. Motivated by both open-loop and adaptive neurostimulation protocols, we study two practically relevant input structures: periodic (repetitive) charge-balanced inputs and non-repetitive charge-balanced inputs. For each case, we derive novel reachability and controllability conditions. The theoretical results are further validated through numerical demonstrations of minimum-energy control input design.

Paperid: 2542, https://arxiv.org/pdf/2512.06765.pdf

Abstract:
This paper presents a distributed traffic state estimation framework in which infrastructure sensors and connected vehicles act as autonomous, cooperative sensing nodes. These nodes share local traffic estimates with nearby nodes using Vehicle-to-Everything (V2X) communication. The proposed estimation algorithm uses a distributed Kalman filter tailored to a second-order macroscopic traffic flow model. To achieve global state awareness, the algorithm employs a consensus protocol to fuse heterogeneous spatiotemporal estimates from V2X neighbors and applies explicit projection steps to maintain physical consistency in density and flow estimates. The algorithm's performance is validated through microscopic simulations of a highway segment experiencing transient congestion. Results demonstrate that the proposed distributed estimator accurately reconstructs nonlinear shockwave dynamics, even with sparse infrastructure sensors and intermittent vehicular network connectivity. Statistical analysis explores how different connected vehicle penetration rates affect estimation accuracy, revealing notable phase transitions in network observability.

Paperid: 2543, https://arxiv.org/pdf/2512.06603.pdf

Abstract:
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems owing to their high efficiency and power density. However, nonlinear dynamics, parameter uncertainties, and load disturbances complicate their control. Sliding-Mode Control (SMC) offers strong robustness but exists in numerous variants with unstandardized evaluation criteria. This paper presents a unified simulation benchmark and comparative analysis of six representative SMC techniques for PMSM speed regulation: conventional, integral, terminal, fractional-order, adaptive, and super-twisting. A standardized PMSM model, disturbance profile, and tuning protocol are adopted to ensure fair comparison across all methods. Performance is assessed through time-domain responses, integral error indices (ISE, IAE, ITSE, ITAE), and control-effort profiles, while also examining computational complexity and implementation feasibility. Results demonstrate that adaptive and higher-order SMCs, particularly the super-twisting and adaptive variants, achieve the most balanced trade-off between robustness, smoothness, and computational cost. The study provides a reproducible benchmarking framework, parameter-selection guidelines, and practical insights for designing efficient, low-chatter SMC-based PMSM drives suitable for real-time embedded implementation.

Paperid: 2544, https://arxiv.org/pdf/2512.06124.pdf

Abstract:
This paper presents a geometric and theoretical study of an exponentially varying look-ahead parameter for UAV path-following guidance. Conventional guidance laws with a fixed look-ahead distance often drive the vehicle into turn-rate saturation when the heading or cross-track error is large, leading to constrained maneuvers and higher control effort. The proposed variable L0 strategy reshapes the look-ahead profile so that the guidance command adapts to the evolving tracking error geometry. A detailed investigation shows that this adaptation significantly enlarges the region in which the commanded turn rate remains unsaturated, allowing the vehicle to operate smoothly over a broader range of error conditions. For representative settings, the unsaturated operational envelope increases by more than 70% relative to the constant L0 formulation. These geometric insights translate to smoother trajectories, earlier recovery from saturation, and reduced control demand. Simulation studies on straight-line and elliptical paths demonstrate the merits of the variable look-ahead strategy, highlighting its control-efficient and reliable path-following performance.

Paperid: 2545, https://arxiv.org/pdf/2512.05806.pdf

Abstract:
This work estimates safe invariant subsets of the Region of Attraction (ROA) for a seven-state vehicle-with-driver system, capturing both asymptotic stability and the influence of state-safety bounds along the system trajectory. Safe sets are computed by optimizing Lyapunov functions through an original iterative Sum-of-Squares (SOS) procedure. The method is first demonstrated on a two-state benchmark, where it accurately recovers a prescribed safe region as the 1-level set of a polynomial Lyapunov function. We then describe the distinguishing characteristics of the studied vehicle-with-driver system: the control dynamics mimic human driver behavior through a delayed preview-tracking model that, with suitable parameter choices, can also emulate digital controllers. To enable SOS optimization, a polynomial approximation of the nonlinear vehicle model is derived, together with its operating-envelope constraints. The framework is then applied to understeering and oversteering scenarios, and the estimated safe sets are compared with reference boundaries obtained from exhaustive simulations. The results show that SOS techniques can efficiently deliver Lyapunov-defined safe regions, supporting their potential use for real-time safety assessment, for example as a supervisory layer for active vehicle control.

Paperid: 2546, https://arxiv.org/pdf/2512.05390.pdf

Abstract:
This paper investigates the linear output regulation problem with both the exosystem and the plant fully unknown. A data-driven regulator is proposed to achieve asymptotic regulation and closed-loop stability without performing model identification. The method constructs a nominal approximate internal model and filters of input and outputs, thereby yielding a stabilizable cascaded nominal system whose states are available. For this nominal system, a stabilizing law is derived from an offline dataset that has been acquired from the plant during experiments, such that the system states exponentially converge to a subspace. An identifier in discrete-time is, then, implemented to correct the internal model and update the stabilizing law; as a result, the regulation error can be steered to zero asymptotically under some persistent excitation conditions.

Paperid: 2547, https://arxiv.org/pdf/2512.04917.pdf

Abstract:
This work investigates how disturbance-aware, robustness-embedded reference trajectories translate into driving performance when executed by professional drivers in a dynamic simulator. Three planned reference trajectories are compared against a free-driving baseline (NOREF) to assess trade-offs between lap time (LT) and steering effort (SE): NOM, the nominal time-optimal trajectory; TLC, a track-limit-robust trajectory obtained by tightening margins to the track edges; and FLC, a friction-limit-robust trajectory obtained by tightening against axle and tire saturation. All trajectories share the same minimum lap-time objective with a small steering-smoothness regularizer and are evaluated by two professional drivers using a high-performance car on a virtual track. The trajectories derive from a disturbance-aware minimum-lap-time framework recently proposed by the authors, where worst-case disturbance growth is propagated over a finite horizon and used to tighten tire-friction and track-limit constraints, preserving performance while providing probabilistic safety margins. LT and SE are used as performance indicators, while RMS lateral deviation, speed error, and drift angle characterize driving style. Results show a Pareto-like LT-SE trade-off: NOM yields the shortest LT but highest SE; TLC minimizes SE at the cost of longer LT; FLC lies near the efficient frontier, substantially reducing SE relative to NOM with only a small LT increase. Removing trajectory guidance (NOREF) increases both LT and SE, confirming that reference trajectories improve pace and control efficiency. Overall, the findings highlight reference-based and disturbance-aware planning, especially FLC, as effective tools for training and for achieving fast yet stable trajectories.

Paperid: 2548, https://arxiv.org/pdf/2512.04778.pdf

Abstract:
In this paper we propose a novel adaptive online optimization algorithm tailored to the management of microgrids with high renewable energy penetration, which can be formulated as a constrained, online optimization problem. The proposed algorithm is characterized by a control-based design that applies the internal model principle, and a system identification routine tasked with identifying such internal model. In addition, in order to ensure the constraints are verified, we integrate a projection onto the constraint set. We showcase promising numerical results for the microgrid use case, highlighting in particular the enhanced adaptability of the proposed algorithm to changes in the internal model. The performance of the proposed algorithm is shown to outperform state-of-the-art alternative in the long-term, ensuring efficient management of the grid.

Paperid: 2549, https://arxiv.org/pdf/2512.04183.pdf

Abstract:
This paper introduces a direct comparative study of Physics-Informed Neural Networks (PINNs) and Long Short-Term Memory (LSTM) networks for adaptive steam temperature control in Heat Recovery Steam Generators (HRSGs), particularly under valve leakage faults. Maintaining precise steam temperature in HRSGs is critical for efficiency and safety, yet traditional control strategies struggle with nonlinear, fault-induced dynamics. Both architectures are designed to adaptively tune the gains of a PI-plus-feedforward control law in real-time. The LSTM controller, a purely data-driven approach, was trained offline on historical operational data, while the PINN controller integrates fundamental thermodynamic laws directly into its online learning process through a physics-based loss function. Their performance was evaluated using a model validated with data from a combined cycle power plant, under normal load changes and a challenging valve leakage fault scenario. Results demonstrate that while the LSTM controller offers significant improvement over conventional methods, its performance degrades under the unseen fault. The PINN controller consistently delivered superior robustness and performance, achieving a 54\% reduction in integral absolute error compared to the LSTM under fault conditions. This study concludes that embedding physical knowledge into data-driven control is essential for developing reliable, fault-tolerant autonomous control systems in complex industrial applications.

Paperid: 2550, https://arxiv.org/pdf/2512.03846.pdf

Abstract:
This paper presents a novel fault-tolerant control framework for steam temperature regulation in Heat Recovery Steam Generators (HRSGs) subject to actuator faults. Addressing the critical challenge of valve degradation in superheater spray attemperators, we propose a synergistic architecture comprising three components: (1) a Sliding Mode Observer (SMO) for estimation of unmeasured thermal states, (2) a Physics-Informed Neural Network (PINN) for estimating multiplicative actuator faults using physical laws as constraints, and (3) a one-sided Sliding Mode Controller (SMC) that adapts to the estimated faults while minimizing excessive actuation. The key innovation lies in the framework of closed-loop physics-awareness, where the PINN continuously informs both the observer and controller about fault severity while preserving thermodynamic consistency. Rigorous uniform ultimate boundedness (UUB) is established via Lyapunov analysis under practical assumptions. Validated on real HRSG operational data, the framework demonstrates effective fault adaptation, reduced temperature overshoot, and maintains steam temperature within 1°C of the setpoint under valve effectiveness loss. This work bridges control theory and physics-guided machine learning to deliver a practically deployable solution for power plant resilience, with extensions applicable to thermal systems subject to multiplicative faults.

Paperid: 2551, https://arxiv.org/pdf/2512.03736.pdf

Abstract:
Reinforcement learning (RL) offers transformative potential for robotic control in space. We present the first on-orbit demonstration of RL-based autonomous control of a free-flying robot, the NASA Astrobee, aboard the International Space Station (ISS). Using NVIDIA's Omniverse physics simulator and curriculum learning, we trained a deep neural network to replace Astrobee's standard attitude and translation control, enabling it to navigate in microgravity. Our results validate a novel training pipeline that bridges the simulation-to-reality (Sim2Real) gap, utilizing a GPU-accelerated, scientific-grade simulation environment for efficient Monte Carlo RL training. This successful deployment demonstrates the feasibility of training RL policies terrestrially and transferring them to space-based applications. This paves the way for future work in In-Space Servicing, Assembly, and Manufacturing (ISAM), enabling rapid on-orbit adaptation to dynamic mission requirements.

Paperid: 2552, https://arxiv.org/pdf/2512.03729.pdf

Abstract:
The US Naval Research Laboratory's (NRL's) Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) experiment pioneers the use of reinforcement learning (RL) for control of free-flying robots in the zero-gravity (zero-G) environment of space. On Tuesday, May 27th 2025 the APIARY team conducted the first ever, to our knowledge, RL control of a free-flyer in space using the NASA Astrobee robot on-board the International Space Station (ISS). A robust 6-degrees of freedom (DOF) control policy was trained using an actor-critic Proximal Policy Optimization (PPO) network within the NVIDIA Isaac Lab simulation environment, randomizing over goal poses and mass distributions to enhance robustness. This paper details the simulation testing, ground testing, and flight validation of this experiment. This on-orbit demonstration validates the transformative potential of RL for improving robotic autonomy, enabling rapid development and deployment (in minutes to hours) of tailored behaviors for space exploration, logistics, and real-time mission needs.

Paperid: 2553, https://arxiv.org/pdf/2512.03524.pdf

Abstract:
We study the dynamics and equilibria of a new kind of routing games, where players - drivers of future autonomous vehicles - may switch between individual (HDV) and collective (CAV) routing. In individual routing, just like today, drivers select routes minimizing expected travel costs, whereas in collective routing an operator centrally assigns vehicles to routes. The utility is then the average experienced travel time discounted with individually perceived attractiveness of automated driving. The market share maximising strategy amounts to offering utility greater than for individual routing to as many drivers as possible. Our theoretical contribution consists in developing a rigorous mathematical framework of individualized collective routing and studying algorithms which fleets of CAVs may use for their market-share optimization. We also define bi-level CAV - HDV equilibria and derive conditions which link the potential marketing behaviour of CAVs to the behavioural profile of the human population. Practically, we find that the fleet operator may often be able to equilibrate at full market share by simply mimicking the choices HDVs would make. In more realistic heterogenous human population settings, however, we discover that the market-share maximizing fleet controller should use highly variable mixed strategies as a means to attract or retain customers. The reason is that in mixed routing the powerful group player can control which vehicles are routed via congested and uncongested alternatives. The congestion pattern generated by CAVs is, however, not known to HDVs before departure and so HDVs cannot select faster routes and face huge uncertainty whichever alternative they choose. Consequently, mixed market-share maximising fleet strategies resulting in unpredictable day-to-day driving conditions may, alarmingly, become pervasive in our future cities.

Paperid: 2554, https://arxiv.org/pdf/2512.03160.pdf

Abstract:
This paper presents novel polytopic and interval observer designs for uncertain linear continuous-time (CT) and discrete-time (DT) systems subjected to bounded disturbances and noise. Our approach guarantees enclosure of the true state and input-to-state stability (ISS) of the polytopic and interval set estimates. Notably, our approach applies to all detectable systems that are stabilized by any optimal observer design, utilizing a potentially non-square (lifted) time-invariant coordinate transformation based on polyhedral Lyapunov functions and mixed-monotone embedding systems that do not impose any positivity constraints, enabling feasible and optimal observer designs, even in cases where previous methods fail. The effectiveness of our approach is demonstrated through several examples of uncertain linear CT and DT systems.

Paperid: 2555, https://arxiv.org/pdf/2512.02994.pdf

Abstract:
Global Navigation Satellite Systems (GNSS) applications are often hindered by various sources of error, with multipath interference being one of the most challenging, particularly in urban environments. In this work, we build on previous research by implementing a GNSS array-based multipath detection algorithm, incorporating real-time attitude estimation for dynamic scenarios. The method fuses GNSS and IMU data using an Unscented Kalman Filter (UKF) on a manifold, enabling continuous attitude tracking. The proposed approach utilizes attitude information from satellite combinations to identify and exclude multipath-affected satellites, improving the accuracy of both positioning and attitude determination. To address computational challenges associated with evaluating large numbers of satellite combinations, we propose the use of the Random Sample Consensus (RANSAC) algorithm, which reduces the number of combinations assessed while maintaining high detection performance. Performance evaluations are conducted using trajectories and IMU readings from the KITTI dataset. GNSS observations are simulated based on ground truth positions and satellite ephemeris. The results demonstrate the effectiveness of the proposed approach in detecting satellites affected by multipath interference. Significant improvements in positioning accuracy are observed, particularly in scenarios where a large portion of the visible satellites are contaminated by severe multipath.

Paperid: 2556, https://arxiv.org/pdf/2512.02872.pdf

Abstract:
This letter proposes an AC/DC frequency-dependent power flow Jacobian analysis to identify the system support capabilities. In addition, the analyses reveal that system support capabilities do not necessarily enhance the system stability margin, suggesting that technical requirements of narrow-frequency-band and AC-side focused specifications may not lead to the expected performance of GFM.

Paperid: 2557, https://arxiv.org/pdf/2512.02858.pdf

Abstract:
Stochastic Nonlinear Optimal Control (SNOC) seeks to minimize a cost function that accounts for random disturbances acting on a nonlinear dynamical system. Since the expectation over all disturbances is generally intractable, a common surrogate is the empirical cost, obtained by averaging over a finite dataset of sampled noise realizations. This substitution, however, introduces the challenge of guaranteeing performance under unseen disturbances. The issue is particularly severe when the dataset is limited, as the trained controllers may overfit, leading to substantial gaps between their empirical cost and the deployment cost. In this work, we develop a PAC-Bayesian framework that establishes rigorous generalization bounds for SNOC. Building on these bounds, we propose a principled controller design method that balances empirical performance and prior knowledge. To ensure tractability, we derive computationally efficient relaxations of the bounds and employ approximate inference methods. Our framework further leverages expressive neural controller parameterizations, guaranteeing closed-loop stability. Through simulated examples, we highlight how prior knowledge can be incorporated into control design and how more reliable controllers can be synthesized for cooperative robotics.

Paperid: 2558, https://arxiv.org/pdf/2512.02562.pdf

Abstract:
Intersections present significant challenges in traffic management, where ensuring safety and efficiency is essential for effective flow. However, these goals are often achieved at the expense of fairness, which is critical for trustworthiness and long-term sustainability. This paper investigates how the timing of centralized intervention affects the management of autonomous agents at a signal-less, orthogonal intersection, while satisfying safety constraints, evaluating efficiency, and ensuring fairness. A mixed-integer linear programming (MILP) approach is used to optimize agent coordination within a circular control zone centered at the intersection. We introduce the concept of fairness, measured via pairwise reversal counts, and incorporate fairness constraints into the MILP framework. We then study the relationship between fairness and system efficiency and its impact on platoon formation. Finally, simulation studies analyze the effectiveness of early versus late intervention strategies and fairness-aware control, focusing on safe, efficient, and robust management of agents within the control zone.

Paperid: 2559, https://arxiv.org/pdf/2512.01660.pdf

Abstract:
Collaborative Combat Aircraft (CCAs) are envisioned to enable autonomous Intelligence, Surveillance, and Reconnaissance (ISR) missions in contested environments, where adversaries may act strategically to deceive or evade detection. These missions pose challenges due to model uncertainty and the need for safe, real-time decision-making. Robust Markov Decision Processes (RMDPs) provide worst-case guarantees but are limited by static ambiguity sets that capture initial uncertainty without adapting to new observations. This paper presents an adaptive RMDP framework tailored to ISR missions with CCAs. We introduce a mission-specific formulation in which aircraft alternate between movement and sensing states. Adversarial tactics are modeled as a finite set of transition kernels, each capturing assumptions about how adversarial sensing or environmental conditions affect rewards. Our approach incrementally refines policies by eliminating inconsistent threat models, allowing agents to shift from conservative to aggressive behaviors while maintaining robustness. We provide theoretical guarantees showing that the adaptive planner converges as credible sets contract to the true threat and maintains safety under uncertainty. Experiments under Gaussian and non-Gaussian threat models across diverse network topologies show higher mission rewards and fewer exposure events compared to nominal and static robust planners.

Paperid: 2560, https://arxiv.org/pdf/2512.01392.pdf

Abstract:
Energy system models are increasingly employed to guide long-term planning in multi-sectoral environments where decisions span electricity, heat, transport, land use, and industry. While these models provide rigorous quantitative insights, their outputs are often highly technical, making them difficult to interpret for non-expert stakeholders such as policymakers, planners, and the public. This communication gap limits the accessibility and practical impact of scenario-based modeling, particularly as energy transitions grow more complex with rising shares of renewables, sectoral integration, and deep uncertainties. To address this challenge, we propose the Renewable Energy Large Language Model (RE-LLM), a hybrid framework that integrates Large Language Models (LLMs) directly into the energy system modeling workflow. RE-LLM combines three core elements: (i) optimization-based scenario exploration, (ii) machine learning surrogates that accelerate computationally intensive simulations, and (iii) LLM-powered natural language generation that translates complex results into clear, stakeholder-oriented explanations. This integrated design not only reduces computational burden but also enhances inter-pretability, enabling real-time reasoning about trade-offs, sensitivities, and policy implications. The framework is adaptable across different optimization platforms and energy system models, ensuring broad applicability beyond the case study presented. By merging speed, rigor, and interpretability, RE-LLM advances a new paradigm of human-centric energy modeling. It enables interactive, multilingual, and accessible engagement with future energy pathways, ultimately bridging the final gap between data-driven analysis and actionable decision-making for sustainable transitions.

Paperid: 2561, https://arxiv.org/pdf/2512.01102.pdf

Abstract:
As mission-critical (MC) services such as Unmanned Aerial Vehicles (UAVs) based emergency communication and Internet of Vehicles (IoVs) enabled autonomous driving emerge, the traditional communication framework can not meet the growing demands for higher reliability and lower latency and the increasing transmission loads. Semantic Communication (SemCom), an emerging communication paradigm that shifts the focus from bit-level data to its context and intended task at the receiver (i.e., semantic level), is envisioned to be a key revolution in Sixth Generation (6G) networks. However, an explicit and systematic SemCom framework specifically tailored for Vehicle-based MC (VbMC) services has yet to be proposed, primarily due to the complexity and lack of analysis on their MC characteristics. In this article, we first present the key information-critical and infrastructure-critical vehicle-based services within the SemCom framework. We then analyze the unique characteristics of MC services and the corresponding challenges they present for SemCom. Building on this, we propose a novel SemCom framework designed to address the specific needs of MC services in vehicle systems, offering potential solutions to existing challenges. Finally, we present a case study on UAV-based rapid congestion relief, utilizing eXplainable AI (XAI) to validate the effectiveness of the proposed SemCom framework.

Paperid: 2562, https://arxiv.org/pdf/2512.00990.pdf

Abstract:
Faults and operational disturbances in Heat Recovery Steam Generators (HRSGs), such as valve leakage, present significant challenges, disrupting steam temperature regulation and potentially causing efficiency losses, safety risks, and unit shutdowns. Traditional PI controllers often struggle due to inherent system delays, nonlinear dynamics, and static gain limitations. This paper introduces a fault-tolerant temperature control framework by integrating a PI plus feedforward control strategy with Physics-Informed Neural Networks (PINNs). The feedforward component anticipates disturbances, preemptively adjusting control actions, while the PINN adaptively tunes control gains in real-time, embedding thermodynamic constraints to manage varying operating conditions and valve leakage faults. A Lyapunov-based stability analysis confirms the asymptotic convergence of temperature tracking errors under bounded leakage conditions. Simulation results using operational data from the Pareh-Sar combined cycle power plant demonstrate significantly improved response times, reduced temperature deviations, enhanced fault resilience, and smooth gain adjustments. The proposed adaptive, data-driven methodology shows strong potential for industrial deployment, ensuring reliable operation, autonomous fault recovery, and enhanced performance in HRSG systems.

Paperid: 2563, https://arxiv.org/pdf/2512.00838.pdf

Abstract:
This paper presents a scalable and fault-tolerant framework for unmanned aerial vehicle (UAV) mission management in complex and uncertain environments. The proposed approach addresses the computational bottleneck inherent in solving large-scale Markov Decision Processes (MDPs) by introducing a two-stage decomposition strategy. In the first stage, a factor-based algorithm partitions the global MDP into smaller, goal-specific sub-MDPs by leveraging domain-specific features such as goal priority, fault states, spatial layout, and energy constraints. In the second stage, a priority-based recombination algorithm solves each sub-MDP independently and integrates the results into a unified global policy using a meta-policy for conflict resolution. Importantly, we present a theoretical analysis showing that, under mild probabilistic independence assumptions, the combined policy is provably equivalent to the optimal global MDP policy. Our work advances artificial intelligence (AI) decision scalability by decomposing large MDPs into tractable subproblems with provable global equivalence. The proposed decomposition framework enhances the scalability of Markov Decision Processes, a cornerstone of sequential decision-making in artificial intelligence, enabling real-time policy updates for complex mission environments. Extensive simulations validate the effectiveness of our method, demonstrating orders-of-magnitude reduction in computation time without sacrificing mission reliability or policy optimality. The proposed framework establishes a practical and robust foundation for scalable decision-making in real-time UAV mission execution.

Paperid: 2564, https://arxiv.org/pdf/2511.23177.pdf

Abstract:
Motor condition monitoring is essential for ensuring system reliability and preventing catastrophic failures. However, data-driven diagnostic methods often suffer from sparse fault labels and severe class imbalance, which limit their effectiveness in real-world applications. This paper proposes a motor condition monitoring framework that leverages the general features learned during pre-training of two time series foundation models, MOMENT and Mantis, to address these challenges. By transferring broad temporal representations from large-scale pre-training, the proposed approach significantly reduces dependence on labeled data while maintaining high diagnostic accuracy. Experimental results show that MOMENT achieves nearly twice the performance of conventional deep learning models using only 1% of the training data, whereas Mantis surpasses state-of-the-art baselines by 22%, reaching 90% accuracy with the same data ratio. These results demonstrate the strong generalization and data efficiency of time series foundation models in fault diagnosis, providing new insights into scalable and adaptive frameworks for intelligent motor condition monitoring.

Paperid: 2565, https://arxiv.org/pdf/2511.22986.pdf

Abstract:
The highly anticipated 'Battle of the Water Networks' is back with a new challenge for the water community. This competition will be hosted at the 4th International Joint Conference on Water Distribution Systems Analysis and Computing and Control in the Water Industry (WDSA/CCWI 2026), taking place in Paphos, Cyprus, from May 18-21, 2026. This competition embodies the core mission of Water-Futures and the theme for WDSA/CCWI 2026: "Designing the next generation of urban water (and wastewater) systems." The objective is to design and operate a water distribution system over a long-term horizon under deep uncertainty, with interventions applied in stages. For the first time, this challenge features a staged-design approach, unobservable and unknown uncertainties, and incorporates elements of policymaking and artificial intelligence. The solutions will be assessed using a transparent and inspectable open-source evaluation framework.

Paperid: 2566, https://arxiv.org/pdf/2511.22836.pdf

Abstract:
Serving as an essential prerequisite for modern power system operation, robust state estimation (RSE) could effectively resist noises and outliers in measurements. The emerging neural network (NN) based end-to-end (E2E) learning framework enables real-time application of RSE but cannot strictly enforce the physical constraints involved, potentially yielding solutions that are statistically accurate yet physically inconsistent. To bridge this gap, this work proposes a novel E2E learning based RSE framework, where the RSE problem is innovatively constructed as an explicit differentiable layer of NN for the first time, ensuring physics alignments with rigors. Also, the measurement weights are treated as learnable parameters of NN to enhance estimation robustness. A hybrid loss function is formulated to pursue accurate and physically consistent solutions. To realize the proposed NN structure, the original non-convex RSE problem is specially relaxed. Extensive numerical simulations have been carried out to demonstrate that the proposed framework can significantly improve the SE performance while fulfilling physical consistency on six testing systems, in comparisons to the classical E2E learning based approach and the physics-informed neural network (PINN) approach.

Paperid: 2567, https://arxiv.org/pdf/2511.22541.pdf

Abstract:
This paper describes the design and the realization of a prototype of the novel guide robot BUDD-e for visually impaired users. The robot has been tested in a real scenario with the help of visually disabled volunteers at ASST Grande Ospedale Metropolitano Niguarda, in Milan. The results of the experimental campaign are throughly described in the paper, displaying its remarkable performance and user-acceptance.

Paperid: 2568, https://arxiv.org/pdf/2511.22179.pdf

Abstract:
Coordinated optimization dispatch (COD) of transmission system operator (TSO) and distribution system operator (DSO) can effectively ensure system security and efficiency under high-penetration distributed energy resource (DER) integration. Researches of large-scale COD problem can be categorized into iterative approaches that allow DSO to dispatch independently, and non-iterative methods based on projections of feasible regions (FR). However, the iterative methods suffer from low computational convergence and efficiency, while non-iterative methods struggle to solve equivalent projections with high-dimensional FR. To address these issues, this paper proposes a TSO-DSO coordinated dispatch approach based on an accelerated non-iterative Equality Set Projection (ESP) algorithm. First, ESP algorithm is employed to overcome the bottleneck of high-dimensional FR construction. Second, an regularization-based accelerated method is proposed to reduce computational burden when degeneracy occurs. Accelerated ESP algorithm constructs projection of FR via adjacent facet searching. Therefore, it is less sensitive to the increase of vertices and could efficiently construct the projection of high-dimensional FR. Case studies on a polyhedron dataset, IEEE 33-Bus System and T118D10 TSO-DSO system demonstrate the effectiveness and computational efficiency of the proposed COD approach.

Paperid: 2569, https://arxiv.org/pdf/2511.22160.pdf

Abstract:
This note proposes a data-driven output-feedback stabilizing policy iteration for unknown linear discrete-time systems with unmeasurable states. Existing policy iteration methods for optimal control must start from a stabilizing control policy, which is particularly challenging to obtain for unknown systems, especially when states are unavailable. In such cases, it is more difficult to guarantee stability and convergence performance. To address this problem, an output-feedback stabilizing policy iteration framework is developed to learn closed-loop stabilizing control policies while ensuring convergence performance. Specifically, cumulative scalar parameters are introduced to compress the original system to a stable scale. Then, by integrating modified policy iteration with parameter update rules, the system is gradually amplified/restored to the original system while preserving stability such that the stabilizing control policy is obtained. The entire process is driven solely by input-output data. Moreover, a stability analysis is provided for output-feedback. The proposed approach is validated by simulations.

Paperid: 2570, https://arxiv.org/pdf/2511.21274.pdf

Abstract:
This paper proposes a novel analytical framework, termed the Multiport Analytical Pixel Electromagnetic Simulator (MAPES). MAPES enables efficient and accurate prediction of the electromagnetic (EM) performance of arbitrary pixel-based microwave (MW) and RFIC structures. Inspired by the Integrated Internal Multiport Method (IMPM), MAPES extends the concept to the pixel presence/absence domain used in AI-assisted EM design. By introducing virtual pixels and diagonal virtual pixels and inserting virtual ports at critical positions, MAPES captures all horizontal, vertical, and diagonal electromagnetic couplings within a single multiport impedance matrix. Only a small set of full-wave simulations (typically about 1% of the datasets required by AI-assisted EM simulators) is needed to construct this matrix. Subsequently, any arbitrary pixel configuration can be evaluated analytically using a closed-form multiport relation without additional full-wave calculations. The proposed approach eliminates data-driven overfitting and ensures accurate results across all design variations. Comprehensive examples for single- and double-layer CMOS processes (180 nm and 65 nm) and PCBs confirm that MAPES achieves high prediction accuracy with 600- 2000x speed improvement compared to CST simulations. Owing to its efficiency, scalability and reliability, MAPES provides a practical and versatile tool for AI-assisted MW circuit and RFIC design across diverse fabrication technologies.

Paperid: 2571, https://arxiv.org/pdf/2511.20977.pdf

Abstract:
Efficiency and reliability are both crucial for energy management, especially in multi-microgrid systems (MMSs) integrating intermittent and distributed renewable energy sources. This study investigates an economic and reliable energy management problem in MMSs under a distributed scheme, where each microgrid independently updates its energy management policy in a decentralized manner to optimize the long-term system performance collaboratively. We introduce the mean and variance of the exchange power between the MMS and the main grid as indicators for the economic performance and reliability of the system. Accordingly, we formulate the energy management problem as a mean-variance team stochastic game (MV-TSG), where conventional methods based on the maximization of expected cumulative rewards are unsuitable for variance metrics. To solve MV-TSGs, we propose a fully distributed independent policy gradient algorithm, with rigorous convergence analysis, for scenarios with known model parameters. For large-scale scenarios with unknown model parameters, we further develop a deep reinforcement learning algorithm based on independent policy gradients, enabling data-driven policy optimization. Numerical experiments in two scenarios validate the effectiveness of the proposed methods. Our approaches fully leverage the distributed computational capabilities of MMSs and achieve a well-balanced trade-off between economic performance and operational reliability.

Paperid: 2572, https://arxiv.org/pdf/2511.20411.pdf

Abstract:
In this paper, we propose a novel online optimization algorithm built by combining ideas from control theory and system identification. The foundation of our algorithm is a control-based design that makes use of the internal model of the online problem. Since such prior knowledge of this internal model might not be available in practice, we incorporate an identification routine that learns this model on the fly. The algorithm is designed starting from quadratic online problems but can be applied to general problems. For quadratic cases, we characterize the asymptotic convergence to the optimal solution trajectory. We compare the proposed algorithm with existing approaches, and demonstrate how the identification routine ensures its adaptability to changes in the underlying internal model. Numerical results also indicate strong performance beyond the quadratic setting.

Paperid: 2573, https://arxiv.org/pdf/2511.19745.pdf

Abstract:
In satellite constellation-based communication systems, continuous user coverage requires frequent handoffs due to the dynamic topology induced by the Low Earth Orbit (LEO) satellites. Each handoff between a satellite and ground users introduces additional signaling and power consumption, which can become a significant burden as the size of the constellation continues to increase. This work focuses on the optimization of the total transmission rate in a LEO-to-user system, by jointly considering the total transmitted power, user-satellite associations, and power consumption, the latter being handled through a penalty on handoff events. We consider a system where LEO satellites serve users located in remote areas with no terrestrial connectivity, and formulate the power allocation problem as a mixed-integer concave linear program (MICP) subject to power and association constraints. Our approach can be solved with off-the-shelf solvers and is benchmarked against a naive baseline where users associate to their closest visible satellite. Extensive Monte Carlo simulations demonstrate the effectiveness of the proposed method in controlling the handoff frequency while maintaining high user throughput. These performance gains highlight the effectiveness of our handover-aware optimization strategy, which ensures that user rates improve significantly, by about 40%, without incurring a disproportionate rise in the handoff frequency.

Paperid: 2574, https://arxiv.org/pdf/2511.19723.pdf

Abstract:
This paper studies a class of distributed optimization problems with coupled equality constraints in networked systems. Many existing distributed algorithms rely on solving local subproblems via the $\operatorname{argmin}$ operator in each iteration. Such approaches become computationally burdensome or intractable when local cost functions are complex. To address this challenge, we propose a novel distributed gradient-based algorithm that avoids solving a local optimization problem at each iteration by leveraging first-order approximations and projection onto local feasible sets. The algorithm operates in a fully distributed manner, requiring only local communication without exchanging gradients or primal variables. We rigorously establish sublinear convergence for general convex cost functions and linear convergence under strong convexity and smoothness conditions. Numerical simulation on the IEEE 118-bus system demonstrates the superior computational efficiency and scalability of the proposed method compared to several state-of-the-art distributed optimization algorithms.

Paperid: 2575, https://arxiv.org/pdf/2511.19714.pdf

Abstract:
We study distributed convex optimization with two ubiquitous forms of coupling: consensus constraints and global affine equalities. We first design a linearized method of multipliers for the consensus optimization problem. Without smoothness or strong convexity, we establish non-ergodic sublinear rates of order O(1/\sqrt{k}) for both the objective optimality and the consensus violation. Leveraging duality, we then show that the economic dispatch problem admits a dual consensus formulation, and that applying the same algorithm to the dual economic dispatch yields non-ergodic O(1/\sqrt{k}) decay for the error of the summation of the cost over the network and the equality-constraint residual under convexity and Slater's condition. Numerical results on the IEEE 118-bus system demonstrate faster reduction of both objective error and feasibility error relative to the state-of-the-art baselines, while the dual variables reach network-wide consensus.

Paperid: 2576, https://arxiv.org/pdf/2511.19708.pdf

Abstract:
This paper studies distributed convex optimization with both affine equality and nonlinear inequality couplings through the duality analysis. We first formulate the dual of the coupling-constraint problem and reformulate it as a consensus optimization problem over a connected network. To efficiently solve this dual problem and hence the primal problem, we design an accelerated linearized algorithm that, at each round, a look-ahead linearization of the separable objective is combined with a quadratic penalty on the Laplacian constraint, a proximal step, and an aggregation of iterations. On the theory side, we prove non-ergodic rates for both the primal optimality error and the feasibility error. On the other hand, numerical experiments show a faster decrease of optimality error and feasibility residual than augmented-Lagrangian tracking and distributed subgradient baselines under the same communication budget.

Paperid: 2577, https://arxiv.org/pdf/2511.17865.pdf

Abstract:
Manufacturing processes are inherently dynamic and uncertain, with varying parameters and nonlinear behaviors, making robust control essential for maintaining quality and reliability. Traditional control methods often fail under these conditions due to their reactive nature. Model Predictive Control (MPC) has emerged as a more advanced framework, leveraging process models to predict future states and optimize control actions. However, MPC relies on simplified models that often fail to capture complex dynamics, and it struggles with accurate state estimation and handling the propagation of uncertainty in manufacturing environments. Machine learning (ML) has been introduced to enhance MPC by modeling nonlinear dynamics and learning latent representations that support predictive modeling, state estimation, and optimization. Yet existing ML-driven MPC approaches remain deterministic and correlation-focused, motivating the exploration of generative. Generative ML offers new opportunities by learning data distributions, capturing hidden patterns, and inherently managing uncertainty, thereby complementing MPC. This review highlights five representative methods and examines how each has been integrated into MPC components, including predictive modeling, state estimation, and optimization. By synthesizing these cases, we outline the common ways generative ML can systematically enhance MPC and provide a framework for understanding its potential in diverse manufacturing processes. We identify key research gaps, propose future directions, and use a representative case to illustrate how generative ML-driven MPC can extend broadly across manufacturing. Taken together, this review positions generative ML not as an incremental add-on but as a transformative approach to reshape predictive control for next-generation manufacturing systems.

Paperid: 2578, https://arxiv.org/pdf/2511.17433.pdf

Abstract:
On April 28, 2025, the Iberian power system suffered a full blackout. It was the first documented overvoltage-driven cascade in Europe. The event sparked debate about root causes, including high renewables output, low inertia, and operator actions. This paper presents a thorough power system analysis of the incident to sort signal from noise and explain, step by step, how the blackout unfolded. Specifically, we (i) reconstruct the timeline and causal chain of the incident, (ii) present and summarize contributing factors using factual findings from incident reports, (iii) reproduce the blackout on an IEEE test system, (iv) analyze the incident from a system-theoretic, voltage-control perspective, and (v) translate our analysis into practical, technical measures that aim to mitigate and prevent similar incidents.

Paperid: 2579, https://arxiv.org/pdf/2511.16458.pdf

Abstract:
We address the problem of identifying the dynamical law governing the evolution of a population of indistinguishable particles, when only aggregate distributions at successive times are observed. Assuming a Markovian evolution on a discrete state space, the task reduces to estimating the underlying transition probability matrix from distributional data. We formulate this inverse problem within the framework of entropic optimal transport, as a joint optimization over the transition matrix and the transport plans connecting successive distributions. This formulation results in a convex optimization problem, and we propose an efficient iterative algorithm based on the entropic proximal method. We illustrate the accuracy and convergence of the method in two numerical setups, considering estimation from independent snapshots and estimation from a time series of aggregate observations, respectively.

Paperid: 2580, https://arxiv.org/pdf/2511.16279.pdf

Abstract:
Preventive control is a crucial strategy for power system operation against impending natural hazards, and its effectiveness fundamentally relies on the realism of scenario generation. While most existing studies employ sequential Monte Carlo simulation and assume independent sampling of component failures, this oversimplification neglects the spatial correlations induced by meteorological factors such as hurricanes. In this paper, we identify and address the gap in modeling spatial dependence among component failures under extreme weather. We analyze how the mean, variance, and correlation structure of weather intensity random variables influence the correlation of component failures. To fill this gap, we propose a spatially dependent sampling method that enables joint sampling of multiple component failures by generating correlated meteorological intensity random variables. Comparative studies show that our approach captures long-tailed scenarios and reveals more extreme events than conventional methods. Furthermore, we evaluate the impact of scenario selection on preventive control performance. Our key findings are: (1) Strong spatial correlations in uncertain weather intensity consistently lead to interdependent component failures, regardless of mean value level; (2) The proposed method uncovers more high-severity scenarios that are missed by independent sampling; (3) Preventive control requires balancing load curtailment and over-generation costs under different scenario severities; (4) Ignoring failure correlations results in underestimating risk from high-severity events, undermining the robustness of preventive control strategies.

Paperid: 2581, https://arxiv.org/pdf/2511.16195.pdf

Abstract:
Model Predictive Control evolved as the state of the art paradigm for safety critical control tasks. Control-as-Inference approaches thereof model the constrained optimization problem as a probabilistic inference problem. The constraints have to be implemented into the inference model. A recently introduced physics-informed Gaussian Process method uses Control-as-Inference with a Gaussian likelihood for state constraint modeling, but lacks guarantees of open-loop constraint satisfaction. We mitigate the lack of guarantees via an additional sampling step using Hamiltonian Monte Carlo sampling in order to obtain safe rollouts of the open-loop dynamics which are then used to obtain an approximation of the truncated normal distribution which has full probability mass in the safe area. We provide formal guarantees of constraint satisfaction while maintaining the ODE structure of the Gaussian Process on a discretized grid. Moreover, we show that we are able to perform optimization of a quadratic cost function by closed form Gaussian Process computations only and introduce the Matérn kernel into the inference model.

Paperid: 2582, https://arxiv.org/pdf/2511.16093.pdf

Abstract:
Accurate and efficient thermal dynamics models of permanent magnet synchronous motors are vital to efficient thermal management strategies. Physics-informed methods combine model-based and data-driven methods, offering greater flexibility than model-based methods and superior explainability compared to data-driven methods. Nonetheless, there are still challenges in balancing real-time performance, estimation accuracy, and explainability. This paper presents a hardware-efficient complex neural dynamics model achieved through the linear decoupling, diagonalization, and reparameterization of the state-space model, introducing a novel paradigm for the physics-informed method that offers high explainability and accuracy in electric motor temperature estimation tasks. We validate this physics-informed method on an NVIDIA A800 GPU using the JAX machine learning framework, parallel prefix sum algorithm, and Compute Unified Device Architecture (CUDA) platform. We demonstrate its superior estimation accuracy and parallelizable hardware acceleration capabilities through experimental evaluation on a real electric motor.

Paperid: 2583, https://arxiv.org/pdf/2511.13870.pdf

Abstract:
While classical control theory assumes that the controller has access to measurements of the entire state (or output) at every time instant, this paper investigates a setting where the feedback controller can only access a randomly selected subset of the state vector at each time step. Due to the random sparsification that selects only a subset of the state components at each step, we analyze the stability of the closed-loop system in terms of Asymptotic Mean-Square Stability (AMSS), which ensures that the system state converges to zero in the mean-square sense. We consider the problem of designing both a feedback gain matrix and a measurement sparsification strategy that minimizes the number of state components required for feedback, while ensuring AMSS of the closed-loop system. Interestingly, (1) we provide conditions on the dynamics of the system under which it is possible to find a sparsification strategy, and (2) we propose a Linear Matrix Inequality (LMI) based algorithm that jointly computes a stabilizing gain matrix, and a randomized sparsification strategy that minimizes the expected number of measured state coordinates while preserving the AMSS. Our approach is then extended to the case where the sparsification probabilities vary across the state components. Based on these theoretical findings, we propose an algorithmic procedure to compute the vector of sparsification parameters, along with the corresponding feedback gain matrix. To the best of our knowledge, this is the first study to investigate the stability properties of control systems that rely solely on randomly selected state measurements. Numerical simulations demonstrate that, in some settings, the system achieves comparable performance to full-state feedback while requiring measurements from only $0.3\%$ of the state coordinates.

Paperid: 2584, https://arxiv.org/pdf/2511.13698.pdf

Abstract:
Active distribution networks facilitating bidirectional power exchange with renewable energy resources are susceptible to cyberattacks due to integration of a diverse array of cyber components. This study introduces a grid-level defense strategy aimed at enhancing attack resiliency based on distribution network planning. Our proposed framework imposes a security requirement into existing planning methodologies, ensuring that voltage deviation from its rated value remains within a tolerable range against dynamically and maliciously injected power at end-user nodes. Unfortunately, the formulated problem in its original form is intractable because it is an infinite-dimensional bi-level optimization problem over a function space. To address this complexity, we develop an equivalent transformation into a tractable form as mixed-integer linear program leveraging linear dynamical system theory and graph theory. Notably, our investigation reveals that the severity of potential attacks hinges solely on the cumulative reactances over the path from the substation to the targeted node, thereby reducing the problem to a finite-dimensional problem. Further, the bi-level optimization problem is reduced to a single-level optimization problem by using a technique utilized in solving the shortest path problem. Through extensive numerical simulations conducted on a 54-node distribution network benchmark, our proposed methodology exhibits a noteworthy 29.3% enhancement in the resiliency, with a mere 2.1% uptick in the economic cost.

Paperid: 2585, https://arxiv.org/pdf/2511.13424.pdf

Abstract:
Accurate performance modeling of PV systems in urban environments is a significant challenge due to complex partial shading. This study introduces a high-resolution, hierarchical modeling framework that provides detailed insights from the solar cell to the system level. Rigorously validated against field-test data from calibrated equipment, the model demonstrates high accuracy in predicting minute-wised dynamic electrical characteristics (R2 > 0.90). A key finding is the critical shortcoming of conventional, coarser-resolution models under realistic shading; these are shown to overestimate the actual string operating power by up to 163% and the monthly energy yield by up to 54%. The proposed framework avoids these errors by precisely capturing mismatch losses and the time-varying phenomena of system components, such as bypass diode activations. Furthermore, the model accurately quantifies the effectiveness of mitigation technologies, showing that Module-Level Power Electronics (MLPEs) can increase the monthly energy yield of a heavily shaded string by over 20%. This research provides a crucial tool for reliable system design, accurate power forecasting, and the optimization of PV systems in complex urban settings.

Paperid: 2586, https://arxiv.org/pdf/2511.13412.pdf

Abstract:
Electrical isolation is critical to ensure safety and minimize electromagnetic interference (EMI), yet existing methods struggle to simultaneously transmit power and signals through a unified channel. Here we demonstrate a mechanically-isolated gate driver based on microwave-frequency surface acoustic wave (SAW) device on lithium niobate that achieves galvanic isolation of 2.75 kV with ultralow isolation capacitance (0.032 pF) over 1.25 mm mechanical propagation length, delivering 13.4 V open-circuit voltage and 44.4 mA short-circuit current. We demonstrate isolated gate driving for a gallium nitride (GaN) high-electron-mobility transistor, achieving a turn-on time of 108.8 ns comparable to commercial drivers and validate its operation in a buck converter. In addition, our SAW device operates over an ultrawide temperature range from 0.5 K (-272.6 °C) to 544 K (271 °C). The microwave-frequency SAW devices offer inherent EMI immunity and potential for heterogeneous integration on multiple semiconductor platforms, enabling compact, high-performance isolated power and signal transmission in advanced power electronics.

Paperid: 2587, https://arxiv.org/pdf/2511.13289.pdf

Abstract:
This paper presents a novel method for transient stability analysis (TSA) that circumvents the limitations of sequential numerical integration and energy functions. The proposed method begins by constructing a trajectory-dependent stability indicator function to distinguish the system's destiny. To overcome the difficulty in analyzing the asymptotic behavior at infinite time, a strategic time contraction mapping is then applied. This allows TSA to be recast as a pole-placement detection problem for the indicator function. By leveraging high-order derivatives at the initial state, a rational function approximation is derived, yielding a mathematically direct and computationally efficient prediction. Numerical validations on benchmark systems demonstrate that the method not only provides a direct mathematical shortcut for TSA in power systems but also establishes a promising new methodology for evaluating the transient stability of a broad class of nonlinear dynamical systems.

Paperid: 2588, https://arxiv.org/pdf/2511.13260.pdf

Abstract:
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary layer with an inner mixed-power or exponential law that guarantees rapid convergence within the layer while maintaining smooth and bounded control action. The resulting control design achieves finite-time convergence and robustness to matched disturbances, while explicitly limits the control effort. The control framework is first analyzed on a perturbed first-order integrator model, and then extended to Euler-Lagrange (EL) systems, representing a broad class of robotic and mechanical systems. Comparative simulations demonstrate that the proposed controller achieves settling times comparable to recent finite-time approaches [1], while substantially reducing the control effort. Finally, trajectory-tracking simulations on a two-link manipulator further validate the robustness and practical feasibility of the proposed HG-FTSMC approach.

Paperid: 2589, https://arxiv.org/pdf/2511.13119.pdf

Abstract:
Constructing clean and low-carbon rural integrated energy system (RIES) is a fundamental requirement for supporting China's rural modernization and new-type urbanization. Existing research on RIES decarbonization primarily focuses on the optimal low-carbon operation of system-level energy devices at the macro level, while the synergistic carbon-reduction effects of demand-side flexible loads and external carbon trading mechanisms have not been fully explored. Meanwhile, at the micro level, the carbon sensitivity of device parameters and their potential contribution to emission reduction remain insufficiently investigated. To address these gaps, this study integrates macro- and micro-level analyses. At the macro level, a multi-energy-coupled low-carbon optimal operation framework is developed, incorporating coordinated electric-thermal demand response (DR) and carbon trading. At the micro level, a carbon emission model for RIES components is established, and sensitivity analysis is conducted on 28 carbon-related parameters to identify highly sensitive determinants of emission reduction. Case studies based on typical operation data from a rural region in northern China demonstrate that coordinated electric-thermal DR and carbon trading can achieve maximum carbon-reduction potential. Furthermore, the identified high-sensitivity parameters provide essential theoretical guidance for enhancing the decarbonization potential of RIES.

Paperid: 2590, https://arxiv.org/pdf/2511.13034.pdf

Abstract:
We propose a reinforcement learning (RL) framework for multi-objective decision-making, where the agent seeks to optimize a vector of rewards rather than a single scalar value. The objective is to ensure that the time-averaged reward vector converges asymptotically to a predefined target set. Since standard RL algorithms operate on scalar rewards, we introduce a dynamic scalarization mechanism guided by Blackwell's Approachability Theorem. This theorem enables adaptive updates of the scalarization vector to guarantee convergence toward the target set. Assuming ergodicity, the Markov chain induced by the learned policies admits a stationary distribution, ensuring all states recur with finite return times. Our algorithm exploits this property by defining an inner loop that applies a policy gradient method (with baseline) between successive visits to a designated recurrent state, enforcing Blackwell's condition at each iteration. An outer loop then updates the scalarization vector after each recurrence. We establish theoretical convergence of the long-run average reward vector to the target set and validate the approach through a numerical example.

Paperid: 2591, https://arxiv.org/pdf/2511.12567.pdf

Abstract:
A recursive time-varying state feedback is presented for a chain of integrators with unmatched perturbations in continuous and discrete time. In continuous time, it is shown that hyperexponential convergence is achieved for the first state variable $x_1$, while the second state $x_2$ remains bounded. For the other states, we establish ISS {\cb property} by saturating the growing {\cb control} gain. In discrete time, we use implicit Euler discretization to {\cb preserve} hyperexponential convergence. The main results are demonstrated through several examples of the proposed control laws, illustrating the conditions established for both continuous and discrete-time systems.

Paperid: 2592, https://arxiv.org/pdf/2511.12467.pdf

Abstract:
This letter studies the problem of online multi-step-ahead prediction for unknown linear stochastic systems. Using conditional distribution theory, we derive an optimal parameterization of the prediction policy as a linear function of future inputs, past inputs, and past outputs. Based on this characterization, we propose an online least-squares algorithm to learn the policy and analyze its regret relative to the optimal model-based predictor. We show that the online algorithm achieves logarithmic regret with respect to the optimal Kalman filter in the multi-step setting. Furthermore, with new proof techniques, we establish an almost-sure regret bound that does not rely on fixed failure probabilities for sufficiently large horizons $N$. Finally, our analysis also reveals that, while the regret remains logarithmic in $N$, its constant factor grows polynomially with the prediction horizon $H$, with the polynomial order set by the largest Jordan block of eigenvalue 1 in the system matrix.

Paperid: 2593, https://arxiv.org/pdf/2511.12384.pdf

Abstract:
In the day-ahead energy market, the offering strategy of distributed energy resource (DER) aggregators must be submitted before the uncertainty realization in the form of price-quantity pairs. This work addresses the day-ahead offering problem through a two-stage robust adaptive stochastic optimization model, wherein the first-stage price-quantity pairs and second-stage operational commitment decisions are made before and after DER uncertainty is realized, respectively. Uncertainty in day-ahead price is addressed using a stochastic programming, while uncertainty of DER generation is handled through robust optimization. To address the max-min structure of the second-stage problem, a neural network-accelerated column-and-constraint generation method is developed. A dedicated neural network is trained to approximate the value function, while optimality is maintained by the design of the network architecture. Numerical studies indicate that the proposed method yields high-quality solutions and is up to 100 times faster than Gurobi and 33 times faster than classical column-and-constraint generation on the same 1028-node synthetic distribution network.

Paperid: 2594, https://arxiv.org/pdf/2511.12029.pdf

Abstract:
The increasing integration of energy storage systems (ESSs) into power grids has necessitated effective real-time control strategies under uncertain and volatile electricity prices. An important problem of model predictive control of ESSs is identifying the minimum forecast horizon needed to exactly simulate the globally optimal control trajectory. Existing methods in the literature provide only sufficient conditions and might ignore real-world inconsistencies in control actions. In this paper, we introduce a trajectory-alignment-based definition of the minimum forecast horizon and propose an algorithm that identifies the minimum planning horizon for which all rolling-horizon control decisions match those of the full-horizon global optimization. Using real price data from the bidding zone DK1 in Denmark of the Nord Pool day-ahead market and a realistic ESS model, we illustrate that $60$ hours of forecast horizon allows us to exactly simulate the global control sequence and economic outcomes. In addition, we illustrate that under other parameter configurations, no forecast horizon ensures full convergence, demonstrating the sensitivity of the existence of a forecast horizon to various parameters. Our findings provide an operationally significant framework for minimum forecast horizon detection in storage scheduling and pave the way for the analytical description of this important planning measure.

Paperid: 2595, https://arxiv.org/pdf/2511.09363.pdf

Abstract:
Safety verification of dynamical systems via barrier certificates is essential for ensuring correctness in autonomous applications. Synthesizing these certificates involves discovering mathematical functions with current methods suffering from poor scalability, dependence on carefully designed templates, and exhaustive or incremental function-space searches. They also demand substantial manual expertise--selecting templates, solvers, and hyperparameters, and designing sampling strategies--requiring both theoretical and practical knowledge traditionally shared through linguistic reasoning rather than formalized methods. This motivates a key question: can such expert reasoning be captured and operationalized by language models? We address this by introducing an LLM-based agentic framework for barrier certificate synthesis. The framework uses natural language reasoning to propose, refine, and validate candidate certificates, integrating LLM-driven template discovery with SMT-based verification, and supporting barrier-controller co-synthesis to ensure consistency between safety certificates and controllers. To evaluate this capability, we introduce BarrierBench, a benchmark of 100 dynamical systems spanning linear, nonlinear, discrete-time, and continuous-time settings. Our experiments assess not only the effectiveness of LLM-guided barrier synthesis but also the utility of retrieval-augmented generation and agentic coordination strategies in improving its reliability and performance. Across these tasks, the framework achieves more than 90% success in generating valid certificates. By releasing BarrierBench and the accompanying toolchain, we aim to establish a community testbed for advancing the integration of language-based reasoning with formal verification in dynamical systems. The benchmark is publicly available at https://hycodev.com/dataset/barrierbench

Paperid: 2596, https://arxiv.org/pdf/2511.09151.pdf

Abstract:
Analog matrix computing (AMC) circuits based on resistive random-access memory (RRAM) have shown strong potential for accelerating matrix operations. However, as matrix size grows, interconnect resistance increasingly degrades computational accuracy and limits circuit scalability. Modeling and evaluating these effects are therefore critical for developing effective mitigation strategies. Traditional SPICE (Simulation Program with Integrated Circuit Emphasis) simulators, which rely on modified nodal analysis, become prohibitively slow for large-scale AMC circuits due to the quadratic growth of nodes and feedback connections. In this work, we model AMC circuits with interconnect resistance for two key operations-matrix inversion (INV) and eigenvector computation (EGV), and propose fast solving algorithms tailored for each case. The algorithms exploit the sparsity of the Jacobian matrix, enabling rapid and accurate solutions. Compared to SPICE, they achieve several orders of magnitude acceleration while maintaining high accuracy. We further extend the approach to open-loop matrix-vector multiplication (MVM) circuits, demonstrating similar efficiency gains. Finally, leveraging these fast solvers, we develop a bias-based compensation strategy that reduces interconnect-induced errors by over 50% for INV and 70% for EGV circuits. It also reveals the scaling behavior of the optimal bias with respect to matrix size and interconnect resistance.

Paperid: 2597, https://arxiv.org/pdf/2511.08936.pdf

Abstract:
The exploding power consumption of AI and cloud datacenters (DCs) intensifies the long-standing concerns about their carbon footprint, especially because DCs' need for constant power clashes with volatile renewable generation needed for grid decarbonization. DC flexibility (a.k.a. load adaptation) is a key to reducing DC carbon emissions by improving grid renewable absorption. DC flexibility can be created, without disturbing datacenter capacity by decoupling a datacenter's power capacity and grid load with a collection of energy resources. Because decoupling can be costly, we study how to best distribute and manage decoupling to maximize benefits for all. Key considerations include site variation and datacenter-grid cooperation. We first define and compute the power and energy needs of datacenter load decoupling, and then we evaluate designed distribution and management approaches. Evaluation shows that optimized distribution can deliver >98% of the potential grid carbon reduction with 70% of the total decoupling need. For management, DC-grid cooperation (2-way sharing and control vs. 1-way info sharing) enables 1.4x grid carbon reduction. Finally, we show that decoupling may be economically viable, as on average datacenters can get power cost and carbon emissions benefits greater than their local costs of decoupling. However, skew across sites suggests grid intervention may be required.

Paperid: 2598, https://arxiv.org/pdf/2511.08818.pdf

Abstract:
We present the design and application of a general algorithm for Prediction And Control using MAchiNe learning (PACMAN) in DIII-D. Machine learing (ML)-based predictors and controllers have shown great promise in achieving regimes in which traditional controllers fail, such as tearing mode free scenarios, ELM-free scenarios and stable advanced tokamak conditions. The architecture presented here was deployed on DIII-D to facilitate the end-to-end implementation of advanced control experiments, from diagnostic processing to final actuation commands. This paper describes the detailed design of the algorithm and explains the motivation behind each design point. We also describe several successful ML control experiments in DIII-D using this algorithm, including a reinforcement learning controller targeting advanced non-inductive plasmas, a wide-pedestal quiescent H-mode ELM predictor, an Alfvén Eigenmode controller, a Model Predictive Control plasma profile controller and a state-machine Tearing Mode predictor-controller. There is also discussion on guiding principles for real-time machine learning controller design and implementation.

Paperid: 2599, https://arxiv.org/pdf/2511.08752.pdf

Abstract:
This work presents a global-to-local, task-aware fault detection and identification (FDI) framework for multi-spacecraft systems conducting collaborative inspection missions in low Earth orbit. The inspection task is represented by a global information-driven cost functional that integrates the sensor model, spacecraft poses, and mission-level information-gain objectives. This formulation links guidance, control, and FDI by using the same cost function to drive both global task allocation and local sensing or motion decisions. Fault detection is achieved through comparisons between expected and observed task metrics, while higher-order cost-gradient measures enable the identification of faults among sensors, actuators, and state estimators. An adaptive thresholding mechanism captures the time-varying inspection geometry and dynamic mission conditions. Simulation results for representative multi-spacecraft inspection scenarios demonstrate the reliability of fault localization and classification under uncertainty, providing a unified, information-driven foundation for resilient autonomous inspection architectures.

Paperid: 2600, https://arxiv.org/pdf/2511.08250.pdf

Abstract:
Data-driven health monitoring of power converters remains limited by poor generalization to unseen operating conditions. This work addresses this out-of-distribution (OOD) challenge by building a domain-specific time-series foundation model (PE-TSFM) that learns representations directly from large-scale unlabeled converter data. Unlike generic TSFMs trained on broad time-series datasets, the proposed PE-TSFM is pre-trained entirely on domain data, enabling it to learn the physical relationships unique to power electronics. To further tailor the model to this domain, we introduce a dual-attention mechanism that captures both temporal patterns and inter-channel dependencies. While generic TSFMs primarily model temporal dependencies, the added channel attention captures inter-sensor physical relationships essential for converter degradation analysis. A dataset containing 141 million unlabeled timestamps from an operating power converter is used for pre-training. Experiments show that PE-TSFM achieves 92% accuracy under unseen operating conditions. In contrast, generic TSFMs achieve around 60% and conventional time-series models achieve around 40% accuracy. This result confirms the strong OOD generalization of the proposed PE-TSFM. Ablation studies further verify that the introduced channel attention mechanism significantly improves model performance. In addition, we conduct detailed studies on model scalability, hyperparameter sensitivity, and interpretability to provide a comprehensive understanding of the proposed approach.

Paperid: 2601, https://arxiv.org/pdf/2511.08033.pdf

Abstract:
In the field of international security, understanding the strategic interactions between countries within a networked context is crucial. Our previous research has introduced a ``games-on-signed graphs'' framework~\cite{LiMorse2022} to analyze these interactions. While the framework is intended to be basic and general, there is much left to be explored, particularly in capturing the complexity of strategic scenarios in international relations. Our paper aims to fill this gap in two key ways. First, we modify the existing preference axioms to allow for a more nuanced understanding of how countries pursue self-survival, defense of allies, and offense toward adversaries. Second, we introduce a novel algorithm that proves the existence of a pure-strategy Nash equilibrium for these revised games. To validate our model, we employ historical data from the year 1940 as the game input and predict countries' survivability. Our contributions thus extend the real-world applicability of the original framework, offering a more comprehensive view of strategic interactions in a networked security environment.

Paperid: 2602, https://arxiv.org/pdf/2511.07349.pdf

Abstract:
This paper presents a novel modeling approach for unsteady aircraft airflow, leveraging the Lorenz attractor framework. The proposed model is based on the force distribution exerted by a lift-generating wing on the surrounding fluid. It distinguishes between turbulent and nominal components of the force distribution, with the nominal force distribution modeled to peak at the wing and decay linearly into the free stream. This separation allows the turbulent component to be represented by a transport equation that is influenced by flight conditions, specifically dynamic pressure and angle of attack. Consequently, the Navier-Stokes equations, along with the turbulence transport equation, can be transformed into a reduced-order model characterized by three scalar ordinary differential equations - similar to the Lorenz attractor. This resulting system effectively captures chaotic behavior, facilitating the exploration of complex dynamics without the computational demands of solving the full Navier-Stokes equations. A simulation trade study is conducted that models wing rock phenomena at high angles of attack, demonstrating the effectiveness of the proposed approach in capturing the intricate dynamics of unsteady aircraft aerodynamics.

Paperid: 2603, https://arxiv.org/pdf/2511.07335.pdf

Abstract:
This paper presents a systematic approach for designing robust linear proportional-integral (PI) servo-controllers that effectively manage control input and output constraints in flight control systems. The control design leverages the Nagumo Theorem and the Comparison Lemma to prove constraint satisfaction, while employing min-norm optimal controllers in a manner akin to Control Barrier Functions. This results in a continuous piecewise-linear state feedback policy that maintains the analyzability of the closed-loop system through the principles of linear systems theory. Additionally, we derive multi-input multi-output (MIMO) robustness margins, demonstrating that our approach enables robust tracking of external commands even in the presence of operational constraints. Moreover, the proposed control design offers a systematic approach for anti-windup protection. Through flight control trade studies, we illustrate the applicability of the proposed framework to real-world safety-critical aircraft control scenarios. Notably, MIMO margin analysis with active constraints reveals that our method preserves gain and phase margins comparable to those of the unconstrained case, in contrast to controllers that rely on hard saturation heuristics, which suffer significant performance degradation under active constraints. Simulation results using a nonlinear six-degree-of-freedom rigid body aircraft model further validate the effectiveness of our method in achieving constraint satisfaction, robustness, and effective anti-windup protection.

Paperid: 2604, https://arxiv.org/pdf/2511.06713.pdf

Abstract:
Opinion dynamics has recently been modeled from a game-theoretic perspective, where opinion updates are captured by individuals' cost functions representing their motivations. Conventional formulations aggregate multiple motivations into a single objective, implicitly assuming that these motivations are interchangeable. This paper challenges that assumption and proposes an opinion dynamics model grounded in a multi-objective game framework. In the proposed model, each individual experiences two distinct costs: social pressure from disagreement with others and cognitive dissonance from deviation from the perceived truth. Opinion updates are modeled as Pareto improvements between these two costs. This fwork provides a parsimonious explanation for the emergence of pluralistic ignorance, where individuals may agree on something untrue even though they all know the underlying truth. We analytically characterize the model, derive conditions for the emrameergence and prevalence of the truth, and propose an initial-seeding strategy that ensures consensus on truth. Numerical simulations are conducted on how network density and clustering affect the expression of truth. Both theoretical and numerical results lead to clear and non-trivial sociological insights. For example, no network structure guarantees truthful consensus if no one initially express the truth; moderately sparse but well-mixed networks best mitigate pluralistic ignorance.

Paperid: 2605, https://arxiv.org/pdf/2511.06524.pdf

Abstract:
In this paper, we address the problem of data-driven stabilization of continuous-time multi-input multi-output (MIMO) linear time-invariant systems using the input-output data collected from an experiment. Building on recent results for data-driven output-feedback control based on non-minimal realizations, we propose an approach that can be applied to a broad class of continuous-time MIMO systems without requiring a uniform observability index. The key idea is to show that Kreisselmeier's adaptive filter can be interpreted as an observer of a stabilizable non-minimal realization of the plant. Then, by postprocessing the input-output data with such a filter, we derive a linear matrix inequality that yields the feedback gain of a dynamic output-feedback stabilizer.

Paperid: 2606, https://arxiv.org/pdf/2511.06508.pdf

Abstract:
An optimal rank-1 approximation of state transition tensors was developed as an efficient alternative to state transition tensors for nonlinear uncertainty quantification. While previous directional state transition tensors used the dominant right singular subspace of the state transition matrix to construct a reduced-dimension representation of the state transition tensors, optimal directional state transition tensors are constructed to maximize the information retained in a rank-1 approximation of the state transition tensors in the Frobenius-norm sense. The optimal rank-1 directional state transition tensor is found by solving a tensor z-eigenpair problem of the "square" of the state transition tensor. This construct leads to increased approximation accuracy of the state transition tensors and improved Gaussian moment propagation for nonlinear flight scenarios like aerocapture.

Paperid: 2607, https://arxiv.org/pdf/2511.06131.pdf

Abstract:
In this work, we propose a novel three-step framework for smart electric vehicle (EV) charging that jointly minimizes charging costs and CO2 emissions. Drawing inspiration from the classical Unit Commitment Problem (UCP), we first design a linear model to determine the optimal power generation mix over a 24-hour horizon, using real-world data from Vietnam, a country with a highly carbon intensive energy system. This allows us to estimate time-varying CO2 emissions and translate them into an emission cost signal. We then incorporate this environmental cost into a smart charging optimization model, formulated as a linear program (LP). Numerical simulations confirm that the proposed strategy significantly outperforms a baseline First-In-First-Served (FIFS) approach, achieving notable reductions in both CO2 emissions and charging costs also compared to another optimization approach. The results demonstrate the potential of this multiobjective optimization framework to support more sustainable and cost-efficient EV charging strategies.

Paperid: 2608, https://arxiv.org/pdf/2511.06011.pdf

Abstract:
This paper investigates how to recover parameters of a linear time invariant system from values and derivatives of its transfer function matrix, along several particular directions at a prescribed set of points in the complex plane, in which system matrices depend on these parameters through a linear fractional transformation. A necessary and sufficient condition is derived for a unique determination of these system parameters, which is expressed by a vector inequality. Under some particular situations, this condition reduces to a full column rank requirement on a constant matrix. Moreover, a method is given to recover system parameters from these values and derivatives, which is expressed by a vector linear equation with some rank constraints, for which various methods exist for finding its solutions. Robustness of the suggested recovery method is also clarified. A numerical example is given to illustrate characteristics of the suggested method, as well as effectiveness of derivative information introduction in parameter recovery, in which natural frequency and damping ratio are to be recovered for a transfer function.

Paperid: 2609, https://arxiv.org/pdf/2511.05779.pdf

Abstract:
The transition towards clean energy and the introduction of Inverter-Based Resources (IBRs) are leading to the formation of Microgrids (MGs) and Network of MGs (NMGs). MGs and NMGs can operate autonomously in islanded mode, which requires Grid-Forming (GFM) IBRs that can perform black start, synchronization, restoration and regulation. However, such IBRs face synchronization instability issues, which might be worsened by inadequate secondary level frequency and voltage regulation. Accordingly, we propose an autonomous and distributed synchronization and restoration scheme using Distributed-Averaging Proportional-Integral (DAPI) control. To validate the proposed method, we model and simulate a high-fidelity islanded and modified IEEE 123 bus system, modeled as an NMG consisting of 7 MGs. The simulation results demonstrate an effective autonomous soft-start, synchronization, connection and regulation procedure using DAPI control and distributed breaker operation logic.

Paperid: 2610, https://arxiv.org/pdf/2511.05511.pdf

Abstract:
This chapter bridges technical analysis and organizational preparedness by tracing the path from layered failure modes to reliability awareness in generative and agentic AI systems. We first introduce an 11-layer failure stack, a structured framework for identifying vulnerabilities ranging from hardware and power foundations to adaptive learning and agentic reasoning. Building on this, the chapter demonstrates how failures rarely occur in isolation but propagate across layers, creating cascading effects with systemic consequences. To complement this diagnostic lens, we develop the concept of awareness mapping: a maturity-oriented framework that quantifies how well individuals and organizations recognize reliability risks across the AI stack. Awareness is treated not only as a diagnostic score but also as a strategic input for AI governance, guiding improvement and resilience planning. By linking layered failures to awareness levels and further integrating this into Dependability-Centred Asset Management (DCAM), the chapter positions awareness mapping as both a measurement tool and a roadmap for trustworthy and sustainable AI deployment across mission-critical domains.

Paperid: 2611, https://arxiv.org/pdf/2511.04917.pdf

Abstract:
The increasing integration of Distributed Energy Resources (DERs) into power systems necessitates the accurate representation of their dynamic behavior at the transmission level. Traditional electromagnetic transient models (EMT), while effective, face scalability challenges due to their reliance on detailed system information. Data-driven approaches, such as System Identification (SysID), offer a promising alternative by modeling system dynamics without detailed system knowledge. However, SysID and similar methods are computationally intensive, requiring the computation of complex ordinary differential equations (ODEs) or transfer functions estimation. This makes them less effective for real-time operation. We therefore propose a novel data-driven approach that simplifies the modeling of DERs dynamics by leveraging B-splines to transform discrete system data into continuous differentiable functions. This enables the estimation of lower order linear ordinary differential equations with simple linear regression to represent the underlying dynamics at a very low computational cost. Furthermore, the extracted dynamic equations are discretized by the backward Euler method for potential integration into discrete-time power dispatch models. Validation results indicate a goodness-of-fit (GoF) of 98.74%, comparable to the 99.03% GoF of the SysID method, yet, 4.8 times faster. Our proposed model's execution time of less than one minute makes it more suitable for real-time applications in power system operations.

Paperid: 2612, https://arxiv.org/pdf/2511.03748.pdf

Abstract:
The electric grid is increasingly vital, supporting essential services such as healthcare, heating and cooling transportation, telecommunications, and water systems. This growing dependence on reliable power underscores the need for enhanced grid resilience. This study presents Eversource's Climate Vulnerability Assessment (CVA) for bulk distribution substations in Massachusetts, evaluating risks from storm surge, sea level rise, precipitation, and extreme temperatures. The focus is on developing a cost-efficient model to guide targeted resilience investments. This is achieved by overcoming the limitations of single-variable analyses through hazard-specific assessments that integrate spatial, climate, electrical asset, and other relevant data; and applying sensitivity analysis to establish data-driven thresholds for actionable climate risks. By integrating geospatial analysis and data modeling with power engineering principles, this study provides a practical and replicable framework for equitable, data-informed climate adaptation planning. The results indicate that thresholds for certain climate hazards can be highly sensitive and result in significantly larger sets of stations requiring mitigation measures to adequately adapt to climate change, indicating that high-fidelity long-term climate projections are critical.

Paperid: 2613, https://arxiv.org/pdf/2511.03684.pdf

Abstract:
Persistent cost and schedule deviations remain a major challenge in the U.S. construction industry, revealing the limitations of deterministic CPM and static document-based estimating. This study presents an integrated 4D/5D digital-twin framework that couples Building Information Modeling (BIM) with natural-language processing (NLP)-based cost mapping, computer-vision (CV)-driven progress measurement, Bayesian probabilistic CPM updating, and deep-reinforcement-learning (DRL) resource-leveling. A nine-month case implementation on a Dallas-Fort Worth mid-rise project demonstrated measurable gains in accuracy and efficiency: 43% reduction in estimating labor, 6% reduction in overtime, and 30% project-buffer utilization, while maintaining an on-time finish at 128 days within P50-P80 confidence bounds. The digital-twin sandbox also enabled real-time "what-if" forecasting and traceable cost-schedule alignment through a 5D knowledge graph. Findings confirm that integrating AI-based analytics with probabilistic CPM and DRL enhances forecasting precision, transparency, and control resilience. The validated workflow establishes a practical pathway toward predictive, adaptive, and auditable construction management.

Paperid: 2614, https://arxiv.org/pdf/2511.02493.pdf

Abstract:
There is an urgent reflection on traditional nonlinear signal processing methods in communications before Artificial Intelligence (AI) dominates the field. It implies a need to reassess or reinterpret established theories and tools, highlighting the tension between data-driven and model-based approaches. This paper calls for preserving valuable insights from classical signal processing while exploring how they can coexist or integrate with emerging AI methods.

Paperid: 2615, https://arxiv.org/pdf/2511.01321.pdf

Abstract:
Model augmentation is a promising approach for integrating first-principles-based models with machine learning components. Augmentation can result in better model accuracy and faster convergence compared to black-box system identification methods, while maintaining interpretability of the models in terms of how the original dynamics are complemented by learning. A widely used augmentation structure in the literature is based on the parallel connection of the physics-based and learning components, for both of which the corresponding parameters are jointly optimized. However, due to overlap in representation of the system dynamics by such an additive structure, estimation often leads to physically unrealistic parameters, compromising model interpretability. To overcome this limitation, this paper introduces a novel orthogonal-by-construction model augmentation structure for input-output models, that guarantees recovery of the physically true parameters under appropriate identifiability conditions.

Paperid: 2616, https://arxiv.org/pdf/2511.01229.pdf

Abstract:
Allocating costs, benefits, and emissions fairly among power system participant entities represents a persistent challenge. The Shapley value provides an axiomatically fair solution, yet computational barriers have limited its adoption beyond small-scale applications. This paper presents SurroShap, a scalable Shapley value approximation framework combining efficient coalition sampling with deep learning surrogate models that accelerate characteristic function evaluations. Exemplified through carbon emission responsibility allocation in power networks, SurroShap enables Shapley-based fair allocation for power systems with thousands of entities for the first time. We derive theoretical error bounds proving that time-averaged SurroShap allocations converge to be $\varepsilon$-close to exact Shapley values. Experiments on nine systems ranging from 26 to 1,951 entities demonstrate completion within the real-time operational window even at maximum scale, achieving 10^4-10^5 speedups over other sampling-based methods while maintaining tight error bounds. The resulting Shapley-based carbon allocations possess six desirable properties aligning individual interests with decarbonization goals. Year-long simulations on the Texas 2000-bus system validate real-world applicability, with regional analysis revealing how renewable-rich areas offset emission responsibility through exports while load centers bear responsibility for driving system-wide generation.

Paperid: 2617, https://arxiv.org/pdf/2511.01022.pdf

Abstract:
We establish structural properties of optimal stopping problems under time-consistent dynamic (coherent) risk measures, focusing on value function monotonicity and the existence of control limit (threshold) optimal policies. While such results are well developed for risk-neutral (expected-value) models, they remain underexplored in risk-averse settings. Coherent risk measures typically lack the tower property and are subadditive rather than additive, complicating structural analysis. We show that value function monotonicity mirrors the risk-neutral case. Moreover, if the risk envelope associated with each coherent risk measure admits a minimal element, the risk-averse optimal stopping problem reduces to an equivalent risk-neutral formulation. We also develop a general procedure for identifying control limit optimal policies and use it to derive practical, verifiable conditions on the risk measures and MDP structure that guarantee their existence. We illustrate the theory and verify these conditions through optimal stopping problems arising in operations, marketing, and finance.

Paperid: 2618, https://arxiv.org/pdf/2511.00733.pdf

Abstract:
Resource scheduling is critical in many industries, especially in power systems. The Unit Commitment problem determines the on/off status and output levels of generators under many constraints. Traditional exact methods, such as mathematical programming methods or dynamic programming, remain the backbone of UC solution techniques, but they often rely on linear approximations or exhaustive search, leading to high computational burdens as system size grows. Metaheuristic approaches, such as genetic algorithms, particle swarm optimization, and other evolutionary methods, have been explored to mitigate this complexity; however, they typically lack optimality guarantees, exhibit sensitivity to initial conditions, and can become prohibitively time-consuming for large-scale systems. In this paper, we introduce a quantum-classical hybrid algorithm for UC and, by extension, other resource scheduling problems, that leverages Benders decomposition to decouple binary commitment decisions from continuous economic dispatch. The binary master problem is formulated as a quadratic unconstrained binary optimization model and solved on a quantum annealer. The continuous subproblem, which minimizes generation costs, with Lagrangian cuts feeding back to the master until convergence. We evaluate our hybrid framework on systems scaled from 10 to 1,000 generation units. Compared against a classical mixed-integer nonlinear programming baseline, the hybrid algorithm achieves a consistently lower computation-time growth rate and maintains an absolute optimality gap below 1.63%. These results demonstrate that integrating quantum annealing within a hybrid quantum-classical Benders decomposition loop can significantly accelerate large-scale resource scheduling without sacrificing solution quality, pointing toward a viable path for addressing the escalating complexity of modern power grids.

Paperid: 2619, https://arxiv.org/pdf/2511.00500.pdf

Abstract:
Optimal transport (OT) theory provides a principled framework for modeling mass movement in applications such as mobility, logistics, and economics. Classical formulations, however, generally ignore capacity limits that are intrinsic in applications, in particular in traffic flow problems. We address this limitation by incorporating fundamental diagrams into a dynamic continuous-flow OT model on graphs, thereby including empirical relations between local density and maximal flux. We adopt an Eulerian kinetic action on graphs that preserves displacement interpolation in direct analogy with the continuous theory. Momentum lives on edges and density on nodes, mirroring road-network semantics in which segments carry speed and intersections store mass. The resulting fundamental-diagram-constrained OT problem preserves mass conservation and admits a convex variational discretization, yielding optimal congestion-aware traffic flow over road networks. We establish the existence and uniqueness of the optimal flow with sources and sinks, and develop an efficient convex optimization method. Numerical studies begin with a single-lane line network and scale to a city-level road network.

Paperid: 2620, https://arxiv.org/pdf/2510.27271.pdf

Abstract:
In this study, we consider a multi-pursuer single-evader quantitative pursuit-evasion game with payoff function that includes only the terminal cost. The terminal cost is a function related only to the terminal position of the evader. This problem has been extensively studied in target defense games. Here, we prove that a candidate for the value function generated by geometric method is the viscosity solution of the corresponding Hamilton-Jacobi-Isaacs partial differential equation (HJI PDE) Dirichlet problem. Therefore, the value function of the game at each point can be computed by a mathematical program. In our work, the convexity of the terminal cost or the target is not required. The terminal cost only needs to be locally Lipschitz continuous. The cases in which the terminal costs or the targets are not convex are covered. Therefore, our result is more universal than those of previous studies, and the complexity of the proof is improved. We also discuss the optimal strategies in this game and present an intuitive explanation of this value function.

Paperid: 2621, https://arxiv.org/pdf/2510.26029.pdf

Abstract:
Contemporary macro energy systems modelling is characterized by the need to represent strategic and operational decisions with high temporal and spatial resolution and represent discrete investment and retirement decisions. This drive towards greater fidelity, however, conflicts with a simultaneous push towards greater model representation of inherent complexity in decision making, including methods like Modelling to Generate Alternatives (MGA). MGA aims to map the feasible space of a model within a cost slack by varying investment parameters without changing the operational constraints, a process which frequently requires hundreds of solutions. For large, detailed energy system models this is impossible with traditional methods, leading researchers to reduce complexity with linearized investments and zonal or temporal aggregation. This research presents a new solution method for MGA type problems using cutting-plane methods based on a tailored reformulation of Benders Decomposition. We accelerate the algorithm by sharing cuts between MGA master problems and grouping MGA objectives. We find that our new solution method consistently solves MGA problems times faster and requires less memory than existing monolithic Modelling to Generate Alternatives solution methods on linear problems, enabling rapid computation of a greater number of solutions to highly resolved models. We also show that our novel cutting-plane algorithm enables the solution of very large MGA problems with integer investment decisions.

Paperid: 2622, https://arxiv.org/pdf/2510.25885.pdf

Abstract:
The increasing frequency and severity of High Impact and Low Probability events such as hurricanes and windstorms pose significant challenges to the resilience of electrical power distribution systems, particularly in regions of New England where there is a significant amount of overhead infrastructure in areas where vegetation is predominant. Traditional reliability-focused planning is insufficient to address the systemic vulnerabilities exposed by such extreme events. This paper presents a novel risk based framework for long term resilience planning of active overhead distribution systems, with a specific focus on mitigating the impacts of high wind and hurricane induced outages.

Paperid: 2623, https://arxiv.org/pdf/2510.25324.pdf

Abstract:
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints. This paper introduces a stochastic optimal control framework to address these issues simultaneously, without excessively conservative approximations. We opt to model human driver decisions as a Markov Decision Process and propose a method for handling collision avoidance between non-convex vehicle shapes by imposing a positive distance constraint between compact sets. In this framework, we investigate three alternative chance constraint formulations. To ensure computational tractability, we introduce tight, continuously differentiable reformulations of both the non-convex distance constraints and the chance constraints. The efficacy of our approach is demonstrated through simulation studies of two challenging interactive scenarios: an unregulated intersection crossing and a highway lane change in dense traffic.

Paperid: 2624, https://arxiv.org/pdf/2510.25063.pdf

Abstract:
Controllers designed with reinforcement learning can be sensitive to model mismatch. We demonstrate that designing such controllers in a virtual simulation environment with an inaccurate model is not suitable for deployment in a physical setup. Controllers designed using an accurate model is robust against disturbance and small mismatch between the physical setup and the mathematical model derived from first principles; while a poor model results in a controller that performs well in simulation but fails in physical experiments. Sensitivity analysis is used to justify these discrepancies and an empirical region of attraction estimation help us visualize their robustness.

Paperid: 2625, https://arxiv.org/pdf/2510.24994.pdf

Abstract:
This paper presents an integrated robotic fused deposition modeling additive manufacturing system featuring closed-loop thermal control and intelligent in-situ defect correction using a 6-degree of freedom robotic arm and an Oak-D camera. The robot arm end effector was modified to mount an E3D hotend thermally regulated by an IoT microcontroller, enabling precise temperature control through real-time feedback. Filament extrusion system was synchronized with robotic motion, coordinated via ROS2, ensuring consistent deposition along complex trajectories. A vision system based on OpenCV detects layer-wise defects position, commanding autonomous re-extrusion at identified sites. Experimental validation demonstrated successful defect mitigation in printing operations. The integrated system effectively addresses challenges real-time quality assurance. Inverse kinematics were used for motion planning, while homography transformations corrected camera perspectives for accurate defect localization. The intelligent system successfully mitigated surface anomalies without interrupting the print process. By combining real-time thermal regulation, motion control, and intelligent defect detection & correction, this architecture establishes a scalable and adaptive robotic additive manufacturing framework suitable for aerospace, biomedical, and industrial applications.

Paperid: 2626, https://arxiv.org/pdf/2510.24758.pdf

Abstract:
As Electric Vehicle (EV) adoption accelerates in urban environments, optimizing charging infrastructure is vital for balancing user satisfaction, energy efficiency, and financial viability. This study advances beyond static models by proposing a digital twin framework that integrates agent-based decision support with embedded optimization to dynamically simulate EV charging behaviors, infrastructure layouts, and policy responses across scenarios. Applied to a localized urban site (a university campus) in Hanoi, Vietnam, the model evaluates operational policies, EV station configurations, and renewable energy sources. The interactive dashboard enables seasonal analysis, revealing a 20% drop in solar efficiency from October to March, with wind power contributing under 5% of demand, highlighting the need for adaptive energy management. Simulations show that real-time notifications of newly available charging slots improve user satisfaction, while gasoline bans and idle fees enhance slot turnover with minimal added complexity. Embedded metaheuristic optimization identifies near-optimal mixes of fast (30kW) and standard (11kW) solar-powered chargers, balancing energy performance, profitability, and demand with high computational efficiency. This digital twin provides a flexible, computation-driven platform for EV infrastructure planning, with a transferable, modular design that enables seamless scaling from localized to city-wide urban contexts.

Paperid: 2627, https://arxiv.org/pdf/2510.24674.pdf

Abstract:
Out of the many deep reinforcement learning approaches for autonomous driving, only few make use of the options (or skills) framework. That is surprising, as this framework is naturally suited for hierarchical control applications in general, and autonomous driving tasks in specific. Therefore, in this work the options framework is applied and tailored to autonomous driving tasks on highways. More specifically, we define dedicated options for longitudinal and lateral manoeuvres with embedded safety and comfort constraints. This way, prior domain knowledge can be incorporated into the learning process and the learned driving behaviour can be constrained more easily. We propose several setups for hierarchical control with options and derive practical algorithms following state-of-the-art reinforcement learning techniques. By separately selecting actions for longitudinal and lateral control, the introduced policies over combined and hybrid options obtain the same expressiveness and flexibility that human drivers have, while being easier to interpret than classical policies over continuous actions. Of all the investigated approaches, these flexible policies over hybrid options perform the best under varying traffic conditions, outperforming the baseline policies over actions.

Paperid: 2628, https://arxiv.org/pdf/2510.23895.pdf

Abstract:
In Autonomous Driving Systems (ADS), Directed Acyclic Graphs (DAGs) are widely used to model complex data dependencies and inter-task communication. However, existing DAG scheduling approaches oversimplify data fusion tasks by assuming fixed triggering mechanisms, failing to capture the diverse fusion patterns found in real-world ADS software stacks. In this paper, we propose a systematic framework for analyzing various fusion patterns and their performance implications in ADS. Our framework models three distinct fusion task types: timer-triggered, wait-for-all, and immediate fusion, which comprehensively represent real-world fusion behaviors. Our Integer Linear Programming (ILP)-based approach enables an optimization of multiple real-time performance metrics, including reaction time, time disparity, age of information, and response time, while generating deterministic offline schedules directly applicable to real platforms. Evaluation using real-world ADS case studies, Raspberry Pi implementation, and randomly generated DAGs demonstrates that our framework handles diverse fusion patterns beyond the scope of existing work, and achieves substantial performance improvements in comparable scenarios.

Paperid: 2629, https://arxiv.org/pdf/2510.23806.pdf

Abstract:
Solving for globally optimal line switching decisions in AC transmission grids can be intractability slow. Machine learning (ML) models, meanwhile, can be trained to predict near-optimal decisions at a fraction of the speed. Verifying the performance and impact of these ML models on network operation, however, is a critically important step prior to their actual deployment. In this paper, we train a Neural Network (NN) to solve the optimal power shutoff line switching problem. To assess the worst-case load shedding induced by this model, we propose a bilevel attacker-defender verification approach that finds the NN line switching decisions that cause the highest quantity of network load shedding. Solving this problem to global optimality is challenging (due to AC power flow and NN nonconvexities), so our approach exploits a convex relaxation of the AC physics, combined with a local NN search, to find a guaranteed lower bound on worst--case load shedding. These under-approximation bounds are solved via MathOptAI.jl. We benchmark against a random sampling approach, and we find that our optimization-based approach always finds larger load shedding. Test results are collected on multiple PGLib test cases and on trained NN models which contain more than 10 million model parameters.

Paperid: 2630, https://arxiv.org/pdf/2510.22949.pdf

Abstract:
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf components with 3D printed and custom fabricated parts to deliver full six degrees of freedom motions using six linear actuators connecting a moving platform to a fixed base. The system software integrates dynamic modeling, data acquisition, and real time control within a unified framework. A robust trajectory tracking controller based on feedback linearization, augmented with an LQR scheme, compensates for the platform's nonlinear dynamics to achieve precise motion control. In parallel, an Extended Kalman Filter fuses IMU and actuator encoder feedback to provide accurate and reliable state estimation under sensor noise and external disturbances. Unlike prior efforts that emphasize only isolated aspects such as modeling or control, this work delivers a complete hardware-software platform validated through both simulation and experiments on static and dynamic trajectories. Results demonstrate effective trajectory tracking and real-time state estimation, highlighting the platform's potential as a cost effective and versatile tool for advanced research and educational applications.

Paperid: 2631, https://arxiv.org/pdf/2510.22871.pdf

Abstract:
Transmission Neural Networks (TransNNs) proposed by Gao and Caines (2022) serve as both virus spread models over networks and neural network models with tuneable activation functions. This paper establishes that TransNNs provide upper bounds on the infection probability generated from the associated Markovian stochastic Susceptible-Infected-Susceptible (SIS) model with 2^n state configurations where n is the number of nodes in the network, and can be employed as an approximate model for the latter. Based on such an approximation, a TransNN-based receding horizon control approach for mitigating virus spread is proposed and we demonstrate that it allows significant computational savings compared to the dynamic programming solution to Markovian SIS model with 2^n state configurations, as well as providing less conservative control actions compared to the TransNN-based optimal control. Finally, numerical comparisons among (a) dynamic programming solutions for the Markovian SIS model, (b) TransNN-based optimal control and (c) the proposed TransNN-based receding horizon control are presented.

Paperid: 2632, https://arxiv.org/pdf/2510.22539.pdf

Abstract:
In this paper, we propose an optimally structured gradient coding scheme to mitigate the straggler problem in distributed learning. Conventional gradient coding methods often assume homogeneous straggler models or rely on excessive data replication, limiting performance in real-world heterogeneous systems. To address these limitations, we formulate an optimization problem minimizing residual error while ensuring unbiased gradient estimation by explicitly considering individual straggler probabilities. We derive closed-form solutions for optimal encoding and decoding coefficients via Lagrangian duality and convex optimization, and propose data allocation strategies that reduce both redundancy and computation load. We also analyze convergence behavior for $λ$-strongly convex and $μ$-smooth loss functions. Numerical results show that our approach significantly reduces the impact of stragglers and accelerates convergence compared to existing methods.

Paperid: 2633, https://arxiv.org/pdf/2510.22483.pdf

Abstract:
The rapid increase in renewable energy sources (RES) implementation in the power system creates more severe network congestion, which may reduce grid operation efficiency and cause renewable curtailment. Deterministic optimization for the unit commitment shows that battery energy storage system (BESS)-based Virtual Transmission Line (VTL), as an alternative to physical transmission lines, can offer a quick solution for congestion relief, reduced operational costs, and lowered renewable curtailment. This paper aims to evaluate the benefits of VTL when considering Renewable Energy Sources uncertainty. Particularly, this work proposes a scenario-based stochastic security-constrained unit commitment model considering VTL, referred to as SSCUC-VTL. It incorporates the forecast error of RES into the commitment decision for systems with VTL. The performance of applying the VTL strategy is compared to that of adding a new physical transmission line and a standalone BESS. A case study has been conducted on an enhanced IEEE 24-bus test system. The simulation results demonstrate that VTL provides 23% more operational cost reduction than the physical transmission line, and up to 67% more congestion relief than the standalone BESS in a power system with solar and wind generation.

Paperid: 2634, https://arxiv.org/pdf/2510.22472.pdf

Abstract:
Extracting pulsive temporal patterns from a small dataset without their repetition or singularity shows significant importance in manufacturing applications but does not sufficiently attract scientific attention. We propose to quantify how long temporal patterns appear without relying on their repetition or singularity, enabling to extract such temporal patterns from a small dataset. Inspired by the celebrated time delay embedding and data-driven Hankel matrix analysis, we introduce a linear dynamical system model on the time-delay coordinates behind the data to derive the discrete-time bases each of which has a distinct exponential decay constant. The derived bases are fitted onto subsequences that are extracted with a sliding window in order to quantify how long patterns are dominant in the set of subsequences. We call the quantification method Data-driven Exponential Framing (DEF). A toy model-based experiment shows that DEF can identify multiple patterns with distinct lengths. DEF is also applied to electric current measurement on a punching machine, showing its possibility to extract multiple patterns from real-world oscillatory data.

Paperid: 2635, https://arxiv.org/pdf/2510.22283.pdf

Abstract:
Wide-bandgap (WBG) technologies offer unprecedented improvements in power system efficiency, size, and performance, but also introduce unique sensor corruption and cybersecurity risks in industrial control systems (ICS), particularly due to high-frequency noise and sophisticated cyber-physical threats. This proof-of-concept (PoC) study demonstrates the adaptation of a noise-driven physically unclonable function (PUF) and machine learning (ML)-assisted anomaly detection framework to the demanding environment of WBG-based ICS sensor pathways. By extracting entropy from unavoidable WBG switching noise (up to 100 kHz) as a PUF source, and simultaneously using this noise as a real-time threat indicator, the proposed system unites hardware-level authentication and anomaly detection. Our approach integrates hybrid machine learning (ML) models with adaptive Bayesian filtering, providing robust and low-latency detection capabilities resilient to both natural electromagnetic interference (EMI) and active adversarial manipulation. Through detailed simulations of WBG modules under benign and attack scenarios--including EMI injection, signal tampering, and node impersonation--we achieve 95% detection accuracy and sub-millisecond processing latency. These results demonstrate the feasibility of physics-driven, dual-use noise exploitation as a scalable ICS defense primitive. Our findings lay the groundwork for next-generation security strategies that leverage inherent device characteristics, bridging hardware and artificial intelligence (AI) for enhanced protection of critical ICS infrastructure.

Paperid: 2636, https://arxiv.org/pdf/2510.21951.pdf

Abstract:
We propose a generalization of the Bass diffusion model in discrete-time that explicitly models the effect of price in adoption. Our model is different from earlier price-incorporated models and fits well to adoption data for various products. We then utilize this model to study two decision-making problems. First, we provide a series of structural results on optimal pricing strategies to maximize profits from product sales by a monopolist over a finite horizon. We fully characterize the optimal pricing strategy in the single-period problem, and establish several structural properties of the same for the multi-period counterpart. Second, we study a Stackelberg game between a policy-maker and a monopolist, where the former seeks to maximize adoption through rebates, while the latter focuses on profits. For this problem, we analytically characterize crucial properties of the equilibrium path of the single-period game, and demonstrate how they carry over to the multi-period variant.

Paperid: 2637, https://arxiv.org/pdf/2510.21748.pdf

Abstract:
Objective: Tinnitus affects 10-15% of the population yet lacks objective diagnostic biomarkers. This study applied machine learning to EEG and fMRI data to identify neural signatures distinguishing tinnitus patients from healthy controls. Methods: Two datasets were analyzed: 64-channel EEG recordings from 80 participants (40 tinnitus, 40 controls) and resting-state fMRI data from 38 participants (19 tinnitus, 19 controls). EEG analysis extracted microstate features across four to seven clustering states and five frequency bands, producing 440 features per subject. Global Field Power signals were also transformed into wavelet images for deep learning. fMRI data were analyzed using slice-wise convolutional neural networks and hybrid models combining pre-trained architectures (VGG16, ResNet50) with Decision Tree, Random Forest, and SVM classifiers. Model performance was evaluated using 5-fold cross-validation based on accuracy, precision, recall, F1-score, and ROC-AUC. Results: EEG microstate analysis revealed altered network dynamics in tinnitus, particularly reduced gamma-band microstate B occurrence (healthy: 56.56 vs tinnitus: 43.81, p < 0.001) and diminished alpha coverage. Tree-based classifiers achieved up to 98.8% accuracy, while VGG16 on wavelet-transformed EEG yielded 95.4% and 94.1% accuracy for delta and alpha bands, respectively. fMRI analysis identified 12 high-performing axial slices (>=90% accuracy), with slice 17 reaching 99.0%. The hybrid VGG16-Decision Tree model achieved 98.95% +/- 2.94% accuracy. Conclusion: EEG and fMRI provided effective neural biomarkers for tinnitus classification. Tree-based and hybrid models demonstrated superior performance, highlighting tinnitus as a multi-network disorder requiring multimodal analysis.

Paperid: 2638, https://arxiv.org/pdf/2510.21227.pdf

Abstract:
The effectiveness of Data Injections Attacks (DIAs) critically depends on the completeness of the system information accessible to adversaries. This relationship positions information incompleteness enhancement as a vital defense strategy for degrading DIA performance. In this paper, we focus on the information-theoretic stealth attacks, where the attacker encounters a fundamental tradeoff between the attack stealthiness and destructiveness. Specifically, we systematically characterize how incomplete admittance information impacts the dual objectives. In particular, we establish sufficient conditions for two distinct operational regimes: (i) stealthiness intensifies while destructive potential diminishes and (ii) destructiveness increases while stealth capability weakens. For scenarios beyond these regimes, we propose a maximal incompleteness strategy to optimally degrade stealth capability. To solve the associated optimization problem, the feasible region is reduced without excluding the optimal solution, and a heuristic algorithm is then introduced to effectively identify the near-optimal solutions within the reduced region. Numerical simulations are conducted on IEEE test systems to validate the findings.

Paperid: 2639, https://arxiv.org/pdf/2510.21025.pdf

Abstract:
The transition towards clean energy and the introduction of Distributed Energy Resources (DERs) are giving rise to the emergence of Microgrids (MGs) and Networks of MGs (NMGs). MGs and NMGs can operate autonomously in islanded mode. However, they face challenges in terms of secondary level frequency and voltage regulation, due to the variable nature of Renewable Energy Sources (RES) and loads. Distributed-Averaging Proportional-Integral (DAPI) control has been proposed in the literature for distributed frequency and voltage control of droop-controlled DERs, but it is not robust to operational or structural perturbations. To address this, we propose a robust DAPI frequency and voltage control scheme that ensures robustness using the concept of connective stability, along with the invariant ellipsoid technique for disturbance rejection. Simulation of an NMG model in MATLAB\textsuperscript{\textregistered}/Simulink\textsuperscript{\textregistered} consisting of 3 MGs and 5 DERs validates the effectiveness of the proposed method, and demonstrates that it can successfully mitigate the effects of major disturbances such as cyberattacks.

Paperid: 2640, https://arxiv.org/pdf/2510.20443.pdf

Abstract:
Devices within the marine Internet of Things (MIoT) can connect to low Earth orbit (LEO) satellites and unmanned aerial vehicles (UAVs) to facilitate low-latency data transmission and execution, as well as enhanced-capacity data storage. However, without proper traffic handling strategy, it is still difficult to effectively meet the low-latency requirements. In this paper, we consider a cooperative satellite-aerial-MIoT network (CSAMN) for maritime edge computing and maritime data storage to prioritize delay-sensitive (DS) tasks by employing mobile edge computing, while handling delay-tolerant (DT) tasks via the store-carry-forward method. Considering the delay constraints of DS tasks, we formulate a constrained joint optimization problem of maximizing satellite-collected data volume while minimizing system energy consumption by controlling four interdependent variables, including the transmit power of UAVs for DS tasks, the start time of DT tasks, computing resource allocation, and offloading ratio. To solve this non-convex and non-linear problem, we propose a joint computation offloading and resource management (JCORM) algorithm using the Dinkelbach method and linear programming. Our results show that the volume of data collected by the proposed JCORM algorithm can be increased by up to 41.5% compared to baselines. Moreover, JCORM algorithm achieves a dramatic reduction in computational time, from a maximum of 318.21 seconds down to just 0.16 seconds per experiment, making it highly suitable for real-time maritime applications.

Paperid: 2641, https://arxiv.org/pdf/2510.19052.pdf

Abstract:
Electrical grid congestion is a growing challenge in Europe, driving the need for accurate prediction of load, particularly of peak load. Non-time-resolved models of peak load offer the advantages of simplicity and compactness, and among them, Velander's formula (VF) is a traditional method that has been used for decades. Moreover, VF can be adapted into a quantile VF, which learns a truncated cumulative distribution function of peak load based on electricity consumption. This paper proposes a mathematical model based on extreme value theory to characterize the probability distribution of peak load for large non-residential customers. The model underpins the quantile VF as demonstrated through multiple quantile regression and reduces its representation to just four parameters without sacrificing predictive performance. Moreover, using maximum likelihood estimation and the likelihood ratio test, we validate that the probability distribution of peak load of analysed groups belongs to the heavy-tailed Fréchet class.

Paperid: 2642, https://arxiv.org/pdf/2510.18987.pdf

Abstract:
We present an experimental unit that realizes the ``multi-input, multi-output manifold'' thermal management technology proposed by Lamarre & Raymond (2023). The proposed setup can be used for experiments aimed at controlling spatiotemporal temperature distribution. Temperature control is achieved by impinging coolant fluid jets, leveraging a manifold of channels targeted to the surface. The direction of the fluid is controlled by shifting the role of channels between inputs, outputs, or closing them. Files associated with this work include Computer-Aided Design (CAD) STEP files, Gerber files to manufacture a Printed Circuit Board (PCB), and a Graphical User Interface (GUI) written in Python. We provide a step-by-step guide to assemble the experimental setup. We also provide instructions to interact with the setup through the GUI, which allows for real-time tracking of sample temperature and flow rates per flow control device. Additionally, we provide examples of usage of the setup, including system characterization with step response, Proportional-Integral-Derivative performance tracking, and disturbance rejection in a coupled system. Extending the application is accessible through the files provided in the open repository associated with this work. The active cooling device presents a safe, flexible, and complete design, allowing for lab-scale assessment of the performance of custom temperature control strategies using enclosed impinging jets.

Paperid: 2643, https://arxiv.org/pdf/2510.18420.pdf

Abstract:
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems due to their high efficiency, power density, and precise dynamic behavior. However, nonlinearities, load disturbances, and parameter uncertainties present persistent challenges to control. Sliding-Mode Control (SMC) remains one of the most reliable strategies for high-performance PMSM drives. Yet, the rapid proliferation of adaptive, fractional-order, and intelligent variants has fragmented recent literature. This paper presents a comprehensive review and taxonomy of SMC-based PMSM speed-control methods published between 2020 and 2025. More than 200 studies are systematically analyzed and classified according to control order, surface design, disturbance-observer integration, optimization approach, and intelligent augmentation. Trends in publication activity, dominant hybrid structures, and application domains are quantitatively summarized. The review reveals a clear evolution from conventional discontinuous SMC toward adaptive, higher-order, and data-driven frameworks that mitigate chattering while preserving robustness. Persistent research gaps are identified in hardware validation, energy-efficiency assessment, and real-time tuning strategies. The taxonomy and critical synthesis provided herein establish a coherent reference for researchers and form the conceptual foundation for the companion paper (Part II), which delivers a unified benchmark and comparative simulation study of representative SMC designs.

Paperid: 2644, https://arxiv.org/pdf/2510.17857.pdf

Abstract:
Accurate and robust surrogate modeling is essential for the real time control and optimization of large-scale subsurface systems, such as geological CO2 storage and waterflood management. This study investigates the limits of classical Dynamic Mode Decomposition with control (DMDc) in replicating pressure and water saturation dynamics under challenging prediction scenarios. We benchmark CCKM against DMDc and a Hybrid B-only surrogate that reuses DMDcs bottom B (same step feed through), showing that only CCKM remains stable and accurate under regime shifts. Two representative cases are considered: (i) an out of distribution shut in and restart case, and (ii) an in distribution bottom hole pressure (BHP) drawdown. Results show that only CCKM consistently maintains stability and accuracy across both scenarios, achieving sub bar mean absolute error and sub percent Frobenius norm percent change error even under regime shifts, while DMDc exhibit large unphysical errors during control transients. The findings demonstrate that strict control coherence is critical for reliable surrogate modeling, particularly in settings with abrupt changes in control strategy. The proposed framework is broadly applicable to real time reservoir optimization and can be integrated seamlessly into existing optimization and monitoring workflows, enabling fast and trustworthy decision support in the presence of both expected and unexpected actuation regimes.

Paperid: 2645, https://arxiv.org/pdf/2510.17619.pdf

Abstract:
This research investigates the potential of a sectoral Cylindrical Dielectric Resonator Antenna (CDRA) for biomedical telemetry. CDRAs are known for their low loss, ruggedness, and stability, but their limited bandwidth and size make them unsuitable for wearable devices. The research addresses these limitations by proposing a dual mode antenna that operates in EH110 and TE210 modes. The sectoral CDRA is a quarter segment with Perfect Electric Conductor boundaries, reducing its size by a factor of four. Mathematical derivations of the field components for both modes are derived to support the design. To minimize specific absorption rate (SAR), an Artificial Magnetic Conductor (AMC) surface is applied to the antennas backside, enhancing compatibility with the transverse electric modes. The antenna achieves a bandwidth of 0.7 GHz (5.2-5.9 GHz), suitable for biomedical applications, with a measured peak gain of 7.9 dBi and a SAR of 1.24 W/kg when applied to a human arm.

Paperid: 2646, https://arxiv.org/pdf/2510.16922.pdf

Abstract:
Soil nutrients and water content are two crucial factors that significantly affect agricultural production yields. Hence, monitoring and measuring the water content and soil type are critical requirements. This study proposes a two-dimensional structure of photonic crystals centered around a symmetrical cross-shaped slot. The cross-slots act as resonators, and the photonic crystals surrounding the slots tune the resonance frequency of the resonators to enhance mode confinement within the resonator. The various resonant modes are located in the 2.1 GHz, 5.2 GHz, and 8.1 GHz bands, which correspond to the S band, C band, and X band, respectively. These bands are used to compare the absorption, whereas the upper resonant mode is of the order of 20 GHz. Band structure analysis was performed using the Plane Wave Method (PWM). The resonant frequency is computed using a 3D electromagnetic (EM) simulation software that utilizes the Finite Element Method (FEM) and lies in the radiation mode region of the band structure of the photonic crystal. Varying the incident angle had a negligible effect on the absorption characteristics of the sensor, allowing it to produce accurate sensing results regardless of the incident angle. The sensor's sensitivity is maximized using this design, which results in a sensitivity of 85.4 % in the 2.1 GHz resonant frequency, which is much higher than that of a single column of photonic crystal-based SIW, resulting in 50.6 % of sensitivity at 2.1 GHz, at which there is a frequency shift of the order of GHz. In contrast, in the proposed design, the frequency shift is on the order of MHz, resulting in ultra-high sensitivity.

Paperid: 2647, https://arxiv.org/pdf/2510.16755.pdf

Abstract:
State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged robots. The proposed method adaptively adjusts the noise level of the contact foot model based on online covariance estimation, leading to improved state estimation under varying contact conditions. It effectively handles small slips that traditional slip rejection fails to address, as overly sensitive slip rejection settings risk causing filter divergence. Our approach employs a contact detection algorithm instead of contact sensors, reducing the reliance on additional hardware. The proposed method is validated through real-world experiments on the quadruped robot LeoQuad, demonstrating enhanced state estimation performance in dynamic locomotion scenarios.

Paperid: 2648, https://arxiv.org/pdf/2510.16735.pdf

Abstract:
This paper introduces a control-theoretic framework for dynamic payment routing, implemented within JUSPAY's Payment Orchestrator to maximize transaction success rate. The routing system is modeled as a closed-loop feedback controller continuously sensing gateway performance, computing corrective actions, and dynamically routes transactions across gateway to ensure operational resilience. The system leverages concepts from control theory, reinforcement learning, and multi-armed bandit optimization to achieve both short-term responsiveness and long-term stability. Rather than relying on explicit PID regulation, the framework applies generalized feedback-based adaptation, ensuring that corrective actions remain proportional to observed performance deviations and the computed gateway score gradually converges toward the success rate. This hybrid approach unifies control theory and adaptive decision systems, enabling self-regulating transaction routing that dampens instability, and improves reliability. Live production results show an improvement of up to 1.15% in success rate over traditional rule-based routing, demonstrating the effectiveness of feedback-based control in payment systems.

Paperid: 2649, https://arxiv.org/pdf/2510.16689.pdf

Abstract:
In this paper we show how to formulate and solve disturbance decoupling problems over networks while choosing a minimal number of input and output nodes. Feedback laws that isolate and eliminate the impact of disturbance nodes on specific target nodes to be protected are provided using state, output, and dynamical feedback. For that, we leverage the fact that when reformulated in terms of sets of nodes rather than subspaces, the controlled and conditional invariance properties admit a simple graphical interpretation. For state and dynamical feedback, the minimal input and output cardinality solutions can be computed exactly in polynomial time, via min-cut/max-flow algorithms.

Paperid: 2650, https://arxiv.org/pdf/2510.16625.pdf

Abstract:
Real-valued transforms such as the discrete cosine, sine, and Hartley transforms play a central role in classical computing, complementing the Fourier transform in applications from signal and image processing to data compression. However, their quantum counterparts have not evolved in parallel, and no unified framework exists for implementing them efficiently on quantum hardware. This article addresses this gap by introducing QRTlib, a library for fast and practical implementations of quantum real transforms, including the quantum Hartley, cosine, and sine transforms of various types. We develop new algorithms and circuit optimizations that make these transforms efficient and suitable for near-term devices. In particular, we present a quantum Hartley transform based on the linear combination of unitaries (LCU) technique, achieving a fourfold reduction in circuit size compared to prior methods, and an improved quantum sine transform of Type I that removes large multi-controlled operations. We also introduce circuit-level optimizations, including two's-complement and or-tree constructions. QRTlib provides the first complete implementations of these quantum real transforms in Qiskit.

Paperid: 2651, https://arxiv.org/pdf/2510.16557.pdf

Abstract:
Indoor localization remains challenging in GNSS-denied environments due to multipath, device heterogeneity, and volatile radio conditions. We propose a topology-aware, hybrid Wi-Fi/BLE fingerprinting framework that (i) applies physically consistent RSS normalization (dBm z-scoring or dBm -> linear mW -> z-score), (ii) denoises streams with classical Bayesian filters (KF/UKF/PF), (iii) combines complementary regressors (Random Forest and weighted kNN with a diagonal Mahalanobis metric), (iv) performs evidence-theoretic fusion via Dempster-Shafer theory (DST), and (v) augments each sample with persistent-homology (PH) descriptors. The system outputs both (x, y) estimates and interpretable belief maps, and is engineered for microcontroller-class deployment with per-update cost O(T log M + log M + Mp + S). We evaluate on two heterogeneous datasets, including a new 1,200-sample ESP32 survey, and report ablations, robustness to test-only noise, and significance across 10 stratified splits. Under 10% synthetic RSS noise, the full pipeline attains 3.40 m (Dataset 1) and 2.45 m (Dataset 2) RMSE, improving a strong PF + RF baseline by about 37%. Averaged across splits, it yields 4.993 +/- 0.15 m versus 6.292 +/- 0.13 m (20.6% relative reduction; p < 0.001). In noise-free tests, accuracy tightens to 0.44 m and 0.32 m (up to 56% better). Compared with recent learning-heavy approaches that assume large site-specific datasets and GPU inference, our method delivers competitive accuracy with formal uncertainty quantification and low computational cost suitable for real-time deployment.

Paperid: 2652, https://arxiv.org/pdf/2510.16534.pdf

Abstract:
This paper proposes a new approach to perform small-signal stability analysis based on linearization of implicit multilinear models. Multilinear models describe the system dynamics by multilinear functions of state, input, and algebraic variables. Using suitable transformations of variables, they can also represent trigonometric functions, which often occur in power systems modeling. This allows tensor representations of grid-following and grid-forming power converters. This paper introduces small-signal stability analysis of equilibrium points based on implicit multilinear models using generalized eigenvalues. The generalized eigenvalues are computed from linear descriptor models of the linearized implicit multilinear model. The proposed approach is tested using a 3-bus network example, first by comparing time-domain simulations of the implicit multilinear model with those of the nonlinear model, and second by comparing the generalized eigenvalues with those of the linearized nonlinear model. The results show that the decomposed tensor representation of the implicit multilinear model allows for a faster linearization compared to conventional methods in MATLAB Simulink.

Paperid: 2653, https://arxiv.org/pdf/2510.16399.pdf

Abstract:
This work considers the iterative solution of large-scale problems subject to non-symmetric matrices or operators arising in discretizations of (port-)Hamiltonian partial differential equations. We consider problems governed by an operator $\mathcal{A}=\mathcal{H}+\mathcal{S}$ with symmetric part $\mathcal{H}$ that is positive (semi-)definite and skew-symmetric part $\mathcal{S}$. Prior work has shown that the structure and sparsity of the associated linear system enables Krylov subspace solvers such as the generalized minimal residual method (GMRES) or short recurrence variants such as Widlund's or Rapoport's method using the symmetric part $\mathcal{H}$, or an approximation of it, as preconditioner. In this work, we analyze the resulting condition numbers, which are crucial for fast convergence of these methods, for various partial differential equations (PDEs) arising in diffusion phenomena, fluid dynamics, and elasticity. We show that preconditioning with the symmetric part leads to a condition number uniform in the mesh size in case of elliptic and parabolic PDEs where $\mathcal{H}^{-1}\mathcal{S}$ is a bounded operator. Further, we employ the tailored Krylov subspace methods in optimal control by means of a condensing approach and a constraint preconditioner for the optimality system. We illustrate the results by various large-scale numerical examples and discuss efficient evaluations of the preconditioner, such as incomplete Cholesky factorization or the algebraic multigrid method.

Paperid: 2654, https://arxiv.org/pdf/2510.16280.pdf

Abstract:
The rapid evolution of modern manufacturing systems is driven by the integration of emerging metaverse technologies such as artificial intelligence (AI), digital twin (DT) with different forms of extended reality (XR) like virtual reality (VR), augmented reality (AR), and mixed reality (MR). These advances confront manufacturing workers with complex and evolving environments that demand digital literacy for problem solving in the future workplace. However, manufacturing industry faces a critical shortage of skilled workforce with digital literacy in the world. Further, global pandemic has significantly changed how people work and collaborate digitally and remotely. There is an urgent need to rethink digital platformization and leverage emerging technologies to propel industrial evolution toward human-centered manufacturing metaverse (MfgVerse). This paper presents a forward-looking perspective on the development of smart MfgVerse, highlighting current efforts in learning factory, cognitive digital twinning, and the new sharing economy of manufacturing-as-a-service (MaaS). MfgVerse is converging into multiplex networks, including a social network of human stakeholders, an interconnected network of manufacturing things or agents (e.g., machines, robots, facilities, material handling systems), a network of digital twins of physical things, as well as auxiliary networks of sales, supply chain, logistics, and remanufacturing systems. We also showcase the design and development of a learning factory for workforce training in extended reality. Finally, future directions, challenges, and opportunities are discussed for human-centered manufacturing metaverse. We hope this work helps stimulate more comprehensive studies and in-depth research efforts to advance MfgVerse technologies.

Paperid: 2655, https://arxiv.org/pdf/2510.16247.pdf

Abstract:
A general and psychologically plausible collision avoidance driver model can improve transportation safety significantly. Most computational driver models found in the literature have used control theory methods only, and they are not established based on psychological theories. In this paper, a unified approach is presented based on concepts taken from psychology and control theory. The "task difficulty homeostasis theory", a prominent motivational theory, is combined with the "Lyapunov stability method" in control theory to present a general and psychologically plausible model. This approach is used to model driver steering behavior for collision avoidance. The performance of this model is measured by simulation of two collision avoidance scenarios at a wide range of speeds from 20 km/h to 170 km/h. The model is validated by experiments on a driving simulator. The results demonstrate that the model follows human behavior accurately with a mean error of 7 percent.

Paperid: 2656, https://arxiv.org/pdf/2510.16232.pdf

Abstract:
Multi-agent learning faces a fundamental tension: leveraging distributed collaboration without sacrificing the personalization needed for diverse agents. This tension intensifies when aiming for full personalization while adapting to unknown heterogeneity levels -- gaining collaborative speedup when agents are similar, without performance degradation when they are different. Embracing the challenge, we propose personalized collaborative learning (PCL), a novel framework for heterogeneous agents to collaboratively learn personalized solutions with seamless adaptivity. Through carefully designed bias correction and importance correction mechanisms, our method AffPCL robustly handles both environment and objective heterogeneity. We prove that AffPCL reduces sample complexity over independent learning by a factor of $\max\{n^{-1}, δ\}$, where $n$ is the number of agents and $δ\in[0,1]$ measures their heterogeneity. This affinity-based acceleration automatically interpolates between the linear speedup of federated learning in homogeneous settings and the baseline of independent learning, without requiring prior knowledge of the system. Our analysis further reveals that an agent may obtain linear speedup even by collaborating with arbitrarily dissimilar agents, unveiling new insights into personalization and collaboration in the high heterogeneity regime.

Paperid: 2657, https://arxiv.org/pdf/2510.16221.pdf

Abstract:
While sequential task assignment for a single agent has been widely studied, such problems in a multi-agent setting, where the agents have heterogeneous task preferences or capabilities, remain less well-characterized. We study a multi-agent task assignment problem where a central planner assigns recurring tasks to multiple members of a team over a finite time horizon. For any given task, the members have heterogeneous capabilities in terms of task completion times, task resource consumption (which can model variables such as energy or attention), and preferences in terms of the rewards they collect upon task completion. We assume that the reward, execution time, and resource consumption for each member to complete any task are stochastic with unknown distributions. The goal of the planner is to maximize the total expected reward that the team receives over the problem horizon while ensuring that the resource consumption required for any assigned task is within the capability of the agent. We propose and analyze a bandit algorithm for this problem. Since the bandit algorithm relies on solving an optimal task assignment problem repeatedly, we analyze the achievable regret in two cases: when we can solve the optimal task assignment exactly and when we can solve it only approximately.

Paperid: 2658, https://arxiv.org/pdf/2510.14542.pdf

Abstract:
We study deep state-space models (Deep SSMs) that contain linear-quadratic-output (LQO) systems as internal blocks and present a compression method with a provable output error guarantee. We first derive an upper bound on the output error between two Deep SSMs and show that the bound can be expressed via the $h^2$-error norms between the layerwise LQO systems, thereby providing a theoretical justification for existing model order reduction (MOR)-based compression. Building on this bound, we formulate an optimization problem in terms of the $h^2$-error norm and develop a gradient-based MOR method. On the IMDb task from the Long Range Arena benchmark, we demonstrate that our compression method achieves strong performance. Moreover, unlike prior approaches, we reduce roughly 80% of trainable parameters without retraining, with only a 4-5% performance drop.

Paperid: 2659, https://arxiv.org/pdf/2510.14075.pdf

Abstract:
The optimal power flow (OPF) is a multi-valued, non-convex mapping from loads to dispatch setpoints. The variability of system parameters (e.g., admittances, topology) further contributes to the multiplicity of dispatch setpoints for a given load. Existing deep learning OPF solvers are single-valued and thus fail to capture the variability of system parameters unless fully represented in the feature space, which is prohibitive. To solve this problem, we introduce a diffusion-based OPF solver, termed \textit{DiffOPF}, that treats OPF as a conditional sampling problem. The solver learns the joint distribution of loads and dispatch setpoints from operational history, and returns the marginal dispatch distributions conditioned on loads. Unlike single-valued solvers, DiffOPF enables sampling statistically credible warm starts with favorable cost and constraint satisfaction trade-offs. We explore the sample complexity of DiffOPF to ensure the OPF solution within a prescribed distance from the optimization-based solution, and verify this experimentally on power system benchmarks.

Paperid: 2660, https://arxiv.org/pdf/2510.14052.pdf

Abstract:
Anomaly detection plays a vital role in the security and safety of cyber-physical control systems, and accurately distinguishing between different anomaly types is crucial for system recovery and mitigation. This study proposes a dual detection framework for anomaly detection and discrimination. By leveraging the dynamic characteristics of control loops and the stealthiness features of integrity attacks, the closed-loop stealthiness condition is first derived, and two dedicated detectors are designed and deployed on the controller side and the plant side, respectively, enabling joint plant fault and cyber attack detection. Moreover, by jointly analyzing the residual response of the two detectors corresponding to different anomalies, it is proved that the proposed method can distinguish between faults and integrity attacks due to the detectors' individual residual spaces. According to the detector's residual space, the fault and attack detection performance is further improved by a two-stage optimization scheme. Simulation results validate the effectiveness of the proposed approach.

Paperid: 2661, https://arxiv.org/pdf/2510.13563.pdf

Abstract:
This paper investigates a multiple antenna system with non-orthogonal multiple access (NOMA) for the exchange of air traffic management data between commercial aircraft pilots and ground-based air traffic controllers. While NOMA techniques enhance spectral efficiency, their application to aircraft communications is challenged by the high speed of the aircraft (up to 214 m/s) and the long communication ranges (up to 250 km), resulting in significant Doppler shifts and low signal-to-noise ratios, respectively. To accurately assess these challenges, we employ a realistic geometry-based stochastic air-ground channel model, derived from dedicated flight measurement campaigns. In this paper, multiple aircraft simultaneously transmit data to the ground station. We focus on the channel estimation problem at the ground station under high carrier frequency offsets and the effects of channel aging due to channel's time-varying nature. For the channel estimation problem, we compare the Zadoff-Chu sequences with time-division approach under varying carrier frequency offset pre-compensation accuracies at the aircraft transmitter. For the channel aging problem and performance evaluation of channel estimators, we compute the outage probability for both the zero-forcing detector and the minimum mean squared error detector with successive interference cancellation. The results show that the favorable channel estimator-detector combinations differ between the takeoff & landing phase and the enroute cruise phase of the flight, due to the distinct channel propagation characteristics of each phase.

Paperid: 2662, https://arxiv.org/pdf/2510.13461.pdf

Abstract:
Accurate prediction of vehicle collision dynamics is crucial for advanced safety systems and post-impact control applications, yet existing methods face inherent trade-offs among computational efficiency, prediction accuracy, and data requirements. This paper proposes a dual Physics-Informed Neural Network framework addressing these challenges through two complementary networks. The first network integrates Gaussian Mixture Models with PINN architecture to learn impact force distributions from finite element analysis data while enforcing momentum conservation and energy consistency constraints. The second network employs an adaptive PINN with dynamic constraint weighting to predict post-collision vehicle dynamics, featuring an adaptive physics guard layer that prevents unrealistic predictions whil e preserving data-driven learning capabilities. The framework incorporates uncertainty quantification through time-varying parameters and enables rapid adaptation via fine-tuning strategies. Validation demonstrates significant improvements: the impact force model achieves relative errors below 15.0% for force prediction on finite element analysis (FEA) datasets, while the vehicle dynamics model reduces average trajectory prediction error by 63.6% compared to traditional four-degree-of-freedom models in scaled vehicle experiments. The integrated system maintains millisecond-level computational efficiency suitable for real-time applications while providing probabilistic confidence bounds essential for safety-critical control. Comprehensive validation through FEA simulation, dynamic modeling, and scaled vehicle experiments confirms the framework's effectiveness for Precision Immobilization Technique scenarios and general collision dynamics prediction.

Paperid: 2663, https://arxiv.org/pdf/2510.13100.pdf

Abstract:
Many industrial sites rely on diesel-powered light-duty trucks to transport workers and small-scale facilities, which has resulted in a significant amount of greenhouse emissions (GHGs). To address this, we developed a two-stage robust charging infrastructure planning model for electrifying light-duty trucks at industrial sites. The model is formulated as a mixed-integer linear programming (MILP) that optimizes the charging infrastructure, selected from multiple charger types and potential locations, and determines opportunity charging schedules for each truck based on the chosen infrastructure. Given the strict stopping points and schedules at industrial sites, we introduced a scheduling problem with abandonment, where trucks forgo charging if their waiting times exceed a maximum threshold. We also further incorporated the impacts of overnight charging and range anxiety on waiting and abandonment behaviors. To represent the stochastic and heterogeneous parking durations of trucks, we constructed a decision-dependent robust uncertainty set in which parking time variability flexibly depends on charging choices. We applied the model in a case study of an open-pit mining site, which plans charger installations in eight zones and schedules a fleet of around 200 trucks. By decomposing the problem into monthly subproblems and using heuristic approaches, for the whole-year dataset, the model achieves an optimality gap of less than 0.1 % within a reasonable computation time under diverse uncertainty scenarios.

Paperid: 2664, https://arxiv.org/pdf/2510.12961.pdf

Abstract:
Electric vehicle (EV) public charging infrastructure planning faces significant challenges in competitive markets, where multiple service providers affect congestion and user behavior. This work extends existing modeling frameworks by incorporating the presence of competitors' stations and more realistic queueing systems. First, we analyze three finite queueing systems, M/M/1/K, M/M/s/K, and M/Er/s/K, with varying numbers of servers (charging outlets) and service time distributions, deriving analytic expressions for user behavior metrics. Second, we embed the queueing-based user behavior model into a bilevel program, where the upper level locates new charging stations to maximize accessibility (throughput), and the lower level captures users' station choices via a user equilibrium. Third, we apply a reformulation from competitive congested user-choice facility location models to approximately solve the bilevel problem and introduce a surrogate-based heuristic to enhance scalability. Fourth, we showcase our methodology on a real-world case study of an urban area in Montreal (Canada), offering managerial insights into how user-choice behavior assumptions and competition affect throughput and location decisions. The results demonstrate that our model yields (re)location strategies that outperform the existing network. More broadly, this approach provides a tool for incorporating charging service quality-through queueing metrics-and existing competition into station planning.

Paperid: 2665, https://arxiv.org/pdf/2510.12946.pdf

Abstract:
In highly nonlinear systems such as the ones commonly found in astrodynamics, Gaussian distributions generally evolve into non-Gaussian distributions. This paper introduces a method for effectively controlling non-Gaussian distributions in nonlinear environments using optimized linear feedback control. This paper utilizes Conjugate Unscented Transformation to quantify the higher-order statistical moments of non-Gaussian distributions. The formulation focuses on controlling and constraining the sigma points associated with the uncertainty quantification, which would thereby reflect the control of the entire distribution and constraints on the moments themselves. This paper develops an algorithm to solve this problem with sequential convex programming, and it is demonstrated through a two-body and three-body example. The examples show that individual moments can be directly controlled, and the moments are accurately approximated for non-Gaussian distributions throughout the controller's time horizon in nonlinear dynamics.

Paperid: 2666, https://arxiv.org/pdf/2510.12914.pdf

Abstract:
This paper proposes a wideband composite sequence impedance model (WCSIM)-based analysis method to evaluate the interactions in power-electronic-based power systems subjected to unbalanced grid faults or with unbalanced loads. The WCSIM-based method intuitively assesses the impact of the small-signal interconnection among the positive-, negative-, and zero-sequence circuits on the interaction stability of unbalanced power systems. The effectiveness of this method is demonstrated using a permanent magnet synchronous generator-based weak grid system under a single-line-to-ground fault (SLGF). Frequency scanning results and controller hardware-in-loop tests validate both the correctness of the WCSIM and the effectiveness of the WCSIM-based analysis method.

Paperid: 2667, https://arxiv.org/pdf/2510.12656.pdf

Abstract:
Molecular quantum-dot Cellular Automata (QCA) may provide low-power, high-speed computational hardware for processing classical information. Simulation and modeling play an important role in the design of QCA circuits because fully-coherent models of QCA scale exponentially with the number of devices, and such models are severely limited in size. For larger circuits, approximations become necessary. In the era of fault-tolerant quantum computation, however, it may become possible to model large QCA circuits without such limitations. Presently, this work explores the use of the noisy-intermediate scale quantum (NISQ) variational quantum eigensolver (VQE) method for estimating the ground state of QCA circuits. This is relevant because the computational result of a QCA calculation is encoded in the circuit's ground state. In this study, VQE is used to model logic circuits, including binary wires, inverters, and majority gates. VQE models are performed ideal simulators, noisy simulators, and actual quantum hardware. This study demonstrates that VQE may indeed be used to model molecular QCA circuits. It is observed that using modern NISQ hardware, results are still quite sensitive to noise, so measures should be taken to minimize noise. These include simplifying the ansatz circuit whenever possible, and using low-noise hardware.

Paperid: 2668, https://arxiv.org/pdf/2510.12512.pdf

Abstract:
This paper investigates the fundamental performance limits of gradient-based algorithms for time-varying optimization. Leveraging the internal model principle and root locus techniques, we show that temporal variabilities impose intrinsic limits on the achievable rate of convergence. For a problem with condition ratio $κ$ and time variation whose model has degree $n$, we show that the worst-case convergence rate of any minimal-order gradient-based algorithm is $ρ_\text{TV} = (\frac{κ-1}{κ+1})^{1/n}$. This bound reveals a fundamental tradeoff between problem conditioning, temporal complexity, and rate of convergence. We further construct explicit controllers that attain the bound for low-degree models of time variation.

Paperid: 2669, https://arxiv.org/pdf/2510.12360.pdf

Abstract:
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control.

Paperid: 2670, https://arxiv.org/pdf/2510.12205.pdf

Abstract:
The most startling of the contemporary problems is the sleepiness of chauffeur which causes lots of car accidents. Prevention of those impending accidents by detecting and alerting the sleepy chauffeur is vital, otherwise that would lead to loss of lives and various traumas along with severe injuries. The slumber or sleep may be caused by huge stress, pressure, relentless work load or alcoholism, for which sleep deprivation occurs and the chauffeur while driving gets drowsy. So far, considerable amount of systems has been developed to detect drowsiness of drivers, most of which mainly depend on image processing algorithms using cameras. Some of them also incorporate artificial intelligence and machine learning based algorithms. This paper presents a review of the existing systems and also proposes an easy and cheap system using sensors and Arduino, capable of detecting sleepiness and generates siren alarm and send alert message to take precautionary measures.

Paperid: 2671, https://arxiv.org/pdf/2510.11848.pdf

Abstract:
In this paper, we develop a framework for deception in quantum games, extending the Honey-X paradigm from classical zero-sum settings into the quantum domain. Building on a view of deception in classical games as manipulation of a player's perception of the payoff matrix, we formalize quantum deception as controlled perturbations of the payoff Hamiltonian subject to a deception budget. We show that when victims are aware of possible deception, their equilibrium strategies surprisingly coincide with those of naive victims who fully trust the deceptive Hamiltonian. This equivalence allows us to cast quantum deception as a bilevel optimization problem, which can be reformulated into a bilinear semidefinite program. To illustrate the framework, we present simulations on quantum versions of the Penny Flip game, demonstrating how quantum strategy spaces and non-classical payoffs can amplify the impact of deception relative to classical formulations.

Paperid: 2672, https://arxiv.org/pdf/2508.20669.pdf

Abstract:
We present a novel, input-output data-driven approach to uncertainty model identification. As the true bounds and distributions of system uncertainties ultimately remain unknown, we depart from the goal of identifying the uncertainty model and instead look for minimal concrete statements that can be made based on an uncertain system model and available input-output data. We refer to this as unfalsifying an uncertainty model. Two different unfalsification approaches are taken. The optimistic approach determines the smallest uncertainties that could explain the given data, while the pessimistic approach finds the largest possible uncertainties suggested by the data. The pessimistic problem is revealed to be a semi-infinite program, which is solved using the local reduction algorithm. It is also shown that the optimistic and pessimistic approaches to uncertainty model unfalsification are mathematical duals. Finally, both approaches are tested using an uncertain linear model with data from a simulated nonlinear system.

Paperid: 2673, https://arxiv.org/pdf/2508.18583.pdf

Abstract:
This study explores an energy-efficient control strategy for spacecraft inspection using a fuzzy inference system combined with a bio-inspired optimization technique to incorporate learning capability into the control process. The optimized fuzzy controller produces a minimally fuel-consuming force while maintaining reliable inspection within constraints, such as illumination, restricted field of view, thrust limits, and safe regions. The performance of the proposed control strategy is validated through Monte Carlo simulations.

Paperid: 2674, https://arxiv.org/pdf/2508.18483.pdf

Abstract:
Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally rigid frameworks (URFs) guarantee the existence of the stress matrix and have thus become the guideline for such a network design. In this work, we propose a convex optimization framework to design the stress matrix for AFC without predefining a rigid graph. We aim to find a resulting network with a reduced number of communication links, but still with a fast convergence speed. We show through simulations that our proposed solutions can yield a more sparse graph, while admitting a faster convergence compared to the state-of-the-art solutions.

Paperid: 2675, https://arxiv.org/pdf/2508.18284.pdf

Abstract:
Accurately predicting the drift (displacement) of leeway objects in maritime environments remains a critical challenge, particularly in time-sensitive scenarios such as search and rescue operations. In this study, we propose a multi-modal machine learning framework that integrates Sentence Transformer embeddings with attention-based sequence-to-sequence architectures to predict the drift of leeway objects in water. We begin by experimentally collecting environmental and physical data, including water current and wind velocities, object mass, and surface area, for five distinct leeway objects. Using simulated data from a Navier-Stokes-based model to train a convolutional neural network on geometrical image representations, we estimate drag and lift coefficients of the leeway objects. These coefficients are then used to derive the net forces responsible for driving the objects' motion. The resulting time series, comprising physical forces, environmental velocities, and object-specific features, combined with textual descriptions encoded via a language model, are inputs to attention-based sequence-to-sequence long-short-term memory and Transformer models, to predict future drift trajectories. We evaluate the framework across multiple time horizons ($1$, $3$, $5$, and $10$ seconds) and assess its generalization across different objects. We compare our approach against a fitted physics-based model and traditional machine learning methods, including recurrent neural networks and temporal convolutional neural networks. Our results show that these multi-modal models perform comparably to traditional models while also enabling longer-term forecasting in place of single-step prediction. Overall, our findings demonstrate the ability of a multi-modal modeling strategy to provide accurate and adaptable predictions of leeway object drift in dynamic maritime conditions.

Paperid: 2676, https://arxiv.org/pdf/2508.17430.pdf

Abstract:
In this paper, we consider the problem of input-output data-driven sensor selection for unknown cyber-physical systems (CPS). In particular, out of a large set of sensors available for use, we choose a subset of them that maximizes a metric of observability of the CPS. The considered observability metric is related to the $\mathcal{H}_2$ system norm, which quantifies the average output energy of the selected sensors over a finite or an infinite horizon. However, its computation inherently requires knowledge of the unknown matrices of the system, so we draw connections from the reinforcement learning literature and design an input-output data-driven algorithm to compute it in a model-free manner. We then use the derived data-driven metric expression to choose the best sensors of the system in polynomial time, effectively obtaining a provably convergent model-free sensor selection process. Additionally, we show how the proposed data-driven approach can be exploited to select sensors that optimize volumetric measures of observability, while also noting its applicability to the dual problem of actuator selection. Simulations are performed to demonstrate the validity and effectiveness of the proposed approach.

Paperid: 2677, https://arxiv.org/pdf/2508.17390.pdf

Abstract:
True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information acquired from their own sensors. Building on recent published work [1], we demonstrate here, for the first time, that microrobotic smartlets, hitherto buoyancy divers, can also be equipped to navigate in 2D on surfaces, with on-board control responding to both sensor information and their internal electronic program. Fabricating modular microrobots, with all dimensions of 1mm and below, has been difficult to achieve because of competing demands for the limited surface area and the challenges of integrating and interconnecting the diverse functionalities of energy harvesting, actuation, sensing, communication, docking and control. A novel high density heterogeneous integration, via soft-substrate micro flip-chip bonding of custom CMOS and LED microchiplets onto fold-up polymer surfaces, compatible with roll-up isotropic ambient light harvesting, now makes this possible. Fabricating electrolytic bubble actuators on multiple cube-faces and connecting them to a custom sensor-controlled on-board microchiplet (lablet), allows the smartlets to locomote on wet surfaces, changing direction in response to both timed programmed control as well as programmed response to locally sensed signals. Such locomoted robotic microcubes can also move to and selectively dock with other modules via patterned surfaces. This is powered by ambient light in natural aqueous media on smooth surfaces.

Paperid: 2678, https://arxiv.org/pdf/2508.16980.pdf

Abstract:
Integrating reconfigurable intelligent surfaces (RIS) into wireless communication systems is a promising approach for enhancing coverage and data rates by intelligently redirecting signals, through a process known as beamforming. However, the process of RIS beamforming (or passive beamforming) control is associated with multiple latency-inducing factors. As a result, by the time the beamforming is effectively updated, the channel conditions may have already changed. For example, the low update rate of localization systems becomes a critical limitation, as a mobile UE's position may change significantly between two consecutive measurements. To address this issue, this work proposes a practical and scalable physics-based solution that is effective across a wide range of UE movement models. Specifically, we propose a kinematic observer and predictor to enable proactive RIS control. From low-rate position estimates provided by a localizer, the kinematic observer infers the UE's speed and acceleration. These motion parameters are then used by a predictor to estimate the UE's future positions at a higher rate, allowing the RIS to adjust promptly and compensate for inherent delays in both the RIS control and localization systems. Numerical results validate the effectiveness of the proposed approach, demonstrating real-time RIS adjustments with low computational complexity, even in scenarios involving rapid UE movement.

Paperid: 2679, https://arxiv.org/pdf/2508.16803.pdf

Abstract:
The paper proposes a modular-based approach to constraint handling in process optimization and control. This is partly motivated by the recent interest in learning-based methods, e.g., within bioproduction, for which constraint handling under uncertainty is a challenge. The proposed constraint handler, called predictive filter, is combined with an adaptive constraint margin and a constraint violation cost monitor to minimize the cost of violating soft constraints due to model uncertainty and disturbances. The module can be combined with any controller and is based on minimally modifying the controller output, in a least squares sense, such that constraints are satisfied within the considered horizon. The proposed method is computationally efficient and suitable for real-time applications. The effectiveness of the method is illustrated through a realistic simulation case study of glycosylation constraint satisfaction in continuous monoclonal antibody biosimilar production using Chinese hamster ovary cells, for which the metabolic network model consists of 23 extracellular metabolites and 126 reactions.

Paperid: 2680, https://arxiv.org/pdf/2508.16490.pdf

Abstract:
We consider the problem of using multiple agents to harvest data from a collection of sensor nodes (targets) scattered across a two-dimensional environment. These targets transmit their data to the agents that move in the space above them, and our goal is for the agents to collect data from the targets as efficiently as possible while moving to their final destinations. The agents are assumed to have a continuous control action, and we leverage reinforcement learning, specifically Proximal Policy Optimization (PPO) with Lagrangian Penalty (LP), to identify highly effective solutions. Additionally, we enhance the controller's robustness by incorporating regularization at each state to smooth the learned policy. We conduct a series of simulations to demonstrate our approach and validate its performance and robustness.

Paperid: 2681, https://arxiv.org/pdf/2508.15732.pdf

Abstract:
This study proposes a dynamic coupling-informed trajectory optimization algorithm for free-floating space manipulator systems (SMSs). Dynamic coupling between the base and the manipulator arms plays a critical role in influencing the system's behavior. While prior research has predominantly focused on minimizing this coupling, often overlooking its potential advantages, this work investigates how dynamic coupling can instead be leveraged to improve trajectory planning. Singular value decomposition (SVD) of the dynamic coupling matrix is employed to identify the dominant components governing coupling behavior. A quantitative metric is then formulated to characterize the strength and directionality of the coupling and is incorporated into a trajectory optimization framework. To assess the feasibility of the optimized trajectory, a sliding mode control-based tracking controller is designed to generate the required joint torque inputs. Simulation results demonstrate that explicitly accounting for dynamic coupling in trajectory planning enables more informed and potentially more efficient operation, offering new directions for the control of free-floating SMSs.

Paperid: 2682, https://arxiv.org/pdf/2508.15498.pdf

Abstract:
In this paper we design a novel class of online distributed optimization algorithms leveraging control theoretical techniques. We start by focusing on quadratic costs, and assuming to know an internal model of their variation. In this set-up, we formulate the algorithm design as a robust control problem, showing that it yields a fully distributed algorithm. We also provide a distributed routine to acquire the internal model. We show that the algorithm converges exactly to the sequence of optimal solutions. We empirically evaluate the performance of the algorithm for different choices of parameters. Additionally, we evaluate the performance of the algorithm for quadratic problems with inexact internal model and non-quadratic problems, and show that it outperforms alternative algorithms in both scenarios.

Paperid: 2683, https://arxiv.org/pdf/2508.14385.pdf

Abstract:
Effective responses to cyberattacks require fast decisions, even when information about the attack is incomplete or inaccurate. However, most decision-support frameworks for incident response rely on a detailed system model that describes the incident, which restricts their practical utility. In this paper, we address this limitation and present an online method for incident response planning under model misspecification, which we call MOBAL: Misspecified Online Bayesian Learning. MOBAL iteratively refines a conjecture about the model through Bayesian learning as new information becomes available, which facilitates model adaptation as the incident unfolds. To determine effective responses online, we quantize the conjectured model into a finite Markov model, which enables efficient response planning through dynamic programming. We prove that Bayesian learning is asymptotically consistent with respect to the information feedback. Additionally, we establish bounds on misspecification and quantization errors. Experiments on the CAGE-2 benchmark show that MOBAL outperforms the state of the art in terms of adaptability and robustness to model misspecification.

Paperid: 2684, https://arxiv.org/pdf/2508.14309.pdf

Abstract:
This paper presents a numerically robust approach to multi-band disturbance rejection using an iterative Youla-Kucera parameterization technique. The proposed method offers precise control over shaping the frequency response of a feedback loop while maintaining numerical stability through a systematic design process. By implementing an iterative approach, we overcome a critical numerical issue in rejecting vibrations with multiple frequency bands. Meanwhile, our proposed modification of the all-stabilizing Youla-Kucera architecture enables intuitive design while respecting fundamental performance trade-offs and minimizing undesired waterbed amplifications. Numerical validation on a hard disk drive servo system demonstrates significant performance improvements, enabling enhanced positioning precision for increased storage density. The design methodology extends beyond storage systems to various high-precision control applications where multi-band disturbance rejection is critical.

Paperid: 2685, https://arxiv.org/pdf/2508.14226.pdf

Abstract:
Autonomy at Levels is the idea that autonomy should be embedded within and throughout a spacecraft. Using Systems Engineering methods a spacecraft is typically decomposed into systems, subsystems, assemblies, components, and so on. All these decomposition levels within all the spacecraft's systems, could and should have autonomy elements built in. As a result, the "autonomy system" is made of autonomy elements or units that are integrated, distributed and embedded within the whole spacecraft. This is like how the power system would be designed and implemented. Linking control loops and autonomy loops illustrates how to achieve Autonomy at Levels.

Paperid: 2686, https://arxiv.org/pdf/2508.12633.pdf

Abstract:
With the rapid advancement of vehicular communication facilities and autonomous driving technologies, connected vehicle platooning has emerged as a promising approach to improve traffic efficiency and driving safety. Reliable Vehicle-to-Vehicle (V2V) communication is critical to achieving efficient cooperative control. However, in the real-world traffic environment, V2V communication may suffer from time-varying delay and packet loss, leading to degraded control performance and even safety risks. To mitigate the adverse effects of non-ideal communication, this paper proposes a Dynamic Communication Topology based Multi-Agent Reinforcement Learning (DCT-MARL) algorithm for robust cooperative platoon control. Specifically, the state space is augmented with historical control action and delay to enhance robustness against communication delay. To mitigate the impact of packet loss, a multi-key gated communication mechanism is introduced, which dynamically adjusts the communication topology based on the correlation between vehicles and their current communication status. Simulation results demonstrate that the proposed DCT-MARL significantly outperforms state-of-the-art methods in terms of string stability and driving comfort, validating its superior robustness and effectiveness.

Paperid: 2687, https://arxiv.org/pdf/2508.12351.pdf

Abstract:
The integration of large-scale renewable energy sources, such as wind power, poses significant challenges for the optimal operation of power systems owing to their inherent uncertainties. This paper proposes a solution framework for wind-integrated optimal power flow (OPF) that leverages an enhanced second-order cone relaxation (SOCR), supported by a rolling cutting plane technique. Initially, the wind generation cost, arising from discrepancies between scheduled and actual wind power outputs, is meticulously modeled using a Gaussian mixture model based on historical wind power data. This modelled wind generation cost is subsequently incorporated into the objective function of the conventional OPF problem. To achieve the efficient and accurate solution for the wind-integrated OPF, effectively managing the constraints associated with AC power flow equations is essential. In this regard, a SOCR, combined with a second-order Taylor series expansion, is employed to facilitate the convex approximation of the AC power flow equations. Additionally, a warm-start strategy, grounded in a proposed rolling cutting plane technique, is devised to reduce relaxation errors and enhance computational efficiency. Finally, the effectiveness and efficiency of the proposed solution framework are demonstrated across various case studies. Specifically, the influence of wind power cost is also examined, further highlighting the practical implications of the proposed solution framework.

Paperid: 2688, https://arxiv.org/pdf/2508.11533.pdf

Abstract:
Over the past decades, the Koopman operator has been widely applied in data-driven control, yet its theoretical foundations remain underexplored. This paper establishes a unified framework to address the robust stabilization problem in data-driven control via the Koopman operator, fully accounting for three uncertainties: projection error, estimation error, and process disturbance. It comprehensively investigates both direct and indirect data-driven control approaches, facilitating flexible methodology selection for analysis and control. For the direct approach, considering process disturbances, the lifted-state feedback controller, designed via a linear matrix inequality (LMI), robustly stabilizes all lifted bilinear systems consistent with noisy data. For the indirect approach requiring system identification, the feedback controller, designed using a nonlinear matrix inequality convertible to an LMI, ensures closed-loop stability under worst-case process disturbances. Numerical simulations via cross-validation validate the effectiveness of both approaches, highlighting their theoretical significance and practical utility.

Paperid: 2689, https://arxiv.org/pdf/2508.09774.pdf

Abstract:
We developed a new integrated learning and optimization (ILO) methodology to predict context-aware unknown parameters in economic dispatch (ED), a crucial problem in power systems solved to generate optimal power dispatching decisions to serve consumer load. The ED formulation in the current study consists of load and renewable generation as unknown parameters in its constraints predicted using contextual information (e.g., prior load, temperature). The ILO framework train a neural network (NN) to estimate ED parameters by minimizing an application-specific regret function which is a difference between ground truth and NN-driven decisions favouring better ED decisions. We thoroughly analyze the feasible region of ED formulation to understand the impact of load and renewable learning together on the ED decisions. Corresponding to that we developed a new regret function to capture real-time electricity market operations where differences in predicted and true loads are corrected by ramping generators in real-time but at a higher cost than the market price. The proposed regret function when minimized using ILO framework train the NN to guide the load and renewable predictions to generate ED decisions favouring minimum generator ramping costs. This is unlike conventional sequential learning and optimization (SLO) framework which train NN to accurately estimate load and renewable instead of better ED decisions. The combined training of load and renewable using ILO is a new concept and lead to significantly improved ramping costs when compared with SLO based training of load and renewable and SLO trained load with 100% accurate renewable proving its decision-focused capability.

Paperid: 2690, https://arxiv.org/pdf/2508.09536.pdf

Abstract:
Modern unmanned aerial vehicle threats require sophisticated interception strategies that can overcome advanced evasion capabilities and operate effectively in contested environments. Traditional single-interceptor and uncoordinated multi-interceptor approaches suffer from fundamental limitations including inadequate coverage, predictable pursuit patterns, and vulnerability to intelligent evasion maneuvers. This paper introduces the Shepherd Grid Strategy, a new multi-phase coordination framework that employs pack-based behavioral coordination to achieve deterministic target interception through systematic containment and coordinated strike execution. The strategy implements a four-phase operational model consisting of chase, follow, formation, and engagement phases, with dynamic role assignment and adaptive formation geometry that maintains persistent target pressure while preparing optimal strike opportunities. Our approach incorporates three key innovations: adaptive phase transition mechanisms that optimize pursuit behavior based on proximity and mission objectives, dynamic role assignment systems that designate specialized interceptor functions including formation maintenance and strike execution, and predictive formation geometry algorithms that create mobile containment grids adapting to target movement patterns. The simulation experiments demonstrate significant performance improvements over traditional methods, achieving near-perfect interception success rates (over 95%) compared to traditional approaches (65%) and reducing median time-to-intercept.

Paperid: 2691, https://arxiv.org/pdf/2508.09181.pdf

Abstract:
Federated learning (FL) provides a decentralized framework that enables universal model training through collaborative efforts on mobile nodes, such as smart vehicles in the Internet of Vehicles (IoV). Each smart vehicle acts as a mobile client, contributing to the process without uploading local data. This method leverages non-independent and identically distributed (non-IID) training data from different vehicles, influenced by various driving patterns and environmental conditions, which can significantly impact model convergence and accuracy. Although client selection can be a feasible solution for non-IID issues, it faces challenges related to selection metrics. Traditional metrics evaluate client data quality independently per round and require client selection after all clients complete local training, leading to resource wastage from unused training results. In the IoV context, where vehicles have limited connectivity and computational resources, information asymmetry in client selection risks clients submitting false information, potentially making the selection ineffective. To tackle these challenges, we propose a novel Long-term Client-Selection Federated Learning based on Truthful Auction (LCSFLA). This scheme maximizes social welfare with consideration of long-term data quality using a new assessment mechanism and energy costs, and the advised auction mechanism with a deposit requirement incentivizes client participation and ensures information truthfulness. We theoretically prove the incentive compatibility and individual rationality of the advised incentive mechanism. Experimental results on various datasets, including those from IoV scenarios, demonstrate its effectiveness in mitigating performance degradation caused by non-IID data.

Paperid: 2692, https://arxiv.org/pdf/2508.08506.pdf

Abstract:
Realizing distributed multi-user beamforming (D-MUBF) in time division duplex (TDD)-based multi-user MIMO (MU-MIMO) systems faces significant challenges. One of the most fundamental challenges is achieving accurate over-the-air (OTA) timing and frequency synchronization among distributed access points (APs), particularly due to residual frequency offsets caused by local oscillator (LO) drifts. Despite decades of research on synchronization for MU-MIMO, there are only a few experimental studies that evaluate D-MUBF techniques under imperfect frequency synchronization among distributed antennas. This paper presents an analytical and experimental assessment of D-MUBF methods in the presence of frequency synchronization errors. We provide closed-form expressions for signal-to-interference-plus-noise ratio (SINR) as a function of channel characteristics and statistical properties of carrier frequency offset (CFO) among AP antennas. In addition, through experimental evaluations conducted with the RENEW massive MIMO testbed, we collected comprehensive datasets across various experimental scenarios. These datasets comprise uplink pilot samples for channel and CFO estimation, in addition to uplink multi-user data intended for analyzing D-MUBF techniques. By examining these datasets, we assess the performance of D-MUBF in the presence of CFO and compare the analytical predictions with empirical measurements. Furthermore, we make the datasets publicly available and provide insights on utilizing them for future research endeavors.

Paperid: 2693, https://arxiv.org/pdf/2508.08217.pdf

Abstract:
Hazardous environments such as chemical spills, radiological zones, and bio-contaminated sites pose significant threats to human safety and public infrastructure. Rapid and reliable hazard mitigation in these settings often unsafe for humans, calling for autonomous systems that can adaptively sense and respond to evolving risks. This paper presents a decision-making framework for autonomous vehicle dispatch in hazardous environments with uncertain and evolving risk levels. The system integrates a Bayesian Upper Confidence Bound (BUCB) sensing strategy with task-specific vehicle routing problems with profits (VRPP), enabling adaptive coordination of unmanned aerial vehicles (UAVs) for hazard sensing and unmanned ground vehicles (UGVs) for cleaning. Using VRPP allows selective site visits under resource constraints by assigning each site a visit value that reflects sensing or cleaning priorities. Site-level hazard beliefs are maintained through a time-weighted Bayesian update. BUCB scores guide UAV routing to balance exploration and exploitation under uncertainty, while UGV routes are optimized to maximize expected hazard reduction under resource constraints. Simulation results demonstrate that our framework reduces the number of dispatch cycles to resolve hazards by around 30% on average compared to baseline dispatch strategies, underscoring the value of uncertainty-aware vehicle dispatch for reliable hazard mitigation.

Paperid: 2694, https://arxiv.org/pdf/2508.07720.pdf

Abstract:
As multi-agent systems (MAS) become increasingly prevalent in autonomous systems, distributed control, and edge intelligence, efficient communication under resource constraints has emerged as a critical challenge. Traditional communication paradigms often emphasize message fidelity or bandwidth optimization, overlooking the task relevance of the exchanged information. In contrast, goal-oriented communication prioritizes the importance of information with respect to the agents' shared objectives. This review provides a comprehensive survey of goal-oriented communication in MAS, bridging perspectives from information theory, communication theory, and machine learning. We examine foundational concepts alongside learning-based approaches and emergent protocols. Special attention is given to coordination under communication constraints, as well as applications in domains such as swarm robotics, federated learning, and edge computing. The paper concludes with a discussion of open challenges and future research directions at the intersection of communication theory, machine learning, and multi-agent decision making.

Paperid: 2695, https://arxiv.org/pdf/2508.06987.pdf

Abstract:
This paper explores the voltage regulation challenges in boost converter systems, which are critical components in power electronics due to their ability to step up voltage levels efficiently. The proposed control algorithm ensures fixed-time stability, a desirable property that guarantees system stability within a fixed time frame regardless of initial conditions. To tackle the common chattering issues in conventional fixed-time control methods, a novel class of function families is introduced. State observers and adaptive parameters are utilized to manage the uncertainties associated with unknown load resistance. Furthermore, a new disturbance observer is developed using the proposed function family, and its advantages and limitations are illustrated through comparison with existing designs. Finally, both non-real-time and real-time simulations are conducted to validate the effectiveness and deployability of the proposed control algorithm.

Paperid: 2696, https://arxiv.org/pdf/2508.06634.pdf

Abstract:
Driven by recent advances in sensing and computing, deep reinforcement learning (DRL) technologies have shown great potential for addressing distribution system restoration (DSR) under uncertainty. However, their data-intensive nature and reliance on the Markov Decision Process (MDP) assumption limit their ability to handle scenarios that require long-term temporal dependencies or few-shot and zero-shot decision making. Emerging Decision Transformers (DTs), which leverage causal transformers for sequence modeling in DRL tasks, offer a promising alternative. However, their reliance on return-to-go (RTG) cloning and limited generalization capacity restricts their effectiveness in dynamic power system environments. To address these challenges, we introduce an innovative Dual-Head Physics-informed Graph Decision Transformer (DH-PGDT) that integrates physical modeling, structural reasoning, and subgoal-based guidance to enable scalable and robust DSR even in zero-shot or few-shot scenarios. DH-PGDT features a dual-head physics-informed causal transformer architecture comprising Guidance Head, which generates subgoal representations, and Action Head, which uses these subgoals to generate actions independently of RTG. It also incorporates an operational constraint-aware graph reasoning module that encodes power system topology and operational constraints to generate a confidence-weighted action vector for refining DT trajectories. This design effectively improves generalization and enables robust adaptation to unseen scenarios. While this work focuses on DSR, the underlying computing model of the proposed PGDT is broadly applicable to sequential decision making across various power system operations and other complex engineering domains.

Paperid: 2697, https://arxiv.org/pdf/2508.06326.pdf

Abstract:
In a classic paper, Conant and Ashby claimed that "every good regulator of a system must be a model of that system." Artificial Life has produced many examples of systems that perform tasks with apparently no model in sight; these suggest Conant and Ashby's theorem doesn't easily generalise beyond its restricted setup. Nevertheless, here we show that a similar intuition can be fleshed out in a different way: whenever an agent is able to perform a regulation task, it is possible for an observer to interpret it as having "beliefs" about its environment, which it "updates" in response to sensory input. This notion of belief updating provides a notion of model that is more sophisticated than Conant and Ashby's, as well as a theorem that is more broadly applicable. However, it necessitates a change in perspective, in that the observer plays an essential role in the theory: models are not a mere property of the system but are imposed on it from outside. Our theorem holds regardless of whether the system is regulating its environment in a classic control theory setup, or whether it's regulating its own internal state; the model is of its environment either way. The model might be trivial, however, and this is how the apparent counterexamples are resolved.

Paperid: 2698, https://arxiv.org/pdf/2508.05838.pdf

Abstract:
This paper presents a novel approach that integrates vision foundation models with reinforcement learning to enhance object interaction capabilities in simulated environments. By combining the Segment Anything Model (SAM) and YOLOv5 with a Proximal Policy Optimization (PPO) agent operating in the AI2-THOR simulation environment, we enable the agent to perceive and interact with objects more effectively. Our comprehensive experiments, conducted across four diverse indoor kitchen settings, demonstrate significant improvements in object interaction success rates and navigation efficiency compared to a baseline agent without advanced perception. The results show a 68% increase in average cumulative reward, a 52.5% improvement in object interaction success rate, and a 33% increase in navigation efficiency. These findings highlight the potential of integrating foundation models with reinforcement learning for complex robotic tasks, paving the way for more sophisticated and capable autonomous agents.

Paperid: 2699, https://arxiv.org/pdf/2508.05368.pdf

Abstract:
Invariant Extended Kalman Filter (IEKF) has been a significant technique in vision-aided sensor fusion. However, it usually suffers from high computational burden when jointly optimizing camera poses and the landmarks. To improve its efficiency and applicability for multi-sensor fusion, we present a multi-view pose-only estimation approach with its application to GNSS-Visual-Inertial Odometry (GVIO) in this paper. Our main contribution is deriving a visual measurement model which directly associates landmark representation with multiple camera poses and observations. Such a pose-only measurement is proven to be tightly-coupled between landmarks and poses, and maintain a perfect null space that is independent of estimated poses. Finally, we apply the proposed approach to a filter based GVIO with a novel feature management strategy. Both simulation tests and real-world experiments are conducted to demonstrate the superiority of the proposed method in terms of efficiency and accuracy.

Paperid: 2700, https://arxiv.org/pdf/2508.05279.pdf

Abstract:
We propose a new class of passive nonlinear finite impulse response operators. This class is constructed by the action of finite impulse response filters in a lifted space. This allows for efficient control synthesis through constrained optimization. Closed-loop performance is taken into account through least-squares fitting, based on the theory of virtual reference feedback tuning. Passivity is established through efficient linear constraints, based on sampling in the frequency domain. Because of passivity, this class of operators is particularly suited for the control of physical systems, such as electromechanical systems.

Paperid: 2701, https://arxiv.org/pdf/2508.04009.pdf

Abstract:
This paper presents a method for optimizing the sliding mode control (SMC) parameter for a robot manipulator applying a genetic algorithm (GA). The objective of the SMC is to achieve precise and consistent tracking of the trajectory of the robot manipulator under uncertain and disturbed conditions. However, the system effectiveness and robustness depend on the choice of the SMC parameters, which is a difficult and crucial task. To solve this problem, a genetic algorithm is used to locate the optimal values of these parameters that gratify the capability criteria. The proposed method is efficient compared with the conventional SMC and Fuzzy-SMC. The simulation results show that the genetic algorithm with SMC can achieve better tracking capability and reduce the chattering effect.

Paperid: 2702, https://arxiv.org/pdf/2508.02920.pdf

Abstract:
This paper presents a comparative study of the applicability and accuracy of optimal control methods and neural network-based estimators in the context of porkchop plots for preliminary asteroid rendezvous mission design. The scenario considered involves a deep-space CubeSat equipped with a low-thrust engine, departing from Earth and rendezvousing with a near-Earth asteroid within a three-year launch window. A low-thrust trajectory optimization model is formulated, incorporating variable specific impulse, maximum thrust, and path constraints. The optimal control problem is efficiently solved using Sequential Convex Programming (SCP) combined with a solution continuation strategy. The neural network framework consists of two models: one predicts the minimum fuel consumption ($Îv$), while the other estimates the minimum flight time ($Ît$) which is used to assess transfer feasibility. Case results demonstrate that, in simplified scenarios without path constraints, the neural network approach achieves low relative errors across most of the design space and successfully captures the main structural features of the porkchop plots. In cases where the SCP-based continuation method fails due to the presence of multiple local optima, the neural network still provides smooth and globally consistent predictions, significantly improving the efficiency of early-stage asteroid candidate screening. However, the deformation of the feasible region caused by path constraints leads to noticeable discrepancies in certain boundary regions, thereby limiting the applicability of the network in detailed mission design phases. Overall, the integration of neural networks with porkchop plot analysis offers a effective decision-making tool for mission designers and planetary scientists, with significant potential for engineering applications.

Paperid: 2703, https://arxiv.org/pdf/2508.02911.pdf

Abstract:
In trajectory design, fuel consumption and trajectory reachability are two key performance indicators for low-thrust missions. This paper proposes general-purpose pretrained neural networks to predict these metrics. The contributions of this paper are as follows: Firstly, based on the confirmation of the Scaling Law applicable to low-thrust trajectory approximation, the largest dataset is constructed using the proposed homotopy ray method, which aligns with mission-design-oriented data requirements. Secondly, the data are transformed into a self-similar space, enabling the neural network to adapt to arbitrary semi-major axes, inclinations, and central bodies. This extends the applicability beyond existing studies and can generalize across diverse mission scenarios without retraining. Thirdly, to the best of our knowledge, this work presents the current most general and accurate low-thrust trajectory approximator, with implementations available in C++, Python, and MATLAB. The resulting neural network achieves a relative error of 0.78% in predicting velocity increments and 0.63% in minimum transfer time estimation. The models have also been validated on a third-party dataset, multi-flyby mission design problem, and mission analysis scenario, demonstrating their generalization capability, predictive accuracy, and computational efficiency.

Paperid: 2704, https://arxiv.org/pdf/2508.02904.pdf

Abstract:
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that approaches global optimality for multi-flyby trajectory optimization under a given sequence. The original optimal control problem with interior-point equality constraints is transformed into a multi-stage decision formulation. This reformulation enables direct application of dynamic programming in lower dimensions, and follows Bellman's principle of optimality. Moreover, the method provides a quantifiable bound on global optima errors introduced by discretization and approximation assumptions, thus ensuring a measure of confidence in the obtained solution. The method accommodates both impulsive and low-thrust maneuver schemes in rendezvous and flyby scenarios. Several computational techniques are introduced to enhance efficiency, including a specialized solution for bi-impulse cases and an adaptive step refinement strategy. The proposed method is validated through three problems: 1) an impulsive variant of the fourth Global Trajectory Optimization competition problem (GTOC4), 2) the GTOC11 problem, and 3) the original low-thrust GTOC4 problem. Each case demonstrates improvements in fuel consumption over the best-known trajectories. These results give evidence of the generality and effectiveness of the proposed method in global trajectory optimization.

Paperid: 2705, https://arxiv.org/pdf/2508.02350.pdf

Abstract:
This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameterizable non-linear model operating within a cluttered environment. The system model is considered to have uncertain model parameters. The key idea here is to utilize input/output data online to update the model set containing the uncertain system parameter, as well as a dynamic estimated parameter of the model, so that the associated model estimation error reduces over time. This in turn improves the quality of the motion primitives generated by the lattice-based motion planner using a nominal estimated model selected on the basis of suitable criteria. The motion primitives are also equipped with tubes to account for the model mismatch between the nominal estimated model and the true system model, to guarantee collision-free overall motion. The tubes are of uniform size, which is directly proportional to the size of the model set containing the uncertain system parameter. The adaptive learning module guarantees a reduction in the diameter of the model set as well as in the parameter estimation error between the dynamic estimated parameter and the true system parameter. This directly implies a reduction in the size of the implemented tubes and guarantees that the utilized motion primitives go arbitrarily close to the resolution-optimal motion primitives associated with the true model of the system, thus significantly improving the overall motion planning performance over time. The efficiency of the motion planner is demonstrated by a suitable simulation example that considers a drone model represented by Euler-Lagrange dynamics containing uncertain parameters and operating within a cluttered environment.

Paperid: 2706, https://arxiv.org/pdf/2508.01898.pdf

Abstract:
Video caching can significantly improve delivery efficiency and enhance quality of video streaming, which constitutes the majority of wireless communication traffic. Due to limited cache size, caching strategies must be designed to adapt to and dynamic user demand in order to maximize system revenue. The system revenue depends on the benefits of delivering the requested videos and costs for (a) transporting the files to the users and (b) cache replacement. Since the cache content at any point in time impacts the replacement costs in the future, demand predictions over multiple cache placement slots become an important prerequisite for efficient cache planning. Motivated by this, we introduce a novel two-stage privacy-preserving solution for revenue optimization in wireless video caching networks. First, we train a Transformer using privacy-preserving federated learning (FL) to predict multi-slot future demands. Given that prediction results are never entirely accurate, especially for longer horizons, we further combine global content popularity with per-user prediction results to estimate the content demand distribution. Then, in the second stage, we leverage these estimation results to find caching strategies that maximize the long-term system revenue. This latter problem takes on the form of a multi-stage knapsack problem, which we then transform to a integer linear program. Our extensive simulation results demonstrate that (i) our FL solution delivers nearly identical performance to that of the ideal centralized solution and outperforms other existing caching methods, and (ii) our novel revenue optimization approach provides deeper system performance insights than traditional cache hit ratio (CHR)-based optimization approaches.

Paperid: 2707, https://arxiv.org/pdf/2508.01824.pdf

Abstract:
This paper presents a heuristic method for simplifying resource allocation in access systems, leveraging the concept of comparative advantage to reduce computational complexity while maintaining near-optimal performance. Using power-division non-orthogonal multiple access (PD-NOMA) as an example, we demonstrate how this approach mitigates the challenge of power allocation in multi-cell networks. Our method reduces the search space for optimization, significantly decreasing computational overhead while ensuring efficient spectrum utilization. In principle, the method reduces the dimensions of search space by half. Extensive analysis and simulations validate its effectiveness, highlighting its potential for practical deployment in next-generation wireless networks. The proposed framework can help streamline resource allocation in complex communication environments, enhancing system performance and scalability.

Paperid: 2708, https://arxiv.org/pdf/2508.00918.pdf

Abstract:
Recent developments in AI techniques for space applications mirror the success achieved in terrestrial applications. Machine learning, which excels in data rich environments, is particularly well suited to space-based computer vision applications, such as space optical attitude sensing. Of these sensors, digital sun sensors (DSS) are one of the most common and important sensors for spacecraft attitude determination. The main challenge in using the DSS for attitude estimation are sensor errors, which limit the overall achievable estimation accuracy. However, the traditional sun sensor calibration process is costly, slow, labor-intensive and inefficient. These limitations motivate the use of AI techniques to enable more accurate and efficient DSS calibration. The objective of this work is to develop an end-to-end predictive calibration methodology for digital sun sensors to solve 2-axis state estimates utilizing a sparse submanifold convolutional neural network (SSCNN). We find that the proposed framework can achieve state-of-the-art performance on synthetic data with a mean accuracy of 0.005Â° for the two sun angle estimates. Furthermore, the model is highly capable of implicitly learning complex noise patterns and handling mixed noise types, thereby greatly improving the model robustness and accuracy to real-world applications. The main contributions of this work are: (1) the first application (to our knowledge) of a CNN regression model to the problem of DSS predictive calibration, (2) the introduction of a fused end-to-end training approach for DSS calibration, (3) the creation of a publicly available physics-informed synthetic dataset and simulation for DSS training images, and (4) the evaluation of the performance of the deep learning approach for various mask configurations.

Paperid: 2709, https://arxiv.org/pdf/2508.00895.pdf

Abstract:
Cross-process root-cause analysis of wafer defects is among the most critical yet challenging tasks in semiconductor manufacturing due to the heterogeneity and combinatorial nature of processes along the processing route. This paper presents a new framework for wafer defect root cause analysis, called Potential Loss Analysis (PLA), as a significant enhancement of the previously proposed partial trajectory regression approach. The PLA framework attributes observed high wafer defect densities to upstream processes by comparing the best possible outcomes generated by partial processing trajectories. We show that the task of identifying the best possible outcome can be reduced to solving a Bellman equation. Remarkably, the proposed framework can simultaneously solve the prediction problem for defect density as well as the attribution problem for defect scores. We demonstrate the effectiveness of the proposed framework using real wafer history data.

Paperid: 2710, https://arxiv.org/pdf/2508.00283.pdf

Abstract:
Learning-based approaches, notably Reinforcement Learning (RL), have shown promise for solving optimal control tasks without explicit system models. However, these approaches are often sample-inefficient, sensitive to reward design and hyperparameters, and prone to poor generalization, especially under input constraints. To address these challenges, we introduce the neural co-state projection regulator (NCPR), a model-free learning-based optimal control framework that is grounded in Pontryagin's Minimum Principle (PMP) and capable of solving quadratic regulator problems in nonlinear control-affine systems with input constraints. In this framework, a neural network (NN) is trained in a self-supervised setting to take the current state of the system as input and predict a finite-horizon trajectory of projected co-states (i.e., the co-state weighted by the system's input gain). Subsequently, only the first element of the NN's prediction is extracted to solve a lightweight quadratic program (QP). This workflow is executed in a feedback control setting, allowing real-time computation of control actions that satisfy both input constraints and first-order optimality conditions. We test the proposed learning-based model-free quadratic regulator on (1) a unicycle model robot reference tracking problem and (2) a pendulum swing-up task. For comparison, reinforcement learning is used on both tasks; and for context, a model-based controller is used in the unicycle model example. Our method demonstrates superior generalizability in terms of both unseen system states and varying input constraints, and also shows improved sampling efficiency.

Paperid: 2711, https://arxiv.org/pdf/2507.23149.pdf

Abstract:
We introduce a new hypothesis testing-based learning dynamics in which players update their strategies by combining hypothesis testing with utility-driven exploration. In this dynamics, each player forms beliefs about opponents' strategies and episodically tests these beliefs using empirical observations. Beliefs are resampled either when the hypothesis test is rejected or through exploration, where the probability of exploration decreases with the player's (transformed) utility. In general finite normal-form games, we show that the learning process converges to a set of approximate Nash equilibria and, more importantly, to a refinement that selects equilibria maximizing the minimum (transformed) utility across all players. Our result establishes convergence to equilibrium in general finite games and reveals a novel mechanism for equilibrium selection induced by the structure of the learning dynamics.

Paperid: 2712, https://arxiv.org/pdf/2507.23013.pdf

Abstract:
Age-structured models represent the dynamic behaviors of populations over time and result in integro-partial differential equations (IPDEs). Such processes arise in biotechnology, economics, demography, and other domains. Coupled age-structured IPDE population dynamics with two or more species occur in epidemiology and ecology, but have received little attention thus far. This work considers an exponentially unstable model of two competing predator populations, formally referred to in the literature as ''competition'' dynamics. If one were to apply an input that simultaneously harvests both predator species, one would have control over only the product of the densities of the species, not over their ratio. Therefore, it is necessary to design a control input that directly harvests only one of the two predator species, while indirectly influencing the other via a backstepping approach. The model is transformed into a system of two coupled ordinary differential equations (ODEs), of which only one is actuated, and two autonomous, exponentially stable integral delay equations (IDEs) which enter the ODEs as nonlinear disturbances. The ODEs are globally stabilized with backstepping and an estimate of the region of attraction of the asymptotically stabilized equilibrium of the full IPDE system is provided, under a positivity restriction on control. These generalizations open exciting possibilities for future research directions, such as investigating population systems with more than two species.

Paperid: 2713, https://arxiv.org/pdf/2507.22766.pdf

Abstract:
Sensor-based sorting systems enable the physical separation of a material stream into two fractions. The sorting decision is based on the image data evaluation of the sensors used and is carried out using actuators. Various process parameters must be set depending on the properties of the material stream, the dimensioning of the system, and the required sorting accuracy. However, continuous verification and re-adjustment are necessary due to changing requirements and material stream compositions. In this paper, we introduce an approach for optimizing, recurrently monitoring and adjusting the process parameters of a sensor-based sorting system. Based on Bayesian Optimization, Gaussian process regression models are used as surrogate models to achieve specific requirements for system behavior with the uncertainties contained therein. This method minimizes the number of necessary experiments while simultaneously considering two possible optimization targets based on the requirements for both material output streams. In addition, uncertainties are considered during determining sorting accuracies in the model calculation. We evaluated the method with three example process parameters.

Paperid: 2714, https://arxiv.org/pdf/2507.22740.pdf

Abstract:
Zero-energy devices (ZEDs) are key enablers of sustainable Internet of Things networks by operating solely on harvested ambient energy. Their limited and dynamic energy budget calls for protocols that are energy-aware and intelligently adaptive. However, designing effective energy-aware protocols for ZEDs requires theoretical models that realistically reflect device constraints. Indeed, existing approaches often oversimplify key aspects such as energy information (EI) acquisition, task-level variability, and energy storage dynamics, limiting their practical relevance and transferability. This article addresses this gap by offering a structured overview of the key modeling components, trade-offs, and limitations involved in energy-aware ZED protocol design. For this, we dissect EI acquisition methods and costs, characterize core operational tasks, analyze energy usage models and storage constraints, and review representative protocol strategies. Moreover, we offer design insights and guidelines on how ZED operation protocols can leverage EI, often illustrated through selected in-house examples. Finally, we outline key research directions to inspire more efficient and scalable protocol solutions for future ZEDs.

Paperid: 2715, https://arxiv.org/pdf/2507.21153.pdf

Abstract:
This paper explores the implementation of a Deep Reinforcement Learning (DRL)-optimized energy management system for e-commerce data centers, aimed at enhancing energy efficiency, cost-effectiveness, and environmental sustainability. The proposed system leverages DRL algorithms to dynamically manage the integration of renewable energy sources, energy storage, and grid power, adapting to fluctuating energy availability in real time. The study demonstrates that the DRL-optimized system achieves a 38\% reduction in energy costs, significantly outperforming traditional Reinforcement Learning (RL) methods (28\%) and heuristic approaches (22\%). Additionally, it maintains a low SLA violation rate of 1.5\%, compared to 3.0\% for RL and 4.8\% for heuristic methods. The DRL-optimized approach also results in an 82\% improvement in energy efficiency, surpassing other methods, and a 45\% reduction in carbon emissions, making it the most environmentally friendly solution. The system's cumulative reward of 950 reflects its superior performance in balancing multiple objectives. Through rigorous testing and ablation studies, the paper validates the effectiveness of the DRL model's architecture and parameters, offering a robust solution for energy management in data centers. The findings highlight the potential of DRL in advancing energy optimization strategies and addressing sustainability challenges.

Paperid: 2716, https://arxiv.org/pdf/2507.20717.pdf

Abstract:
Optimal transport has recently been brought forward as a tool for modeling and efficiently solving a variety of flow problems, such as origin-destination problems and multi-commodity flow problems. Although the framework has shown to be effective for many large scale flow problems, the formulations typically lack dynamic properties used in common traffic models, such as the Lighthill-Whitham-Richards model. In this work, we propose an optimal transport framework that includes dynamic constraints specified by the fundamental diagram for modeling macroscopic traffic flow. The problem is cast as a convex variant of dynamic optimal transport, with additional nonlinear temporal-spatial inequality constraints of momentum, modeled after the fundamental diagram from traffic theory. This constraint imposes a density-dependent upper bound on the admissible flux, capturing flow saturation and congestion effects, and thus leaves space for kinetic optimization. The formulation follows the Benamou-Brenier transportation rationale, whereby kinetic energy over density and momentum fields is optimized subject to the mass conservation law. We develop proximal splitting methods, namely the Douglas-Rachford and Chambolle-Pock algorithms, which exploit the separable structure of the constraint set and require only simple proximal operations, and can accommodate additional (time-varying) spatial restrictions or obstacles. Numerical experiments illustrate the impact of the constraint on transport behavior, including congestion-aware spreading, rerouting, and convergence. The framework establishes a connection between optimal transport and macroscopic traffic flow theory and provides a scalable, variational tool for modeling congestion-constricted (or saturation-aware) Wasserstein gradient flow.

Paperid: 2717, https://arxiv.org/pdf/2507.20621.pdf

Abstract:
The operation of residential energy hubs with multiple energy carriers (electricity, heat, mobility) poses a significant challenge due to different carrier dynamics, hybrid storage coordination and high-dimensional action-spaces. Energy management systems oversee their operation, deciding the set points of the primary control layer. This paper presents a novel 2-stage economic model predictive controller for electrified buildings including physics-based models of the battery degradation and thermal systems. The hierarchical control operates in the Dutch sequential energy markets. In particular common assumptions regarding intra-day markets (auction and continuous-time) are discussed as well as the coupling of the different storage systems. The best control policy is to co-optimize day-ahead and intra-day auctions in the first stage, to later follow intra-day auctions. If no intra-day prices are known at the time of the day-ahead auction, its best to follow continuous time intra-day in the summer and the intra-day auction in the winter. Additionally, this sequential operation increases battery degradation. Finally, under our controller the realized short-term flexibility of the thermal energy storage is marginal compared to the flexibility delivered by static battery pack and electric vehicles with bidirectional charging.

Paperid: 2718, https://arxiv.org/pdf/2507.20587.pdf

Abstract:
Distributed optical fiber vibration sensing (DVS) systems offer a promising solution for large-scale monitoring and intrusion event recognition. However, their practical deployment remains hindered by two major challenges: degradation of recognition accuracy in dynamic conditions, and the computational bottleneck of real-time processing for mass sensing data. This paper presents a new solution to these challenges, through a FPGA-accelerated extreme lightweight model along with a newly proposed knowledge distillation framework. The proposed three-layer depthwise separable convolution network contains only 4141 parameters, which is the most compact architecture in this field to date, and achieves a maximum processing speed of 0.019 ms for each sample covering a 12.5 m fiber length over 0.256 s. This performance corresponds to real-time processing capabilities for sensing fibers extending up to 168.68 km. To improve generalizability under changing environments, the proposed cross-domain distillation framework guided by physical priors is used here to embed frequency-domain insights into the time-domain model. This allows for time-frequency representation learning without increasing complexity and boosts recognition accuracy from 51.93% to 95.72% under unseen environmental conditions. The proposed methodology provides key advancements including a framework combining interpretable signal processing technique with deep learning and a reference architecture for real-time processing and edge-computing in DVS systems, and more general distributed optical fiber sensing (DOFS) area. It mitigates the trade-off between sensing range and real-time capability, bridging the gap between theoretical capabilities and practical deployment requirements. Furthermore, this work reveals a new direction for building more efficient, robust and explainable artificial intelligence systems for DOFS technologies.

Paperid: 2719, https://arxiv.org/pdf/2507.19831.pdf

Abstract:
In many applications, robots are increasingly deployed in unstructured and natural environments where they encounter various types of vegetation. Vegetation presents unique challenges as a traversable obstacle, where the mechanical properties of the plants can influence whether a robot can safely collide with and overcome the obstacle. A more nuanced approach is required to assess the safety and traversability of these obstacles, as collisions can sometimes be safe and necessary for navigating through dense or unavoidable vegetation. This paper introduces a novel sensor designed to directly measure the applied forces exerted by vegetation on a robot: by directly capturing the push-back forces, our sensor provides a detailed understanding of the interactions between the robot and its surroundings. We demonstrate the sensor's effectiveness through experimental validations, showcasing its ability to measure subtle force variations. This force-based approach provides a quantifiable metric that can inform navigation decisions and serve as a foundation for developing future learning algorithms.

Paperid: 2720, https://arxiv.org/pdf/2507.18888.pdf

Abstract:
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance bounds. By integrating a reciprocal resistance-like term into the conventional zeroing barrier function framework, we formally establish the concept of the reciprocal resistance-based barrier function (RRBF), rigorously proving the forward invariance of its associated safe set and its robustness against bounded disturbances. The RRBF inherently generates a buffer zone near the boundary of the safe set, effectively dominating the influence of uncertainties and external disturbances. This foundational concept is extended to formulate RRCBFs, including their high-order variants. To alleviate conservatism in the presence of complex, time-varying disturbances, we further introduce a disturbance observer-based RRCBF (DO-RRCBF), which exploits disturbance estimates to enhance safety guarantees and recover nominal control performance. The effectiveness of the proposed framework is validated through two simulation studies: a second-order linear system illustrating forward invariance in the phase plane, and an adaptive cruise control scenario demonstrating robustness in systems with high relative degree.

Paperid: 2721, https://arxiv.org/pdf/2507.18493.pdf

Abstract:
Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose a unified observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie group to its normal subgroup. This structural property powerfully enables a system immersion of the original system into a linear time-varying system. Leveraging the immersion, an observer is constructed by first designing a Kalman-like observer for the immersed system and then reconstructing the group-valued state via optimization. Under a rank condition, global exponential stability (GES) is achieved provided one global optimum of the reconstruction optimization is found, reflecting the topological difficulties inherent to the non-Euclidean state space. Semi-global stability is guaranteed when input biases are jointly estimated. The theory is applied to the GES observer design for two-frame systems, capable of modeling a family of navigation problems. Two non-trivial examples are provided to illustrate implementation details.

Paperid: 2722, https://arxiv.org/pdf/2507.17856.pdf

Abstract:
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robotics. In this technical report, safety refers to ensuring that the robot respects state and input constraints while avoiding collisions with obstacles despite the presence of disturbances and measurement noise. This report offers a step-by-step approach to implementing nonlinear model predictive control (NMPC) schemes addressing these safety requirements. Numerous books and survey papers provide comprehensive overviews of linear MPC (LMPC), NMPC, and their applications in various domains, including robotics. This report does not aim to replicate those exhaustive reviews. Instead, it focuses specifically on NMPC as a foundation for safe mobile robot navigation. The goal is to provide a practical and accessible path from theoretical concepts to mathematical proofs and implementation, emphasizing safety and performance guarantees. It is intended for researchers, robotics engineers, and practitioners seeking to bridge the gap between theoretical NMPC formulations and real-world robotic applications. This report is not necessarily meant to remain fixed over time. If someone finds an error in the presented theory, please reach out via the given email addresses. We are happy to update the document if necessary.

Paperid: 2723, https://arxiv.org/pdf/2507.13908.pdf

Abstract:
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the orbit. The proposed design follows a mixed sensitivity control design employing a physically motivated weighting scheme. The controller is calculated using a novel structured linear time-periodic output feedback synthesis with guaranteed optimal L2-performance. The synthesis poses a convex optimization problem and avoids grid-wise evaluations of coupling conditions inherent for classical periodic H-infinity-synthesis. Moreover, the controller has a transparent and easy to implement structure. A solar power plant satellite is used to demonstrate the effectiveness of the proposed method for periodic satellite attitude control.

Paperid: 2724, https://arxiv.org/pdf/2507.12560.pdf

Abstract:
The present work revisits and provides a new approach on a result by Charles Ballantine, on the factorization of a square matrix with positive determinant into a product of positive definite factors. {\em Ballantine-type} factorizations, that bound the number of positive definite factors, proved central in solving a basic, yet elusive control problem--the strong controllability of a linear system via control in the form of state feedback. Ballantine's result transcends control engineering, and highlights the little appreciated fact that rotations can be realized by the successive application of irrotational motions. Our approach is constructive and is based on the theory of optimal mass transport, specifically, it relates successive rotations of Gaussian distributions to corresponding optimal transport maps that constitute the sought factors.

Paperid: 2725, https://arxiv.org/pdf/2507.12259.pdf

Abstract:
We propose a novel unsupervised learning framework for solving nonlinear optimal control problems (OCPs) with input constraints in real-time. In this framework, a neural network (NN) learns to predict the optimal co-state trajectory that minimizes the control Hamiltonian for a given system, at any system's state, based on the Pontryagin's Minimum Principle (PMP). Specifically, the NN is trained to find the norm-optimal co-state solution that simultaneously satisfies the nonlinear system dynamics and minimizes a quadratic regulation cost. The control input is then extracted from the predicted optimal co-state trajectory by solving a quadratic program (QP) to satisfy input constraints and optimality conditions. We coin the term neural co-state regulator (NCR) to describe the combination of the co-state NN and control input QP solver. To demonstrate the effectiveness of the NCR, we compare its feedback control performance with that of an expert nonlinear model predictive control (MPC) solver on a unicycle model. Because the NCR's training does not rely on expert nonlinear control solvers which are often suboptimal, the NCR is able to produce solutions that outperform the nonlinear MPC solver in terms of convergence error and input trajectory smoothness even for system conditions that are outside its original training domain. At the same time, the NCR offers two orders of magnitude less computational time than the nonlinear MPC.

Paperid: 2726, https://arxiv.org/pdf/2507.12122.pdf

Abstract:
Recent advances in spatially selective active noise control (SSANC) using multiple microphones have enabled hearables to suppress undesired noise while preserving desired speech from a specific direction. Aiming to achieve minimal speech distortion, a hard constraint has been used in previous work in the optimization problem to compute the control filter. In this work, we propose a soft-constrained SSANC system that uses a frequency-independent parameter to trade off between speech distortion and noise reduction. We derive both time- and frequency-domain formulations, and show that conventional active noise control and hard-constrained SSANC represent two limiting cases of the proposed design. We evaluate the system through simulations using a pair of open-fitting hearables in an anechoic environment with one speech source and two noise sources. The simulation results validate the theoretical derivations and demonstrate that for a broad range of the trade-off parameter, the signal-to-noise ratio and the speech quality and intelligibility in terms of PESQ and ESTOI can be substantially improved compared to the hard-constrained design.

Paperid: 2727, https://arxiv.org/pdf/2507.11113.pdf

Abstract:
Cyber-Physical Systems (CPSs) are facing a fast-growing wave of attacks. To achieve effective proactive defense, this paper models honeypot deployment as a gamma-fixed signaling game in which node liveness serves as the only signal and normal-node signal gamma is exogenously fixed. We define the gamma-perfect Bayesian-Nash equilibrium (gamma-PBNE). Analytical expressions are obtained for all gamma-PBNEs, revealing three distinct equilibrium regimes that depend on the priori honeypot ratio. Furthermore, the optimal honeypot ratio and signaling strategy that jointly maximize the network average utility are obtained. To capture strategic interaction over time, we develop a discrete-time fictitious-play algorithm that couples Bayesian belief updates with empirical best responses. We prove that, as long as the honeypot ratio is perturbed within a non-degenerate neighbourhood of the optimum, every fictitious-play path converges to the defender-optimal gamma-PBNE. Numerical results confirm the effectiveness of the proposed method and demonstrate its applicability to CPS defense.

Paperid: 2728, https://arxiv.org/pdf/2507.10634.pdf

Abstract:
Massive MIMO systems are moving toward increased numbers of radio frequency chains, higher carrier frequencies and larger bandwidths. As such, digital-to-analog converters (DACs) are becoming a bottleneck in terms of hardware complexity and power consumption. In this work, non-linear precoding for coarsely quantized downlink massive MIMO is studied. Given the NP-hard nature of this problem, a graph neural network (GNN) is proposed that directly outputs the precoded quantized vector based on the channel matrix and the intended transmit symbols. The model is trained in a self-supervised manner, by directly maximizing the achievable rate. To overcome the non-differentiability of the objective function, introduced due to the non-differentiable DAC functions, a straight-through Gumbel-softmax estimation of the gradient is proposed. The proposed method achieves a significant increase in achievable sum rate under coarse quantization. For instance, in the single-user case, the proposed method can achieve the same sum rate as maximum ratio transmission (MRT) by using one-bit DAC's as compared to 3 bits for MRT. This reduces the DAC's power consumption by a factor 4-7 and 3 for baseband and RF DACs respectively. This, however, comes at the cost of increased digital signal processing power consumption. When accounting for this, the reduction in overall power consumption holds for a system bandwidth up to 3.5 MHz for baseband DACs, while the RF DACs can maintain a power reduction of 2.9 for higher bandwidths. Notably, indirect effects, which further reduce the power consumption, such as a reduced fronthaul consumption and reduction in other components, are not considered in this analysis.

Paperid: 2729, https://arxiv.org/pdf/2507.10086.pdf

Abstract:
Fast-response voltage regulation is essential for data-center Voltage Regulation Modules (VRMs) powering Artificial Intelligence (AI) workloads, which exhibit both small-amplitude fluctuations and abrupt full-load steps. This paper introduces a control scheme that integrates a linear controller and a nonlinear controller for variable-frequency Series-Capacitor Buck (SCB) converters. First, an accurate small-signal model is derived via a Switching-Synchronized Sampled State-Space (5S) framework, yielding discrete-time transfer functions and root-locus insights for direct digital design. A critical concern for SCB converters is series-capacitor oscillation during heavy load steps if the strict switching sequence is not maintained. To accelerate large-signal transients, a time-optimal control strategy based on Pontryagins Maximum Principle (PMP) relaxes the switching constraints to compute time-optimal switching sequences. A transition logic is then proposed to integrate the high-bandwidth small-signal controller and the large-signal controller. Simulations demonstrate a rapid output voltage recovery under a heavy load step-up, over ten times faster than a linear controller-only design. Preliminary hardware tests indicate a stable rejection to heavy load disturbances with zero steady-state error.

Paperid: 2730, https://arxiv.org/pdf/2507.10078.pdf

Abstract:
Deep learning models incorporating linear SSMs have gained attention for capturing long-range dependencies in sequential data. However, their large parameter sizes pose challenges for deployment on resource-constrained devices. In this study, we propose an efficient parameter reduction method for these models by applying $H^{2}$ model order reduction techniques from control theory to their linear SSM components. In experiments, the LRA benchmark results show that the model compression based on our proposed method outperforms an existing method using the Balanced Truncation, while successfully reducing the number of parameters in the SSMs to $1/32$ without sacrificing the performance of the original models.

Paperid: 2731, https://arxiv.org/pdf/2507.08234.pdf

Abstract:
Accurate and efficient maneuver detection is critical for ensuring the safety and predictability of spacecraft trajectories. This paper presents a novel maneuver detection approach based on comparing the confidence levels associated with the orbital state estimation and the observation likelihood. First, a confidence-dominance maneuver indicator (CDMI) is proposed by setting a confidence level for the state estimation and computing the maximum likelihood of the observation and its confidence level. The CDMI then flag a maneuver when the observation's confidence level exceeds that of the state estimation, indicating that the observation is unlikely under the no-maneuver hypothesis while maintaining consistency with the prior state estimation confidence. To efficiently compute the maximum likelihood of the observation and obtain the CDMI, a recursive polynomial optimization method is developed, taking advantage of convex optimization and polynomial approximation. In addition, an integrated CDMI approach is developed to eliminate the need to manually select the state confidence level. The integrated CDMI approach maintains high detection accuracy while simultaneously providing an indication of maneuver likelihood, thereby enhancing robustness and practical applicability. The performance of the proposed CDMI-based maneuver detection approaches is evaluated against an optimal control distance metric and two mixture-based approaches. The simulation results demonstrate that the proposed integrated CDMI approach can achieve up to 99.33\% detection accuracy, at least 10% higher than the competing methods, while substantially reducing computational costs.

Paperid: 2732, https://arxiv.org/pdf/2507.07850.pdf

Abstract:
What is the globally smallest load perturbation that renders DC-OPF infeasible? Reliably identifying such "adversarial attack" perturbations has useful applications in a variety of emerging grid-related contexts, including machine learning performance verification, cybersecurity, and operational robustness of power systems dominated by stochastic renewable energy resources. In this paper, we formulate the inherently nonconvex adversarial attack problem by applying a parameterized version of Farkas' lemma to a perturbed set of DC-OPF equations. Since the resulting formulation is very hard to globally optimize, we also propose a parameterized generation control policy which, when applied to the primal DC-OPF problem, provides solvability guarantees. Together, these nonconvex problems provide guaranteed upper and lower bounds on adversarial attack size; by combining them into a single optimization problem, we can efficiently "squeeze" these bounds towards a common global solution. We apply these methods on a range of small- to medium-sized test cases from PGLib, benchmarking our results against the best adversarial attack lower bounds provided by Gurobi 12.0's spatial Branch and Bound solver.

Paperid: 2733, https://arxiv.org/pdf/2507.07792.pdf

Abstract:
The state space dynamics representation is the most general approach for nonlinear systems and often chosen for system identification. During training, the state trajectory can deform significantly leading to poor data coverage of the state space. This can cause significant issues for space-oriented training algorithms which e.g. rely on grid structures, tree partitioning, or similar. Besides hindering training, significant state trajectory deformations also deteriorate interpretability and robustness properties. This paper proposes a new type of space-filling regularization that ensures a favorable data distribution in state space via introducing a data-distribution-based penalty. This method is demonstrated in local model network architectures where good interpretability is a major concern. The proposed approach integrates ideas from modeling and design of experiments for state space structures. This is why we present two regularization techniques for the data point distributions of the state trajectories for local affine state space models. Beyond that, we demonstrate the results on a widely known system identification benchmark.

Paperid: 2734, https://arxiv.org/pdf/2507.07681.pdf

Abstract:
Remote renewable energy hubs (RREHs) for synthetic fuel production are engineering systems harvesting renewable energy where it is particularly abundant. They produce transportable synthetic fuels for export to distant load centers. This article aims to evaluate the production costs of different energy carriers, and includes a discussion on advantages and disadvantages in terms of technical performance. To do so, we extend the study of Berger et al., (2021) which focuses on methane (CH4) as energy carrier and introduce three new carriers: ammonia (NH3), hydrogen (H2) and methanol (CH3OH). The four different RREHs are located in the Algerian Sahara desert and must serve to the load center, Belgium, a constant electro-fuel demand of 10 TWh per year. The modelling and optimisation of these systems are performed using the modelling language GBOML (Graph-Based Optimisation Modelling Language). Our findings reveal that the three new RREHs, each with its respective carrier (ammonia, hydrogen, and methanol), are all more cost-effective than the methane-based system. Ammonia demonstrates the most favourable cost-to-energy exported ratio.

Paperid: 2735, https://arxiv.org/pdf/2507.07659.pdf

Abstract:
Serving the energy demand with renewable energy is hindered by its limited availability near load centres (i.e. places where the energy demand is high). To address this challenge, the concept of Remote Renewable Energy Hubs (RREH) emerges as a promising solution. RREHs are energy hubs located in areas with abundant renewable energy sources, such as sun in the Sahara Desert or wind in Greenland. In these hubs, renewable energy sources are used to synthetise energy molecules. To produce specific energy molecules, a tailored hub configuration must be designed, which means choosing a set of technologies that are interacting with each other as well as defining how they are integrated in their local environment. The plurality of technologies that may be employed in RREHs results in a large diversity of hubs. In order to characterize this diversity, we propose in this paper a taxonomy for accurately defining these hubs. This taxonomy allows to better describe and compare designs of hubs as well as to identify new ones. Thus, it may guide policymakers and engineers in hub design, contributing to cost efficiency and/or improving local integration.

Paperid: 2736, https://arxiv.org/pdf/2507.05454.pdf

Abstract:
Aerocapture is sensitive to trajectory errors, particularly for low-cost missions with imprecise navigation. For such missions, considering the probability of each failure mode when computing guidance commands can increase performance. A risk-aware aerocapture guidance algorithm is proposed that uses a generative-modeling-based probabilistic indicator function to estimate escape, impact, or capture probabilities. The probability of each mode is incorporated into corrective guidance commands to increase the likelihood of successful capture. The proposed method is evaluated against state-of-the-art numeric predictor-corrector guidance algorithms in high-uncertainty scenarios where entry interface dispersions lead to nontrivial failure probabilities. When using a probabilistic indicator function in guidance, 69% to 100% of recoverable cases are saved in near-escape and near-impact scenarios. In addition, the probabilistic indicator is compared to a first-order fading memory filter for density estimation, showing improvements in apoapsis error even when a fading filter is included. The probabilistic indicator function can also accurately predict failure probability for dispersions outside its training data, showing generalizability. The proposed risk-aware aerocapture guidance algorithm improves capture performance and robustness to entry interface state dispersions, especially for missions with high navigation uncertainty.

Paperid: 2737, https://arxiv.org/pdf/2507.04821.pdf

Abstract:
Acupuncture, one of the key therapeutic methods in Traditional Chinese Medicine (TCM), has been widely adopted in various clinical fields. Quantitative research on acupuncture manipulation parameters is critical to achieve standardized techniques. However, quantitative mechanical detection of acupuncture parameters remains limited. This study establishes a kinematic and dynamic model of acupuncture, identifying key parameters such as lifting-thrusting force, acceleration, velocity, displacement, as well as twirling-rotating angular velocity and angle. To measure these critical parameters, we propose a quantitative system comprising a sensing needle equipped with a force sensor and an inertial measurement unit (IMU), as well as an external camera module to capture image information. By fusing visual and IMU data, we accurately identify the stationary or motion states of the needle, enabling segmented computation of lifting-thrusting velocity and displacement. The experimental results demonstrate that the sensing needle achieves comprehensive detection with high precision, featuring a nonlinearity error of 0.45% in force measurement and an RMSE of 1.2 mm in displacement. The extracted parameters provide an objective description of the operational characteristics and motion patterns of the four basic acupuncture manipulations. These findings provide valuable tools and methods for research in acupuncture standardization.

Paperid: 2738, https://arxiv.org/pdf/2507.04813.pdf

Abstract:
This paper presents a degradation-cost-aware optimization framework for multi-string battery energy storage systems, emphasizing the impact of inhomogeneous subsystem-level aging in operational decision-making. We evaluate four scenarios for an energy arbitrage scenario, that vary in model precision and treatment of aging costs. Key performance metrics include operational revenue, power schedule mismatch, missed revenues, capacity losses, and revenue generated per unit of capacity loss. Our analysis reveals that ignoring heterogeneity of subunits may lead to infeasible dispatch plans and reduced revenues. In contrast, combining accurate representation of degraded subsystems and the consideration of aging costs in the objective function improves operational accuracy and economic efficiency of BESS with heterogeneous aged subunits. The fully informed scenario, which combines aging-cost-aware optimization with precise string-level modeling, achieves 21% higher revenue per unit of SOH loss compared to the baseline scenario. These findings highlight that modeling aging heterogeneity is not just a technical refinement but may become a crucial enabler for maximizing both short-term profitability and long-term asset value in particular for long BESS usage scenarios.

Paperid: 2739, https://arxiv.org/pdf/2507.03854.pdf

Abstract:
Filtered-X LMS (FxLMS) is commonly used for active noise control (ANC), wherein the soundfield is minimized at a desired location. Given prior knowledge of the spatial region of the noise or control sources, we could improve FxLMS by adapting along the low-dimensional manifold of possible adaptive filter weights. We train an auto-encoder on the filter coefficients of the steady-state adaptive filter for each primary source location sampled from a given spatial region and constrain the weights of the adaptive filter to be the output of the decoder for a given state of latent variables. Then, we perform updates in the latent space and use the decoder to generate the cancellation filter. We evaluate how various neural network constraints and normalization techniques impact the convergence speed and steady-state mean squared error. Under certain conditions, our Latent FxLMS model converges in fewer steps with comparable steady-state error to the standard FxLMS.

Paperid: 2740, https://arxiv.org/pdf/2507.03177.pdf

Abstract:
This study validates the use of Neural Lumped Parameter Differential Equations for open-loop setpoint control of the plunge sequence in Friction Stir Processing (FSP). The approach integrates a data-driven framework with classical heat transfer techniques to predict tool temperatures, informing control strategies. By utilizing a trained Neural Lumped Parameter Differential Equation model, we translate theoretical predictions into practical set-point control, facilitating rapid attainment of desired tool temperatures and ensuring consistent thermomechanical states during FSP. This study covers the design, implementation, and experimental validation of our control approach, establishing a foundation for efficient, adaptive FSP operations.

Paperid: 2741, https://arxiv.org/pdf/2507.03101.pdf

Abstract:
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in robust linear time-varying synthesis, the approach accurately includes perturbations that drive the system away from the reference trajectory. Hence, the controller obtained in the linear framework provides a significantly more robust nonlinear performance. The calculation of the controller is derived from robust synthesis approaches rooted in the integral quadratic constraints framework. The feasibility of the approach is demonstrated on a pitch tracker design for a space launcher.

Paperid: 2742, https://arxiv.org/pdf/2507.02942.pdf

Abstract:
Perception-related tasks often arise in autonomous systems operating under partial observability. This work studies the problem of synthesizing optimal policies for complex perception-related objectives in environments modeled by partially observable Markov decision processes. To formally specify such objectives, we introduce \emph{co-safe linear inequality temporal logic} (sc-iLTL), which can define complex tasks that are formed by the logical concatenation of atomic propositions as linear inequalities on the belief space of the POMDPs. Our solution to the control synthesis problem is to transform the \mbox{sc-iLTL} objectives into reachability objectives by constructing the product of the belief MDP and a deterministic finite automaton built from the sc-iLTL objective. To overcome the scalability challenge due to the product, we introduce a Monte Carlo Tree Search (MCTS) method that converges in probability to the optimal policy. Finally, a drone-probing case study demonstrates the applicability of our method.

Paperid: 2743, https://arxiv.org/pdf/2507.02897.pdf

Abstract:
While artificial intelligence (AI) has been promising for fusion control, its inherent black-box nature will make compliant implementation in regulatory environments a challenge. This study implements and validates a real-time AI enabled linear and interpretable control system for successful divertor detachment control with the DIII-D lower divertor camera. Using D2 gas, we demonstrate feedback divertor detachment control with a mean absolute difference of 2% from the target for both detachment and reattachment. This automatic training and linear processing framework can be extended to any image based diagnostic for regulatory compliant controller necessary for future fusion reactors.

Paperid: 2744, https://arxiv.org/pdf/2507.02584.pdf

Abstract:
Switching communication topologies can cause instability in vehicle platoons, as vehicle information may be lost during the dynamic switching process. This highlights the need to design a controller capable of maintaining the stability of vehicle platoons under dynamically changing topologies. However, capturing the dynamic characteristics of switching topologies and obtaining complete vehicle information for controller design while ensuring stability remains a significant challenge. In this study, we propose an observer-based distributed model predictive control (DMPC) method for vehicle platoons under directed Markovian switching topologies. Considering the stochastic nature of the switching topologies, we model the directed switching communication topologies using a continuous-time Markov chain. To obtain the leader vehicle's information for controller design, we develop a fully distributed adaptive observer that can quickly adapt to the randomly switching topologies, ensuring that the observed information is not affected by the dynamic topology switches. Additionally, a sufficient condition is derived to guarantee the mean-square stability of the observer. Furthermore, we construct the DMPC terminal update law based on the observer and formulate a string stability constraint based on the observed information. Numerical simulations demonstrate that our method can reduce tracking errors while ensuring string stability.

Paperid: 2745, https://arxiv.org/pdf/2507.01660.pdf

Abstract:
Pseudospectral methods represent an efficient approach for solving optimal control problems. While Legendre-Gauss-Lobatto (LGL) collocation points have traditionally been considered inferior to Legendre-Gauss (LG) and Legendre-Gauss-Radau (LGR) points in terms of convergence properties, this paper presents a rigorous re-examination of LGL-based methods. We introduce an augmented formulation that enhances the standard LGL collocation approach by incorporating an additional degree of freedom (DOF) into the interpolation structure. We demonstrate that this augmented formulation is mathematically equivalent to the integral formulation of the LGL collocation method. Through analytical derivation, we establish that the adjoint system in both the augmented differential and integral formulations corresponds to a Lobatto IIIB discontinuous collocation method for the costate vector, thereby resolving the previously reported convergence issues. Our comparative analysis of LG, LGR, and LGL collocation methods reveals significant advantages of the improved LGL approach in terms of discretized problem dimensionality and symplectic integration properties. Numerical examples validate our theoretical findings, demonstrating that the proposed LGL-based method achieves comparable accuracy to LG and LGR methods while offering superior computational performance for long-horizon optimal control problems due to the preservation of symplecticity.

Paperid: 2746, https://arxiv.org/pdf/2507.01450.pdf

Abstract:
Multi-revolution low-thrust trajectory optimization problems are important and challenging in space mission design. In this paper, an efficient, accurate, and widely applicable pseudospectral method is proposed to solve multi-revolution low-thrust trajectory optimization problems with various objective functions and perturbations. The method is based on the Sundman transformation and pseudospectral method, together with a sparse mesh that is monotonic, near-uniformly spaced, and uniformly scattered on the unit circle. Two methods are proposed to construct the mesh: a deterministic method based on rotation mapping; a stochastic method utilizing autocorrelated random sequences. Core mechanisms ensuring the correctness of the method are analyzed, including the dual roles of mesh points as both integration points in the temporal domain and sampling points in the angular domain, the slow dynamics of the system excluding the fast angle variable, and the nearly commutative vector fields generated by applying different control inputs. The method is demonstrated through a multi-revolution low-thrust orbital rendezvous problem. Results show that the proposed method achieves high accuracy with only a few seconds of computational time for challenging problems.

Paperid: 2747, https://arxiv.org/pdf/2507.00902.pdf

Abstract:
Direct-satellite-to-device (DS2D) communication is emerging as a promising solution for global mobile service extension, leveraging the deployment of satellite constellations. However, the challenge of managing DS2D connectivity for multi-constellations becomes outstanding, including high interference and frequent handovers caused by multi-coverage overlap and rapid satellite movement. Moreover, existing approaches primarily operate within single-constellation shell, which inherently limits the ability to exploit the vast potential of multi-constellation connectivity provision, resulting in suboptimal DS2D service performances. To address these challenges, this article proposes a Constellation as a Service (CaaS) framework, which treats the entire multi-constellation infrastructure as a shared resource pool and dynamically forms optimal sub-constellations (SCs) for each DS2D service region. The formation of each SC integrates satellites from various orbits to provide tailored connectivity based on user demands, guided by two innovative strategies: predictive satellite beamforming using generative artificial intelligence (GenAI) and pre-configured handover path for efficient satellite access and mobility management. Simulation results demonstrate that CaaS significantly improves satellite service rates while reducing handover overhead, making it an efficient and continuable solution for managing DS2D connectivity in multi-constellation environments.

Paperid: 2748, https://arxiv.org/pdf/2507.00452.pdf

Abstract:
Among all types of crashes, rear-end crashes dominate, which are closely related to the car-following (CF) behaviors. Traditional CF behavior models focused on the influence of the vehicle in front, but usually ignored the peer pressure from the surrounding road users, including the following vehicle (FV). Based on an open dataset, the highD dataset, we investigated whether the FV's states can affect the CF behavior of the ego-vehicle in CF events. Two types of CF events were extracted from highD database, including the tailgated events, where the time headway between the FV and the ego-vehicle (i.e., time gap) was smaller than 1 second, and the gapped events, where the time gap was larger than 3 seconds. The dynamic time warping was used to extract CF pairs with similar speed profiles of the leading vehicle (LV). Statistical analyses were conducted to compare the CF-performance metrics in tailgated and gapped events. Then, the inverse reinforcement learning was used to recover the reward function of the ego-vehicle drivers in different CF events. The results showed that the ego-driver would adjust their CF behavior in response to the pressure from a tailgating FV, by maintaining a closer distance to the LV, but at the same time, driving more cautiously. Further, drivers were still able to adjust their CF strategies based on the speed of traffic flow and the distance to the LV, even when being tailgated. These findings provide insights regarding more accurate modelling of traffic flow by considering the peer pressure from surrounding road users.

Paperid: 2749, https://arxiv.org/pdf/2507.00358.pdf

Abstract:
We study reinforcement learning (RL) for the same class of continuous-time stochastic linear--quadratic (LQ) control problems as in \cite{huang2024sublinear}, where volatilities depend on both states and controls while states are scalar-valued and running control rewards are absent. We propose a model-free, data-driven exploration mechanism that adaptively adjusts entropy regularization by the critic and policy variance by the actor. Unlike the constant or deterministic exploration schedules employed in \cite{huang2024sublinear}, which require extensive tuning for implementations and ignore learning progresses during iterations, our adaptive exploratory approach boosts learning efficiency with minimal tuning. Despite its flexibility, our method achieves a sublinear regret bound that matches the best-known model-free results for this class of LQ problems, which were previously derived only with fixed exploration schedules. Numerical experiments demonstrate that adaptive explorations accelerate convergence and improve regret performance compared to the non-adaptive model-free and model-based counterparts.

Paperid: 2750, https://arxiv.org/pdf/2512.24740.pdf

Abstract:
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory, and power constraints. This paper explores the locomotion of a sub-centimeter quadrupedal microrobot via reinforcement learning (RL) and deploys the resulting controller on an ultra-small system-on-chip (SoC), SC$μ$M-3C, featuring an ARM Cortex-M0 microcontroller running at 5 MHz. We train a compact FP32 multilayer perceptron (MLP) policy with two hidden layers ($[128, 64]$) in a massively parallel GPU simulation and enhance robustness by utilizing domain randomization over simulation parameters. We then study integer (Int8) quantization (per-tensor and per-feature) to allow for higher inference update rates on our resource-limited hardware, and we connect hardware power budgets to achievable update frequency via a cycles-per-update model for inference on our Cortex-M0. We propose a resource-aware gait scheduling viewpoint: given a device power budget, we can select the gait mode (trot/intermediate/gallop) that maximizes expected RL reward at a corresponding feasible update frequency. Finally, we deploy our MLP policy on a real-world large-scale robot on uneven terrain, qualitatively noting that domain-randomized training can improve out-of-distribution stability. We do not claim real-world large-robot empirical zero-shot transfer in this work.

Paperid: 2751, https://arxiv.org/pdf/2512.24683.pdf

Abstract:
AI data-center expansion is increasingly constrained by the coupled availability of deliverable electricity and heat-rejection (cooling) capacity. We propose and evaluate an integrated Waste-to-Energy-AI Data Center configuration that treats cooling as a first-class energy service rather than an unavoidable electricity burden. The coupled system is modeled as an input-output 'black box' with transparent boundaries and a standalone benchmark in which mechanical chilling is powered by grid electricity. The central mechanism is energy-grade matching: low-grade WtE thermal output drives absorption cooling to deliver chilled service, thereby displacing baseline cooling electricity. We show that thermoeconomic superiority is governed by three first-order determinants, (i) cooling coverage of IT heat load, (ii) parasitic electricity for transport and auxiliaries, and (iii) distance-driven delivery decay, yielding a break-even corridor beyond which net benefits vanish. Comparative statics characterize sensitivity to IT utilization, feedstock quality (waste LHV and throughput), climate parameterization, and corridor distance. We translate these accounting gains into decision language through a computable prototype for Levelized Cost of Computing (LCOC) and an ESG valuation channel grounded in measurable mechanisms, without re-deriving full lifecycle inventories. The framework provides siting-ready feasibility conditions for WtE-AIDC coupling in urban AI corridors under grid stress.

Paperid: 2752, https://arxiv.org/pdf/2512.24484.pdf

Abstract:
A systematic method for the design of linear residual generators for combined fault detection and estimation in nonlinear systems is developed. The proposed residual generator is a linear functional observer built for an extended system that incorporates the fault dynamics from a linear exo-system, and in addition possesses disturbance-decoupling properties. Necessary and sufficient conditions for the existence of such residual generators for nonlinear systems are derived. As long as these conditions are satisfied, we obtain explicit design formulas for the residual generator. The results are illustrated through a chemical reactor case study, which demonstrates the effectiveness of the proposed methodology.

Paperid: 2753, https://arxiv.org/pdf/2512.24281.pdf

Abstract:
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an over-actuated 3-DOF marine surface vessel subjected to strong environmental disturbances (wind, waves, and current). SMC provides robustness to matched disturbances common in marine operations, while HOCBFs enforce forward invariance of obstacle-avoidance constraints. A fast half-space projection method adjusts the SMC control only when needed, preserving robustness and minimizing chattering. The approach is evaluated on a nonlinear marine platform model that includes added mass, hydrodynamic damping, and full thruster allocation. Simulation results show robust navigation, guaranteed obstacle avoidance, and computational efficiency suitable for real-time embedded use. For small marine robots and surface vessels with limited onboard computational resources-where execution speed and computational efficiency are critical-the SMC-HOCBF framework constitutes a strong candidate for safety-critical control.

Paperid: 2754, https://arxiv.org/pdf/2512.23284.pdf

Abstract:
Given the central role of green e-molecule imports in the European energy transition, many studies optimize import pathways and identify a single cost-optimal solution. However, cost optimality is fragile, as real-world implementation depends on regulatory, spatial, and stakeholder constraints that are difficult to represent in optimization models and can render cost-optimal designs infeasible. To address this limitation, we generate a diverse set of near-cost-optimal alternatives within an acceptable cost margin using Modeling to Generate Alternatives, accounting for unmodeled uncertainties. Interpretable machine learning is then applied to extract insights from the resulting solution space. The approach is applied to hydrogen import pathways considering hydrogen, ammonia, methane, and methanol as carriers. Results reveal a broad near-optimal space with great flexibility: solar, wind, and storage are not strictly required to remain within 10% of the cost optimum. Wind constraints favor solar-storage methanol pathways, while limited storage favors wind-based ammonia or methane pathways.

Paperid: 2755, https://arxiv.org/pdf/2512.23189.pdf

Abstract:
This survey provides a comprehensive overview of the integration of Generative AI and Agentic AI within the field of Digital Electronic Design Automation (EDA). The paper first reviews the paradigmatic evolution from traditional Computer-Aided Design (CAD) to AI-assisted EDA (AI4EDA), and finally to the emerging AI-Native and Agentic design paradigms. We detail the application of these paradigms across the digital chip design flow, including the construction of agentic cognitive architectures based on multimodal foundation models, frontend RTL code generation and intelligent verification, and backend physical design featuring algorithmic innovations and tool orchestration. We validate these methodologies through integrated case studies, demonstrating practical viability from microarchitecture definition to GDSII. Special emphasis is placed on the potential for cross-stage feedback loops where agents utilize backend PPA metrics to autonomously refine frontend logic. Furthermore, this survey delves into the dual-faceted impact on security, covering novel adversarial risks, automated vulnerability repair, and privacy-preserving infrastructure. Finally, the paper critically summarizes current challenges related to hallucinations, data scarcity, and black-box tools, and outlines future trends towards L4 autonomous chip design. Ultimately, this work aims to define the emerging field of Agentic EDA and provide a strategic roadmap for the transition from AI-assisted tools to fully autonomous design engineers.

Paperid: 2756, https://arxiv.org/pdf/2512.22668.pdf

Abstract:
The State-Dependent Riccati Equation (SDRE) technique generalizes the classical algebraic Riccati formulation to nonlinear systems by designing an input to the system that optimally(suboptimally) regulates system states toward the origin while simultaneously optimizing a quadratic performance index. In the SDRE technique, we solve the State-Dependent Riccati Equation to determine the control for regulating a nonlinear input-affine system. Since an analytic solution to SDRE is not straightforward, one method is to linearize the system at every state, solve the corresponding Algebraic Riccati Equation (ARE), and apply optimal control until the next state of the system. Completing this task with high frequency gives a result like the original SDRE technique. Both approaches require a complete model; therefore, here we propose a method that solves ARE in every state of the system using a partially model-free approach that learns optimal control in every state of the system, without explicit knowledge of the drift dynamics, based on Integral Reinforcement Learning (IRL). To show the effectiveness of our proposed approach, we apply it to the second-order nonlinear system in simulation and compare its performance with the classical SDRE method, which relies on the system's model and solves the ARE at each state. Our simulation results demonstrate that, with sufficient iterations, the IRL-based approach achieves approximately the same performance as the conventional SDRE method, demonstrating its capability as a reliable alternative for nonlinear system control that does not require an explicit environmental model. Index Terms-Algebraic Riccati Equation (ARE), Integral Reinforcement Learning (IRL), Nonlinear Input-Affine Systems, Optimal Regulation, State-Dependent Riccati Equation (SDRE)

Paperid: 2757, https://arxiv.org/pdf/2512.22646.pdf

Abstract:
The stealth of false data injection attacks (FDIAs) against feedback sensors in linear time-varying (LTV) control systems is investigated. In that regard, the following notions of stealth are pursued: For some finite $ε> 0$, i) an FDIA is deemed $ε$-stealthy if the deviation it produces in the signal that is monitored by the anomaly detector remains $ε$-bounded for all time, and ii) the $ε$-stealthy FDIA is further classified as untraceable if the bounded deviation dissipates over time (asymptotically). For LTV systems that contain a chain of $q \geq 1$ integrators and feedback controllers with non-negative impulse-response kernels, it is proved that polynomial (in time) FDIA signals of degree $a$ - growing unbounded over time - will remain i) $ε$-stealthy, for some finite $ε> 0$, if $a \leq q$, and ii) untraceable, if $a < q$. These results are obtained using the theory of linear Volterra integral equations.

Paperid: 2758, https://arxiv.org/pdf/2512.21437.pdf

Abstract:
Recent advancements in Lyapunov-based Deep Neural Networks (Lb-DNNs) have demonstrated improved performance over shallow NNs and traditional adaptive control for nonlinear systems with uncertain dynamics. Existing Lb-DNNs rely on multi-layer perceptrons (MLPs), which lack interpretable insights. As a first step towards embedding interpretable insights in the control architecture, this paper develops the first Lyapunov-based Kolmogorov-Arnold Networks (Lb-KAN) adaptive control method for uncertain nonlinear systems. Unlike MLPs with deep-layer matrix multiplications, KANs provide interpretable insights by direct functional decomposition. In this framework, KANs are employed to approximate uncertain dynamics and embedded into the control law, enabling visualizable functional decomposition. The analytical update laws are constructed from a Lyapunov-based analysis for real-time learning without prior data in a KAN architecture. The analysis uses the distinct KAN approximation theorem to formally bound the reconstruction error and its effect on the performance. The update law is derived by incorporating the KAN's learnable parameters into a Jacobian matrix, enabling stable, analytical, real-time adaptation and ensuring asymptotic convergence of tracking errors. Moreover, the Lb-KAN provides a foundation for interpretability characteristics by achieving visualizable functional decomposition. Simulation results demonstrate that the Lb-KAN controller reduces the function approximation error by 20.2% and 18.0% over the baseline Lb-LSTM and Lb-DNN methods, respectively.

Paperid: 2759, https://arxiv.org/pdf/2512.21412.pdf

Abstract:
The age of information (AoI) has become a central measure of data freshness in modern wireless systems, yet existing surveys either focus on classical AoI formulations or provide broad discussions of reinforcement learning (RL) in wireless networks without addressing freshness as a unified learning problem. Motivated by this gap, this survey examines RL specifically through the lens of AoI and generalized freshness optimization. We organize AoI and its variants into native, function-based, and application-oriented families, providing a clearer view of how freshness should be modeled in B5G and 6G systems. Building on this foundation, we introduce a policy-centric taxonomy that reflects the decisions most relevant to freshness, consisting of update-control RL, medium-access RL, risk-sensitive RL, and multi-agent RL. This structure provides a coherent framework for understanding how learning can support sampling, scheduling, trajectory planning, medium access, and distributed coordination. We further synthesize recent progress in RL-driven freshness control and highlight open challenges related to delayed decision processes, stochastic variability, and cross-layer design. The goal is to establish a unified foundation for learning-based freshness optimization in next-generation wireless networks.

Paperid: 2760, https://arxiv.org/pdf/2512.21375.pdf

Abstract:
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause severe spectral distortion, thereby reducing data availability. To maximize the acquisition of high-quality data while ensuring flight safety, this paper proposes an active path planning method for dynamic light and shadow disturbance avoidance. First, a dynamic prediction model is constructed to transform the time-varying light and shadow disturbance areas into three-dimensional virtual obstacles. Second, an improved Interfered Fluid Dynamical System (IFDS) algorithm is introduced, which generates a smooth initial obstacle avoidance path by building a repulsive force field. Subsequently, a Model Predictive Control (MPC) framework is employed for rolling-horizon path optimization to handle flight dynamics constraints and achieve real-time trajectory tracking. Furthermore, a Dynamic Flight Altitude Adjustment (DFAA) mechanism is designed to actively reduce the flight altitude when the observable area is narrow, thereby enhancing spatial resolution. Simulation results show that, compared with traditional PID and single obstacle avoidance algorithms, the proposed method achieves an obstacle avoidance success rate of 98% in densely disturbed scenarios, significantly improves path smoothness, and increases the volume of effective observation data by approximately 27%. This research provides an effective engineering solution for precise UAV water quality monitoring in complex illumination environments.

Paperid: 2761, https://arxiv.org/pdf/2512.21364.pdf

Abstract:
Embedded systems are becoming more in demand to work in dynamic and uncertain environments, and being confined to the strong requirements of real-time. Conventional static scheduling models usually cannot cope with runtime modification in workload, resource availability, or system updates. This brief survey covers the area of feedback-based control (e.g., Feedback Control Scheduling) and interdependence between tasks (e.g., Symbiotic Scheduling of Periodic Tasks) models. It also borders on predictive methods and power management, combining methods based on Dynamic Voltage and Frequency Scaling (DVFS). In this paper, key mechanisms are briefly summarized, influencing trade-offs relating to adaptivity/predictability, typical metrics of evaluation, and ongoing problems, especially in situations where safety is a critical factor, giving a succinct and easy-to-understand introduction to researchers and practitioners who have to cope with the changing environment of adaptive real-time systems.

Paperid: 2762, https://arxiv.org/pdf/2512.21244.pdf

Abstract:
While computation-enabled cryptosystems applied to control systems have improved security and privacy, a major issue is that the number of recursive operations on encrypted data is limited to a finite number of times in most cases, especially where fast computation is required. To allow for nonlinear dynamic control under this constraint, a method for representing a state-space system model as an auto-regressive model with exogenous inputs (ARX model) is proposed. With the input as well as the output of the plant encrypted and transmitted to the controller, the reformulated ARX form can compute each output using only a finite number of operations, from its several previous inputs and outputs. Existence of a stable observer for the controller is a key condition for the proposed representation. The representation replaces the controller with an observer form and applies a method similar to finite-impulse-response approximation. It is verified that the approximation error and its effect can be made arbitrarily small by an appropriate choice of a parameter, under stability of the observer and the closed-loop system. Simulation results demonstrate the effectiveness of the proposed method.

Paperid: 2763, https://arxiv.org/pdf/2512.21063.pdf

Abstract:
Autonomous magnetic catheter systems are emerging as a promising approach for the future of minimally invasive interventions. This study presents a novel approach that begins by modeling the nonlinear and hysteretic dynamics of a magnetically actuated catheter system, consists of a magnetic catheter manipulated by servo-controlled magnetic fields generated by two external permanent magnets, and its complex behavior is captured using a Long Short-Term Memory (LSTM) neural network. This model validated against experimental setup's data with a root mean square error (RMSE) of 0.42 mm and 99.8% coverage within 3 mm, establishing it as a reliable surrogate model. This LSTM enables the training of Reinforcement Learning (RL) agents for controlling the system and avoiding damage to the real setup, with the potential for subsequent fine-tuning on the physical system. We implemented Deep Q-Network (DQN) and actor-critic RL controllers, comparing these two agents first for regulation and subsequently for path following along linear and half-sinusoidal paths for the catheter tip. The actor-critic outperforms DQN, offering greater accuracy and faster performance with less error, along with smoother trajectories at a 10 Hz sampling rate, in both regulation and path following compared to the DQN controller. This performance, due to the continuous action space, suits dynamic navigation tasks like navigating curved vascular structures for practical applications.

Paperid: 2764, https://arxiv.org/pdf/2512.20791.pdf

Abstract:
In the framework of a real Hilbert space we consider the problem of approaching solutions to a class of hierarchical variational inequality problems, subsuming several other problem classes including certain mathematical programs under equilibrium constraints, constrained min-max problems, hierarchical game problems, optimal control under VI constraints, and simple bilevel optimization problems. For this general problem formulation, we establish rates of convergence in terms of suitably constructed gap functions, measuring feasibility gaps and optimality gaps. We present worst-case iteration complexity results on both levels of the variational problem, as well as weak convergence under a geometric weak sharpness condition on the lower level solution set. Our results match and improve the state of the art in terms of their iteration complexity and the generality of the problem formulation.

Paperid: 2765, https://arxiv.org/pdf/2512.20040.pdf

Abstract:
An augmented system model provides an effective way to model non-Markovian quantum systems, which is useful in filtering and control for this class of systems. However, since a large number of ancillary quantum oscillators representing internal modes of a non-Markovian environment directly interact with the principal system in these models, the dimension of the augmented system may be very large causing significant computational burden in designing filters and controllers. In this context, this paper proposes an $\mathscr{H}_2$ model reduction method for the augmented model of linear non-Markovian quantum systems. We first establish necessary and sufficient conditions for the physical realizability of the augmented model of linear non-Markovian quantum systems, which are more stringent than those for Markovian quantum systems. However, these physical realizability conditions of augmented system model pose non-convex constrains in the optimization problem of model reduction, which makes the problem different from the corresponding classical model reduction problem. To solve the problem, we derive necessary conditions for determining the input matrix in the reduced model, with which a theorem for designing the system matrix of the ancillary system in the reduced system is proved. Building on this, we convert the nonlinear equality constraints into inequality constraints so that a semidefinite programming algorithm can be developed to solve the optimization problem for model reduction. A numerical example of a two-mode linear quantum system driven by three internal modes of a non-Markovian environment validates the effectiveness of our method.

Paperid: 2766, https://arxiv.org/pdf/2512.19846.pdf

Abstract:
We introduce a new class of attitude control laws for rotational systems, which generalizes the use of the Euler axis-angle representation beyond quaternion-based formulations. Using basic Lyapunov's stability theory and the notion of extended $K_{\infty}$ functions, we developed a method for determining and enforcing the global asymptotic stability of the single fixed point of the resulting closed-loop (CL) scheme. In contrast with traditional quaternion-based methods, the proposed generalized axis-angle approach enables greater flexibility in the design of the control law, which is of great utility when employed in combination with a switching scheme whose transition state depends on the angular velocity of the controlled rotational system. Through simulation and real-time experimental results, we demonstrate the effectiveness of the proposed approach. According to the recorded data, in the execution of high-speed tumble-recovery maneuvers, the new method consistently achieves shorter stabilization times and requires lower control effort relative to those corresponding to the quaternion-based and geometric-control methods used as benchmarks.

Paperid: 2767, https://arxiv.org/pdf/2512.19202.pdf

Abstract:
Rising AI electricity demand and persistent landfill methane emissions constitute coupled constraints on U.S. digital infrastructure and decarbonization. While China has achieved a rapid 'de-landfilling' transition through centralized coordination, the U.S. remains structurally 'locked in' to landfilling due to fragmented governance and carbon accounting incentives. This paper proposes a modular legacy landfill remediation framework to address these dual challenges within U.S. institutional constraints. By treating legacy sites as stock resources, the proposed system integrates excavation, screening, and behind-the-meter combined heat and power (CHP) to transform environmental liabilities into resilience assets. A system analysis of a representative AI corridor demonstrates that such modules can mitigate site-level methane by 60-70% and recover urban land, while supplying approximately 20 MW of firm, islandable power. Although contributing only approximately 5% of a hyperscale data center's bulk load, it provides critical microgrid resilience and black-start capability. We conclude that remediation-oriented waste-to-energy should be valued not as a substitute for bulk renewables, but as a strategic control volume for buffering critical loads against grid volatility while resolving long-term environmental liabilities.

Paperid: 2768, https://arxiv.org/pdf/2512.18558.pdf

Abstract:
Learning-based traffic signal control is typically optimized for average performance under a few nominal demand patterns, which can result in poor behavior under atypical traffic conditions. To address this, we develop a distributionally robust multi-agent reinforcement learning framework for signal control on a 3x3 urban grid calibrated from a contiguous 3x3 subarea of central Athens covered by the pNEUMA trajectory dataset (Barmpounakis and Geroliminis, 2020). Our approach proceeds in three stages. First, we train a baseline multi-agent RL controller in which each intersection is governed by a proximal policy optimization agent with discrete signal phases, using a centralized training, decentralized execution paradigm. Second, to capture demand uncertainty, we construct eight heterogeneous origin-destination-based traffic scenarios-one directly derived from pNEUMA and seven synthetically generated-to span a wide range of spatial and temporal demand patterns. Over this scenario set, we train a contextual-bandit worst-case estimator that assigns mixture weights to estimate adversarial demand distributions conditioned on context. Finally, without modifying the controller architecture, we fine-tune the baseline multi-agent reinforcement learning agents under these estimated worst-case mixtures to obtain a distributionally robust multi-agent reinforcement learning controller. Across all eight scenarios, as well as on an unseen validation network based on the Sioux Falls configuration, the distributionally robust multi-agent reinforcement learning controller consistently reduces horizon-averaged queues and increases average speeds relative to the baseline, achieving up to 51% shorter queues and 38% higher speeds on the worst-performing scenarios.

Paperid: 2769, https://arxiv.org/pdf/2512.18501.pdf

Abstract:
Ride-hailing platforms have a profound impact on urban transportation systems, and their performance largely depends on how intelligently they dispatch vehicles in real time. In this work, we develop a new approach to online vehicle dispatch that strengthens a platform's ability to serve more requests under demand uncertainty. We introduce a novel measure called sink proximity, a network-science-inspired measure that captures how demand and vehicle flows are likely to evolve across the city. By integrating this measure into a shareability-network framework, we design an online dispatch algorithm that naturally considers future network states, without depending on fragile spatiotemporal forecasts. Numerical studies demonstrate that our proposed solution significantly improves the request service rate under peak hours within a receding horizon framework with limited future information available.

Paperid: 2770, https://arxiv.org/pdf/2512.18293.pdf

Abstract:
The mitigation of unbalanced grid voltages or currents by voltage source converters results in power ripple on the dc link, and is a key converter design parameter due to hardware or stability considerations. Despite the importance of this issue for system design and operation, the use of Optimal Power Flow (OPF)-based methods capturing the interaction between dc link ripple and converter unbalanced operation has been largely unexplored. In this work, the magnitude of the power ripple is derived for generic multi-terminal converters, then introduced as a bilinear OPF constraint for two-level converter topologies. OPF case studies demonstrate the necessity to model both neutral current and dc link ripple, with tradeoffs between capacitor sizing and leg sizing highlighted for phase current unbalance mitigation applications. Time domain simulations of a grid-connected four-wire voltage source converter verify the accuracy and validity of the algebraic formulation. It is concluded that awareness of dc link ripple impacts and constraints will be of growing importance for distribution system operators.

Paperid: 2771, https://arxiv.org/pdf/2512.17246.pdf

Abstract:
With the rapid development of distributed renewable energy, multi-microgrids play an increasingly important role in improving the flexibility and reliability of energy supply. Reinforcement learning has shown great potential in coordination strategies due to its model-free nature. Current methods lack explicit quantification of the relationship between individual and joint risk values, resulting in obscured credit assignment. Moreover, they often depend on explicit communication, which becomes inefficient as system complexity grows. To address these challenges, this paper proposes a risk-sensitive reinforcement learning framework with shared memory (RRL-SM) for multi-microgrid scheduling. Specifically, a risk-sensitive value factorization scheme is proposed to quantify the relationship between individual and joint risk values by leveraging distributional modeling and attention-based representations, thereby aligning local decisions with global risk objectives. An implicit shared-memory coordination mechanism is implemented through a global memory space to enhance the overall efficiency of decentralized decision-making. Collectively, the integrated approach delivers more reliable cooperative scheduling under renewable energy uncertainty. Simulation results show that RRL-SM reduces load-shedding risk by 84.5%, demonstrating a favorable balance between reliability and economic performance.

Paperid: 2772, https://arxiv.org/pdf/2512.16139.pdf

Abstract:
An open multi-agent system (OMAS) comprises migrating agents which produce a flexible network structure that is naturally switching and size-varying. Meanwhile, agent migrations also make an OMAS more prone to environmental adversities. In this work, we deal with the consensus tracking problem of OMASs suffering these migration-induced adversities, including non-vanishing perturbations in the agent dynamics/state and the repelling antagonistic interactions among agents, over an intermittently disconnected signed digraph. The OMAS is interpreted into a perturbed $M^3D$ system in which unstable subsystems are created when repelling interactions dominate the normal cooperative ones in the OMAS network regardless of its connectivity. To handle the destabilizing effects brought by the repelling interaction as well as the non-vanishing perturbations, we extend the stability theory for $M^3D$ systems and apply it to the OMAS to show that practical consensus tracking can be achieved if the migration-induced switching satisfies the piecewise average dwell time and activation time ratio constraints. Particularly, we indicate that for vanishing perturbations and repelling interactions, asymptotic tracking can be expected under weaker switching constraints.

Paperid: 2773, https://arxiv.org/pdf/2512.15916.pdf

Abstract:
This paper presents a benchmarking framework to evaluate process control strategies in outdoor microalgae raceway reactors, integrating four key control regulation tasks: pH, dissolved oxygen (DO), culture volume through coordinated harvest-dilution actions, and temperature via a sump-mounted spiral heat exchanger. The benchmark is built upon a high-fidelity, experimentally calibrated dynamic model that captures the strongly coupled thermal, physicochemical, and biological processes governing industrial-scale open raceway ponds. A closed-loop simulation environment is provided, featuring realistic actuator constraints, gas transport delays, stiff integration, and a fully specified scenario based on multi-day outdoor disturbances (irradiance, temperature, wind, and humidity). Four user-replaceable controllers define the manipulation of CO2 injection, air bubbling, harvest/dilution sequencing, and heat-exchanger operation. The platform computes a unified global performance index, in addition to individual metrics for each control problem, combining tracking error, gas and energy usage, and biomass productivity, enabling consistent and quantitative comparison of alternative control strategies. Baseline regulatory architectures (On/Off, PI/PID, and Economic Model Predictive Control (EMPC)) are included to illustrate the benchmark use for classical and advanced control methods. By providing an openly specified, reproducible, and computationally tractable benchmark with well-defined function interfaces, this work aims to bridge control methodology and outdoor algal bioprocess engineering, and to support the development of multivariable control strategies for disturbance-rich environmental systems.

Paperid: 2774, https://arxiv.org/pdf/2512.15668.pdf

Abstract:
The industrial production of microalgae is an important and sustainable process, but its actual competitiveness is closely related to its optimization. The biological nature of the process hinders this task, mainly due to the high nonlinearity of the process along with its changing nature, features that make its modeling, control and optimization remarkably challenging. This paper presents an economic optimization framework aiming to enhance the operation of such systems. An Economic Model Predictive Controller is proposed, centralizing the decision making and achieving the theoretical optimal operation. Different scenarios with changing climate conditions are presented, and a comparison with the typical, non-optimized industrial process operation is established. The obtained results achieve economic optimization and dynamic stability of the process, while providing some insight into the priorities during process operation at industrial level, and justifying the use of optimal controllers over traditional operation.

Paperid: 2775, https://arxiv.org/pdf/2512.14520.pdf

Abstract:
Willems' fundamental lemma uses a key decision variable $g$ to combine measured input-output data and describe trajectories of a linear time-invariant system. In this paper, we ask: what is a good choice for this vector $g$ when the system is affected by noise? For a linear system with Gaussian noise, we show that there exists an optimal subspace for this decision variable $g$, which is the null space of the innovation Hankel matrix. If the decision vector lies in this null space, the resulting predictor gets closer to the Kalman predictor. To show this, we use a result that we refer to as the Kalman Filter Fundamental Lemma (KFFL), which applies Willems' lemma to the Kalman predictor. This viewpoint also explains several existing data-driven predictive control methods: regularized DeePC schemes act as soft versions of the innovation null-space constraint, instrumental-variable methods enforce it by construction, and ARX-based approaches explicitly estimate this innovation null space.

Paperid: 2776, https://arxiv.org/pdf/2512.14510.pdf

Abstract:
We propose a fundamental-lemma-free data-driven predictive control (DDPC) scheme for synthesizing model predictive control (MPC)-like policies directly from input-output data. Unlike the well-known DeePC approach and other DDPC methods that rely on Willems' fundamental lemma, our method avoids stacked Hankel representations and the DeePC decision variable g. Instead, we develop a closed-loop consistent, causal DDPC scheme based on the multi-step predictor Subspace-ARX (SSARX). The method first (i) estimates predictor/observer Markov parameters via a high-order ARX model to decouple the noise, then (ii) learns a multi-step past-to-future map by regression, optionally with a reduced-rank constraint. The SSARX predictor is strictly causal, which allows it to be integrated naturally into an MPC formulation. Our experimental results show that SSARX performs competitively with other methods when applied to closed-loop data affected by measurement and process noise.

Paperid: 2777, https://arxiv.org/pdf/2512.14305.pdf

Abstract:
The efficiency of water electrolysis in a photoelectrochemical cell is largely limited by the oxygen evolution reaction (OER) at its semiconductor photoanode. Reaction rate constants are key to investigating the slow kinetics of the multistep OER, as they indicate the rate-determining step. While these rate constants are usually calculated based on first-principles simulations, this research aims to estimate them from experimental electrochemical impedance spectroscopy (EIS) data. Starting from a microkinetic model for charge transfer at the semiconductor-electrolyte interface, an expression for the impedance as a function of the rate constants is derived. At lower potentials, the order of this impedance model is reduced, thus eliminating the rate constants corresponding to the last reaction steps. Moreover, it is shown that EIS data from at least two potentials needs to be combined in order to uniquely identify the rate constants of a particular reduced order model. Therefore, this work details a sample maximum likelihood estimator that integrates not only multiple frequencies, but also multiple potentials simultaneously. Measuring multiple periods of the current density and potential signals, allows this frequency domain estimator to take measurement uncertainty into account. In addition, due to the large numerical range of the rate constants, various scaling methods are implemented to achieve numerical stability. To find suitable initial values for the highly nonlinear optimization problem, different global estimation methods are compared. The complete estimation procedure of the rate constants is illustrated on simulated EIS data of a hematite photoanode.

Paperid: 2778, https://arxiv.org/pdf/2512.14175.pdf

Abstract:
A common assumption when applying the Kalman filter is a priori knowledge of the system parameters. These parameters are not necessarily known, and this may limit real-world applications of the Kalman filter. The well-established Model Reference Adaptive Controller (MRAC) utilizes a known reference model and ensures that the input-output behavior of a potentially unknown system converges to that of the reference model. We present KalMRACO, a unification of the Kalman filter and MRAC leveraging the reference model of MRAC as the Kalman filter system model, thus eliminating, to a large degree, the need for knowledge of the underlying system parameters in the application of the Kalman filter. We also introduce the concept of blending estimated states and measurements in the feedback law to handle stability issues during the initial transient. KalMRACO is validated through simulations and lab trials on an underwater vehicle. Results show superior tracking of the reference model state, observer state convergence, and noise mitigation properties.

Paperid: 2779, https://arxiv.org/pdf/2512.13871.pdf

Abstract:
This thesis presents a fundamental rethink of electricity market design at the wholesale and balancing layers. Rather than treating markets as static spot clearing mechanisms, it reframes them as a continuously online, event driven dynamical control system: a two sided marketplace operating directly on grid physics. Existing energy only, capacity augmented, and zonal market designs are shown to admit no shock robust Nash equilibrium under realistic uncertainty, instead relying on price caps, uplift, and regulatory intervention to preserve solvency and security. In response, the thesis develops a holarchic Automatic Market Maker (AMM) in which prices are bounded, exogenous control signals derived from physical tightness rather than emergent equilibrium outcomes. The AMM generalises nodal and zonal pricing through nested scarcity layers, from node to cluster to zone to region to system, such that participant facing prices inherit from the tightest binding constraint. Nodal and zonal pricing therefore emerge as special cases of a unified scarcity propagation rule. Beyond pricing, the AMM functions as a scarcity aware control system and a digitally enforceable rulebook for fair access and proportional allocation under shortage. Fuel costs are recovered through pay as bid energy dispatch consistent with merit order, while non fuel operating and capital costs are allocated according to adequacy, flexibility, and locational contribution. Large scale simulations demonstrate bounded input bounded output stability, controllable procurement costs, zero structural waste, and improved distributional outcomes. The architecture is climate aligned and policy configurable, but requires a managed transition and new operational tools for system operators and market participants.

Paperid: 2780, https://arxiv.org/pdf/2512.13477.pdf

Abstract:
To address the issues that arise due to the manual navigation of guidewires in endovascular interventions, research in medical robotics has taken a strong interest in developing robotically steerable guidewires, which offer the possibility of enhanced maneuverability and navigation, as the tip of the guidewire can be actively steered. The COaxially Aligned STeerable (COAST) guidewire robot has the ability to generate a wide variety of motions including bending motion with different bending lengths, follow-the-leader motion, and feedforward motion. In our past studies, we have explored different designs of the COAST guidewire robot and developed modeling, control, and sensing strategies for the COAST guidewire robot. In this study, the performance of a modified COAST guidewire robot is evaluated by conducting navigation experiments in an anatomical phantom model with pulsatile flow. The modified COAST guidewire robot is a simplified version of the COAST guidewire robot and consists of two tubes as opposed to three tubes. Through this study, we demonstrate the effectiveness of the modified COAST guidewire robot in navigating the tortuous phantom vasculature.

Paperid: 2781, https://arxiv.org/pdf/2512.13021.pdf

Abstract:
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment. This paper presents a method for designing controllers that minimize inter-agent communication in multi-agent systems while satisfying safety and coordination requirements, while conforming to communication delay constraints. The control synthesis problem is cast as a rank minimization problem, where a convex relaxation is obtained via system level synthesis. Simulation results on various tasks, including trajectory tracking with relative and heterogeneous sensing, demonstrate that the proposed method significantly reduces inter-agent transmission compared to baseline approaches.

Paperid: 2782, https://arxiv.org/pdf/2512.12883.pdf

Abstract:
This paper develops an embedding-based approach to solve switched optimal control problems (SOCPs) with an arbitrary number of subsystems. Initially, the discrete switching signal is represented by a set of binary variables, encoding each mode in binary format. An embedded optimal control problem (EOCP) is then formulated by replacing these binary variables with continuous embedded variables that can take intermediate values between zero and one. Although embedding allows SOCPs to be addressed using conventional techniques, the optimal solutions of EOCPs often yield intermediate values for binary variables, which may not be feasible for the original SOCP. To address this challenge, a modified EOCP (MEOCP) is introduced by adding a concave auxiliary cost function of appropriate dimensionality to the main cost function. This addition ensures that the optimal solution of the EOCP is bang-bang, and as a result, feasible for the original SOCP.

Paperid: 2783, https://arxiv.org/pdf/2512.12871.pdf

Abstract:
Electricity markets are under increasing pressure to maintain reliability amidst rising renewable penetration, demand variability, and occasional price shocks. Traditional capacity market designs often fall short in addressing this by relying on expected-value metrics of energy unserved, which overlook risk exposure in such systems. In this work, we present CapOptix, a capacity pricing framework that interprets capacity commitments as reliability options, i.e., financial derivatives of wholesale electricity prices. CapOptix characterizes the capacity premia charged by accounting for structural price shifts modeled by the Markov Regime Switching Process. We apply the framework to historical price data from multiple electricity markets and compare the resulting premium ranges with existing capacity remuneration mechanisms.

Paperid: 2784, https://arxiv.org/pdf/2512.12794.pdf

Abstract:
Many cyber-physical systems (CPS) rely on high-dimensional numeric telemetry and explicit operating rules to maintain safe and efficient operation. Recent large language models (LLMs) are increasingly considered as decision-support components in such systems, yet most deployments focus on textual inputs and do not directly address rule-grounded reasoning over numeric measurements. This paper proposes a rule-aware prompt framework that systematically encodes CPS domain context, numeric normalization, and decision rules into a modular prompt architecture for LLMs. The framework decomposes prompts into five reusable modules, including role specification, CPS domain context, numeric normalization, rule-aware reasoning, and output schema, and exposes an interface for plugging in diverse rule sets. A key design element is separating rule specification from the representation of normalized numeric deviations, which enables concise prompts that remain aligned with domain rules. We analyze how different normalization strategies and prompt configurations influence rule adherence, interpretability, and token efficiency. The framework is model-agnostic and applicable across CPS domains. To illustrate its behavior, we instantiate it on numeric anomaly assessment in an IEEE 118-bus electric power transmission network and evaluate several prompting and adaptation regimes. The results show that rule-aware, z-score-based value blocks and a hybrid LLM-detector architecture can substantially improve consistency with CPS rules and anomaly detection performance while reducing token usage, providing a reusable bridge between numeric telemetry and general-purpose LLMs.

Paperid: 2785, https://arxiv.org/pdf/2512.12761.pdf

Abstract:
We study the Stochastic Shortest Path (SSP) problem for autonomous systems with mixed max-sum cost aggregations under Linear Temporal Logic constraints. Classical SSP formulations rely on sum-aggregated costs, which are suitable for cumulative quantities such as time or energy but fail to capture bottleneck-style objectives such as avoiding high-risk transitions, where performance is determined by the worst single event along a trajectory. Such objectives are particularly important in safety-critical systems, where even one hazardous transition can be unacceptable. To address this limitation, we introduce max-aggregated objectives that minimize the bottleneck cost, i.e., the maximum one-step cost along a trajectory. We show that standard Bellman equations on the original state space do not apply in this setting and propose an augmented MDP with a state variable tracking the running maximum cost, together with a value iteration algorithm. We further identify a cyclic policy phenomenon, where zero-marginal-cost cycles prevent goal reaching under max-aggregation, and resolve it via a finite-horizon formulation. To handle richer task requirements, linear temporal logic specifications are translated into deterministic finite automata and combined with the system to construct a product MDP. We propose a lexicographic value iteration algorithm that handles mixed max-sum objectives under lexicographic ordering on this product MDP. Gridworld case studies demonstrate the effectiveness of the proposed framework.

Paperid: 2786, https://arxiv.org/pdf/2512.11999.pdf

Abstract:
This paper proposes a novel Taylor-Lagrange Control (TLC) method for nonlinear control systems to ensure the safety and stability through Taylor's theorem with Lagrange remainder. To achieve this, we expand a safety or stability function with respect to time along the system dynamics using the Lie derivative and Taylor's theorem. This expansion enables the control input to appear in the Taylor series at an order equivalent to the relative degree of the function. We show that the proposed TLC provides necessary and sufficient conditions for system safety and is applicable to systems and constraints of arbitrary relative degree. The TLC exhibits connections with existing Control Barrier Function (CBF) and Control Lyapunov Function (CLF) methods, and it further extends the CBF and CLF methods to the complex domain, especially for higher order cases. Compared to High-Order CBFs (HOCBFs), TLC is less restrictive as it does not require forward invariance of the intersection of a set of safe sets while HOCBFs do. We employ TLC to reformulate a constrained optimal control problem as a sequence of quadratic programs with a zero-order hold implementation method, and demonstrate the safety of zero-order hold TLC using an event-triggered control method to address inter-sampling effects. Finally, we illustrate the effectiveness of the proposed TLC method through an adaptive cruise control system and a robot control problem, and compare it with existing CBF methods.

Paperid: 2787, https://arxiv.org/pdf/2512.11492.pdf

Abstract:
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which determines the prediction horizon and the robustness to information loss. This work develops a systematic method to select the optimal bound by quantifying the trade-off between prediction errors and open-loop operation caused by communication losses. Simulation studies demonstrate the performance gains achieved with the optimal bound.

Paperid: 2788, https://arxiv.org/pdf/2512.11481.pdf

Abstract:
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and packet losses as encountered in UDP-type communication systems. The augmented control system preserves all properties of the original model predictive control method under the network constraints. Furthermore, we propose to use linear tube MPC with the novel method and show that the system converges robustly to the origin under mild conditions. We illustrate this with simulation examples of a cart pole and a continuous stirred tank reactor.

Paperid: 2789, https://arxiv.org/pdf/2512.11468.pdf

Abstract:
We propose an input-output data-driven framework for certifying the stability of interconnected multiple-input-multiple-output linear time-invariant discrete-time systems via QSR-dissipativity. That is, by using measured input-output trajectories of each subsystem, we verify dissipative properties and extract local passivity indices without requiring an explicit model identification. These passivity indices are then used to derive conditions under which the equilibrium of the interconnected system is stable. In particular, the framework identifies how the lack of passivity in some subsystems can be compensated by surpluses in others. The proposed approach enables a compositional stability analysis by combining subsystem-level conditions into a criterion valid for the overall interconnected system. We illustrate via a numerical case study, how to compute channel-wise passivity indices and infer stability guarantees directly from data with the proposed method.

Paperid: 2790, https://arxiv.org/pdf/2512.11310.pdf

Abstract:
This paper presents the design and status of Accumulator Ring (AR) RF Equipment Protection System (EPS) of Advanced Light Source Upgrade project at LBNL. The key components of AR RF EPS include a Master Interlock PLC subsystem handling supervisory control and slow interlocks in \SI{}{\milli\second} scale, an FPGA-based LLRF Controller managing fast interlocks in \SI{}{\micro\second} scale, a 60 kW high-power amplifier with standalone PLC-based slow (\SI{}{\milli\second} scale) and FPGA-based fast (\SI{}{\micro\second} scale) protection systems, and an RF Drive Control Chassis acting as primary RF mitigation device. The design of AR RF EPS is presented along with internal RF and external AR subsystems interfaces.

Paperid: 2791, https://arxiv.org/pdf/2512.11244.pdf

Abstract:
We investigate multicellular sender receiver systems embedded in hydrogel beads, where diffusible signals mediate interactions among heterogeneous cells. Such systems are modeled by PDE ODE couplings that combine three dimensional diffusion with nonlinear intracellular dynamics, making analysis and simulation challenging. We show that the diffusion dynamics converges exponentially to a quasi steady spatial profile and use singular perturbation theory to reduce the model to a finite dimensional multiagent network. A closed form communication matrix derived from the spherical Green's function captures the effective sender receiver coupling. Numerical results show the reduced model closely matches the full dynamics while enabling scalable simulation of large cell populations.

Paperid: 2792, https://arxiv.org/pdf/2512.10580.pdf

Abstract:
Hybrid systems are an important concept in Cyber-Physical Systems modeling, for which multiphysics modeling from first principles and the reuse of models from libraries are key. To achieve this, DAEs must be used to specify the dynamics in each discrete state (or mode in our context). This led to the development of DAE-based equational languages supporting multiple modes, of which Modelica is a popular standard. Mode switching can be time- or state-based. Impulsive behaviors can occur at mode changes. While mode changes are well understood in particular physics (e.g., contact mechanics), this is not the case in physics-agnostic paradigms such as Modelica. This situation causes difficulties for the compilation of programs, often requiring users to manually smooth out mode changes. In this paper, we propose a novel approach for the hot restart at mode changes in such paradigms. We propose a mathematical meaning for hot restarts (such a mathematical meaning does not exist in general), as well as a combined structural and impulse analysis for mode changes, generating the hot restart even in the presence of impulses. Our algorithm detects at compile time if the mode change is insufficiently specified, in which case it returns diagnostics information to the user.

Paperid: 2793, https://arxiv.org/pdf/2512.10374.pdf

Abstract:
This paper investigates structural herdability in a special class of temporally switching networks with fixed topology. We show that when the underlying digraph remains unchanged across all snapshots, the network attains complete SS herdability even in the presence of signed or layer dilations, a condition not applicable to static networks. This reveals a fundamental structural advantage of temporal dynamics and highlights a novel mechanism through which switching can overcome classical obstructions to herdability. To validate these conclusions, we utilize a more relaxed form of sign matching within each snapshot of the temporal network. Furthermore, we show that when all snapshots share the same underlying topology, the temporally switching network achieves $\mathcal{SS}$ herdability within just two snapshots, which is fewer than the number required for structural controllability. Several examples are included to demonstrate these results.

Paperid: 2794, https://arxiv.org/pdf/2512.10373.pdf

Abstract:
The paper discusses work done to expand and extend the capabilities of the open-source QUCS circuit simulator through the implementation of a computationally efficient time-domain steady-state analysis module, supporting simulation of autonomous circuits. To our knowledge, this represents the first time such an analysis module has been implemented in the QUCS environment. Hitherto, the only available option was a harmonic-balance module which was strictly limited to non-autonomous (driven) circuits. The research has several important scientific and industrial applications in the area of large-signal steady-state analysis of autonomous circuits e.g. free-running and coupled oscillator circuit networks. The reported results will have great impact w.r.t. analyzing, synthesizing and optimizing oscillatory behavior of various important industrial circuits and systems. The developed tool, furthermore, introduces support for simulating noise performance of circuits operating under large-signal conditions. This paper is the first part of a two-part series documenting the implementation of a novel (coupled)-oscillator phase-noise simulator engine in the QUCS environment. The goal of this undertaking is the advancement of the open-source QUCS project towards becoming a viable competitor to the commercial simulators currently on the market.

Paperid: 2795, https://arxiv.org/pdf/2512.10232.pdf

Abstract:
This paper presents a hybrid model-AI framework for real-time dynamic security assessment of frequency stability in power systems. The proposed method rapidly estimates key frequency parameters under a dynamic set of disturbances, which are continuously updated based on operating conditions and unit commitment. To achieve this, the framework builds on a modal-based formulation of the system frequency response (SFR), which leverages the system's eigenstructure to predict key frequency stability metrics. A Deep Sets-inspired neural network is employed to estimate the complex modal coefficients required by the modal-based SFR approach, formulated as a permutation-equivariant learning problem. This enables fast and accurate prediction of the frequency nadir and its timing across different operating conditions and disturbances. The framework achieves scalability by reusing precomputed modal structures and updating only the disturbance-specific coefficients. It demonstrates strong generalization capabilities without requiring an extensive set of operating scenarios during training or the widespread deployment of phasor measurement units (PMUs). The method is validated on the IEEE 39-bus and 118-bus systems, showing superior accuracy, robustness, and computational efficiency compared to purely data-driven approaches.

Paperid: 2796, https://arxiv.org/pdf/2512.10194.pdf

Abstract:
This paper develops a unified modeling framework to capture the equilibrium-state interactions among ride-hailing companies, travelers, and traffic of mixed-autonomy transportation networks. Our framework integrates four interrelated sub-modules: (i) the operational behavior of representative ride-hailing Mixed-Fleet Traffic Network Companies (MiFleet TNCs) managing autonomous vehicle (AV) and human-driven vehicle (HV) fleets, (ii) traveler mode-choice decisions taking into account travel costs and waiting time, (iii) capped customer waiting times to reflect the option available to travelers not to wait for TNCs' service beyond his/her patience and to resort to existing travel modes, and (iv) a flow-dependent traffic congestion model for travel times. A key modeling feature distinguishes AVs and HVs across the pickup and service (customer-on-board) stages: AVs follow Wardrop pickup routes but may deviate during service under company coordination, whereas HVs operate in the reverse manner. The overall framework is formulated as a Nonlinear Complementarity Problem (NCP), which is equivalent to a Variational Inequality(VI) formulation based on which the existence of a variational equilibrium solution to the traffic model is established. Numerical experiments examine how AV penetration and Wardrop relaxation factors, which bound route deviation, affect company, traveler, and system performance to various degrees. The results provide actionable insights for policymakers on regulating AV adoption and company vehicle deviation behavior in modern-day traffic systems that are fast changing due to the advances in technology and information accessibility.

Paperid: 2797, https://arxiv.org/pdf/2512.09213.pdf

Abstract:
In on-orbit robotics, a servicer satellite's ability to make contact with a free-spinning target satellite is essential to completing most on-orbit servicing (OOS) tasks. This manuscript develops a nonlinear model predictive control (MPC) framework that generates feasible controls for a servicer satellite to achieve zero-impulse contact with a free-spinning target satellite. The overall maneuver requires coordination between two separately actuated modules of the servicer satellite: (1) a moment generation module and (2) a manipulation module. We apply MPC to control both modules by explicitly modeling the cross-coupling dynamics between them. We demonstrate that the MPC controller can enforce actuation and state constraints that prior control approaches could not account for. We evaluate the performance of the MPC controller by simulating zero-impulse contact scenarios with a free-spinning target satellite via numerical Monte Carlo (MC) trials and comparing the simulation results with prior control approaches. Our simulation results validate the effectiveness of the MPC controller in maintaining spin synchronization and zero-impulse contact under operation constraints, moving contact location, and observation and actuation noise.

Paperid: 2798, https://arxiv.org/pdf/2512.09097.pdf

Abstract:
Understanding driver interactions is critical to designing autonomous vehicles to interoperate safely with human-driven cars. We consider the impact of these interactions on the policies drivers employ when navigating unsigned intersections in a driving simulator. The simulator allows the collection of naturalistic decision-making and behavior data in a controlled environment. Using these data, we model the human driver responses as state-based feedback controllers learned via Gaussian Process regression methods. We compute the feedback gain of the controller using a weighted combination of linear and nonlinear priors. We then analyze how the individual gains are reflected in driver behavior. We also assess differences in these controllers across populations of drivers. Our work in data-driven analyses of how drivers determine their policies can facilitate future work in the design of socially responsive autonomy for vehicles.

Paperid: 2799, https://arxiv.org/pdf/2512.08464.pdf

Abstract:
This study proposes a systematic design procedure for determining the quantization gain and the security parameter in the Confidential Fictitious Reference Iterative Tuning (CFRIT), enabling overflow-free and accuracy-guaranteed encrypted controller tuning. Within an encrypted data-driven gain tuning, the range of quantization errors induced during the encoding (encryption) process can be estimated from operational data. Based on this insight, explicit analytical conditions on the quantization gain and the security parameter are derived to prevent overflow in computing over encrypted data. Furthermore, the analysis reveals a quantitative relationship between quantization-induced errors and the deviation between the gains obtained by CFRIT and non-confidential Fictitious Reference Iterative Tuning (FRIT), clarifying how parameter choice affects tuning accuracy. A numerical example verifies the proposed procedure by demonstrating that the designed parameters achieve accurate encrypted tuning within a prescribed tolerance while preventing overflow. In addition, the admissible region of parameter combinations is visualized to examine the characteristics of feasible and infeasible regions, providing practical insights into parameter design for encrypted data-driven control.

Paperid: 2800, https://arxiv.org/pdf/2512.08452.pdf

Abstract:
In this paper, an MPC for tracking formulation is proposed for the control of anesthesia dynamics. It seamlessly enables the optimization of the steady-states pair that is not unique due to the MISO nature of the model. Anesthesia dynamics is a multi-time scale system with two types of states characterized, respectively, by fast and slow dynamics. In anesthesia control, the output equation depends only on the fast dynamics. Therefore, the slow states can be treated as disturbances, and compensation terms can be introduced. Subsequently, the system can be reformulated as a nominal one allowing the design of an MPC for tracking strategy. The presented framework ensures recursive feasibility and asymptotic stability, through the design of appropriate terminal ingredients in the MPC for tracking framework. The controller performance is then assessed on a patient in a simulation environment.

Paperid: 2801, https://arxiv.org/pdf/2512.08298.pdf

Abstract:
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over traditional adaptive cruise control (ACC). This paper addresses a key challenge in the initial deployment phase of CAVs: the limited benefits of cooperative platooning due to the sparse distribution of CAVs on the road. To overcome this limitation, we propose an innovative control framework that enhances cooperative platooning in mixed traffic environments. Two techniques are utilized: (1) a mixed cooperative platooning strategy that integrates CACC with unconnected vehicles (CACCu), and (2) a strategic lane-change decision model designed to facilitate safe and efficient lane changes for platoon formation. Additionally, a surrounding vehicle identification system is embedded in the framework to enable CAVs to effectively identify and select potential platooning leaders. Simulation studies across various CV market penetration rates (MPRs) show that incorporating CACCu systems significantly improves safety, comfort, and traffic efficiency compared to existing systems with only CACC and ACC systems, even at CV penetration as low as 10%. The maximized platoon formation increases by up to 24%, accompanied by an 11% reduction in acceleration and a 7% decrease in fuel consumption. Furthermore, the strategic lane-change model enhances CAV performance, achieving notable improvements between 6% and 60% CV penetration, without adversely affecting overall traffic flow.

Paperid: 2802, https://arxiv.org/pdf/2512.08201.pdf

Abstract:
Optimal pulse patterns (OPPs) are a modulation technique in which a switching signal is computed offline through an optimization process that accounts for selected performance criteria, such as current harmonic distortion. The optimization determines both the switching angles (i.e., switching times) and the pattern structure (i.e., the sequence of voltage levels). This optimization task is a challenging mixed-integer nonconvex problem, involving integer-valued voltage levels and trigono metric nonlinearities in both the objective and the constraints. We address this challenge by reinterpreting OPP design as a periodic mode-selecting optimal control problem of a hybrid system, where selecting angles and levels corresponds to choosing jump times in a transition graph. This time-domain formulation enables the direct use of convex-relaxation techniques from optimal control, producing a hierarchy of semidefinite programs that lower-bound the minimal achievable harmonic distortion and scale subquadratically with the number of converter levels and switching angles. Numerical results demonstrate the effectiveness of the proposed approachs

Paperid: 2803, https://arxiv.org/pdf/2512.07996.pdf

Abstract:
The Advanced Light Source (ALS) at Lawrence Berkeley National Laboratory, a third-generation synchrotron light source operational since 1992, is undergoing a comprehensive upgrade of its storage ring RF control system. The legacy Horner PLC controllers and remote I/O modules, now at end-of-life, are being replaced with an Allen-Bradley PLC platform to improve maintainability, reliability, and long-term support. This paper presents the planning, design, and current status of the upgrade project.

Paperid: 2804, https://arxiv.org/pdf/2512.07699.pdf

Abstract:
The standard linear quadratic Gaussian (LQG) framework assumes a Brownian noise process and relies on classical stochastic calculus tools, such as those based on Itô calculus. In this paper, we solve a generalized linear quadratic optimal control problem where the process and measurement noises can be non-Markovian and non-semimartingale stochastic processes with sample paths that have low Hölder regularity. Since these noise models do not, in general, permit the use of the standard Itô calculus, we employ rough path theory to formulate and solve the problem. By leveraging signature representations and controlled rough paths, we derive the optimal state estimation and control strategies.

Paperid: 2805, https://arxiv.org/pdf/2512.07585.pdf

Abstract:
Optimal pulse patterns (OPPs) are a modulation method in which the switching angles and levels of a switching signal are computed via an offline optimization procedure to minimize a performance metric, typically the harmonic distortions of the load current. Additional constraints can be incorporated into the optimization problem to achieve secondary objectives, such as the limitation of specific harmonics or the reduction of power converter losses. The resulting optimization problem, however, is highly nonconvex, featuring a trigonometric objective function and constraints as well as both real- and integer-valued optimization variables. This work casts the task of OPP synthesis for a multilevel converter as an optimal control problem of a hybrid system. This problem is in turn lifted into a convex but infinite-dimensional conic program of occupation measures using established methods in convex relaxations of optimal control. Lower bounds on the minimum achievable harmonic distortion are acquired by solving a sequence of semidefinite programs via the moment-sum-of-squares hierarchy, where each semidefinite program scales in a jointly linear manner with the numbers of permitted switching transitions and converter voltage levels.

Paperid: 2806, https://arxiv.org/pdf/2512.06896.pdf

Abstract:
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds and rigid terrains, control strategies optimized for soft or compliant surfaces remain underexplored. This work experimentally validates an admittance-based control strategy that dynamically adjusts the quasi-stiffness of powered prostheses to enhance gait stability on compliant ground. Human subject experiments were conducted with three healthy individuals walking on two bilaterally compliant surfaces with ground stiffness values of 63 and 25 kN/m, representative of real-world soft environments. Controller performance was quantified using phase portraits and two walking stability metrics, offering a direct assessment of fall risk. Compared to a standard phase-variable controller developed for rigid terrain, the proposed admittance controller consistently improved gait stability across all compliant conditions. These results demonstrate the potential of adaptive, stability-aware prosthesis control to reduce fall risk in real-world environments and advance the robustness of human-prosthesis interaction in rehabilitation robotics.

Paperid: 2807, https://arxiv.org/pdf/2512.06875.pdf

Abstract:
In this paper, we establish a relation between approximate-simulation-based hierarchical control (ASHC) and moment matching techniques, and build a conceptual bridge between these two frameworks. To this end, we study the two key requirements of the ASHC technique, namely the bounded output discrepancy and the $M$-relation, through the lens of moment matching. We show that, in the linear time-invariant case, both requirements can be interpreted in the moment matching perspective through certain system interconnection structures. Building this conceptual bridge provides a foundation for cross-pollination of ideas between these two frameworks.

Paperid: 2808, https://arxiv.org/pdf/2512.06577.pdf

Abstract:
We present a resilient deep neural network (DNN) framework for decentralized transport and coverage using uncrewed aerial systems (UAS) operating in $\mathbb{R}^n$. The proposed DNN-based mass-transport architecture constructs a layered inter-UAS communication graph from an initial formation, assigns time-varying communication weights through a forward scheduling mechanism that guides the team from the initial to the final configuration, and ensures stability and convergence of the resulting multi-agent transport dynamics. The framework is explicitly designed to remain robust in the presence of uncooperative agents that deviate from or refuse to follow the prescribed protocol. Our method preserves a fixed feed-forward topology but dynamically prunes edges to uncooperative agents, maintains convex, feedforward mentoring among cooperative agents, and computes global desired set points through a sparse linear relation consistent with leader references. The target set is abstracted by $N$ points that become final desired positions, enabling coverage-optimal transport while keeping computation low and guarantees intact. Extensive simulations demonstrate that, under full cooperation, all agents converge rapidly to the target zone with a 10\% boundary margin and under partial cooperation with uncooperative agents, the system maintains high convergence among cooperative agents with performance degradation localized near the disruptions, evidencing graceful resilience and scalability. These results confirm that forward-weight scheduling, hierarchical mentor--mentee coordination, and on-the-fly DNN restructuring yield robust, provably stable UAS transport in realistic fault scenarios.

Paperid: 2809, https://arxiv.org/pdf/2512.06354.pdf

Abstract:
This paper addresses a critical gap in the risk assessment of AI-enabled safety-critical systems. While these systems, where AI systems assists human operators, function as complex socio-technical systems, existing risk evaluation methods fail to account for the associated complex interaction between human, technical, and organizational elements. Through a comparative analysis of system attributes from both socio-technical and AI-enabled systems and a review of current risk evaluation methods, we confirm the absence of socio-technical considerations in standard risk expressions. To bridge this gap, we introduce a novel socio-technical alignment $STA$ variable designed to be integrated into the foundational risk equation. This variable estimates the degree of harmonious interaction between the AI systems, human operators, and organizational processes. A case study on an AI-enabled liquid hydrogen bunkering system demonstrates the variable's relevance. By comparing a naive and a safeguarded system design, we illustrate how the $STA$-augmented expression captures socio-technical safety implications that traditional risk evaluation overlooks, providing a more holistic basis for risk evaluation.

Paperid: 2810, https://arxiv.org/pdf/2512.06349.pdf

Abstract:
This paper develops a quantitative framework for analyzing the mean-square exponential stabilization of stochastic linear systems with multiplicative noise, focusing specifically on the optimal stabilizing rate, which characterizes the fastest exponential stabilization achievable under admissible control policies. Our contributions are twofold. First, we extend norm-based techniques from deterministic switched systems to the stochastic setting, deriving a verifiable necessary and sufficient condition for the exact attainability of the optimal stabilizing rate, together with computable upper and lower bounds. Second, by restricting attention to state-feedback policies, we reformulate the optimal stabilizing rate problem as an optimal control problem with a nonlinear cost function and derive a Bellman-type equation. Since this Bellman-type equation is not directly tractable, we recast it as a nonlinear matrix eigenvalue problem whose valid solutions require strictly positive-definite matrices. To ensure the existence of such solutions, we introduce a regularization scheme and develop a Regularized Normalized Value Iteration (RNVI) algorithm, which in turn generates strictly positive-definite fixed points for a perturbed version of original nonlinear matrix eigenvalue problem while producing feedback controllers. Evaluating these regularized solutions further yields certified lower and upper bounds for the optimal stabilizing rate, resulting in a constructive and verifiable framework for determining the fastest achievable mean-square stabilization under multiplicative noise.

Paperid: 2811, https://arxiv.org/pdf/2512.06331.pdf

Abstract:
The design of real-time systems is based on assumptions about environmental conditions in which they will operate. We call this their safe operational envelope. Violation of these assumptions, i.e., out-of-envelope environments, can jeopardize timeliness and safety of real-time systems, e.g., by overwhelming them with interrupt storms. A long-lasting debate has been going on over which design paradigm, the time- or event-triggered, is more robust against such behavior. In this work, we investigate the claim that time-triggered systems are immune against out-of-envelope behavior and how event-triggered systems can be constructed to defend against being overwhelmed by interrupt showers. We introduce importance (independently of priority and criticality) as a means to express which tasks should still be scheduled in case environmental design assumptions cease to hold, draw parallels to mixed-criticality scheduling, and demonstrate how event-triggered systems can defend against out-of-envelope behavior.

Paperid: 2812, https://arxiv.org/pdf/2512.06268.pdf

Abstract:
Unlike traditional multi-agent coordination frameworks, which assume a fixed number of agents, UAS traffic management (UTM) requires a platform that enables Uncrewed Aerial Systems (UAS) to freely enter or exit constrained low-altitude airspace. Consequently, the number of UAS operating in a given region is time-varying, with vehicles dynamically joining or leaving even in dense, obstacle-laden environments. The primary goal of this paper is to develop a computationally efficient management system that maximizes airspace usability while ensuring safety and efficiency. To achieve this, we first introduce physics-informed methods to structure fixed skyroads across multiple altitude layers of urban airspace, with the directionality of each skyroad designed to guarantee full reachability. We then present a novel Continuous UTM (C-UTM) framework that optimally allocates skyroads to UAS requests while accounting for the time-varying capacity of the airspace. Collectively, the proposed model addresses the key challenges of low-altitude UTM by providing a scalable, safe, and efficient solution for urban airspace usability.

Paperid: 2813, https://arxiv.org/pdf/2512.06194.pdf

Abstract:
Large industrial LP-MPC (Linear Program-Model Predictive Control) systems contain tens to hundreds of manipulated variables (MVs) and controlled variables (CVs) for honoring constraints while operating at plant-wide economic optima. The LP is a white-box model, yet for a number of reasons, abnormal behaviors in industrial controllers are often difficult to rationalize. We introduce a novel, post-hoc LP explainability method by recasting the role of shadow prices in the LP solution as an attribution mechanism for MV-CV relationships. The core idea is that CV shadow prices are not just intrinsic properties of the optimal solution, but an aggregate of the cost sensitivities contributed by MVs in enforcing CV constraints, which is then resolved into one-to-one MV-CV pairings using a linear sum assignment solution. The proposed MV-CV pairing framework serves as a practical explainability tool for online LP-MPC systems, enabling practitioners to diagnose suboptimal constraints and verify alignment of the controller's behavior with its original design intent and historical constraints.

Paperid: 2814, https://arxiv.org/pdf/2512.05827.pdf

Abstract:
Background and objective: Hybrid automated insulin delivery (hAID) systems represent the most advanced therapy for type 1 diabetes (T1D). Current systems rely on linear or linearized models of glucose homeostasis, which may compromise prediction accuracy and, in turn, timely decision-making by the controller. Physiological variability further complicates insulin requirements, underscoring the need for controllers that adapt dynamically and reduce user burden. Methods: We introduce the University of Bern (UniBE) hAID system, a framework based on successive linearization model predictive control (MPC). The controller integrates basal insulin infusion with the insulin bolus delivery module for meal-related and corrective bolus dosing, adapting bounds in real time to glucose dynamics while accounting for both automated and user-initiated inputs. In-silico evaluation was conducted using the commercial version of the FDA-accepted UVa/Padova metabolic simulator across nine scenarios involving persistent and time-varying errors in meal timing, carbohydrate estimation, and basal insulin profiles. Results: In the baseline scenario, UniBE achieved a mean time in range of 92.0+-13.2%, with time below range at 0.1+-0.2% and time above range at 7.9+-13.2%. Across perturbation scenarios, time in range remained between 75.1 and 92.8%, with low hypoglycemia incidence, demonstrating resilience to clinically relevant disturbances.

Paperid: 2815, https://arxiv.org/pdf/2512.05711.pdf

Abstract:
This paper proposes a hierarchical trajectory planning framework for UAVs operating under adversarial jamming conditions. Leveraging Bayesian Active Inference, the approach combines expert-generated demonstrations with probabilistic generative modeling to encode high-level symbolic planning, low-level motion policies, and wireless signal feedback. During deployment, the UAV performs online inference to anticipate interference, localize jammers, and adapt its trajectory accordingly, without prior knowledge of jammer locations. Simulation results demonstrate that the proposed method achieves near-expert performance, significantly reducing communication interference and mission cost compared to model-free reinforcement learning baselines, while maintaining robust generalization in dynamic environments.

Paperid: 2816, https://arxiv.org/pdf/2512.05686.pdf

Abstract:
Autonomous highway driving demands a critical balance between proactive, efficiency-seeking behavior and robust safety guarantees. This paper proposes Language Action-guided Reinforcement Learning (LA-RL) with Safety Guarantees, a novel framework that integrates the semantic reasoning of large language models (LLMs) into the actor-critic architecture with an improved safety layer. Within this framework, task-specific reward shaping harmonizes the dual objectives of maximizing driving efficiency and ensuring safety, guiding decision-making based on both environmental insights and clearly defined goals. To enhance safety, LA-RL incorporates a safety-critical planner that combines model predictive control (MPC) with discrete control barrier functions (DCBFs). This layer formally constrains the LLM-informed policy to a safe action set, employs a slack mechanism that enhances solution feasibility, prevents overly conservative behavior and allows for greater policy exploration without compromising safety. Extensive experiments demonstrate that it significantly outperforms several current state-of-the-art methods, offering a more adaptive, reliable, and robust solution for autonomous highway driving. Compared to existing SOTA, it achieves approximately 20$\%$ higher success rate than the knowledge graph (KG) based baseline and about 30$\%$ higher than the retrieval augmented generation (RAG) based baseline. In low-density environments, LA-RL achieves a 100$\%$ success rate. These results confirm its enhanced exploration of the state-action space and its ability to autonomously adopt more efficient, proactive strategies in complex, mixed-traffic highway environments.

Paperid: 2817, https://arxiv.org/pdf/2512.05682.pdf

Abstract:
Reliable uncertainty quantification in trajectory prediction is crucial for safety-critical autonomous driving systems, yet existing deep learning predictors lack uncertainty-aware frameworks adaptable to heterogeneous real-world scenarios. To bridge this gap, we propose a novel scenario-aware uncertainty quantification framework to provide the predicted trajectories with prediction intervals and reliability assessment. To begin with, predicted trajectories from the trained predictor and their ground truth are projected onto the map-derived reference routes within the Frenet coordinate system. We then employ CopulaCPTS as the conformal calibration method to generate temporal prediction intervals for distinct scenarios as the uncertainty measure. Building upon this, within the proposed trajectory reliability discriminator (TRD), mean error and calibrated confidence intervals are synergistically analyzed to establish reliability models for different scenarios. Subsequently, the risk-aware discriminator leverages a joint risk model that integrates longitudinal and lateral prediction intervals within the Frenet coordinate to identify critical points. This enables segmentation of trajectories into reliable and unreliable segments, holding the advantage of informing downstream planning modules with actionable reliability results. We evaluated our framework using the real-world nuPlan dataset, demonstrating its effectiveness in scenario-aware uncertainty quantification and reliability assessment across diverse driving contexts.

Paperid: 2818, https://arxiv.org/pdf/2512.05547.pdf

Abstract:
This paper presents a constructive finite-dimensional output-feedback design for semilinear $M$-dimensional ($M\geq 2$) heat equations with boundary actuation and sensing. A key challenge in high dimensions is the slower growth rate of the Laplacian eigenvalues. The novel features of our modal-decomposition-based design, which allows to enlarge Lipschitz constants, include a larger class of shape functions that may be distributed over a part of the boundary only, the corresponding lifting transformation and the full-order controller gain found from the design LMIs. We further analyze the robustness of the closed-loop system with respect to either multiplicative noise (vanishing at the origin) or additive noise (persistent). Effective LMI conditions are provided for specifying the minimal observer dimension and maximal Lipschitz constants that preserve the stability (mean-square exponential stability for multiplicative noise and noise-to-state stability for additive noise). Numerical examples for 2D and 3D cases demonstrate the efficacy and advantages of our method.

Paperid: 2819, https://arxiv.org/pdf/2512.04823.pdf

Abstract:
In this paper, a constrained control approach to variable speed limit (VSL) control for macroscopic partial differential equations (PDE) traffic models is developed. Control Lyapunov function (CLF) theory for ordinary differential equations (ODE) is extended to account for spatially and temporally varying states and control inputs. The stabilizing CLF is then unified with safety constraints through the introduction of spatially varying control barrier functions (sCBF). These methods are applied to in-domain VSL control of the Lighthill-Whitham-Richards (LWR) model to regulate traffic density to a desired profile while ensuring the density remains below prescribed limits enforced by the sCBF. Results show that incorporating constrained control minimally affects the stabilizing control input while successfully maintaining the density with the defined safe set.

Paperid: 2820, https://arxiv.org/pdf/2512.04676.pdf

Abstract:
It is known in the literature that the low-rank ADI method for Lyapunov equations is a Petrov-Galerkin projection algorithm that implicitly performs model order reduction. In this paper, we show that the low-rank ADI methods for Sylvester and Riccati equations are also Petrov-Galerkin projection algorithms that implicitly perform model order reduction. By observing that the ADI methods for Lyapunov, Sylvester, and Riccati equations differ only in pole placement and not in their interpolatory nature, we show that the shifted linear solves-which constitute the bulk of the computational cost-can be shared. The pole-placement step involves only small-scale operations and is therefore inexpensive. We propose a unified ADI framework that requires only two shifted linear solves per iteration to simultaneously solve six Lyapunov equations, one Sylvester equation, and ten Riccati equations, thus substantially increasing the return on investment for the computational cost spent on the linear solves. All operations needed to extract the individual solutions from these shared linear solves are small-scale and inexpensive. Since all ADI methods implicitly perform model order reduction when solving these linear matrix equations, we show that the resulting reduced-order models can be obtained as an additional byproduct. These models not only interpolate the original transfer function at the mirror images of the ADI shifts but also preserve important system properties such as stability, minimum-phase property, positive-realness, bounded-realness, and passivity. Consequently, the proposed unified ADI framework also serves as a recursive, interpolation-based model order reduction method, which can preserve several important properties of the original model in the reduced-order model.

Paperid: 2821, https://arxiv.org/pdf/2512.04557.pdf

Abstract:
When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers relatively high precision but at the cost of significant computational complexity. Our method leverages end-to-end neural network operators to compute reachable sets, replacing traditional mathematical set operators, thereby achieving higher efficiency in safety verification without substantially compromising accuracy or increasing conservativeness. We define vehicle dynamics on discrete time series and detail the safety verification process and safety standard based on reachable sets. Experimental evaluations conducted in several typical road driving scenarios demonstrate the superior efficiency performance of our proposed operator over classical methods.

Paperid: 2822, https://arxiv.org/pdf/2512.03835.pdf

Abstract:
The growing demand for robust, scalable wireless networks in the 5G-and-beyond era has led to the deployment of Unmanned Aerial Vehicles (UAVs) as mobile base stations to enhance coverage in dense urban and underserved rural areas. This paper presents a Multi-Agent Deep Reinforcement Learning (MADRL) framework that integrates Proximal Policy Optimization (MAPPO), Multi-Agent Deep Deterministic Policy Gradient (MADDPG), and Multi-Agent Deep Q-Networks (MADQN) to jointly optimize UAV positioning, resource allocation, Quality of Service (QoS), and energy efficiency through 5G network slicing. The framework adopts Centralized Training with Decentralized Execution (CTDE), enabling autonomous real-time decision-making while preserving global coordination. Users are prioritized into Premium (A), Silver (B), and Bronze (C) slices with distinct QoS requirements. Experiments in realistic urban and rural scenarios show that MAPPO achieves the best overall QoS-energy tradeoff, especially in interference-rich environments; MADDPG offers more precise continuous control and can attain slightly higher SINR in open rural settings at the cost of increased energy usage; and MADQN provides a computationally efficient baseline for discretized action spaces. These findings demonstrate that no single MARL algorithm is universally dominant; instead, algorithm suitability depends on environmental topology, user density, and service requirements. The proposed framework highlights the potential of MARL-driven UAV systems to enhance scalability, reliability, and differentiated QoS delivery in next-generation wireless networks.

Paperid: 2823, https://arxiv.org/pdf/2512.03772.pdf

Abstract:
This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque commands. The MPC parameters, including cost function weights and low-level controller gains, are optimized using high-dimensional Bayesian Optimization (BO) techniques, specifically Sparse Axis-Aligned Subspace (SAASBO) with a digital twin (DT) to achieve precise end-effector trajectory real-time tracking on an UR10e robot arm. The simulation model allows efficient exploration of the high-dimensional parameter space, and it ensures safe transfer to hardware. Our simulation results demonstrate significant improvements in tracking performance (+41.9%) and reduction in solve times (-2.5%) compared to manually-tuned parameters. Moreover, experimental validation on the real robot follows the trend (with a +25.8% improvement), emphasizing the importance of digital twin-enabled automated parameter optimization for robotic operations.

Paperid: 2824, https://arxiv.org/pdf/2512.03539.pdf

Abstract:
Manual operation of microscopes for repetitive tasks in cell biology is a significant bottleneck, consuming invaluable expert time, and introducing human error. Automation is essential, and while Digital Holographic Microscopy (DHM) offers powerful, label-free quantitative phase imaging (QPI), its inherently noisy and low-contrast holograms make robust autofocus and object detection challenging. We present the design, integration, and validation of a fully automated closed-loop DHM system engineered for high-throughput mechanical characterization of biological cells. The system integrates automated serpentine scanning, real-time YOLO-based object detection, and a high-performance, multi-threaded software architecture using pinned memory and SPSC queues. This design enables the GPU-accelerated reconstruction pipeline to run fully in parallel with the 50 fps data acquisition, adding no sequential overhead. A key contribution is the validation of a robust, multi-stage holographic autofocus strategy; we demonstrate that a selected metric (based on a low-pass filter and standard deviation) provides reliable focusing for noisy holograms where conventional methods (e.g., Tenengrad, Laplacian) fail entirely. Performance analysis of the complete system identifies the 2.23-second autofocus operation-not reconstruction-as the primary throughput bottleneck, resulting in a 9.62-second analysis time per object. This work delivers a complete functional platform for autonomous DHM screening and provides a clear, data-driven path for future optimization, proposing a hybrid brightfield imaging modality to address current bottlenecks.

Paperid: 2825, https://arxiv.org/pdf/2512.02823.pdf

Abstract:
Model-based filtering is often carried out while subject to an imperfect model, as learning partially-observable stochastic systems remains a challenge. Recent work on Bayesian inference found that tempering the likelihood or full posterior of an imperfect model can improve predictive accuracy, as measured by expected negative log likelihood. In this paper, we develop the tempered Bayes filter, improving estimation performance through both of the aforementioned, and one newly introduced, modalities. The result admits a recursive implementation with a computational complexity no higher than that of the original Bayes filter. Our analysis reveals that -- besides the well-known fact in the field of Bayesian inference that likelihood tempering affects the balance between prior and likelihood -- full-posterior tempering tunes the level of entropy in the final belief distribution. We further find that a region of the tempering space can be understood as interpolating between the Bayes- and MAP filters, recovering these as special cases. Analytical results further establish conditions under which a tempered Bayes filter achieves improved predictive performance. Specializing the results to the linear Gaussian case, we obtain the tempered Kalman filter. In this context, we interpret how the parameters affect the Kalman state estimate and covariance propagation. Empirical results confirm that our method consistently improves predictive accuracy over the Bayes filter baseline.

Paperid: 2826, https://arxiv.org/pdf/2512.01977.pdf

Abstract:
The global capacity for mineral processing must expand rapidly to meet the demand for critical minerals, which are essential for building the clean energy technologies necessary to mitigate climate change. However, the efficiency of mineral processing is severely limited by uncertainty, which arises from both the variability of feedstock and the complexity of process dynamics. To optimize mineral processing circuits under uncertainty, we introduce an AI-driven approach that formulates mineral processing as a Partially Observable Markov Decision Process (POMDP). We demonstrate the capabilities of this approach in handling both feedstock uncertainty and process model uncertainty to optimize the operation of a simulated, simplified flotation cell as an example. We show that by integrating the process of information gathering (i.e., uncertainty reduction) and process optimization, this approach has the potential to consistently perform better than traditional approaches at maximizing an overall objective, such as net present value (NPV). Our methodological demonstration of this optimization-under-uncertainty approach for a synthetic case provides a mathematical and computational framework for later real-world application, with the potential to improve both the laboratory-scale design of experiments and industrial-scale operation of mineral processing circuits without any additional hardware.

Paperid: 2827, https://arxiv.org/pdf/2512.01482.pdf

Abstract:
We generalize the robotics equation describing the dynamics of an open kinematic chain to include the effect of time-dependent change of inertial parameters as well as the effects of its cause, i.e. time dependency of the distributions of mass originating from parasitic movements of mass-carrying particles. The results generate insight that allows linking the novel concepts of uniform physical consistency and upper boundedness of inertial parameters -- ruling out approaching the edge to physical inconsistency or to diverge -- with the existence of finite, positive uniform bounds of the mass matrix.

Paperid: 2828, https://arxiv.org/pdf/2512.01167.pdf

Abstract:
This study presents a reinforcement learning (RL)-based control strategy for adaptive lighting regulation in controlled environments using a low-power microcontroller. A model-free Q-learning algorithm was implemented to dynamically adjust the brightness of a Light-Emitting Diode (LED) based on real-time feedback from a light-dependent resistor (LDR) sensor. The system was trained to stabilize at 13 distinct light intensity levels (L1 to L13), with each target corresponding to a specific range within the 64-state space derived from LDR readings. A total of 130 trials were conducted, covering all target levels with 10 episodes each. Performance was evaluated in terms of convergence speed, steps taken, and time required to reach target states. Box plots and histograms were generated to analyze the distribution of training time and learning efficiency across targets. Experimental validation demonstrated that the agent could effectively learn to stabilize at varying light levels with minimal overshooting and smooth convergence, even in the presence of environmental perturbations. This work highlights the feasibility of lightweight, on-device RL for energy-efficient lighting control and sets the groundwork for multi-modal environmental control applications in resource-constrained agricultural systems.

Paperid: 2829, https://arxiv.org/pdf/2512.01023.pdf

Abstract:
Particle filtering algorithms have enabled practical solutions to problems in autonomous robotics (self-driving cars, UAVs, warehouse robots), target tracking, and econometrics, with further applications in speech processing and medicine (patient monitoring). Yet, their inherent weakness at representing the likelihood of the observation (which often leads to particle degeneracy) remains unaddressed for high-frequency and resource-constrained systems. Improvements such as the optimal proposal and auxiliary particle filter mitigate this issue under specific circumstances and with increased computational cost. This work presents a new particle filtering method and its implementation, which enables tunably-approximative representation of arbitrary likelihood densities as program transformations of parametric distributions. Our method leverages a recent computing platform that can perform deterministic computation on probability distribution representations (UxHw) without relying on stochastic methods. For non-Gaussian non-linear systems and with an optimal-auxiliary particle filter, we benchmark the likelihood evaluation error and speed for a total of 294840 evaluation points. For such models, the results show that the UxHw method leads to as much as 37.7x speedup compared to the Monte Carlo alternative. For narrow uniform observation noise, the particle filter falsely assigns zero likelihood as much as 81.89% of the time whereas UxHw achieves 1.52% false-zero rate. The UxHw approach achieves filter RMSE improvement of as much as 18.9% (average 3.3%) over the Monte Carlo alternative.

Paperid: 2830, https://arxiv.org/pdf/2512.00959.pdf

Abstract:
Conventional electrical fault models, which rely on static thresholds and instantaneous trip mechanisms, fail to capture the time-evolving dynamics of real faults, creating vulnerabilities in modern power systems. This paper introduces a diode-clamp circuit architecture that reconceives short-circuits as governed, sustained processes and establishes a physics-consistent, measurement system. An Arduino-based data acquisition system recorded continuous fault evolution across multiple input voltages and durations. Multi-resolution sampling at 10ms, 50ms, and 100ms enabled high-fidelity capture of both transients and sustained-state dynamics. The clamped mechanism constrained the circuit to a bounded regime, enabling repeatable observation. Experiments yielded definitive, measurable minima and maxima for voltage, current, and resistance, empirically refuting the classical assumption of instantaneous, unbounded current. Newly introduced metrics quantify this performance: the Sustained-to-Capacitive Energy Ratio (SCER ~1.53x10^12) proves fault energy originates from sustained dynamics, not transient discharge. The Sustained Fault Efficiency (SFE>1) demonstrates that governed fault power can exceed nominal operating power. This work provides the first fully validated short-circuit quantification system, yielding empirical data for next-generation battery management, adaptive grid protection, and fault-tolerant electronics.

Paperid: 2831, https://arxiv.org/pdf/2512.00541.pdf

Abstract:
The North American commercial electric vehicle (EV) sector is undergoing rapid expansion, with unit sales rising from 21,120 in 2022 to 36,491 in 2023 - a 73% increase, according to the International Energy Agency. However, this accelerating adoption brings emerging technical challenges. One critical concern is the impact of low to extreme winter temperatures (25 degree F to -25 degree F) on EV performance, including reduced energy efficiency and extended charging times. This paper presents a systematic analysis of commercial EV performance degradation under cold weather conditions and its broader implications on grid operations. Monte Carlo simulations, applied using real-world fleet parameters, indicate that approximately 200 MWh of additional daily energy demand may be required in the U.S. alone to offset efficiency losses during severe cold events. The resulting strain on an already stressed winter grid could exacerbate reliability risks. Moreover, increased harmonic distortion associated with cold weather charging behaviors has also been observed, raising concerns about power quality. To address these challenges, this study proposes two practical mitigation strategies: (1) a 'design-integrated safety' battery swapping station model operating in thermally controlled environments to significantly reduce charging downtime, and (2) a hybrid architecture combining roadside fast charging with depot-based deep charging to support continuous fleet utilization without compromising range. Together, these interventions provide a robust foundation for resilient commercial EV integration in cold climates, supporting fleet operators and utilities in managing seasonal performance variability.

Paperid: 2832, https://arxiv.org/pdf/2512.00462.pdf

Abstract:
Dynamic obstacle avoidance (DOA) for unmanned aerial vehicles (UAVs) requires fast reaction under limited onboard resources. We introduce the distributionally robust acceleration control barrier function (DR-ACBF) as an efficient collision avoidance method maintaining safety regions. The method constructs a second-order control barrier function as linear half-space constraints on commanded acceleration. Latency, actuator limits, and obstacle accelerations are handled through an effective clearance that considers dynamics and delay. Uncertainty is mitigated using Cantelli tightening with per-obstacle risk. A DR-conditional value at risk (DR-CVaR)based early trigger expands margins near violations to improve DOA. Real-time execution is ensured via constant-time Gauss-Southwell projections. Simulation studies achieve similar avoidance performance at substantially lower computational effort than state-of-the-art baseline approaches. Experiments with Crazyflie drones demonstrate the feasibility of our approach.

Paperid: 2833, https://arxiv.org/pdf/2512.00273.pdf

Abstract:
This paper introduces a novel reachability problem for the scenario where one agent follows another agent using the constant bearing pursuit strategy, and analyzes the geometry of the reachable set of the follower. Key theoretical results are derived, providing bounds for the associated dependent reachable set. Simulation results are presented to empirically establish the shape of the dependent reachable set. In the process, an original optimization problem for the constant bearing strategy is formulated and analyzed.

Paperid: 2834, https://arxiv.org/pdf/2511.23023.pdf

Abstract:
Consensus networks are widely deployed in numerous civil and industrial applications. However, the process of reaching a common consensus among nodes can unintentionally reveal the network's topology to external observers by appropriate inference techniques. This paper investigates a feedback-based resistant inference design to prevent the topology from being inferred using data, while preserving the original consensus convergence. First, we characterize the conditions to preserve the original consensus, and introduce the ''accurate inference'' notion, which accounts for both the uniqueness of the solution to topology inference (solvability) and the deviation from the original topology (accuracy). Then, we employ invariant subspace analysis to characterize the solvability. Even when unique inference remains possible, we provide necessary and sufficient conditions for the feedback design to induce inaccurate inference, and give a Laplacian structure based distributed design. Simulations validate the effectiveness of the method.

Paperid: 2835, https://arxiv.org/pdf/2511.22919.pdf

Abstract:
This paper addresses the distributed Nash Equilibrium seeking problem for aggregative games, where legitimate players' decisions are affected by potential malicious players. To describe players' behavior, we introduce a novel heterogeneous trustworthiness probabilistic framework by employing stochastic trust observations. To mitigate the waste of communication and gradient computation, we utilize a compressible unbalanced network information matrix and a multi-round communication mechanism to develop a fast Nash equilibrium seeking algorithm for aggregative games with unbalanced directed networks. By integrating the multi-round communication mechanism and a trustworthiness broadcast mechanism, we embed our fast convergence algorithm into the heterogeneous trustworthiness probabilistic framework, yielding a resilient fast Nash equilibrium seeking algorithm. Theoretical analysis confirms the convergence of the algorithm. Comparative simulations verify the accuracy of our fast convergence algorithm, and validation simulations verify the resilience of the algorithm.

Paperid: 2836, https://arxiv.org/pdf/2511.21962.pdf

Abstract:
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topology and achieve high performance and robustness. This work achieves all three objectives through dissipativity-based, sparsity-promoting controller synthesis. The approach identifies an optimal sparse structure using either weighted l1 penalties or alternating direction methods of multipliers (ADMM) with a cardinality term, and iteratively solves a convexified version of the NP hard structured optimal control problem. The proposed methods are demonstrated on heterogeneous networks with uncertain and unstable agents.

Paperid: 2837, https://arxiv.org/pdf/2511.21846.pdf

Abstract:
System identification in control theory aims to approximate dynamical systems from trajectory data. While neural networks have demonstrated strong predictive accuracy, they often fail to preserve critical physical properties such as stability and typically assume stationary dynamics, limiting their applicability under distribution shifts. Existing approaches generally address either stability or adaptability in isolation, lacking a unified framework that ensures both. We propose LILAD (Learning In-Context Lyapunov-stable Adaptive Dynamics), a novel framework for system identification that jointly guarantees adaptability and stability. LILAD simultaneously learns a dynamics model and a Lyapunov function through in-context learning (ICL), explicitly accounting for parametric uncertainty. Trained across a diverse set of tasks, LILAD produces a stability-aware, adaptive dynamics model alongside an adaptive Lyapunov certificate. At test time, both components adapt to a new system instance using a short trajectory prompt, which enables fast generalization. To rigorously ensure stability, LILAD also computes a state-dependent attenuator that enforces a sufficient decrease condition on the Lyapunov function for any state in the new system instance. This mechanism extends stability guarantees even under out-of-distribution and out-of-task scenarios. We evaluate LILAD on benchmark autonomous systems and demonstrate that it outperforms adaptive, robust, and non-adaptive baselines in predictive accuracy.

Paperid: 2838, https://arxiv.org/pdf/2511.21593.pdf

Abstract:
Designing optimal controllers for nonlinear dynamical systems often relies on reinforcement learning and adaptive dynamic programming (ADP) to approximate solutions of the Hamilton Jacobi Bellman (HJB) equation. However, these methods require iterative training and depend on an initially admissible policy. This work introduces a new analytical framework that yields closed-form solutions to the HJB equation for a class of continuous-time nonlinear input-affine systems with known dynamics. Unlike ADP-based approaches, it avoids iterative learning and numerical approximation. Lyapunov theory is used to prove the asymptotic stability of the resulting closed-loop system, and theoretical guarantees are provided. The method offers a closed-form control policy derived from the HJB framework, demonstrating improved computational efficiency and optimal performance on state-of-the-art optimal control problems in the literature.

Paperid: 2839, https://arxiv.org/pdf/2511.21432.pdf

Abstract:
This paper addresses resilient collaborative localization in multi-agent systems exposed to spoofed radio frequency measurements. Each agent maintains multiple hypotheses of its own state and exchanges selected information with neighbors using covariance intersection. Geometric reductions based on distance tests and convex hull structure limit the number of hypotheses transmitted, controlling the spread of hypotheses through the network. The method enables agents to separate spoofed and truthful measurements and to recover consistent estimates once the correct hypothesis is identified. Numerical results demonstrate the ability of the approach to contain the effect of adversarial measurements, while also highlighting the impact of conservative fusion on detection speed. The framework provides a foundation for resilient multi-agent navigation and can be extended with coordinated hypothesis selection across the network.

Paperid: 2840, https://arxiv.org/pdf/2511.21371.pdf

Abstract:
Large language models (LLMs) have gained increasing attention in power grids for their general-purpose capabilities. Meanwhile, anomaly detection (AD) remains critical for grid resilience, requiring accurate and interpretable decisions based on multivariate telemetry. Yet the performance of LLMs on large-scale numeric data for AD remains largely unexplored. This paper presents a comprehensive evaluation of LLMs for numeric AD in power systems. We use GPT-OSS-20B as a representative model and evaluate it on the IEEE 14-bus system. A standardized prompt framework is applied across zero-shot, few-shot, in-context learning, low rank adaptation (LoRA), fine-tuning, and a hybrid LLM-traditional approach. We adopt a rule-aware design based on the three-sigma criterion, and report detection performance and rationale quality. This study lays the groundwork for further investigation into the limitations and capabilities of LLM-based AD and its integration with classical detectors in cyber-physical power grid applications.

Paperid: 2841, https://arxiv.org/pdf/2511.21319.pdf

Abstract:
The increasing integration of Inverter-Based Resources (IBRs) is reshaping fault current characteristics, presenting significant challenges to traditional protection and fault location methods. This paper addresses a key limitation in fault location within wind farm collector networks, i.e., one-terminal phasor-based methods become inaccurate when IBRs are electrically located downstream from the fault. In such cases, the voltage drop caused by IBR fault current injections is not captured by the Intelligent Electronic Device, resulting in a systematic overestimation of fault distance. To mitigate this issue, a general compensation framework was proposed by augmenting classical loop formulations with a distance-dependent voltage correction term. The methodology was derived analytically using a sequence-domain representation and generalized to multiple fault types through a unified notation. It maintains the simplicity and interpretability of conventional approaches and can be implemented using only local measurements. The method was evaluated through EMT simulations in PSCAD using a realistic wind farm model. Results show significant improvements in location accuracy, with average and maximum errors notably reduced, especially for ground-involved faults where reductions exceed 90\%. Furthermore, the compensation eliminates sensitivity to wind penetration levels and ensures uniform performance across feeders, positioning the method as a practical solution for modern renewable-dominated grids.

Paperid: 2842, https://arxiv.org/pdf/2511.21314.pdf

Abstract:
In this work, we introduce an innovative approach to estimate the vital signs of multiple human subjects simultaneously in a non-contact way using a Frequency Modulated Continuous Wave (FMCW) radar-based system. Traditional vital sign monitoring methods often face significant limitations, including subject discomfort with wearable devices, challenges in calibration, and the risk of infection transmission through contact measurement devices. To address these issues, this research is motivated by the need for versatile, non-contact vital monitoring solutions applicable in various critical scenarios. This work also explores the challenges of extending this capability to an arbitrary number of subjects, including hardware and theoretical limitations. Supported by rigorous experimental results and discussions, the paper illustrates the system's potential to redefine vital sign monitoring. An FPGA-based implementation is also presented as proof of concept for a hardware-based and portable solution, improving upon previous works by offering 2.7x faster execution and 18.4% less Look-Up Table (LUT) utilization, as well as providing over 7400x acceleration compared to its software counterpart.

Paperid: 2843, https://arxiv.org/pdf/2511.21310.pdf

Abstract:
Digital substations have significantly enhanced power grid protection by replacing traditional copper wiring with fiber-optic communication and integrating IEC 61850-compliant Intelligent Electronic Devices (IEDs), resulting in greater efficiency, reliability, and interoperability. While these advancements provide improved interoperability, challenges such as high costs, complex networks, and limited upgradeability persist. To mitigate these issues, the virtualization of IEDs has emerged as a cost-effective solution, offering scalability, simplified maintenance, and reduced hardware costs by replacing traditional hardware-based IEDs with software-based counterparts. However, the performance and reliability of virtual IEDs (vIED) must be rigorously evaluated to ensure their robustness in real-time applications. This paper develops, implements, and evaluates a vIED designed to match the performance of its hardware-based counterparts. The vIED was deployed on a server using virtual machines, with its core logic implemented in low-level programming languages to ensure high-speed, deterministic behavior. The performance was evaluated using real-time simulations, focusing on the response times of the protection functions. The results demonstrated that vIEDs achieved acceptable response times, validating their suitability for deployment in critical time-sensitive environments within digital substations.

Paperid: 2844, https://arxiv.org/pdf/2511.21271.pdf

Abstract:
Indoor visible light communication (VLC) is a promising sixth-generation (6G) technology, as its directional and sensitive optical signals are naturally suited for integrated sensing and communication (ISAC). However, current research mainly focuses on maximizing data rates and sensing accuracy, creating a conflict between high performance, high energy consumption, and user visual comfort. This paper proposes an adaptive integrated sensing, communication, and illumination (ISCI) framework that resolves this conflict by treating energy savings as a primary objective. The framework's mechanism first partitions the receiving plane using a geometric methodology, defining an activity area and a surrounding non-activity area to match distinct user requirements. User location, determined using non-line-of-sight (NLOS) sensing, then acts as a dynamic switch for the system's optimization objective. The system adaptively shifts between minimizing total transmit power while guaranteeing communication and illumination performance in the activity area and maximizing signal-to-noise ratio (SNR) uniformity in the non-activity area. Numerical results confirm that this adaptive ISCI approach achieves 53.59% energy savings over a non-adaptive system and improves SNR uniformity by 57.79%, while satisfying all illumination constraints and maintaining a mean localization error of 0.071 m.

Paperid: 2845, https://arxiv.org/pdf/2511.21255.pdf

Abstract:
Recent developments in mmWave radar technologies have enabled the truly non-contact heart-rate (HR) and breath-rate (BR) measurement approaches, which provides a great ease in patient monitoring. Additionally, these technologies also provide opportunities to simultaneously detect HR and BR of multiple patients, which has become increasingly important for efficient mass monitoring scenarios. In this work, a frequency modulated continuous wave (FMCW) mmWave radar based truly non-contact multiple patient HR and BR monitoring system has been presented. Furthermore, a novel approach is also proposed, which combines multiple processing methods using a least squares solution to improve measurement accuracy, generalization, and handle measurement error. The proposed system has been developed using Texas Instruments' FMCW radar and experimental results with multiple subjects are also presented, which show >97% and >93% accuracy in the measured BR and HR values, respectively.

Paperid: 2846, https://arxiv.org/pdf/2511.20467.pdf

Abstract:
This paper presents pNav, a novel power-management system that significantly enhances the power/energy-efficiency of Autonomous Mobile Robots (AMRs) by jointly optimizing their physical/mechanical and cyber subsystems. By profiling AMRs' power consumption, we identify three challenges in achieving CPS (cyber-physical system) power-efficiency that involve both cyber (C) and physical (P) subsystems: (1) variabilities of system power consumption breakdown, (2) environment-aware navigation locality, and (3) coordination of C and P subsystems. pNav takes a multi-faceted approach to achieve power-efficiency of AMRs. First, it integrates millisecond-level power consumption prediction for both C and P subsystems. Second, it includes novel real-time modeling and monitoring of spatial and temporal navigation localities for AMRs. Third, it supports dynamic coordination of AMR software (navigation, detection) and hardware (motors, DVFS driver) configurations. pNav is prototyped using the Robot Operating System (ROS) Navigation Stack, 2D LiDAR, and camera. Our in-depth evaluation with a real robot and Gazebo environments demonstrates a >96% accuracy in predicting power consumption and a 38.1% reduction in power consumption without compromising navigation accuracy and safety.

Paperid: 2847, https://arxiv.org/pdf/2511.20416.pdf

Abstract:
We propose a method to approximate continuous-time, continuous-state stochastic processes by a discrete-time Markov chain defined on a nonuniform grid. Our method provides exact moment matching for processes whose first and second moments are linear functions of time. In particular, we show that, under certain conditions, the transition probabilities of a Markov chain can be chosen so that its first two moments match prescribed linear functions of time. These conditions depend on the grid points of the Markov chain and the coefficients of the linear mean and variance functions. Our proof relies on two recurrence relations for the expectation and variance across time. This approach enables simulation-based numerical analysis of continuous processes while preserving their key characteristics. We illustrate its efficacy by approximating continuous processes describing heat diffusion and geometric Brownian motion (GBM). For heat diffusion, we show that the heat profile at a set of points can be investigated by embedding those points inside the nonuniform grid of our Markov chain. For GBM, numerical simulations demonstrate that our approach, combined with suitable nonuniform grids, yields accurate approximations, with consistently small empirical Wasserstein-1 distances at long time horizons.

Paperid: 2848, https://arxiv.org/pdf/2511.20294.pdf

Abstract:
Tracking maneuvering targets requires estimators that are both responsive and robust. Interacting Multiple Model (IMM) filters are a standard tracking approach, but fusing models via Gaussian mixtures can lag during maneuvers. Recent winnertakes-all (WTA) approaches react quickly but may produce discontinuities. We propose SAFE-IMM, a lightweight IMM variant for tracking on mobile and resource-limited platforms with a safe covariance-aware gate that permits WTA only when the implied jump from the mixture to the winner is provably bounded. In simulations and on nuScenes front-radar data, SAFE-IMM achieves high accuracy at real-time rates, reducing ID switches while maintaining competitive performance. The method is simple to integrate, numerically stable, and clutter-robust, offering a practical balance between responsiveness and smoothness.

Paperid: 2849, https://arxiv.org/pdf/2511.19770.pdf

Abstract:
Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor manipulation. This paper presents a resilient navigation architecture that combines multi-hypothesis estimation with a Poisson binomial windowed-count detector for anomaly identification and isolation. A state machine coordinates transitions between operation, diagnosis, and mitigation, enabling adaptive response to adversarial conditions. When attacks are detected, trajectory re-planning based on differential flatness allows information-gathering maneuvers minimizing performance loss. Case studies demonstrate effective detection of biased sensors, maintenance of state estimation, and recovery of nominal operation under persistent spoofing attacks

Paperid: 2850, https://arxiv.org/pdf/2511.19675.pdf

Abstract:
This paper presents the Safe Sequential Quadratically Constrained Quadratic Programming (SS-QCQP) algorithm, a first-order method for smooth inequality-constrained nonconvex optimization that guarantees feasibility at every iteration. The method is derived from a continuous-time dynamical system whose vector field is obtained by solving a convex QCQP that enforces monotonic descent of the objective and forward invariance of the feasible set. The resulting continuous-time dynamics achieve an $O(1/t)$ convergence rate to first-order stationary points under standard constraint qualification conditions. We then propose a safeguarded Euler discretization with adaptive step-size selection that preserves this convergence rate while maintaining both descent and feasibility in discrete time. To enhance scalability, we develop an active-set variant (SS-QCQP-AS) that selectively enforces constraints near the boundary, substantially reducing computational cost without compromising theoretical guarantees. Numerical experiments on a multi-agent nonlinear optimal control problem demonstrate that SS-QCQP and SS-QCQP-AS maintain feasibility, exhibit the predicted convergence behavior, and deliver solution quality comparable to second-order solvers such as SQP and IPOPT.

Paperid: 2851, https://arxiv.org/pdf/2511.19287.pdf

Abstract:
This paper presents the geometry design and analysis of a novel triple scissors links deployable antenna mechanism (TSDAM) to deal with the problems of large aperture and high precision space antennas for deep space communication and Earth observation. This mechanism has only one degree of freedom (DoF) and thus makes for efficient and reliable deployment without loss of structural integrity. It employed a systematic design approach starting from a triple scissors links modular unit to a 25m aperture assembly. Different configurations constituting variable numbers of modular units were analyzed in SolidWorks to identify the deployable mechanism with lowest deformation. While the 24 units configuration offered superior stowage compactness, it exhibited higher deformation (0.01437mm), confirming the 12 units configuration as the optimal balance between structural stability and deployment efficiency. Screw theory was employed to analyze the kinematic properties, and numerical simulations were performed in MATLAB and SolidWorks. The deployable space antenna showed transition from stowed to fully deployed state in just 53 seconds with high stability throughout the deployment process. The TSDAM attained a storage ratio of up to 15.3 for height and volume with 0.01048mm of deformation for a 12 units configuration. Mesh convergence analysis proved the consistency of the simulation results for 415314 tetrahedral shaped elements. The virtual experiments in SolidWorks verified the analytical Screw theory based model and ensured that the design was smooth and flexible for deployment in operational conditions. The research establishes a robust design framework for future deployable antennas, offering enhanced performance, simplified structure, and improved reliability

Paperid: 2852, https://arxiv.org/pdf/2511.18579.pdf

Abstract:
Multi-agent systems play a central role in area coverage tasks across search-and-rescue, environmental monitoring, and precision agriculture. Achieving non-uniform coverage, where spatial priorities vary across the domain, requires coordinating agents while respecting dynamic and communication constraints. Density-driven approaches can distribute agents according to a prescribed reference density, but existing methods do not ensure connectivity. This limitation often leads to communication loss, reduced coordination, and degraded coverage performance. This letter introduces a connectivity-preserving extension of the Density-Driven Optimal Control (D2OC) framework. The coverage objective, defined using the Wasserstein distance between the agent distribution and the reference density, admits a convex quadratic program formulation. Communication constraints are incorporated through a smooth connectivity penalty, which maintains strict convexity, supports distributed implementation, and preserves inter-agent communication without imposing rigid formations. Simulation studies show that the proposed method consistently maintains connectivity, improves convergence speed, and enhances non-uniform coverage quality compared with density-driven schemes that do not incorporate explicit connectivity considerations.

Paperid: 2853, https://arxiv.org/pdf/2511.18551.pdf

Abstract:
In this paper, the L2 stability of switched networks is studied based on the QSR-dissipativity of each agent. While the integration of dissipativity with switched systems has received considerable attention, most previous studies have focused on passivity, internal stability, or feedback networks involving only two agents. This work makes two contributions: first, the relationship between switched QSR-dissipativity and L2 stability is established based on the properties of dissipativity parameters of switched systems; and second, conditions for L2 stability of networks consisting of QSR-dissipative agents with switching interconnection topologies are derived. Crucially, this shows that a common storage function will exist across all modes, avoiding the need to find one, which becomes computationally taxing for large networks with many possible configurations. Numerical examples demonstrate how this can facilitate stability analysis for networked systems under arbitrary switching of swarm drones.

Paperid: 2854, https://arxiv.org/pdf/2511.18236.pdf

Abstract:
The resource-constrained shortest path problem (RCSPP) is a fundamental NP-hard optimization challenge with broad applications, from network routing to autonomous navigation. This problem involves finding a path that minimizes a primary cost subject to a budget on a secondary resource. While various RCSPP solvers exist, they often face critical scalability limitations when applied to the large, dense graphs characteristic of complex, real-world scenarios, making them impractical for time-critical planning. This challenge is particularly acute in domains like mission planning for unmanned ground vehicles (UGVs), which demand solutions on large-scale terrain graphs. This paper introduces APULSE, a hybrid label-setting algorithm designed to efficiently solve the RCSPP on such challenging graphs. APULSE integrates a best-first search guided by an A* heuristic with aggressive, Pulse-style pruning mechanisms and a time-bucketing strategy for effective state-space reduction. A computational study, using a large-scale UGV planning scenario, benchmarks APULSE against state-of-the-art algorithms. The results demonstrate that APULSE consistently finds near-optimal solutions while being orders of magnitude faster and more robust, particularly on large problem instances where competing methods fail. This superior scalability establishes APULSE as an effective solution for RCSPP in complex, large-scale environments, enabling capabilities such as interactive decision support and dynamic replanning.

Paperid: 2855, https://arxiv.org/pdf/2511.17017.pdf

Abstract:
Cyber-physical systems of systems (CPSoS) are highly complex, dynamic environments in which technical, cybernetic and organisational subsystems interact closely with one another. Dynamic, continuously adaptable resilience is required to ensure their functionality under variable conditions. However, existing resilience architectures usually only deal with adaptation implicitly and thus remain predominantly static. This paper addresses this gap by introducing a new Adaptive Coordination Layer (ACL) and conceptually redefining the Adaptation & Learning Layer (AL). The ACL acts as an operational control layer that detects risks in real time, prioritises countermeasures and coordinates them dynamically. The AL is reinterpreted as a strategic-cooperative layer that evaluates the operational decisions of the ACL, learns from them, and derives long-term adjustments at the policy, governance, and architecture levels. Together, both layers operationalise the resilience principle of adaptation and combine short-term responsiveness with long-term learning and development capabilities. The paper describes various implementation variants of both levels - from rule-based and KPI-driven approaches to AI-supported and meta-learning mechanisms - and shows how these can be combined depending on system complexity, data availability and degree of regulation. The proposed architecture model no longer understands resilience as a static system property, but as a continuous, data-driven process of mutual coordination and systemic learning. This creates a methodological basis for the next generation of adaptive and resilient CPSoS.

Paperid: 2856, https://arxiv.org/pdf/2511.16974.pdf

Abstract:
Low-frequency oscillations remain a major challenge in bulk power systems with high renewable penetration, long lines, and large loads. Existing damping strategies based on power modulation of high voltage DC (HVDC) or energy storage, are often limited by fixed control architectures, leaving some modes poorly damped. This paper introduces a state-derivative feedback (SDF) damping controller that uses both frequency and its rate of change as feedback signals. Incorporating state derivatives enhances modal damping and accelerates frequency recovery, enabling HVDC and energy storage to effectively stabilize the grid. We evaluate the SDF controller on two- and three-area systems and compare performance with a frequency difference-based damping scheme. Results show that the SDF control reproduces state-feedback performance while providing good damping of both inter- and intra-area oscillations compared to the frequency-difference method, highlighting its potential as a practical solution for stabilizing power-electronics-rich grids.

Paperid: 2857, https://arxiv.org/pdf/2511.16677.pdf

Abstract:
At a wind farm in Croatia, lightning activity is monitored across the entire site using a lightning location system, and on a single wind turbine equipped with a Rogowski-coil-based current measurement system and a high-speed camera, all independently GPS-synchronized. In addition to recording lightning flash currents on the monitored turbine, the system is frequently triggered by electromagnetic disturbances caused by nearby lightning flashes. These include direct flashes to two neighboring turbines that share the same cable connection to the substation and have interconnected grounding systems with buried bare conductor, as well as cloud-to-ground flashes to soil near cable routes, where the resulting electromagnetic fields couple onto the cables, causing surges to propagate to the monitored turbine. The camera occasionally captures failed upward connecting leaders from the monitored turbine during these lightning events. This paper presents three cases of flashes to two neighboring wind turbines and two cases of cloud-to-ground flashes to nearby soil, all of which induced electromagnetic transients that propagated to the monitored turbine. Failed upward connecting leaders were observed in some of these cases. This paper provides observational analysis, providing Rogowski measurements of electromagnetic disturbances and failed leader currents, complemented by high-speed camera and lightning location system data.

Paperid: 2858, https://arxiv.org/pdf/2511.16560.pdf

Abstract:
Blockchain interoperability is increasingly recognized as the centerpiece for robust interactions among decentralized services. Blockchain ledgers are generally tamper-proof and thus enforce non-repudiation for transactions recorded within the same network. However, such a guarantee does not hold for cross-blockchain transactions. When disruptions occur due to malicious activities or system failures within one blockchain network, foreign networks can take advantage by denying legitimate claims or mounting fraudulent liabilities against the defenseless network. In response, this paper introduces InterSnap, a novel blockchain snapshot archival methodology, for enabling auditability of crossblockchain transactions, enforcing non-repudiation. InterSnap introduces cross-chain transaction receipts that ensure their irrefutability. Snapshots of ledger data along with these receipts are utilized as non-repudiable proof of bilateral agreements among different networks. InterSnap enhances system resilience through a distributed snapshot generation process, need-based snapshot scheduling process, and archival storage and sharing via decentralized platforms. Through a prototype implementation based on Hyperledger Fabric, we conducted experiments using on-premise machines, AWS public cloud instances, as well as a private cloud infrastructure. We establish that InterSnap can recover from malicious attacks while preserving crosschain transaction receipts. Additionally, our proposed solution demonstrates adaptability to increasing loads while securely transferring snapshot archives with minimal overhead.

Paperid: 2859, https://arxiv.org/pdf/2511.16469.pdf

Abstract:
This paper addresses the emulation-based observer design for networked control systems (NCS) with linear plants that operate at two time scales in the presence of measurement noise. The system is formulated as a hybrid singularly perturbed dynamical system, enabling the systematic use of singular perturbation techniques to derive explicit bounds on the maximum allowable transmission intervals (MATI) for both fast and slow communication channels. Under the resulting conditions, the proposed observer guarantees that the estimation error satisfies a global exponential derivative-input-to-state stability (DISS)-like property, where the ultimate bound scales proportionally with the magnitudes of the measurement noise and the time derivative of the control input. The effectiveness of the approach is illustrated through a numerical example.

Paperid: 2860, https://arxiv.org/pdf/2511.16066.pdf

Abstract:
Application of neuromorphic edge devices for control is limited by the constraints on gradient-free online learning and scalability of the hardware across control problems. This paper introduces a synaptic Q-learning algorithm for the control of the classical Cartpole, where the Bellman equations are incorporated at the synaptic level. This formulation enables the iterative evolution of the network topology, represented as a directed graph, throughout the training process. This is followed by a similar approach called neuromorphic Bellman Memory Units (BMU(s)), which are implemented with the Neural Engineering Framework on Intel's Loihi neuromorphic chip. Topology evolution, in conjunction with mixed-signal computation, leverages the optimization of the number of neurons and synapses that could be used to design spike-based reinforcement learning accelerators. The proposed architecture can potentially reduce resource utilization on board, aiding the manufacturing of compact application-specific neuromorphic ICs. Moreover, the on-chip learning introduced in this work and implemented on a neuromorphic chip can enable adaptation to unseen control scenarios.

Paperid: 2861, https://arxiv.org/pdf/2511.16019.pdf

Abstract:
Reconstructing complete traffic flow time-space diagrams from vehicle trajectories offer a comprehensive view on traffic dynamics at arterial intersections. However, obtaining full trajectories across networks is costly, and accurately inferring lane-changing (LC) and car-following behaviors in multi-lane environments remains challenging. This study proposes a generative framework for arterial vehicle trajectory reconstruction that jointly models lane-changing and car-following behaviors through physics-informed multi-task joint learning. The framework consists of a Lane-Change Generative Adversarial Network (LC-GAN) and a Trajectory-GAN. The LC-GAN models stochastic LC behavior from historical trajectories while considering physical conditions of arterial intersections, such as signal control, geometric configuration, and interactions with surrounding vehicles. The Trajectory-GAN then incorporates LC information from the LC-GAN with initial trajectories generated from physics-based car-following models, refining them in a data-driven manner to adapt to dynamic traffic conditions. The proposed framework is designed to reconstruct complete trajectories from only a small subset of connected vehicle (CV) trajectories; for example, even a single observed trajectory per lane, by incorporating partial trajectory information into the generative process. A multi-task joint learning facilitates synergistic interaction between the LC-GAN and Trajectory-GAN, allowing each component to serves as both auxiliary supervision and a physical condition for the other. Validation using two real-world trajectory datasets demonstrates that the framework outperforms conventional benchmark models in reconstructing complete time-space diagrams for multi-lane arterial intersections. This research advances the integration of trajectory-based sensing from CVs with physics-informed deep learning.

Paperid: 2862, https://arxiv.org/pdf/2511.15925.pdf

Abstract:
This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication, and fractional-order sliding mode control (FSMC) to enhance the resilience against adversarial interventions. A dynamic model decomposition (DMD)-based methodology is employed to extract the lateral dynamics from real-world data, eliminating the reliance on conventional mechanistic modeling. To optimize communication efficiency, an event-triggered transmission scheme is designed to reduce the redundant transmissions while ensuring system stability. Furthermore, an extended state observer (ESO) is developed for real-time estimation and mitigation of actuator attack effects. Theoretical stability analysis, conducted using Lyapunov methods and linear matrix inequality (LMI) formulations, guarantees exponential error convergence. Extensive simulations validate the proposed event-triggered secure control framework, demonstrating substantial improvements in attack mitigation, communication efficiency, and lateral tracking performance. The results show that the framework effectively counteracts actuator attacks while optimizing communication-resource utilization, making it highly suitable for safety-critical AV applications.

Paperid: 2863, https://arxiv.org/pdf/2511.15532.pdf

Abstract:
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particularly due to inherent closed-chain constraints. This paper presents a nonlinear model predictive control (MPC)-based motion planner that bridges high-level interception planning with real-time joint space control, enabling dynamic object interception for systems comprising two cooperating arms. We introduce an Adaptive- Terminal (AT) MPC formulation featuring cost shaping, which contrasts with a simpler Primitive-Terminal (PT) approach relying heavily on terminal penalties for rapid convergence. The proposed AT formulation is shown to effectively mitigate issues related to actuator power limit violations frequently encountered with the PT strategy, yielding trajectories and significantly reduced control effort. Experimental results on a robotic platform with two cooperative arms, demonstrating excellent real time performance, with an average planner cycle computation time of approximately 19 ms-less than half the 40 ms system sampling time. These results indicate that the AT formulation achieves significantly improved motion quality and robustness with minimal computational overhead compared to the PT baseline, making it well-suited for dynamic, cooperative interception tasks.

Paperid: 2864, https://arxiv.org/pdf/2511.15031.pdf

Abstract:
Large-scale cyber-physical systems (CPS), such as railway control systems and smart grids, consist of geographically distributed subsystems that are connected via unreliable, asynchronous inter-region networks. Their scale and distribution make them especially vulnerable to faults and attacks. Unfortunately, existing fault-tolerant methods either consume excessive resources or provide only eventual guarantees, making them unsuitable for real-time resource-constrained CPS. We present GeoShield, a resource-efficient solution for defending geo-distributed CPS against Byzantine faults. GeoShield leverages the property that CPS are designed to tolerate brief disruptions and maintain safety, as long as they recover (i.e., resume normal operations or transition to a safe mode) within a bounded amount of time following a fault. Instead of masking faults, it detects them and recovers the system within bounded time, thus guaranteeing safety with much fewer resources. GeoShield introduces protocols for Byzantine fault-resilient network measurement and inter-region omission fault detection that proactively detect malicious message delays, along with recovery mechanisms that guarantee timely recovery while maximizing operational robustness. It is the first bounded-time recovery solution that operates effectively under unreliable networks without relying on trusted hardware. Evaluations using real-world case studies show that it significantly outperforms existing methods in both effectiveness and resource efficiency.

Paperid: 2865, https://arxiv.org/pdf/2511.14986.pdf

Abstract:
Spatially distributed peripheral nerve recordings can be used to reconstruct motor intention and improve natural control of prosthetics in patients with limb deficiencies. However, many existing clinical solutions rely on percutaneous wires to access peripheral nerves; these sites are prone to infection and electrode degradation, preventing chronic use. To enable longterm recording of deeply-seated peripheral nerves, this paper presents DustNet: a network of ultrasonically-powered neural recording implants capable of supporting up to 8 simultaneously recording nodes over a single ultrasound link. To enable high throughput multi-implant communication, DustNet implements a time-division multiple-access (TDMA) protocol with up to 16-level amplitude modulation of the ultrasound backscatter that achieves up to 4x higher data rates than traditional on-off keying methods. Each neural implant consists of a 0.7x0.7x0.7 mm^3 piezoceramic transducer, a 10 nF off-chip capacitor, and an IC mounted on a flexible PCB. The implant IC was fabricated in a 28nm CMOS process and occupies an area of 0.43 mm^2. System functionality was verified within FDA power limits at 90mm depth, achieving a maximum data rate of 400 kb/s at 2 MHz ultrasound carrier frequency, with each implant transmitting uplink data at 50 kb/s and dissipating just 7 μW of power

Paperid: 2866, https://arxiv.org/pdf/2511.14928.pdf

Abstract:
Load shifting by commercial and industrial power consumers reduces costs and Scope 2 emissions for the consumer and the grid. Incentivizing this behavior requires tools for valuing flexibility amidst the heterogeneity in load characteristics across diverse sectors and the spatiotemporal variation in electricity prices and emissions factors. This work presents a top-down approach to screen and broadly understand the benefits of flexibility based on system uptime, power capacity (PC), energy capacity (EC), and round- trip efficiency (RTE). Depending on the region and season, cost savings from flexibility range from 0 to over 100% and emissions savings are generally bounded between 5-40%. We also find the magnitude and cost of emissions abatement from flexibility is highly variable and, in some cases, up to four orders of magnitude less than regional renewable energy credits or common investing or policy benchmarks like the social cost of carbon. While the value of flexibility is highly dynamic, estimating savings as a function of load characteristics and incentives can inform heuristic design of new systems, siting strategies, comparison of flexibility to other decarbonization options, and new avenues for incentivizing flexibility.

Paperid: 2867, https://arxiv.org/pdf/2511.14896.pdf

Abstract:
We develop a $μ$-analysis and synthesis framework for infinite-dimensional systems that leverages the Integral Quadratic Constraints (IQCs) to compute the structured singular value's upper bound. The methodology formulates robust stability and performance conditions jointly as Linear Partial Integral Inequalities within the Partial Integral Equation framework, establishing connections between IQC multipliers and $μ$-theory. Computational implementation via PIETOOLS enables computational tools that practically applicable to spatially distributed infinite dimensional systems. Illustrations with the help of Partial and Delay Differential Equations validate the effectiveness of the framework, showing a significant reduction in conservatism compared to unstructured methods and providing systematic tools for stability-performance trade-off analysis.

Paperid: 2868, https://arxiv.org/pdf/2511.14652.pdf

Abstract:
This paper proposes a novel Kernelized Data-Driven Predictive Control (KDPC) scheme for robust, offset-free tracking of nonlinear systems. Our computationally efficient hybrid approach separates the prediction: (1) kernel ridge regression learns the nonlinear map from past trajectories, and (2) analytical linearization of the kernel map approximates the effect of future inputs. This linearization is key, allowing the controller to be formulated as a standard Quadratic Program (QP) for efficient real-time implementation. Offset-free tracking is inherently achieved by using input increments. We provide theoretical guarantees for recursive feasibility and asymptotic stability. The algorithm is validated on a nonlinear Van der Pol oscillator, where it successfully rejects unmeasured disturbances and eliminates steady-state errors, outperforming a standard model-based controller.

Paperid: 2869, https://arxiv.org/pdf/2511.14478.pdf

Abstract:
Agentic AI systems have recently emerged as a critical and transformative approach in artificial intelligence, offering capabilities that extend far beyond traditional AI agents and contemporary generative AI models. This rapid evolution necessitates a clear conceptual and taxonomical understanding to differentiate this new paradigm. Our paper addresses this gap by providing a comprehensive review that establishes a precise definition and taxonomy for "agentic AI," with the aim of distinguishing it from previous AI paradigms. The concepts are gradually introduced, starting with a highlight of its diverse applications across the broader field of engineering. The paper then presents four detailed, state-of-the-art use case applications specifically within electrical engineering. These case studies demonstrate practical impact, ranging from an advanced agentic framework for streamlining complex power system studies and benchmarking to a novel system developed for survival analysis of dynamic pricing strategies in battery swapping stations. Finally, to ensure robust deployment, the paper provides detailed failure mode investigations. From these findings, we derive actionable recommendations for the design and implementation of safe, reliable, and accountable agentic AI systems, offering a critical resource for researchers and practitioners.

Paperid: 2870, https://arxiv.org/pdf/2511.14337.pdf

Abstract:
Grid-connected power converters encounter significant stability challenges during weak grid faults, when conventional PI-based controllers exhibit an oscillatory response and poor fault-ride-through performance. This paper addresses this problem by replacing the conventional outer PI controllers that regulate DC-link and PCC voltages with an offset-free data-driven predictive controller. The developed algorithm leverages either pre-fault or fault-time data to construct input-output predictors, yielding offset-free control without the need for physics-based modelling. Simulation results show that pre-fault offset-free DPC doubles the critical equivalent grid impedance that can be handled and reduces the root mean squared error during faults by a factor of 40, while maintaining computation times comparable to conventional PI control. These findings demonstrate that the developed offset-free data predictive controller offers a simple, robust, and computationally efficient alternative to conventional control, significantly enhancing fault-ride-through capabilities of converters in weak grids.

Paperid: 2871, https://arxiv.org/pdf/2511.14319.pdf

Abstract:
Robust data-driven controllers typically rely on datasets from previous experiments, which embed information on the variability of the system parameters across past operational conditions. Complementarily, data collected online can contribute to improving the feedback performance relative to the current system's conditions, but are unable to account for the overall -- possibly time-varying -- system operation. With this in mind, we consider the problem of stabilizing a time-varying linear system, whose parameters are only known to lie within a bounded polytopic set. Taking a robust data-driven approach, we synthesize the control law by simultaneously leveraging two sets of historical state and input measures: an offline dataset -- which covers the extreme variations of the system parameters -- and an online dataset consisting of a rolling window of the latest state and input samples. Our approach relies on the data informativity framework: we thus relax persistent excitation requirements (i.e., the collected samples need not be sufficient for system identification), while still allowing for the design of a stabilizing controller. The state feedback law is obtained from standard Lyapunov arguments, implemented via semi-definite optimization: this also yields an upper bound on the cost-to-go for the class of systems that are consistent with the online data, while guaranteeing a decreasing cost for all systems compatible with the offline data. Numerical experiments are presented to illustrate the effectiveness of the proposed controller.

Paperid: 2872, https://arxiv.org/pdf/2511.13926.pdf

Abstract:
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and high computational costs. This underscores the need for distributed algorithms that design controllers using only local dynamics information from each agent. This paper presents a consensus-based distributed stability analysis. The proposed stability analysis algorithms leverage Vidyasagar's Network Dissipativity Theorem and the alternating direction methods of multipliers to perform general stability analysis. Numerical examples involving a 2D swarm of unmanned aerial vehicles demonstrate the convergence of the proposed algorithms.

Paperid: 2873, https://arxiv.org/pdf/2511.13925.pdf

Abstract:
Stabilizing large networks of nonlinear agents is challenging; decomposition and distributed analysis of these networks are crucial for computational tractability and information security. Vidyasagar's Network Dissipativity Theorem enables both properties concurrently in distributed network analysis. This paper explored combining it with the alternating direction methods of multipliers to develop distributed stability analysis for networks of inhomogeneous, nonlinear agents. One algorithm enhances information security by requiring agents to share only a dissipativity characterization, not a dynamical model, for stability analysis. A second algorithm further restricts this information sharing to their clique, thereby enhancing security, and can also reduce the computational burden of stability analysis if the network allows chordal decomposition. The convergence of the proposed algorithms is demonstrated, and criteria are identified for decomposable networks facilitating chordal decomposition. The effectiveness of the proposed methods is demonstrated through numerical examples involving a swarm of linearized unmanned aerial vehicles and networks beyond linear time-invariant agents.

Paperid: 2874, https://arxiv.org/pdf/2511.13846.pdf

Abstract:
Electrification of residential heating and transporta- tion has the potential to overload transformers in distribution feeders. Strategic scheduling of transformer upgrades to antici- pate increasing loads can avoid operational failures and reduce the risk of supply shortages. This work proposes a framework to prioritize transformer upgrades based on predicted loads at each meter, including heat pumps and electric vehicle chargers. The framework follows a Monte Carlo approach to forecasting, generating many possible loading instances and collecting a distribution of failure probabilities for each transformer. In each loading instance, heat pumps and EVs are added stochastically to each meter over time, based on an overall estimated growth rate and factors specific to each customer. We set heat pump load profiles by temperature and EV load profiles based on a stochastic driving model and charging pattern. The load profiles feed into network topology and transformer failure models to calculate failure probabilities.We formulate a cost optimization based on these failure probabilities to schedule transformer upgrades. We demonstrate this approach on a real-world distribution feeder in rural Vermont under low, medium, and high-electrification scenarios. We find generally less than 20% of transformers having substantial risk of failure over a 20-year simulation. Lastly, we develop an optimization routine to schedule upgrades and discuss the expected number of failures.

Paperid: 2875, https://arxiv.org/pdf/2511.13745.pdf

Abstract:
This study presents a novel deep learning approach aimed at enhancing stochastic Gust Load Alleviation (GLA) specifically for compliant wings. The approach incorporates the concept of smooth wing camber variation, where the camber of the wing's chord is actively adjusted during flight using a control signal to achieve the desired aerodynamic loading. The proposed method employs a deep learning-based model predictive controller designed for probability density shaping. This controller effectively solves the probability density evolution equation through a custom Physics-Informed Neural Network (PINN) and utilizes Automatic Differentiation for Model Predictive Control (MPC) optimization. Comprehensive numerical simulations were conducted on a compliant wing (CW) model, evaluating performance of the proposed approach against stochastic gust profiles. The evaluation involved stochastic aerodynamic loads generated from Band-Limited White Noise (BLWN) and Dryden gust models. The evaluation were conducted for two distinct Compliant Chord Fractions (CCF). The results demonstrate the effectiveness of the proposed probability density shaping model predictive control in alleviating stochastic gust load and reducing wing tip deflection.

Paperid: 2876, https://arxiv.org/pdf/2511.13513.pdf

Abstract:
The climate-driven uncertainty of renewable generation and electricity demand challenges energy security in net-zero energy systems. By introducing a scalable stochastic model that implicitly accounts for 51'840 climate years, this paper identifies multi-year storage of liquid hydrocarbons as a key option for managing climate uncertainty and ensuring energy security. In Europe, multi-year storage reduces system costs by 4.1%, fossil imports by 86%, and curtailment by 60%. The benefit of multi-year storage is that a renewable surplus in one year is not curtailed but converted to synthetic oil, with hydrogen as an intermediate product, and stored to balance a future deficit. We find that the required energy capacity for liquid hydrocarbons is 525 TWh, a quarter of the European Union's current oil and gas reserves, complemented by 116 TWh for hydrogen storage. Security of supply remains high and unserved energy only amounts to 0.0035 per thousand, well below the common target of 0.02 per thousand.

Paperid: 2877, https://arxiv.org/pdf/2511.13311.pdf

Abstract:
This article presents an analytical account of the capacity limits and operational challenges of the main airports in the São Paulo Macrometropolis. Drawing on international examples, such as London Heathrow, it discusses how large hubs combine high traffic generation with severe physical constraints, highlighting how saturation intensifies delays, operating costs, and pressures for expansion. It analyzes capacity scarcity as a central economic problem, in which runways, aprons, boarding gates, and terminals become critical resources whose use requires administrative and market mechanisms, including slot coordination, prioritization rules, and regulatory incentives. It discusses the limitations imposed by high earthmoving costs, environmental impacts, and expropriation costs, which restrict the physical expansion of central airports such as Congonhas and increase dependence on efficiency gains. Demand projections indicate that the combined capacity of Congonhas, Guarulhos, and Viracopos is likely to be exceeded, even in conservative scenarios, reinforcing the urgency of integrated planning. The effects of regulatory restrictions on Congonhas, the challenges of expanding Guarulhos, and the structural difficulties of Viracopos are evaluated, highlighting the strategic relevance of this multi-airport system for sustaining national connectivity.

Paperid: 2878, https://arxiv.org/pdf/2511.13122.pdf

Abstract:
Unmanned Aerial Vehicles (UAVs) or drones have witnessed a spectacular surge in applications for military, commercial, and civilian purposes. However, their potential for flight is always limited by the finite power budget of their onboard power supplies. The limited flight time problem has led to intensive research into new sources of power and innovative charging strategies to enable protracted, autonomous flight. This paper gives a comparative summary of the current state-of-the-art in UAV power and refuelling technology. The paper begins with an analysis of the variety of energy sources, from classical batteries to fuel cells and hybrid systems, based on their relative advantages and disadvantages in energy density, weight, and safety. Subsequently, the review explores a spectrum of replenishment options, from simple manual battery swapping to sophisticated high-tech automatic docking stations and smart contact-based charging pads. Most of the review is dedicated to the newer technology of wireless power transfer, which involves near-field (inductive, capacitive) and far-field (laser, microwave) technology. The article also delves into the most important power electronic converter topologies, battery management systems, and control approaches that form the core of these charging systems. Finally, it recapitulates the most significant challenges in technical, economic, and social aspects for promising avenues of future research. The comprehensive review is a valuable guide for researchers, engineers, and policymakers striving to enhance UAV operational performance.

Paperid: 2879, https://arxiv.org/pdf/2511.12650.pdf

Abstract:
In this work, Yoshikawa's manipulability index is used to investigate reinforcement learning (RL) as a framework for morphology optimization in planar robotic manipulators. A 2R manipulator tracking a circular end-effector path is first examined because this case has a known analytical optimum: equal link lengths and the second joint orthogonal to the first. This serves as a validation step to test whether RL can rediscover the optimum using reward feedback alone, without access to the manipulability expression or the Jacobian. Three RL algorithms (SAC, DDPG, and PPO) are compared with grid search and black-box optimizers, with morphology represented by a single action parameter phi that maps to the link lengths. All methods converge to the analytical solution, showing that numerical recovery of the optimum is possible without supplying analytical structure. Most morphology design tasks have no closed-form solutions, and grid or heuristic search becomes expensive as dimensionality increases. RL is therefore explored as a scalable alternative. The formulation used for the circular path is extended to elliptical and rectangular paths by expanding the action space to the full morphology vector (L1, L2, theta2). In these non-analytical settings, RL continues to converge reliably, whereas grid and black-box methods require far larger evaluation budgets. These results indicate that RL is effective for both recovering known optima and solving morphology optimization problems without analytical solutions.

Paperid: 2880, https://arxiv.org/pdf/2511.12393.pdf

Abstract:
Modern social networks rely on recommender systems that inadvertently amplify misinformation by prioritizing engagement over content veracity. We present a control framework that mitigates misinformation spread while maintaining user engagement by penalizing content characteristics commonly exploited by false information, specifically, extreme negative sentiment and novelty. We extend the closed-loop Friedkin-Johnsen model to incorporate the mitigation of misinformation together with the maximization of user engagement. Both model-free and model-based control strategies demonstrate up to 76% reduction in misinformation propagation across diverse network configurations, validated through simulations using the LIAR2 dataset with sentiment features extracted via large language models. Analysis of engagement-misinformation trade-offs reveals that in networks with radical users, median engagement improves even as misinformation decreases, suggesting content moderation enhances discourse quality for non-extremist users. The framework provides practical guidance for platform operators in balancing misinformation suppression with engagement objectives.

Paperid: 2881, https://arxiv.org/pdf/2511.12175.pdf

Abstract:
This study presents an AI enhanced IoT framework for predictive maintenance and affordability optimization in smart microgrids using a Digital Twin modeling approach. The proposed system integrates real time sensor data, machine learning based fault prediction, and cost aware operational analytics to improve reliability and energy efficiency in distributed microgrid environments. By synchronizing physical microgrid components with a virtual Digital Twin, the framework enables early detection of component degradation, dynamic load management, and optimized maintenance scheduling. Experimental evaluations demonstrate improved predictive accuracy, reduced operational downtime, and measurable cost savings compared to baseline microgrid management methods. The findings highlight the potential of Digital Twin driven IoT architectures as a scalable solution for next generation intelligent and affordable energy systems.

Paperid: 2882, https://arxiv.org/pdf/2511.12145.pdf

Abstract:
As the relevance of control systems capable of dealing with multiple objectives rises (e.g. being economic while maintaining a certain performance), multi-objective Switched Model Predictive Control combines all the advantages of Model Predictive Control while dealing with multiple objectives. We propose two novel frameworks, a nominal and a robust framework to guarantee recursive feasibility of each Model Predictive Controller under arbitrary switching and assure asymptotic stability of the closed-loop system applying the nominal framework and Input-to-State stability using the robust framework. The presented frameworks employ methods from switched systems, enabling the utilization of a supervisor control instance which allows for complex objectives and multi-objective control. Our numerical example confirms the superior performance of our proposed frameworks compared to a standard Model Predictive Control approach.

Paperid: 2883, https://arxiv.org/pdf/2511.12022.pdf

Abstract:
Autonomous robotic systems must navigate complex, dynamic environments in real time, often facing unpredictable obstacles and rapidly changing conditions. Traditional sampling-based methods, such as RRT*, excel at generating collision-free paths but struggle to adapt to sudden changes without extensive replanning. Conversely, learning-based dynamical systems, such as the Stable Estimator of Dynamical Systems (SEDS), offer smooth, adaptive trajectory tracking but typically rely on pre-collected demonstration data, limiting their generalization to novel scenarios. This paper introduces Sampling-Based Adaptive Motion Planning (SBAMP), a novel framework that overcomes these limitations by integrating RRT* for global path planning with a SEDS-based local controller for continuous, adaptive trajectory adjustment. Our approach requires no pre-trained datasets and ensures smooth transitions between planned waypoints, maintaining stability through Lyapunov-based guarantees. We validate SBAMP in both simulated environments and real hardware using the RoboRacer platform, demonstrating superior performance in dynamic obstacle scenarios, rapid recovery from perturbations, and robust handling of sharp turns. Experimental results highlight SBAMP's ability to adapt in real time without sacrificing global path optimality, providing a scalable solution for dynamic, unstructured environments.

Paperid: 2884, https://arxiv.org/pdf/2511.11850.pdf

Abstract:
This paper proposes a robust control strategy that integrates Iterative Learning Control (ILC) with a simple lateral neural network to enhance the trajectory tracking performance of a linear Lorentz force actuator under friction and model uncertainties. The ILC compensates for nonlinear friction effects, while the neural network estimates the nonlinear ILC effort for varying reference commands. By dynamically adjusting the ILC effort, the method adapts to time-varying friction, reduces errors at reference changes, and accelerates convergence. Compared to previous approaches using complex neural networks, this method simplifies online training and implementation, making it practical for real-time applications. Experimental results confirm its effectiveness in achieving precise tracking across multiple tasks with different reference trajectories.

Paperid: 2885, https://arxiv.org/pdf/2511.11811.pdf

Abstract:
Many promising applications of multimodal wearables require continuous sensing and heavy computation, yet users reject such devices due to privacy concerns. This paper shares our experiences building an ear-mounted voice-and-vision wearable that performs local AI inference using a paired smartphone as a trusted personal edge. We describe the hardware--software co-design of this privacy-preserving system, including challenges in integrating a camera, microphone, and speaker within a 30-gram form factor, enabling wake word-triggered capture, and running quantized vision-language and large-language models entirely offline. Through iterative prototyping, we identify key design hurdles in power budgeting, connectivity, latency, and social acceptability. Our initial evaluation shows that fully local multimodal inference is feasible on commodity mobile hardware with interactive latency. We conclude with design lessons for researchers developing embedded AI systems that balance privacy, responsiveness, and usability in everyday settings.

Paperid: 2886, https://arxiv.org/pdf/2511.11567.pdf

Abstract:
Uncertainty-aware prediction is essential for safe motion planning, especially when using learned models to forecast the behavior of surrounding agents. Conformal prediction is a statistical tool often used to produce uncertainty-aware prediction regions for machine learning models. Most existing frameworks utilizing conformal prediction-based uncertainty predictions assume that the surrounding agents are non-interactive. This is because in closed-loop, as uncertainty-aware agents change their behavior to account for prediction uncertainty, the surrounding agents respond to this change, leading to a distribution shift which we call endogenous distribution shift. To address this challenge, we introduce an iterative conformal prediction framework that systematically adapts the uncertainty-aware ego-agent controller to the endogenous distribution shift. The proposed method provides probabilistic safety guarantees while adapting to the evolving behavior of reactive, non-ego agents. We establish a model for the endogenous distribution shift and provide the conditions for the iterative conformal prediction pipeline to converge under such a distribution shift. We validate our framework in simulation for 2- and 3- agent interaction scenarios, demonstrating collision avoidance without resulting in overly conservative behavior and an overall improvement in success rates of up to 9.6% compared to other conformal prediction-based baselines.

Paperid: 2887, https://arxiv.org/pdf/2511.11310.pdf

Abstract:
Autonomous racing offers a rigorous setting to stress test perception, planning, and control under high speed and uncertainty. This paper proposes an approach to design and evaluate a software stack for an autonomous race car in CARLA: Car Learning to Act simulator, targeting competitive driving performance in the Formula Student UK Driverless (FS-AI) 2025 competition. By utilizing a 360° light detection and ranging (LiDAR), stereo camera, global navigation satellite system (GNSS), and inertial measurement unit (IMU) sensor via ROS 2 (Robot Operating System), the system reliably detects the cones marking the track boundaries at distances of up to 35 m. Optimized trajectories are computed considering vehicle dynamics and simulated environmental factors such as visibility and lighting to navigate the track efficiently. The complete autonomous stack is implemented in ROS 2 and validated extensively in CARLA on a dedicated vehicle (ADS-DV) before being ported to the actual hardware, which includes the Jetson AGX Orin 64GB, ZED2i Stereo Camera, Robosense Helios 16P LiDAR, and CHCNAV Inertial Navigation System (INS).

Paperid: 2888, https://arxiv.org/pdf/2511.10775.pdf

Abstract:
Electrification is contributing to substantial growth in U.S. commercial and industrial loads, but the cost and Scope 2 carbon emission implications of this load growth are opaque for both power consumers and utilities. This work describes a unique spatiotemporally resolved data set of U.S. electricity costs and emissions and applies time series approximation methods to quantify the alignment of electricity cost and emission incentives for large commercial and industrial consumers. We present a comprehensive spatiotemporal dataset of U.S. price-based demand response (i.e., tariff) and incentive-based demand response (IBDR) programs, enabling direct comparison to previously published marginal emission factor (MEF), average emission factor (AEF), and day-ahead market (DAM) prices. We resolved the structural incompatibility and fragmentation of these datasets by developing time series approximations of discrete data and unifying geospatially heterogeneous datasets. Analysis of these datasets reveals significant spatial and temporal heterogeneity in cost and carbon emissions incentives for demand-side energy flexibility, underscoring the importance of site selection as a key factor influencing power costs and scope 2 emissions. Analysis also reveals broad misalignment of economic and emissions incentives under existing electricity tariff structures, meaning tariffs are incentivizing consumption of more carbon-intensive electricity, and highlighting potential barriers to electrification delivering carbon savings.

Paperid: 2889, https://arxiv.org/pdf/2511.10598.pdf

Abstract:
Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV) in such scenario to perform reconnaissance across the environment. To accomplish this, we propose an optimization-based approach to plan a path for the UAV at optimal height where the sensors of the UAV can cover the most area and collect data with minimum uncertainty.

Paperid: 2890, https://arxiv.org/pdf/2511.10467.pdf

Abstract:
The expansion of renewable electricity generation, growing demands due to electrification, greater prevalence of working from home, and increasing frequency and severity of extreme weather events, will place new demands on the electric supply and distribution grid. Broader adoption of demand response programs (DRPs) for the residential sector may help meet these challenges; however, experience shows that occupant overrides in DRPs compromises their effectiveness. There is a lack of formal understanding of how discomfort, routines, and other motivations affect DRP overrides and other related human building interactions (HBI). This paper reports preliminary findings from a study of 20 households in Colorado and Massachusetts, US over three months. Participants responded to ecological momentary assessments (EMA) triggered by thermostat interactions and at random times throughout the day. EMAs included Likert-scale questions of thermal preference, preference intensity, and changes to 7 different activity types that could affect thermal comfort, and an opened ended question about motivations of such actions. Twelve tags were developed to categorize motivation responses and analyzed statistically to identify associations between motivations, preferences, and HBI actions. Reactions to changes in the thermal environment were the most frequently observed motivation, 118 of 220 responses. On the other hand, 47% responses were at least partially motivated by non-thermal factors, suggesting limited utility for occupant behavior models founded solely on thermal comfort. Changes in activity level and clothing were less likely to be reported when EMAs were triggered by thermostat interactions, while fan interactions were more likely. Windows, shades, and portable heater interactions had no significant dependence on how the EMA was triggered.

Paperid: 2891, https://arxiv.org/pdf/2511.10380.pdf

Abstract:
The increasing integration of renewable energy sources into electrical grids necessitates a paradigm shift toward advanced control schemes that guarantee safe and stable operations with scalable properties. Hence, this study explores large-signal stability guarantees of a promising distributed control framework for cyber-physical DC microgrids, ensuring proportional current sharing and voltage containment within pre-specified limits. The proposed control framework adopts nonlinear nested control loops--inner (decentralized) and outer (distributed)--specifically designed to simultaneously achieve the control objectives. Our scalable stability result relies on singular perturbation theory to prove global exponential stability by imposing a sufficient time-scale separation at the border between the nested control loops. In particular, by saturating the influence of the outer loop controller in the inner loop, the proposed controller preserves a more convenient mathematical structure, facilitating the scalability of the stability proof using Lyapunov arguments. The effectiveness of our proposed control strategy is supported through time-domain simulations of a case-specific low-voltage DC microgrid following a careful tuning strategy, and a small-signal stability analysis is conducted to derive practical guidelines that enhance the applicability of the method.

Paperid: 2892, https://arxiv.org/pdf/2511.10296.pdf

Abstract:
Solar thermal systems (STS) present a promising avenue for low-carbon heat generation, with a well-running system providing heat at minimal cost and carbon emissions. However, STS can exhibit faults due to improper installation, maintenance, or operation, often resulting in a substantial reduction in efficiency or even damage to the system. As monitoring at the individual level is economically prohibitive for small-scale systems, automated monitoring and fault detection should be used to address such issues. Recent advances in data-driven anomaly detection, particularly in time series analysis, offer a cost-effective solution by leveraging existing sensors to identify abnormal system states. Here, we propose a probabilistic reconstruction-based framework for anomaly detection. We evaluate our method on the publicly available PaSTS dataset of operational domestic STS, which features real-world complexities and diverse fault types. Our experiments show that reconstruction-based methods can detect faults in domestic STS both qualitatively and quantitatively, while generalizing to previously unseen systems. We also demonstrate that our model outperforms both simple and more complex deep learning baselines. Additionally, we show that heteroscedastic uncertainty estimation is essential to fault detection performance. Finally, we discuss the engineering overhead required to unlock these improvements and make a case for simple deep learning models.

Paperid: 2893, https://arxiv.org/pdf/2511.10074.pdf

Abstract:
We propose Vision-Language Feature-based Multimodal Semantic Communication (VLF-MSC), a unified system that transmits a single compact vision-language representation to support both image and text generation at the receiver. Unlike existing semantic communication techniques that process each modality separately, VLF-MSC employs a pre-trained vision-language model (VLM) to encode the source image into a vision-language semantic feature (VLF), which is transmitted over the wireless channel. At the receiver, a decoder-based language model and a diffusion-based image generator are both conditioned on the VLF to produce a descriptive text and a semantically aligned image. This unified representation eliminates the need for modality-specific streams or retransmissions, improving spectral efficiency and adaptability. By leveraging foundation models, the system achieves robustness to channel noise while preserving semantic fidelity. Experiments demonstrate that VLF-MSC outperforms text-only and image-only baselines, achieving higher semantic accuracy for both modalities under low SNR with significantly reduced bandwidth.

Paperid: 2894, https://arxiv.org/pdf/2511.09784.pdf

Abstract:
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We formulate robust time-varying control barrier functions by combining two ingredients: (i) time-varying control barrier functions which capture the time-varying safety constraints, and (ii) pointwise-in-time quadratic constraints that bound the nonlinearity. These ingredients are used to design a safety filter. This filter ensures safety while minimally altering the command from a given baseline controller. The safety filter is implemented as the solution of a second-order cone program, which can be efficiently computed online. The approach is demonstrated on a simple car obstacle avoidance scenario.

Paperid: 2895, https://arxiv.org/pdf/2511.09235.pdf

Abstract:
HVDC networks offer several advantages over traditional HVAC systems, particularly for long-distance power transmission and integration of renewable energy sources, such as reduced losses and enhanced stability and control, but also increase the risk of oscillations. This study investigates electrical resonant phenomena associated with HVDC stations through numerical EMT simulations. The findings indicate that electrical resonance is primarily pronounced in weak networks with long cables, as confirmed by the Nyquist criterion applied to frequency responses. Two real cases were successfully simulated in the time domain by introducing network changes, such as temporary faults and alterations in network's power strength, to activate the identified resonances. Notably, in a strong network with short cables, electrical resonance occurred alongside interactions between the network and the converter's protection system. The analysis of voltage waveforms revealed that the amplitude of the induced resonant harmonic dissipates quickly, indicating sufficient damping in the network configuration. Furthermore, the study confirmed the network's sensitivity to changes in converter parameters modeled using available MMC model.

Paperid: 2896, https://arxiv.org/pdf/2511.09178.pdf

Abstract:
The implementation of agentic AI systems has the potential of providing more helpful AI systems in a variety of applications. These systems work autonomously towards a defined goal with reduced external control. Despite their potential, one of their flaws is the insufficient reliability which makes them especially unsuitable for high-risk domains such as healthcare or process industry. Unreliable systems pose a risk in terms of unexpected behavior during operation and mitigation techniques are needed. In this work, we derive the main reliability challenges of agentic AI systems during operation based on their characteristics. We draw the connection to traditional AI systems and formulate a fundamental reliability challenge during operation which is inherent to traditional and agentic AI systems. As our main contribution, we propose a two-layered reliability monitoring framework for agentic AI systems which consists of a out-of-distribution detection layer for novel inputs and AI transparency layer to reveal internal operations. This two-layered monitoring approach gives a human operator the decision support which is needed to decide whether an output is potential unreliable or not and intervene. This framework provides a foundation for developing mitigation techniques to reduce risk stemming from uncertain reliability during operation.

Paperid: 2897, https://arxiv.org/pdf/2511.09152.pdf

Abstract:
This paper studies targeted opinion formation in multi-agent systems evolving over signed, time-varying directed graphs. The dynamics of each agent's state follow a Laplacian-based update rule driven by both cooperative and antagonistic interactions in the presence of exogenous factors. We formulate these exogenous factors as external control inputs and establish a suitable controller design methodology enabling collective opinion to converge to any desired steady-state configuration, superseding the natural emergent clustering or polarization behavior imposed by persistently structurally balanced influential root nodes. Our approach leverages upper Dini derivative analysis and Grönwall-type inequalities to establish exponential convergence for opinion magnitude towards the desired steady state configuration on networks with uniform quasi-strong $δ$-connectivity. Finally, the theoretical results are validated through extensive numerical simulations.

Paperid: 2898, https://arxiv.org/pdf/2511.08928.pdf

Abstract:
In today competitive business environment, efficient logistics are essential, especially in industries where timely delivery matters. This research aims to improve warehouse picking cycle time through simulation-based analysis, using a leading plumbing equipment distributor in Thailand as a case study. The study identifies inefficiencies such as disorganized storage and poor placement of high-frequency items that slow down picking. To address this, an optimized storage approach using ABC analysis is proposed, prioritizing high-demand items near the entrance. Three storage policies-Fixed, Random, and Combination (Fixed Zone)-are tested with a Zone Picking strategy through simulation to identify the most efficient picking routes. The findings provide insights for improving warehouse layout and inventory placement to enhance overall performance.

Paperid: 2899, https://arxiv.org/pdf/2511.08831.pdf

Abstract:
In the design and operation of complex dynamical systems, it is essential to ensure that all state trajectories of the dynamical system converge to a desired equilibrium within a guaranteed stability region. Yet, for many practical systems -- especially in aerospace -- this region cannot be determined a priori and is often challenging to compute. One of the most common methods for computing the stability region is to identify a Lyapunov function. A Lyapunov function is a positive function whose time derivative along system trajectories is non-positive, which provides a sufficient condition for stability and characterizes an estimated stability region. However, existing methods of characterizing a stability region via a Lyapunov function often rely on explicit knowledge of the system governing equations. In this work, we present a new physics-informed machine learning method of characterizing an estimated stability region by inferring a Lyapunov function from system trajectory data that treats the dynamical system as a black box and does not require explicit knowledge of the system governing equations. In our presented Lyapunov function Inference method (LyapInf), we propose a quadratic form for the unknown Lyapunov function and fit the unknown quadratic operator to system trajectory data by minimizing the average residual of the Zubov equation, a first-order partial differential equation whose solution yields a Lyapunov function. The inferred quadratic Lyapunov function can then characterize an ellipsoidal estimate of the stability region. Numerical results on benchmark examples demonstrate that our physics-informed stability analysis method successfully characterizes a near-maximal ellipsoid of the system stability region associated with the inferred Lyapunov function without requiring knowledge of the system governing equations.

Paperid: 2900, https://arxiv.org/pdf/2511.08766.pdf

Abstract:
From organisms to machines, autonomous systems rely on measured sensory cues to estimate unknown information about themselves or their environment. For nonlinear systems, carefully selected sensor motion can be exploited to extract information that is otherwise unavailable, i.e. active sensing. Empirical, yet mathematically rigorous, tools are needed to (1) quantify how sensor movement can contribute to estimation performance, and (2) leverage this knowledge to improve state estimates. Here, we introduce "BOUNDS: Bounding Observability for Uncertain Nonlinear Dynamic Systems", and Python package pybounds, which can discover patterns of sensor motion that increase information for individual state variables. Crucially, it is suitable for partially observable nonlinear systems, accounts for sensor noise, and can be applied to either simulated or observed trajectories. We demonstrate BOUNDS through a case study on a flying agent with limited sensors, showing how active sensing can be leveraged to estimate key variables such as ground speed, altitude, and ambient wind direction. Finally, we present a framework to refine sporadic estimates from bouts of active sensing that combines data-driven state and observability estimation from artificial neural networks with model-based estimation, which we call the Augmented Information Kalman Filter (AI-KF). We validate our framework using altitude estimation given GPS-denied data from an outdoor quadcopter flight. Collectively, our work will help decode active sensing strategies and inform the design of estimation algorithms in sensorimotor systems.

Paperid: 2901, https://arxiv.org/pdf/2511.08643.pdf

Abstract:
Wholesale power markets often use linear approximations of power system constraints. Because it does not consider inequality constraints, using AC power flow for feasibility post-processing can violate bounds on reactive power, voltage magnitudes, or thermal limits. There remains a need for a streamlined analytical approach that can guarantee AC feasibility while adhering to variable bounds. This paper suggests an augmented implementation of AC power flow that uses an additional two bus types (PQV and P) to help resolve voltage bound violations present in the traditional approach. The proposed method sacrifices the voltage setpoint at a generator in exchange for fixing the voltage at a load bus, thereby moving a degree of freedom around the network. Results on the IEEE 14-bus, 57-bus, and 300-bus test cases demonstrate how switching bus types can reduce overall network violations and help find feasible power system setpoints.

Paperid: 2902, https://arxiv.org/pdf/2511.08619.pdf

Abstract:
This paper proposes an energy-workload coupled migration optimization strategy for virtual power plants (VPPs) with data centers (DCs) to enhance resource scheduling flexibility and achieve precise demand response (DR) curve tracking. A game-based coupled migration framework characterized by antisymmetric matrices is first established to facilitate the coordination of cross-regional resource allocation between VPPs. To address the challenge posed to conventional probabilistic modeling by the inherent data sparsity of DC workloads, deterministic equivalent transformations of fuzzy chance constraints are derived based on fuzzy set theory, and non-convex stochastic problems are transformed into a solvable second-order cone program. To address the multi-player interest coordination problem in cooperative games, an improved Shapley value profit allocation method with the VPP operator as intermediary is proposed to achieve a balance between theoretical fairness and computational feasibility. In addition, the alternating direction method of multipliers with consensus-based variable splitting is introduced to solve the high-dimensional non-convex optimization problem, transforming coupled antisymmetric constraints into separable subproblems with analytical solutions. Simulations based on real data from Google's multiple DCs demonstrate the effectiveness of the proposed method in improving DR curve tracking precision and reducing operational costs.

Paperid: 2903, https://arxiv.org/pdf/2511.08502.pdf

Abstract:
Autonomous systems increasingly rely on human feedback to align their behavior, expressed as pairwise comparisons, rankings, or demonstrations. While existing methods can adapt behaviors, they often fail to guarantee safety in safety-critical domains. We propose a safety-guaranteed, optimal, and efficient approach to solve the learning problem from preferences, rankings, or demonstrations using Weighted Signal Temporal Logic (WSTL). WSTL learning problems, when implemented naively, lead to multi-linear constraints in the weights to be learned. By introducing structural pruning and log-transform procedures, we reduce the problem size and recast the problem as a Mixed-Integer Linear Program while preserving safety guarantees. Experiments on robotic navigation and real-world Formula 1 data demonstrate that the method effectively captures nuanced preferences and models complex task objectives.

Paperid: 2904, https://arxiv.org/pdf/2511.08420.pdf

Abstract:
Scaled Relative Graphs (SRGs) provide a promising tool for stability and robustness analysis of multi-input-multi-output systems. In this paper, we provide tools for exact and computable constructions of the SRG for closed linear operators, based on maximum and minimum gain computations. The results are suitable for bounded and unbounded operators, and we specify how they can be used to draw SRGs for the typical operators that are used to model linear-time-invariant dynamical systems. Furthermore, for the special case of state-space models, we show how the Bounded Real Lemma can be used to construct the SRG.

Paperid: 2905, https://arxiv.org/pdf/2511.08338.pdf

Abstract:
The recent advancements in autonomous and remote operation of maritime vessels necessitates the development of robust and reliable communication systems to support high-bandwidth applications such as real-time monitoring, navigation, and control. Existing communication channel models, including Rayleigh and Rician fading, are inadequate to accurately describe the dynamic and complex nature of maritime communication, particularly for high-speed vessels in coastal environments. This paper proposes an extension to the Multi-Cluster Fluctuating Two-Ray Fading (MFTR) model that also accounts for key phenomena such as large-scale fading, time-varying parameters and Doppler shifts. The extended MFTR model integrates Stochastic Differential Equations (SDEs) to capture the time-varying characteristics of the channel, such as phase shifts and delays, while considering physical factors like delay-induced power loss and path loss. The accuracy of the proposed model is assessed in simulation.

Paperid: 2906, https://arxiv.org/pdf/2511.08165.pdf

Abstract:
The change of electric power generation - from synchronous generator (SG) to converter - is generally regarded as the second revolution of power system. Different from rotor swing of SG in traditional grids mainly described by the swing equation (SE), the converter dynamics plays an indispensable role in modern renewable dominated power systems (RDPS). The high complexity of the RDPS, including spatial large-scale, nonlinearity, multi-time-scale, and even sequential switching, prevents us from fully understanding its dynamics and assessing its transient stability under large disturbance. Here, a variety of transient switching mechanism models of renewable devices relying on wind or solar energies under low-voltage ride-through are established and unified, which can be perfectly described by a generalized swing equation (GSE) under parameter changes for switching dynamics. The GSE focusing on the dominant phase-locking loop dynamics is similar to the SE. Mainly relying on the mechanical equivalence and the energy conservative principle, a substantially improved equal-area criterion method is proposed. Based on this method, even for large-scale renewable fields, the calculation errors for the critical clearing time are only about 1%. This elegant nonlinear-dynamics-based approach establishes a unified theory including modelling and analysis for the RDPS transient dynamics.

Paperid: 2907, https://arxiv.org/pdf/2511.08041.pdf

Abstract:
This paper presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events triggered by the apparent motion of stars. The location and polarity of the events are used to infer the apparent motion field of the stars, which is, in turn, employed to estimate the observer angular velocity in the camera frame. This can be converted to the spacecraft angular rates provided an attitude reference. The method is validated through numerical simulation for a synthetic dataset of event streams generated on random spacecraft pointing and rates conditions. The accuracy of the method is assessed, demonstrating its potential to complement or replace conventional rate sensors in spacecraft systems using event camera sensing.

Paperid: 2908, https://arxiv.org/pdf/2511.08005.pdf

Abstract:
Robotic systems driven by conventional motors often suffer from challenges such as large mass, complex control algorithms, and the need for additional braking mechanisms, which limit their applications in lightweight and compact robotic platforms. Electrostatic film actuators offer several advantages, including thinness, flexibility, lightweight construction, and high open-loop positioning accuracy. However, the actuation stress exhibited by conventional actuators in air still needs improvement, particularly for the widely used three-phase electrode design. To enhance the output performance of actuators, this paper presents a two-layer electrostatic film actuator with an integrated brake. By alternately distributing electrodes on both the top and bottom layers, a smaller effective electrode pitch is achieved under the same fabrication constraints, resulting in an actuation stress of approximately 241~N/m$^2$, representing a 90.5\% improvement over previous three-phase actuators operating in air. Furthermore, its integrated electrostatic adhesion mechanism enables load retention under braking mode. Several demonstrations, including a tug-of-war between a conventional single-layer actuator and the proposed two-layer actuator, a payload operation, a one-degree-of-freedom robotic arm, and a dual-mode gripper, were conducted to validate the actuator's advantageous capabilities in both actuation and braking modes.

Paperid: 2909, https://arxiv.org/pdf/2511.07565.pdf

Abstract:
This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into executable action plans. To this end, ARGUS employs a processing pipeline that takes as input geospatial terrain data, military intelligence on existing threats and their probable locations, and mission priorities defined by the commander. Through a set of integrated modules, the framework processes this information to generate optimized trajectories that balance mission objectives against the risks posed by threats and terrain characteristics. A fundamental capability of ARGUS is its dynamic nature, which allows it to adapt plans in real-time in response to unforeseen events, reflecting the fluid nature of the modern battlefield. The system's interoperability were validated in a practical exercise with the Portuguese Army, where it was successfully demonstrated that the routes generated by the model can be integrated and utilized by UGV control systems. The result is a decision support tool that not only produces an optimal trajectory but also provides the necessary insights for its execution, thereby contributing to greater effectiveness and safety in the employment of autonomous ground systems.

Paperid: 2910, https://arxiv.org/pdf/2511.07054.pdf

Abstract:
The objective of this paper is to investigate graph-theoretic conditions for structural herdability of an LTI system. In particular, we are interested in the structural sign (SS) herdability of a system wherein the underlying digraph representing it is signed. Structural herdability finds applications in various domains like power networks, biological networks, opinion dynamics, multi-robot shepherding, etc. We begin the analysis by introducing a layered graph representation Gs of the signed digraph G; such a representation allows us to capture the signed distances between the nodes with ease. We construct a subgraph of G_s that characterizes paths of identical signs between layers and uniform path lengths, referred to as a layer-wise unisigned graph LUG(G_s). A special subgraph of an LUG(G_s), denoted as an LUG^H(G_s), is key to achieving SS herdability. This is because we prove that an LTI system is SS herdable if and only if there exists an LUG^H(G_s) which covers all the nodes of the given digraph. To the best of our knowledge, such a graphical test is one of the first methods which allows us to check SS herdability for arbitrary digraph topologies. Interestingly, the analysis also reveals that a system can be SS herdable even in the presence of (signed and layer) dilation in the associated digraph (note that such a behaviour has been shown to be impossible in directed trees). Additionally, we also extend these results to digraphs with multiple leader and driver nodes. In order to illustrate all the results, we present numerous examples throughout the paper.

Paperid: 2911, https://arxiv.org/pdf/2511.06714.pdf

Abstract:
This paper presents a high-fidelity evaluation framework for machine learning (ML)-based classification of cyber-attacks and physical faults using electromagnetic transient simulations with digital substation emulation at 4.8 kHz. Twelve ML models, including ensemble algorithms and a multi-layer perceptron (MLP), were trained on labeled time-domain measurements and evaluated in a real-time streaming environment designed for sub-cycle responsiveness. The architecture incorporates a cycle-length smoothing filter and confidence threshold to stabilize decisions. Results show that while several models achieved near-perfect offline accuracies (up to 99.9%), only the MLP sustained robust coverage (98-99%) under streaming, whereas ensembles preserved perfect anomaly precision but abstained frequently (10-49% coverage). These findings demonstrate that offline accuracy alone is an unreliable indicator of field readiness and underscore the need for realistic testing and inference pipelines to ensure dependable classification in inverter-based resources (IBR)-rich networks.

Paperid: 2912, https://arxiv.org/pdf/2511.06527.pdf

Abstract:
The identification of high-dimensional nonlinear dynamical systems via the Volterra series has significant potential, but has been severely hindered by the curse of dimensionality. Tensor Network (TN) methods such as the Modified Alternating Linear Scheme (MVMALS) have been a breakthrough for the field, offering a tractable approach by exploiting the low-rank structure in Volterra kernels. However, these techniques still encounter prohibitive computational and memory bottlenecks due to high-order polynomial scaling with respect to input dimension. To overcome this barrier, we introduce the Tensor Head Averaging (THA) algorithm, which significantly reduces complexity by constructing an ensemble of localized MVMALS models trained on small subsets of the input space. In this paper, we present a theoretical foundation for the THA algorithm. We establish observable, finite-sample bounds on the error between the THA ensemble and a full MVMALS model, and we derive an exact decomposition of the squared error. This decomposition is used to analyze the manner in which subset models implicitly compensate for omitted dynamics. We quantify this effect, and prove that correlation between the included and omitted dynamics creates an optimization incentive which drives THA's performance toward accuracy superior to a simple truncation of a full MVMALS model. THA thus offers a scalable and theoretically grounded approach for identifying previously intractable high-dimensional systems.

Paperid: 2913, https://arxiv.org/pdf/2511.06520.pdf

Abstract:
Unearthed neutral is commonly used in networks which require continuous power supply. This is common in MV circuits of industrial and power plants. Unearthed networks can remain in operation during an earth-fault, but fast determination of the faulty line is key for prevention of further fault escalation. Signal injection is one of the fault location methods often used in LV unearthed networks. The possibility of applying this method in MV networks depends on how to inject the signal into unearthed phases. In such networks, it is possible to use a group of three inductive voltage transformers (IVTs) for signal injection. After the simulations have shown promising results of signal injection and earth-fault detection in MV network, an experimental test was performed. This paper describes the experimental setup and shows the measurement results of signal injection method at MV level supported by EMT simulations.

Paperid: 2914, https://arxiv.org/pdf/2511.06377.pdf

Abstract:
Epidemics expose critical tensions between protecting public health and maintaining essential urban mobility. Public transport systems face this dilemma most acutely: they enable access to jobs, education, and services, yet also facilitate close contact among travelers. We develop an integrated modeling framework that couples agent-based epidemic simulation (EpiSim) with an optimization-based public transport flow model under capacity constraints. Using Munich as a case study, we analyze how combinations of facility closures and transport restrictions shape epidemic outcomes and accessibility. The results reveal three key insights. First, epidemic interventions redistribute rather than simply reduce infection risks, shifting transmission to households. Second, epidemic and transport policies interact nonlinearly - moderate demand suppression can offset large capacity cuts. Third, epidemic pressures amplify temporal and spatial inequalities, disproportionately affecting peripheral and peak-hour travelers. These findings highlight that blanket restrictions are both inefficient and inequitable, calling for targeted, time- and space-differentiated measures to build epidemic-resilient and socially fair transport systems.

Paperid: 2915, https://arxiv.org/pdf/2511.06306.pdf

Abstract:
Power system coherency refers to the phenomenon that machines in a power network exhibit similar frequency responses after disturbances, and is foundational for model reduction and control design. Despite abundant empirical observations, the understanding of coherence in complex power networks remains incomplete where the dynamics could be highly heterogeneous, nonlinear, and increasingly affected by persistent disturbances such as renewable energy fluctuations. To bridge this gap, this paper extends the blended dynamics approach, originally rooted in consensus analysis of multi-agent systems, to develop a novel coherency analysis in power networks. We show that the frequency responses of coherent machines coupled by nonlinear power flow can be approximately represented by the blended dynamics, which is a weighted average of nonlinear heterogeneous nodal dynamics, even under time-varying disturbances. Specifically, by developing novel bounds on the difference between the trajectories of nodal dynamics and the blended dynamics, we identify two key factors -- either high network connectivity or small time-variation rate of disturbances -- that contribute to coherence. They enable the nodal frequencies to rapidly approach the blended-dynamics trajectory from arbitrary initial state. Furthermore, they ensure the frequencies closely follow this trajectory in the long term, even when the system does not settle to an equilibrium. These insights contribute to the understanding of power system coherency and are further supported by simulation results.

Paperid: 2916, https://arxiv.org/pdf/2511.05720.pdf

Abstract:
Traditional Jenkins installations often perform resource-intensive builds directly on the controller, which can overload system resources and decrease reliability. This paper presents a controller-light CI/CD framework in which Jenkins runs as a containerized controller with persistent volumes, delegating heavy build and packaging operations to a remote Docker host. The controller container maintains secure SSH connections to remote compute nodes and focuses solely on orchestration and reporting. Atomic deployments with time-stamped backups, containerized build environments, immutable artifact packaging, and automatic notifications are all integrated into the system. Experimental evaluation shows reduced CPU and RAM usage on the controller, faster build throughput, and lower artifact delivery latency. For small and medium-sized DevOps organizations looking for scalable automation without adding orchestration complexity, this method offers a repeatable, low-maintenance CI/CD pipeline.

Paperid: 2917, https://arxiv.org/pdf/2511.05379.pdf

Abstract:
We present ETHOS (Encountered-Type Haptics for On-demand Social Interaction), a dynamic encountered-type haptic display (ETHD) that enables natural physical contact in virtual reality (VR) during social interactions such as handovers, fist bumps, and high-fives. The system integrates a torque-controlled robotic manipulator with interchangeable passive props (silicone hand replicas and a baton), marker-based physical-virtual registration via a ChArUco board, and a safety monitor that gates motion based on the user's head and hand pose. We introduce two control strategies: (i) a static mode that presents a stationary prop aligned with its virtual counterpart, consistent with prior ETHD baselines, and (ii) a dynamic mode that continuously updates prop position by exponentially blending an initial mid-point trajectory with real-time hand tracking, generating a unique contact point for each interaction. Bench tests show static colocation accuracy of 5.09 +/- 0.94 mm, while user interactions achieved temporal alignment with an average contact latency of 28.53 +/- 31.21 ms across all interaction and control conditions. These results demonstrate the feasibility of recreating socially meaningful haptics in VR. By incorporating essential safety and control mechanisms, ETHOS establishes a practical foundation for high-fidelity, dynamic interpersonal interactions in virtual environments.

Paperid: 2918, https://arxiv.org/pdf/2511.05347.pdf

Abstract:
Deploying lightweight CNN inference tasks on ultra-low-power MCUs is often not limited by space constraint, thanks to the compact size of models, yet inference latency is crucial for preserving energy. We reveal that quantized CNN inference on ultra-low-power MCUs executes unnecessary computations in neurons that produce saturated output values: often times, these neurons still produce the correct output value without fully completing the computation, since the neuron value is too extreme and is eventually systematically clamped at the boundaries allowed by the neuron. We show that with carefully designed condition checks, it is possible to identify and skip these unnecessary computations without impacting the neuron output. Based on this, we present saturation-aware convolution: an inference technique whereby computations in convolution kernels are executed in an altered order to induce earlier saturation, and saturation checks are inserted to omit unnecessary computations. We integrate our implementation into MCUNet's TinyEngine, the state-of-the-art neural network code generation and inference framework, and conduct experiments on a Cortex-M0+ MCU. The result based on 7 open-source CNN models displays up to 24% inference time saving, with strictly zero impact on neural network accuracy.

Paperid: 2919, https://arxiv.org/pdf/2511.05052.pdf

Abstract:
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance scenarios due to the sampling difficulties or the local minima. This work proposes Topology-Aware Planning for Object Manipulation (TAPOM), which explicitly incorporates task-space topological analysis to enable efficient planning. TAPOM uses a high-level analysis to identify critical pathways and generate guiding keyframes, which are utilized in a low-level planner to find feasible configuration space trajectories. Experimental validation demonstrates significantly high success rates and improved efficiency over state-of-the-art methods on low-clearance manipulation tasks. This approach offers broad implications for enhancing manipulation capabilities of robots in complex real-world environments.

Paperid: 2920, https://arxiv.org/pdf/2511.04437.pdf

Abstract:
This paper presents a deep Koopman-based Economic Model Predictive Control (EMPC) for efficient operation of a laboratory-scale pasteurization unit (PU). The method uses Koopman operator theory to transform the complex, nonlinear system dynamics into a linear representation, enabling the application of convex optimization while representing the complex PU accurately. The deep Koopman model utilizes neural networks to learn the linear dynamics from experimental data, achieving a 45% improvement in open-loop prediction accuracy over conventional N4SID subspace identification. Both analyzed models were employed in the EMPC formulation that includes interpretable economic costs, such as energy consumption, material losses due to inadequate pasteurization, and actuator wear. The feasibility of EMPC is ensured using slack variables. The deep Koopman EMPC and N4SID EMPC are numerically validated on a nonlinear model of multivariable PU under external disturbance. The disturbances include feed pump fail-to-close scenario and the introduction of a cold batch to be pastuerized. These results demonstrate that the deep Koopmand EMPC achieves a 32% reduction in total economic cost compared to the N4SID baseline. This improvement is mainly due to the reductions in material losses and energy consumption. Furthermore, the steady-state operation via Koopman-based EMPC requires 10.2% less electrical energy. The results highlight the practical advantages of integrating deep Koopman representations with economic optimization to achieve resource-efficient control of thermal-intensive plants.

Paperid: 2921, https://arxiv.org/pdf/2511.04054.pdf

Abstract:
In this work, we consider the problem of executing multiple tasks encoded by value functions, each learned through Reinforcement Learning, using an optimization-based framework. Prior works develop such a framework, but left unanswered a fundamental question of when learned value functions can be concurrently executed. The main contribution of this work is to present theorems which provide necessary and sufficient conditions to concurrently execute sets of learned tasks within subsets of the state space, using a previously proposed min-norm controller. These theorems provide insight into when learned control tasks are possible to be made concurrently executable, when they might already inherently be concurrently executable and when it is not possible at all to make a set of learned tasks concurrently executable using the previously proposed methods. Additional contributions of this work include extending the optimization-based framework to execute multiple tasks encoded by value functions to also account for value functions trained with a discount factor, making the overall framework more compatible with standard RL practices.

Paperid: 2922, https://arxiv.org/pdf/2511.03577.pdf

Abstract:
We study the control of nonlinear constrained systems via over-approximations. Our key observation is that the over-approximation error, rather than being an unknown disturbance, can be exploited as input-dependent preview information. This leads to the notion of informed policies, which depend on both the state and the error. We formulate the concretization problem -- recovering a valid input for the true system from a preview-based policy -- as a fixed-point equation. Existence of solutions follows from the Brouwer fixed-point theorem, while efficient computation is enabled through closed-form, linear, or convex programs for input-affine systems, and through an iterative method based on the Banach fixed-point theorem for nonlinear systems.

Paperid: 2923, https://arxiv.org/pdf/2511.03379.pdf

Abstract:
In inkjet printing, optimal paper moisture is crucial for print quality, achieved through hot-air impingement in the fixation unit. This paper presents a modular digital twin of the fixation unit, modeling the thermo-fluidic drying process and monitoring its spatio-temporal performance. The novel approach formulates the digital twin as an infinite-dimensional state estimator that infers fixation states from limited sensor data, while remaining robust to disturbances. Modularity is achieved through a graph-theoretic model, where each node represents thermo-fluidic dynamics in different sections of the fixation unit. Evaporation is modeled as a nonlinear boundary effect coupled with node dynamics via Linear Fractional Representation. Using the Partial Integral Equation (PIE) framework, we develop a unified approach for stability, input-output analysis, simulation, and rapid prototyping, validated with operational data from a commercial printer. An $\mathcal{H}_{\infty}$-optimal Luenberger state estimator is then synthesized to estimate thermal states from available sensor data, enabling real-time monitoring of spatio-temporal thermal effects on paper sheets.

Paperid: 2924, https://arxiv.org/pdf/2511.03164.pdf

Abstract:
Achieving high-fidelity single- and two-qubit gates is essential for executing arbitrary digital quantum algorithms and for building error-corrected quantum computers. We propose a theoretical framework for implementing quantum gates using frequency- and amplitude-modulated microwave control, which extends conventional amplitude modulation by introducing frequency modulation as an additional degree of control. Our approach operates on fixed-frequency qubits, converting the need for qubit frequency tunability into drive frequency modulation. Using Floquet theory, we analyze and design these drives for optimal fidelity within specified criteria. Our framework spans adiabatic to nonadiabatic gates within the Floquet framework, ensuring broad applicability across gate types and control schemes. Using typical transmon qubit parameters in numerical simulations, we demonstrate a universal gate set-including the X, Hadamard, phase, and CZ gates-with control error well below 0.1% and gate times of 25-40 ns for single-qubit operations and 125-135 ns for two-qubit operations. Furthermore, we show an always-on CZ gate tailored for driven qubits, which has gate times of 80-90 ns.

Paperid: 2925, https://arxiv.org/pdf/2511.03059.pdf

Abstract:
Microgrids offer a promising paradigm for integrating distributed energy resources, bolstering energy resilience, and reducing the impact of blackouts. However, their inherent decentralization and dynamic operation present substantial energy management complexities. These complexities, including balancing supply and demand, ensuring system stability, and minimizing operational costs, often necessitate solving computationally intractable NP-hard Mixed-Integer Non-Linear Programming (MINLP) problems. Traditional MINLP solvers struggle with the scalability and feasibility guarantees required for these challenges. To address this, this paper tackles the problem of resource allocation and radial configuration design for microgrid power distribution and proposes and abstracted problem which is solved by introducing a permutation-based iterative search method over the recently introduced FORWARD method to efficiently identify feasible, near-optimal radial network structures while inherently respecting physical constraints. Furthermore, this paper investigates the integration of the proposed method as a warm-start strategy for benchmark MINLP solvers offering a scalable solution for comprehensive microgrid design.

Paperid: 2926, https://arxiv.org/pdf/2511.02497.pdf

Abstract:
This paper presents a decentralized methodology for detecting and mitigating flapping phenomena in power systems, primarily caused by the operation of discrete devices. The proposed approach applies moving-window autocorrelation to local measurements, enabling each device to autonomously identify sustained oscillations. Upon detection, a probabilistic, device-specific mitigation strategy is executed. Flexible demand resources (DFRs), under-load tap changers (ULTCs), and automatic voltage regulators (AVRs) are utilised to illustrate the performance of the proposed approach to both discrete and continuous-operation devices. Results show that the proposed method is robust and properly distinguishes damped oscillations from persistent flapping, allowing devices to independently recognize problematic operating scenarios and implement corrective actions accordingly.

Paperid: 2927, https://arxiv.org/pdf/2511.02484.pdf

Abstract:
Intelligent transportation systems (ITS) still have a hard time accurately predicting traffic in cities, especially in big, multimodal settings with complicated spatiotemporal dynamics. This paper presents HybridST, a hybrid architecture that integrates Graph Neural Networks (GNNs), multi-head temporal Transformers, and supervised ensemble learning methods (XGBoost or Random Forest) to collectively capture spatial dependencies, long-range temporal patterns, and exogenous signals, including weather, calendar, or control states. We test our model on the METR-LA, PEMS-BAY, and Seattle Loop tree public benchmark datasets. These datasets include situations ranging from freeway sensor networks to vehicle-infrastructure cooperative perception. Experimental results show that HybridST consistently beats classical baselines (LSTM, GCN, DCRNN, PDFormer) on important metrics like MAE and RMSE, while still being very scalable and easy to understand. The proposed framework presents a promising avenue for real-time urban mobility planning, energy optimization, and congestion alleviation strategies, especially within the framework of smart cities and significant events such as the 2030 FIFA World Cup.

Paperid: 2928, https://arxiv.org/pdf/2511.02438.pdf

Abstract:
This paper proposes a novel nonlinear decentralized voltage controller for constrained regulation of meshed AC Microgrid networks with high penetration of constant power loads. Perceiving the load demand as an unknown disturbance, the network model is reformulated in a cascaded structure composed of a nominal, i.e. uncertainty-free, and an error subsystem. The latter captures the distance between the true and the nominal state trajectories, for which we prove boundedness via a suitable control barrier function. Under sufficient conditions, we prove asymptotic stability of the cascaded dynamics with respect to an equilibrium set and also provide an estimate of the region of attraction. In addition, it is rigorously shown that the proposed nonlinear control law also enforces constrained regulation around a rated voltage value, without the need of saturation devices. The operation of the closed-loop system is illustrated in a simulation scenario, demonstrating bounded operation and convergence to a neighbourhood of the desired reference vector.

Paperid: 2929, https://arxiv.org/pdf/2511.01045.pdf

Abstract:
In this paper, we propose a non-myopic sensor management algorithm for multi-target tracking, with multiple sensors operating in the same surveillance area. The algorithm is based on multi-Bernoulli filtering and selects the actions that solve a non-myopic minimisation problem, where the cost function is the mean square generalised optimal sub-pattern assignment (GOSPA) error, over a future time window. For tractability, the sensor management algorithm actually uses an upper bound of the GOSPA error and is implemented via Monte Carlo Tree Search (MCTS). The sensors have the ability to jointly optimise and select their actions with the considerations of all other sensors in the surveillance area. The benefits of the proposed algorithm are analysed via simulations.

Paperid: 2930, https://arxiv.org/pdf/2511.00765.pdf

Abstract:
This paper presents a Deep Q-Network (DQN)- based algorithm for NOMA-aided resource allocation in smart factories, addressing the stringent requirements of Ultra-Reliable Low-Latency Communication (URLLC). The proposed algorithm dynamically allocates sub-channels and optimizes power levels to maximize throughput while meeting strict latency constraints. By incorporating a tunable parameter λ, the algorithm balances the trade-off between throughput and latency, making it suitable for various devices, including robots, sensors, and controllers, each with distinct communication needs. Simulation results show that robots achieve higher throughput, while sensors and controllers meet the low-latency requirements of URLLC, ensuring reliable communication for real-time industrial applications.

Paperid: 2931, https://arxiv.org/pdf/2511.00736.pdf

Abstract:
The power grid is the foundation of modern society, however extreme weather events have increasingly caused widespread outages. Enhancing grid resilience is therefore critical to maintaining secure and reliable operations. In disaster relief and restoration, vehicle-to-grid (V2G) technology allows electric vehicles (EVs) to serve as mobile energy resources by discharging to support critical loads or regulating grid frequency as needed. Effective V2G operation requires coordinated charging and discharging of many EVs through optimization. Similarly, in grid restoration, EVs must be strategically routed to affected areas, forming the mobile charging station placement (CSP) problem, which presents another complex optimization challenge. This work reviews state-of-the-art optimization methods for V2G and mobile CSP applications, outlines their limitations, and explores how quantum computing (QC) could overcome current computational bottlenecks. A QC-focused perspective is presented on enhancing grid resilience and accelerating restoration as extreme weather events grow more frequent and severe.

Paperid: 2932, https://arxiv.org/pdf/2511.00140.pdf

Abstract:
This paper presents a proof-of-concept supply chain attack against the Secure ROS 2 (SROS 2) framework, demonstrated on a Quanser QCar2 autonomous vehicle platform. A Trojan-infected Debian package modifies core ROS 2 security commands to exfiltrate newly generated keystore credentials via DNS in base64-encoded chunks to an attacker-controlled nameserver. Possession of these credentials enables the attacker to rejoin the SROS 2 network as an authenticated participant and publish spoofed control or perception messages without triggering authentication failures. We evaluate this capability on a secure ROS 2 Humble testbed configured for a four-stop-sign navigation routine using an Intel RealSense camera for perception. Experimental results show that control-topic injections can cause forced braking, sustained high-speed acceleration, and continuous turning loops, while perception-topic spoofing can induce phantom stop signs or suppress real detections. The attack generalizes to any data distribution service (DDS)-based robotic system using SROS 2, highlighting the need for both supply chain integrity controls and runtime semantic validation to safeguard autonomous systems against insider and impersonation threats.

Paperid: 2933, https://arxiv.org/pdf/2510.27414.pdf

Abstract:
This paper presents the design of a state-feedback control law for spacecraft rendezvous, formulated using the Hill-Clohessy-Wiltshire equations. The proposed method introduces an impulsive control strategy to regulate thruster operations. Specifically, a state-dependent switching framework is developed to determine both the control input magnitudes and the precise state conditions that trigger thruster activation. The nonlinear control law is derived using principles from automatic control theory, particularly Lyapunov stability analysis and the Linear Matrix Inequality framework. The resulting closed-loop system is proven to be stable, while simultaneously minimizing the total number of actuation events. The effectiveness of the proposed method is demonstrated through a numerical case study, which includes a comparative analysis with a standard Model Predictive Control scheme, highlighting the advantages and trade-offs of the developed control structure.

Paperid: 2934, https://arxiv.org/pdf/2510.27187.pdf

Abstract:
This paper presents a physics-informed machine learning approach for synthesizing optimal feedback control policy for infinite-horizon optimal control problems by solving the Hamilton-Jacobi-Bellman (HJB) partial differential equation(PDE). The optimal control policy is derived analytically for affine dynamical systems with separable and strictly convex control costs, expressed as a function of the gradient of the value function. The resulting HJB-PDE is then solved by approximating the value function using the Extreme Theory of Functional Connections (X-TFC) - a hybrid approach that combines the Theory of Functional Connections (TFC) with the Extreme Learning Machine (ELM) algorithm. This approach ensures analytical satisfaction of boundary conditions and significantly reduces training cost compared to traditional Physics-Informed Neural Networks (PINNs). We benchmark the method on linear and non-linear systems with known analytical solutions as well as demonstrate its effectiveness on control tasks such as spacecraft optimal de-tumbling control.

Paperid: 2935, https://arxiv.org/pdf/2510.26571.pdf

Abstract:
People tend to walk in groups, and interactions with those groups have a significant impact on crowd behavior and pedestrian traffic dynamics. Social norms can be seen as unwritten rules regulating people interactions in social settings. This article studies people interactions with groups and the emergence of group proxemics. Group zones, zone occupancy counts and people clearance from the group are studied using naturalistic data. Analysis indicate potential presence of three different zones in addition to the public zone. People tend to remain in the public zone and only progressively get closer to groups, and those closer approaches happen in a low frequency and for brief periods of time.

Paperid: 2936, https://arxiv.org/pdf/2510.26534.pdf

Abstract:
This article investigates the pedestrian group as an emergent agent. The article explores empirical data to derive emergent agency and formation state spaces and outline recurring patterns of walking behavior. In this analysis, pedestrian trajectories extracted from surveillance videos are used along with manually annotated pedestrian group memberships. We conducted manual expert evaluation of observed groups, produced new manual annotations for relevant events pertaining to group behavior and extracted metrics relevant group formation. This information along with quantitative analysis was used to model the life-cycle and formation of the group agent. Those models give structure to expectations around walking behavior of groups; from pedestrian walking independently to the emergence of a collective intention where group members tended to maintain bounded distance between each other. Disturbances to this bounded distance often happened in association with changes in either their agency or their formation states. We summarized the patterns of behavior along with the sequences of state transitions into abstract patterns, which can aid in the development of more detailed group agents in simulation and in the design of engineering systems to interact with such groups.

Paperid: 2937, https://arxiv.org/pdf/2510.26179.pdf

Abstract:
Edge computing alleviates the computation burden of data-driven control in cyber-physical systems (CPSs) by offloading complex processing to edge servers. However, the increasing sophistication of cyberattacks underscores the need for security measures that go beyond conventional IT protections and address the unique vulnerabilities of CPSs. This study proposes a confidential data-driven gain-tuning framework using homomorphic encryption, such as ElGamal and CKKS encryption schemes, to enhance cybersecurity in gain-tuning processes outsourced to external servers. The idea for realizing confidential FRIT is to replace the matrix inversion operation with a vector summation form, allowing homomorphic operations to be applied. Numerical examples under 128-bit security confirm performance comparable to conventional methods while providing guidelines for selecting suitable encryption schemes for secure CPS.

Paperid: 2938, https://arxiv.org/pdf/2510.26063.pdf

Abstract:
This paper presents a novel approach to stochastic economic model predictive control (SEMPC) that minimizes average economic cost while satisfying an empirical expected shortfall (EES) constraint to manage risk. A new scenario-based problem formulation ensuring controlled risk with high confidence while minimizing the average cost is introduced. The probabilistic guarantees is dependent on the number of support elements over the entire input domain, which is difficult to find for high-dimensional systems. A heuristic algorithm is proposed to find the number of support elements. Finally, an efficient method is presented to reduce the computational complexity of the SEMPC problem with an EES constraint. The approach is validated on a water distribution network, showing its effectiveness in balancing performance and risk.

Paperid: 2939, https://arxiv.org/pdf/2510.25985.pdf

Abstract:
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this approach do not enforce the existence of a unique closed-loop (CL) equilibrium attitude-error quaternion (AEQ); and, for rotational errors about the attitude-error Euler axis larger than πrad, their proportional-control effect diminishes as the system state moves away from the stable equilibrium of the CL rotational dynamics. In this paper, we introduce a new type of attitude control law that more effectively leverages the attitude-error Euler axis-angle information to guarantee a unique CL equilibrium AEQ and to provide greater flexibility in the use of proportional-control efforts. Furthermore, using two different control laws as examples-through the construction of a strict Lyapunov function for the CL dynamics-we demonstrate that the resulting unique equilibrium of the CL rotational system can be enforced to be uniformly asymptotically stable. To assess and demonstrate the functionality and performance of the proposed approach, we performed numerical simulations and executed dozens of real-time tumble-recovery maneuvers using a small quadrotor. These simulations and flight tests compellingly demonstrate that the proposed axis-angle-based method achieves superior flight performance-compared with that obtained using a high-performance quaternion-based controller-in terms of stabilization time.

Paperid: 2940, https://arxiv.org/pdf/2510.25695.pdf

Abstract:
We report over 3 kV breakdown voltage and ultra-low leakage (011) \b{eta}-Ga2O3 power devices utilizing Schottky barrier engineering and high-permittivity (\k{appa}) dielectric (ZrO2) field plate. The (011) orientation of \b{eta}-Ga2O3 enabled low background doping and thick drift layers which are promising to support kV-class vertical \b{eta}-Ga2O3 power switches. The Schottky barrier engineering was performed with a composite Pt cap/PtOx/Pt (1.5 nm) anode contact to take advantage of the enhanced reverse blocking capabilities enabled by PtOx while allowing low turn-on voltage by the interfacing thin Pt layer. We also performed a systematic study using a co-processed Pt/(011) \b{eta}-Ga2O3 Schottky barrier diodes (SBDs) on the same wafer. The bare SBDs revealed a breakdown voltage of ~1.5 kV, while the field-plate Pt/(011) \b{eta}-Ga2O3 SBDs achieved an increased breakdown voltage of 2.75 kV owing to the edge field management. Further enhancement of the breakdown voltage was achieved by tunneling leakage management using composite Pt cap/PtOx/Pt (1.5 nm) Schottky contacts that ultimately enabled breakdown voltage of 3.7 kV for the field-plate diodes. Remarkably, the Pt cap/PtOx/Pt (1.5 nm) Schottky contacts maintained similar turn-on voltage as the Pt/(011) \b{eta}-Ga2O3 SBDs. The combination of efficient tunneling leakage management by composite Pt cap/PtOx/Pt (1.5 nm) contacts with similar turn-on voltage, edge field reduction by high-\k{appa} dielectric ZrO2 field plate, as well as the advantageous material properties offered by (011) \b{eta}-Ga2O3 demonstrate a promising strategy for developing ultra-low leakage and multi-kV class vertical (011) \b{eta}-Ga2O3 power devices.

Paperid: 2941, https://arxiv.org/pdf/2510.25501.pdf

Abstract:
This paper presents a new neural network (NN) paradigm for scalable and generalizable stability analysis of power systems. The paradigm consists of two parts: the neural stability descriptor and the sample-augmented iterative training scheme. The first part, based on system decomposition, constructs the object (such as a stability function or condition) for stability analysis as a scalable aggregation of multiple NNs. These NNs remain fixed across varying power system structures and parameters, and are repeatedly shared within each system instance defined by these variations, thereby enabling the generalization of the neural stability descriptor across a class of power systems. The second part learns the neural stability descriptor by iteratively training the NNs with sample augmentation, guided by the tailored conservativeness-aware loss function. The training set is strategically constructed to promote the descriptor's generalizability, which is systematically evaluated by verification and validation during the training process. Specifically, the proposed NN paradigm is implemented for large-disturbance stability analysis of the bulk power grid and small-disturbance stability conditions of the microgrid system. Finally, numerical studies for the two implementations demonstrate the applicability and effectiveness of the proposed NN paradigm.

Paperid: 2942, https://arxiv.org/pdf/2510.25479.pdf

Abstract:
In this paper, we present a Newton-Euler formulation of the equations of motion for underwater vehicles with an interntal moving mass actuator. Furthermore, the moving mass dynamics are expressed as an extension to the manoeuvring model for underwater vehicles, originally introduced by Fossen (1991). The influence of the moving mass is described in body-frame and included as states in both an additional kinematic equation and as part of the coupled rigid-body kinetics of the underwater vehicle. The Coriolis-centripetal effects are derived from Kirchhoff's equations and the hydrostatics are derived using first principals. The proposed Newton-Euler model is validated through simulation and compared with the traditional Hamiltonian internal moving mass actuator formulation.

Paperid: 2943, https://arxiv.org/pdf/2510.25411.pdf

Abstract:
The rapid deployment of unmanned aerial vehicle (UAV) corridors in sixth-generation (6G) networks requires safe, intelligence-driven integrated sensing and communications (ISAC). Reconfigurable intelligent surfaces (RIS) enhance spectrum efficiency, localisation accuracy, and situational awareness, while introducing new vulnerabilities. The rise of quantum computing increases the risks associated with harvest-now-decrypt-later strategies and quantum-enhanced spoofing. We propose a Quantum-Resilient Threat Modelling (QRTM) framework for RIS-assisted ISAC in UAV corridors to address these challenges. QRTM integrates classical, quantum-ready, and quantum-aided adversaries, countered using post-quantum cryptographic (PQC) primitives: ML-KEM for key establishment and Falcon for authentication, both embedded within RIS control signalling and UAV coordination. To strengthen security sensing, the framework introduces RIS-coded scene watermarking validated through a generalised likelihood ratio test (GLRT), with its detection probability characterised by the Marcum Q function. Furthermore, a Secure ISAC Utility (SIU) jointly optimises secrecy rate, spoofing detection, and throughput under RIS constraints, enabled by a scheduler with computational complexity of O(n^2). Monte Carlo evaluations using 3GPP Release 19 mid-band urban-canyon models (7-15 GHz) demonstrate a spoof-detection probability approaching 0.99 at a false-alarm rate of 1e-3, secrecy-rate retention exceeding 90 percent against quantum-capable adversaries, and signal-interference utilisation improvements of about 25 percent compared with baselines. These results show a standards-compliant path towards reliable, quantum-resilient ISAC for UAV corridors in smart cities and non-terrestrial networks.

Paperid: 2944, https://arxiv.org/pdf/2510.25256.pdf

Abstract:
Several centimeters below the skin lie multiple biomarkers, such as glucose, oxygenation, and blood flow. Monitoring these biomarkers regularly and in a non-invasive manner would enable early insight into metabolic status and vascular health. Currently, there are only a handful of non-invasive monitoring systems. Optical methods offer molecular specificity (i.e., multi-biomarker monitoring) but have shallow reach (a few millimeters); ultrasound penetrates deeper but lacks specificity; and MRI is large, slow, and costly. Photoacoustic (PA) sensing combines the best of optical and ultrasound methods. A laser transmitter emits pulses that are absorbed by different molecules, providing specificity. These light pulses generate pressure changes that are captured by an ultrasound receiver, providing depth. Photoacoustic sensing is promising, but the current platforms are bulky, complex, and costly. We propose the first embedded PA platform. Our contributions are fourfold. First, inspired by LiDAR technology, we propose a novel transmitter that emits pulses similar to those in the state-of-the-art (SoA), but instead of using high-voltage sources and complex electronic interfaces, we use a simple low-power microcontroller (MCU). Second, we carry out a thorough analysis of our custom transmitter and a commercial system. Third, we build a basic ultrasound receiver that is able to process the faint signal generated by our transmitter. Lastly, we compare the performance of our platform against a SoA commercial system, and show that we can detect glucose and (de)oxygenated hemoglobin in two controlled solution studies. The resulting signal characteristics indicate a plausible path toward noninvasive, real-time, at-home sensing relevant to diabetes care. More broadly, this platform lays the groundwork for translating the promise of PA sensing into a broader practical reality.

Paperid: 2945, https://arxiv.org/pdf/2510.25208.pdf

Abstract:
The continuous miniaturisation of metal-oxide-semiconductor field-effect transistors (MOSFETs) from long- to short-channel architectures has advanced beyond the predictions of Moore's Law. Continued advances in semiconductor electronics, even near current scaling and performance boundaries under cryogenic conditions, are driving the development of innovative device paradigms that enable ultra-low-power and high-speed functionality. Among emerging candidates, the Josephson Junction Field-Effect Transistor (JJFET or JoFET) provides an alternative by integrating superconducting source and drain electrodes for efficient, phase-coherent operation at ultra-low temperatures. These hybrid devices have the potential to bridge conventional semiconductor electronics with cryogenic logic and quantum circuits, enabling energy-efficient and high-coherence signal processing across temperature domains. This review traces the evolution from Josephson junctions to field-effect transistors, emphasising the structural and functional innovations that underpin modern device scalability. The performance and material compatibility of JJFETs fabricated on Si, GaAs, and InGaAs substrates are analysed, alongside an assessment of their switching dynamics and material compatibility. Particular attention is given to superconductor-silicon-superconductor Josephson junctions as the active core of JJFET architectures. By unfolding more than four decades of experimental progress, this work highlights the promise of JJFETs as foundational building blocks for next-generation cryogenic logic and quantum electronic systems.

Paperid: 2946, https://arxiv.org/pdf/2510.24757.pdf

Abstract:
Accurate modeling of nonlinear systems is essential for reliable control, yet conventional identification methods often struggle to capture latent dynamics while maintaining stability. We propose a \textit{stable-by-design LPV neural network-based state-space} (NN-SS) model that simultaneously learns latent states and internal scheduling variables directly from data. The state-transition matrix, generated by a neural network using the learned scheduling variables, is guaranteed to be stable through a Schur-based parameterization. The architecture combines an encoder for initial state estimation with a state-space representer network that constructs the full set of scheduling-dependent system matrices. For training the NN-SS, we develop a framework that integrates multi-step prediction losses with a state-consistency regularization term, ensuring robustness against drift and improving long-horizon prediction accuracy. The proposed NN-SS is evaluated on benchmark nonlinear systems, and the results demonstrate that the model consistently matches or surpasses classical subspace identification methods and recent gradient-based approaches. These findings highlight the potential of stability-constrained neural LPV identification as a scalable and reliable framework for modeling complex nonlinear systems.

Paperid: 2947, https://arxiv.org/pdf/2510.24756.pdf

Abstract:
This paper investigates the dynamic stability of an electromagnetically suspended vehicle, encountered in Hyperloop and Maglev systems, subject to periodic excitations caused by surface irregularities or vibration of the support induced by external noise. The narrow clearance between the vehicle and the support can make it highly sensitive to small oscillations, since the admissible amplitudes of the vehicle oscillations can be comparable to external excitation amplitude. The vehicle is modelled as a three-degree-of-freedom model where the vehicle is suspended via two identical electromagnetic actuators from a rigid support that oscillates. The governing equations are derived using force and torque balances, incorporating nonlinear electromagnetic forces, and Kirchhoffs law for the electromagnets with PD control strategy on the airgap. The equations of motion are linearized around the steady state induced by the surface oscillation, yielding a system with time-periodic coefficients. We analytically explore both principal and combination parametric resonances using an extended Hills method, and Floquet theory is used for numerical validation. The stability boundaries are obtained as ellipses in control gain parameter space, and the influence of system parameters on these boundaries is characterized. For the principal parametric resonance, the ratio of the sizes of the two obtained ellipses is three to one, whereas for the combination parametric resonance, the ratio is fourteen to one. When all ellipses are simultaneously present, one of the ellipses associated with the combination parametric resonance is the largest.

Paperid: 2948, https://arxiv.org/pdf/2510.24416.pdf

Abstract:
Networks of coupled nonlinear oscillators are emerging as powerful physical platforms for implementing Ising machines. Yet the relationship between parametric-oscillator implementations and traditional oscillator-based Ising machines remains underexplored. In this work, we develop a Kuramoto-style, canonical phase description of parametric oscillator Ising machines by starting from the Stuart-Landau oscillator model -- the canonical normal form near a Hopf bifurcation, and a natural reduced description for many parametric oscillator implementations such as the degenerate optical parametric oscillator (DOPO) among others. The resulting phase dynamics combine the usual phase-difference coupling observed in the standard Kuramoto model along with an intrinsic phase sum term that is generated when conjugate coupling is considered. Moreover, our formulation helps explain why explicit second-harmonic driving is unnecessary in parametric oscillators and also reveals how quasi-steady amplitude heterogeneity scales the original strength of the spin interaction with potentially adverse impacts on the solution quality. Our work helps develop a unifying view of the oscillator-based approach to designing Ising machines.

Paperid: 2949, https://arxiv.org/pdf/2510.24389.pdf

Abstract:
This paper presents the development and validation of a digital twin for a scaled-down electric vehicle (EV) emulator, designed to replicate longitudinal vehicle dynamics under diverse operating conditions. The emulator integrates a separately excited DC motor (SEDCM), a four-quadrant DC-DC converter, a battery emulator, and a mechanical load emulator. The system models tractive effort, aerodynamic drag, and gradient resistance using Newton's second law. In contrast to conventional graphical modeling tools (e.g., block diagrams and bond graphs), the adopted Energetic Macroscopic Representation (EMR) framework offers clear advantages by explicitly representing energy interactions and facilitating the systematic derivation of control structures. A control strategy developed within this framework governs energy flow across the powertrain, enabling accurate speed control via armature voltage regulation. Experimental tests conducted on a Lucas-Nulle test bench show strong correlation with simulation results. The study also introduces a methodology to compute the maximum admissible vehicle mass - determined to be 13.5 kg for a 180 W motor operating at 1900 rpm - based on acceleration and slope constraints. Furthermore, a switching algorithm for the bidirectional converter ensures reliable four quadrant operation. Overall, the proposed framework provides a scalable and effective approach for EV emulation, control design, and energy management validation.

Paperid: 2950, https://arxiv.org/pdf/2510.24029.pdf

Abstract:
Boundary Vector Cells (BVCs) are a class of neurons in the brains of vertebrates that encode environmental boundaries at specific distances and allocentric directions, playing a central role in forming place fields in the hippocampus. Most computational BVC models are restricted to two-dimensional (2D) environments, making them prone to spatial ambiguities in the presence of horizontal symmetries in the environment. To address this limitation, we incorporate vertical angular sensitivity into the BVC framework, thereby enabling robust boundary detection in three dimensions, and leading to significantly more accurate spatial localization in a biologically-inspired robot model. The proposed model processes LiDAR data to capture vertical contours, thereby disambiguating locations that would be indistinguishable under a purely 2D representation. Experimental results show that in environments with minimal vertical variation, the proposed 3D model matches the performance of a 2D baseline; yet, as 3D complexity increases, it yields substantially more distinct place fields and markedly reduces spatial aliasing. These findings show that adding a vertical dimension to BVC-based localization can significantly enhance navigation and mapping in real-world 3D spaces while retaining performance parity in simpler, near-planar scenarios.

Paperid: 2951, https://arxiv.org/pdf/2510.23586.pdf

Abstract:
Solving power system capacity expansion planning (CEP) problems at realistic spatial resolutions is computationally challenging. Thus, a common practice is to solve CEP over zonal models with low spatial resolution rather than over full-scale nodal power networks. Due to improvements in solving large-scale stochastic mixed integer programs, these computational limitations are becoming less relevant, and the assumption that zonal models are realistic and useful approximations of nodal CEP is worth revisiting. This work is the first to conduct a systematic computational study on the assumption that spatial aggregation can reasonably be used for ISO- and interconnect-scale CEP. By considering a realistic, large-scale test network based on the state of California with over 8,000 buses and 10,000 transmission lines, we demonstrate that well-designed small spatial aggregations can yield good approximations but that coarser zonal models result in large distortions of investment decisions.

Paperid: 2952, https://arxiv.org/pdf/2510.23188.pdf

Abstract:
This paper presents a novel Embroidery Actuator, a fabric-integrated pneumatic actuator that enables diverse and controllable deformations through embroidery pattern design. Unlike conventional fabric actuators that rely on fiber- or thread-shaped actuators, the proposed actuator is fabricated by directly stitching an inflatable tube onto the fabric using a cord-embroidery technique. The embroidered thread and the fabric jointly form a sleeve that constrains the expansion of the inflatable tube, converting internal pressure into targeted bending or stretching deformations. By varying the embroidery pattern, such as zigzag or cross configurations, different geometric constraints can be realized, allowing for flexible control of deformation direction and magnitude. Analytical deformation models based on the Neo-Hookean model and Lagrange's equations were developed to predict the relationship between pneumatic pressure and bending angle, and were experimentally validated using motion-capture measurements. The results demonstrated that the actuator achieves strong agreement with the analytical deformation model.

Paperid: 2953, https://arxiv.org/pdf/2510.23003.pdf

Abstract:
This paper introduces an intelligent water-saving irrigation system designed to address critical challenges in precision agriculture, such as inefficient water use and poor terrain adaptability. The system integrates advanced computer vision, robotic control, and real-time stabilization technologies via a multi-sensor fusion approach. A lightweight YOLO model, deployed on an embedded vision processor (K210), enables real-time plant container detection with over 96% accuracy under varying lighting conditions. A simplified hand-eye calibration algorithm-designed for 'handheld camera' robot arm configurations-ensures that the end effector can be precisely positioned, with a success rate exceeding 90%. The active leveling system, driven by the STM32F103ZET6 main control chip and JY901S inertial measurement data, can stabilize the irrigation platform on slopes up to 10 degrees, with a response time of 1.8 seconds. Experimental results across three simulated agricultural environments (standard greenhouse, hilly terrain, complex lighting) demonstrate a 30-50% reduction in water consumption compared to conventional flood irrigation, with water use efficiency exceeding 92% in all test cases.

Paperid: 2954, https://arxiv.org/pdf/2510.22790.pdf

Abstract:
This paper presents an ellipsoidal set-theoretic framework for robust safety filter synthesis in constrained linear systems subject to additive bounded disturbances and input constraints. We formulate the safety filter design as a convex linear matrix inequality (LMI) optimization problem that simultaneously computes a robust controlled invariant (RCI) ellipsoidal set and its associated state-feedback control law. The RCI set is characterized as an ellipsoidal set, enabling computational tractability for high-dimensional systems while providing formal safety guarantees. The safety filter employs a smooth mixing strategy between nominal and backup controllers based on distance to the invariant set boundary, facilitating minimal intervention when the system operates safely. The proposed method extends to nonlinear systems by treating nonlinear terms as bounded disturbances with rigorous approximation bounds. Numerical validation on a six-degree-of-freedom quadrotor system demonstrates the filter's effectiveness in maintaining stability under external disturbances and aggressive maneuvers while preserving nominal performance during safe operation. The approach provides a constructive and computationally efficient solution for safety-critical control applications requiring real-time implementation.

Paperid: 2955, https://arxiv.org/pdf/2510.22420.pdf

Abstract:
Controlling high-dimensional stochastic systems, critical in robotics, autonomous vehicles, and hyperchaotic systems, faces the curse of dimensionality, lacks temporal abstraction, and often fails to ensure stochastic stability. To overcome these limitations, this study introduces the Multi-Timescale Lyapunov-Constrained Hierarchical Reinforcement Learning (MTLHRL) framework. MTLHRL integrates a hierarchical policy within a semi-Markov Decision Process (SMDP), featuring a high-level policy for strategic planning and a low-level policy for reactive control, which effectively manages complex, multi-timescale decision-making and reduces dimensionality overhead. Stability is rigorously enforced using a neural Lyapunov function optimized via Lagrangian relaxation and multi-timescale actor-critic updates, ensuring mean-square boundedness or asymptotic stability in the face of stochastic dynamics. The framework promotes efficient and reliable learning through trust-region constraints and decoupled optimization. Extensive simulations on an 8D hyperchaotic system and a 5-DOF robotic manipulator demonstrate MTLHRL's empirical superiority. It significantly outperforms baseline methods in both stability and performance, recording the lowest error indices (e.g., Integral Absolute Error (IAE): 3.912 in hyperchaotic control and IAE: 1.623 in robotics), achieving faster convergence, and exhibiting superior disturbance rejection. MTLHRL offers a theoretically grounded and practically viable solution for robust control of complex stochastic systems.

Paperid: 2956, https://arxiv.org/pdf/2510.22411.pdf

Abstract:
Our infrastructure systems enable our well-being by allowing us to move, store, and transform materials and information given considerable social and environmental variation. Critically, this ability is shaped by the degree to which society invests in infrastructure, a fundamentally political question in large public systems. There, infrastructure providers are distinguished from users through political processes, such as elections, and there is considerable heterogeneity among users. Previous political economic models have not taken into account (i) dynamic infrastructures, (ii) dynamic user preferences, and (iii) alternatives to rational actor theory. Meanwhile, engineering often neglects politics. We address these gaps with a general dynamic model of shared infrastructure systems that incorporates theories from political economy, social-ecological systems, and political psychology. We use the model to develop propositions on how multiple characteristics of the political process impact the robustness of shared infrastructure systems to capacity shocks and unequal opportunity for private infrastructure investment. Under user fees, inequality decreases robustness, but taxing private infrastructure use can increase robustness if non-elites have equal political influence. Election cycle periods have a nonlinear effect where increasing them increases robustness up to a point but decreases robustness beyond that point. Further, there is a negative relationship between the ideological sensitivity of candidates and robustness. Overall, the biases of voters and candidates (whether they favor tax increases or decreases) mediate these political-economic effects on robustness because biases may or may not match the reality of system needs (whether system recovery requires tax increases).

Paperid: 2957, https://arxiv.org/pdf/2510.22270.pdf

Abstract:
This paper aims to investigate the distributed stochastic optimization problems on compact embedded submanifolds (in the Euclidean space) for multi-agent network systems. To address the manifold structure, we propose a distributed Riemannian stochastic proximal algorithm framework by utilizing the retraction and Riemannian consensus protocol, and analyze three specific algorithms: the distributed Riemannian stochastic subgradient, proximal point, and prox-linear algorithms. When the local costs are weakly-convex and the initial points satisfy certain conditions, we show that the iterates generated by this framework converge to a nearly stationary point in expectation while achieving consensus. We further establish the convergence rate of the algorithm framework as $\mathcal{O}(\frac{1+κ_g}{\sqrt{k}})$ where $k$ denotes the number of iterations and $κ_g$ shows the impact of manifold geometry on the algorithm performance. Finally, numerical experiments are implemented to demonstrate the theoretical results and show the empirical performance.

Paperid: 2958, https://arxiv.org/pdf/2510.22089.pdf

Abstract:
The paper extends core results of behavioral systems theory from linear to affine time-invariant systems. We characterize the behavior of affine time-invariant systems via kernel, input-output, state-space, and finite-horizon data-driven representations, demonstrating a range of structural parallels with linear time-invariant systems. Building on these representations, we introduce a new persistence of excitation condition tailored to the model class of affine time-invariant systems. The condition yields a new fundamental lemma that parallels the classical result for linear systems while provably reducing data requirements. Our analysis highlights that excitation conditions must be adapted to the model class: overlooking structural differences may lead to unnecessarily conservative data requirements.

Paperid: 2959, https://arxiv.org/pdf/2510.22029.pdf

Abstract:
This paper suggests a novel rotor-cooling shaft concept for high-performance electric motors that increases the effectiveness of cooling and is yet simple and cost-effective to manufacture. We investigate the thermal performance of four shaft geometries for rotor cooling in automotive applications. The proposed tooth-guided liquid-cooling shaft design aims to solve the high churning loss of conventional cooled rotor shafts due to internal vortex formation and their still limited heat transfer. Therefore, we optimize heat transfer efficiency and pressure management by incorporating cold-formed internal channels that restrict vortex formation beyond a degree that improves heat transfer. We evaluated key performance metrics, including heat transfer rate, outlet temperature, pressure drop, and velocity profiles, under varying rotational speeds, inlet flow rates, and coolant temperatures. Computational fluid analysis demonstrates that the tooth-guided design outperforms conventional hollow shafts and achieves up to 110% higher cooling efficiency at low rotational speeds, while it maintains comparable pressure levels. These findings provide practical insight into geometry-driven thermal optimization and offer a path toward improving the performance and durability of electric motors.

Paperid: 2960, https://arxiv.org/pdf/2510.22022.pdf

Abstract:
Wilson-Cowan and Amari-type models capture nonlinear neural population dynamics, providing a fundamental framework for modeling how sensory and other exogenous inputs shape activity in neural tissue. We study the controllability properties of Amari-type neural fields subject to piecewise/constant-in-time inputs. The model describes the time evolution of the polarization of neural tissue within a spatial continuum, with synaptic interactions represented by a convolution kernel. We study the synthesis of piecewise/constant-in-time inputs to achieve two-point boundary-type control objectives, namely, steering neural activity from an initial state to a prescribed target state. This approach is particularly relevant for predicting the emergence of paradoxical neural representations, such as discordant visual illusions that occur in response to overt sensory stimuli. We first present a control synthesis based on the Banach fixed-point theorem, which yields an iterative construction of a constant-in-time input under minimal regularity assumptions on the kernel and transfer function; however, it exhibits practical limitations, even in the linear case. To overcome these challenges, we then develop a generic synthesis framework based on the flow of neural dynamics drift, enabling explicit piecewise constant and constant-in-time inputs. Extensive numerical results in one and two spatial dimensions confirm the effectiveness of the proposed syntheses and demonstrate their superior performance compared to inputs derived from naive linearization at the initial or target states when these states are not equilibria of the drift dynamics. By providing a mathematically rigorous framework for controlling Amari-type neural fields, this work advances our understanding of nonlinear neural population control with potential applications in computational neuroscience, psychophysics, and neurostimulation.

Paperid: 2961, https://arxiv.org/pdf/2510.21911.pdf

Abstract:
This paper presents a unified algebraic, topological, and logical framework for electrical one-port networks based on Šare's $m$-theory. Within this formalism, networks are represented by $m$-words (jorbs) over an ordered alphabet, where series and parallel composition induce an $m$-topology on $m$-graphs with a theta mapping $\vartheta$ that preserves one-port equivalence. The study formalizes quasi-orders, shells, and cores, showing their structural correspondence to network boundary conditions and impedance behavior. The $λ--Δ$ metric, together with the valuation morphism $Φ$, provides a concise descriptor of the impedance-degree structure. In the computational domain, the framework is extended with algorithmic procedures for generating and classifying non-isomorphic series-parallel topologies, accompanied by programmatic Cauer/Foster synthesis workflows and validation against canonical examples from Ladenheim's catalogue. The resulting approach enables symbolic-to-topological translation of impedance functions, offering a constructive bridge between algebraic representation and electrical realization. Overall, the paper outlines a self-consistent theoretical and computational foundation for automated network synthesis, classification, and formal verification within the emerging field of Jorbology.

Paperid: 2962, https://arxiv.org/pdf/2510.21734.pdf

Abstract:
Atrial fibrillation (AF) increases the risk of thromboembolic events due to impaired function of the left atrial appendage (LAA). Left atrial appendage closure (LAAC) is a minimally invasive intervention designed to reduce stroke risk by sealing the LAA with an expandable occluder device. Current deployment relies on manual catheter control and imaging modalities like fluoroscopy and transesophageal echocardiography, which carry limitations including radiation exposure and limited positioning precision. In this study, we leverage a previously developed force-sensing delivery sheath integrating fiber Bragg gratings (FBGs) at the interface between the catheter and the occluder. Combined with electromagnetic (EM) tracking, this setup enables real-time measurement of interaction forces and catheter tip position during robot-assisted LAAC deployment in an anatomical phantom. We present a novel force-displacement profiling method that characterizes occluder deployment dynamics and identifies key procedural steps without relying on ionizing radiation. The force profiles reveal low-magnitude interaction forces, suggesting minimal mechanical stress on the surrounding anatomy. This approach shows promise in providing clinicians with enhanced intraoperative feedback, improving deployment outcome. Future work will focus on automating deployment steps classification and validating the sensing strategy in dynamic, realistic environments.

Paperid: 2963, https://arxiv.org/pdf/2510.21612.pdf

Abstract:
This paper focuses on rate-limited control of the generalized Ornstein-Uhlenbeck process where the control action can be either multiplicative or additive, and the noise variance can depend on the control action. We derive a lower bound on the data rate necessary to achieve the desired control cost. The lower bound is attained with equality if the control is performed via an additive white Gaussian channel. The system model approximates the dynamics of a discrete-state molecular birth-death process, and the result has direct implications on the control of a biomolecular system via chemical reactions, where the multiplicative control corresponds to the degradation rate, the additive control corresponds to the production rate, and the control objective is to decrease the fluctuations of the controlled molecular species around their desired concentration levels.

Paperid: 2964, https://arxiv.org/pdf/2510.21308.pdf

Abstract:
This paper presents a novel data-driven stochastic MPC design for discrete-time nonlinear systems with additive disturbances by leveraging the Koopman operator and a distributionally robust optimization (DRO) framework. By lifting the dynamical system into a linear space, we achieve a finite-dimensional approximation of the Koopman operator. We explicitly account for the modeling approximation and additive disturbance error by a mixed stochastic-deterministic tube for the lifted linear model. This ensures the regulation of the original nonlinear system while complying with the prespecified constraints. Stochastic and deterministic tubes are constructed using a DRO and a hyper-cube hull, respectively. We provide finite sample error bounds for both types of tubes. The effectiveness of the proposed approach is demonstrated through numerical simulations.

Paperid: 2965, https://arxiv.org/pdf/2510.21179.pdf

Abstract:
The transition toward net-zero energy systems requires scalable and cost-effective deployment of Power-to-X technologies, particularly green hydrogen production. Despite increasing investments, a critical research gap remains in dynamically assessing how different operational strategies affect the feasibility of hydrogen production under real-world energy market conditions. Most existing studies rely on static, techno-economic models and overlook actor interactions, infrastructure limitations, and regulatory complexity. This paper presents a novel modeling framework that integrates agent-based simulation with multi-criteria decision-making to evaluate green hydrogen production strategies using co-located wind and solar generation. Three operational strategies - grid-only, on-site-only, and hybrid - are applied across three electrolyzer capacity levels (10 MW, 50 MW, and 100 MW) within a Danish case study. Real electricity tariffs, emissions factors, and market data are used to simulate technical, economic, and environmental performance indicators. The results show that hybrid strategies consistently outperform grid-only configurations in terms of cost and emissions while maintaining stable hydrogen output. Although on-site-only strategies minimize emissions and costs, they fail to meet fixed production demands. This framework offers novel scientific contributions by modeling dynamic actor interactions and integrating system performance evaluation into strategic planning. Practically, it provides actionable insights for energy planners and policymakers designing resilient and efficient Power-to-X systems in renewable-rich contexts.

Paperid: 2966, https://arxiv.org/pdf/2510.20643.pdf

Abstract:
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions under which local safety constraints guarantee global safety. We account for localization and motion noise explicitly by modeling robots as spatial probability density functions governed by the Fokker-Planck equation. Compared to traditional centralized approaches, our controller requires less computational and communication power, making it more suitable for deployment in situations where perfect communication and localization are impractical. The controller is validated through simulations and experiments with four quadcopters.

Paperid: 2967, https://arxiv.org/pdf/2510.20313.pdf

Abstract:
This paper proposes a multi-actor coordination platform for the optimal utilization of smart buildings resources, including roof top PV generation and battery energy storage system (BESS), in active power distribution systems. The proposed multi-actor coordination includes the Smart Building Coordinator (SBC), Micro-Grid Coordinator (MGC) and Distribution System Coordinator (DSC). The coordinators operate independently and only exchange limited information with each other to reach an optimal solution. In the proposed platform, a hierarchical optimization problem is solved to optimally determine the operating point of all distribution system resources. The proposed platform fully preserves the confidentiality of the behind the meter (BTM) data of the buildings since no information about the status of the PV system, BESS, and load of the building is shared with the owner of the power system. The proposed platform has a flexible and scalable architecture where the computational task of coordinating microgrids and smart buildings with distribution grid is performed locally at the MGC and SBC layers, respectively. Numerical simulations show the efficacy of the proposed platform in coordinating the BTM resources with the rest of the distribution system.

Paperid: 2968, https://arxiv.org/pdf/2510.20234.pdf

Abstract:
Soft robotics increasingly relies on smart materials and innovative structures, with bistable tape springs emerging as a promising option. These structures exhibit intriguing dynamic behaviors, such as oscillation, due to their inherent bistability. This paper explores the high-speed linear amplification of motion achieved through the excitation of a looped bistable tape spring. When looped, the tape spring forms two distinct joints, facilitating smooth oscillation. Mounted on a linear guide and driven by a crank mechanism with varying frequency, the system converts input oscillations into amplified linear motion at resonance. This study highlights the potential of bistable tape springs high speed reciprocating linear motion.

Paperid: 2970, https://arxiv.org/pdf/2510.19781.pdf

Abstract:
We propose explicitly incorporating large-scale load siting into a stochastic nodal power system capacity expansion planning model that concurrently co-optimizes generation, transmission and storage expansion. The potential operational flexibility of some of these large loads is also taken into account by considering them as consisting of a set of tranches with different reliability requirements, which are modeled as a constraint on expected served energy across operational scenarios. We implement our model as a two-stage stochastic mixed-integer optimization problem with cross-scenario expectation constraints. To overcome the challenge of scalability, we build upon existing work to implement this model on a high performance computing platform and exploit scenario parallelization using an augmented Progressive Hedging Algorithm. The algorithm is implemented using the bounding features of mpisppy, which have shown to provide satisfactory provable optimality gaps despite the absence of theoretical guarantees of convergence. We test our approach to assess the value of this proactive planning framework on total system cost and reliability metrics using realistic testcases geographically assigned to San Diego and South Carolina, with datacenter and direct air capture facilities as large loads.

Paperid: 2971, https://arxiv.org/pdf/2510.19731.pdf

Abstract:
HAPS are emerging as key enablers in the evolution of 6G wireless networks, bridging terrestrial and non-terrestrial infrastructures. Operating in the stratosphere, HAPS can provide wide-area coverage, low-latency, energy-efficient broadband communications with flexible deployment options for diverse applications. This survey delivers a comprehensive overview of HAPS use cases, technologies, and integration strategies within the 6G ecosystem. The roles of HAPS in extending connectivity to underserved regions, supporting dynamic backhauling, enabling massive IoT, and delivering reliable low-latency communications for autonomous and immersive services are discussed. The paper reviews state-of-the-art architectures for terrestrial and non-terrestrial network integration, highlights recent field trials. Furthermore, key enabling technologies such as channel modeling, AI-driven resource allocation, interference control, mobility management, and energy-efficient communications are examined. The paper also outlines open research challenges. By addressing existing gaps in the literature, this survey positions HAPS as a foundational component of globally integrated, resilient, and sustainable 6G networks.

Paperid: 2972, https://arxiv.org/pdf/2510.19141.pdf

Abstract:
We study the policy gradient method (PGM) for the linear quadratic Gaussian (LQG) dynamic output-feedback control problem using an input-output-history (IOH) representation of the closed-loop system. First, we show that any dynamic output-feedback controller is equivalent to a static partial-state feedback gain for a new system representation characterized by a finite-length IOH. Leveraging this equivalence, we reformulate the search for an optimal dynamic output feedback controller as an optimization problem over the corresponding partial-state feedback gain. Next, we introduce a relaxed version of the IOH-based LQG problem by incorporating a small process noise with covariance $εI$ into the new system to ensure coerciveness, a key condition for establishing gradient-based convergence guarantees. Consequently, we show that a vanilla PGM for the relaxed problem converges to an $\mathcal{O}(ε)$-stationary point, i.e., $\overline{K}$ satisfying $\|\nabla J(\overline{K})\|_F \leq \mathcal{O}(ε)$, where $J$ denotes the original LQG cost. Numerical experiments empirically indicate convergence to the vicinity of the globally optimal LQG controller.

Paperid: 2973, https://arxiv.org/pdf/2510.19123.pdf

Abstract:
This paper investigates the wisdom of crowds of linear opinion dynamics models evolving on signed networks. Conditions are given under which models such as the DeGroot, Friedkin-Johnsen (FJ) and concatenated FJ models improve or undermine collective wisdom. The extension to dependent initial opinions is also presented, highlighting how the correlation structure influences the feasibility and geometry of the wisdom-improving regions.

Paperid: 2974, https://arxiv.org/pdf/2510.19054.pdf

Abstract:
This paper addresses motion planning and con- trol of an overactuated 4-wheel drive train with independent steering (4WIS) where mechanical constraints prevent the wheels from executing full 360-degree rotations (swerve). The configuration space of such a robot is constrained and contains discontinuities that affect the smoothness of the robot motion. We introduce a mathematical formulation of the steering constraints and derive discontinuity planes that partition the velocity space into regions of smooth and efficient motion. We further design the motion planner for path tracking and ob- stacle avoidance that explicitly accounts for swerve constraints and the velocity transition smoothness. The motion controller uses local feedback to generate actuation from the desired velocity, while properly handling the discontinuity crossing by temporarily stopping the motion and repositioning the wheels. We implement the proposed motion planner as an extension to ROS Navigation package and evaluate the system in simulation and on a physical robot.

Paperid: 2975, https://arxiv.org/pdf/2510.18852.pdf

Abstract:
This paper presents a novel Lyapunov-Based Quantum Reinforcement Learning (LQRL) framework that integrates quantum policy optimization with Lyapunov stability analysis for continuous-time vehicle control. The proposed approach combines the representational power of variational quantum circuits (VQCs) with a stability-aware policy gradient mechanism to ensure asymptotic convergence and safe decision-making under dynamic environments. The vehicle longitudinal control problem was formulated as a continuous-state reinforcement learning task, where the quantum policy network generates control actions subject to Lyapunov stability constraints. Simulation experiments were conducted in a closed-loop adaptive cruise control scenario using a quantum-inspired policy trained under stability feedback. The results demonstrate that the LQRL framework successfully embeds Lyapunov stability verification into quantum policy learning, enabling interpretable and stability-aware control performance. Although transient overshoot and Lyapunov divergence were observed under aggressive acceleration, the system maintained bounded state evolution, validating the feasibility of integrating safety guarantees within quantum reinforcement learning architectures. The proposed framework provides a foundational step toward provably safe quantum control in autonomous systems and hybrid quantum-classical optimization domains.

Paperid: 2976, https://arxiv.org/pdf/2510.18474.pdf

Abstract:
Trajectory design in cislunar space under a High-Fidelity Ephemeris Model (HFEM) is pursued through a nonlinear optimization perspective anchored on the transition of solutions from lower fidelity models, namely the Circular Restricted Three-Body Problem (CR3BP). The optimization problem is posed in the likeness of a multiple-shooting approach, aiming for segment-to-segment continuity while tracking proximity to the original CR3BP structures. The analysis of various formulations leads to the selection of an unconstrained least-squares problem for further investigation. The nonlinear optimization problem is convexified and the use of the Levenberg-Marquardt algorithm, as an alternative to the minimum-norm update equation found in most literature, is investigated for its control over the update step and inherent robustness. Additional techniques such as adaptive weighting are employed to further consolidate the behavior of the proposed algorithm in challenging scenarios. Numerical trials evaluate the adequacy of the methodology presented and compare it to the minimum-norm baseline over various application cases, including the generation of quasi-periodic trajectories and orbital transfers between them. The proposed approach is found to outperform the baseline in applications where the initial guess is poor and the ease of including proximity constraints provides benefits in control over the shape of the converged solution.

Paperid: 2977, https://arxiv.org/pdf/2510.18273.pdf

Abstract:
Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet real-world networks frequently suffer from link failures, packet drops, and communication delays due to environmental conditions, network congestion, and security threats. We introduce a novel resilient DRA algorithm that addresses these critical challenges, and our main contributions are as follows: (1) guaranteed constraint feasibility at all times, ensuring resource-demand balance even during algorithm termination or network disruption; (2) robust convergence despite sector-bound nonlinearities at nodes/links, accommodating practical constraints like quantization and saturation; and (3) optimal performance under merely uniformly-connected networks, eliminating the need for continuous connectivity. Unlike existing approaches that require persistent network connectivity and provide only asymptotic feasibility, our graph-theoretic solution leverages network percolation theory to maintain performance during intermittent disconnections. This makes it particularly valuable for mobile multi-agent systems where nodes frequently move out of communication range. Theoretical analysis and simulations demonstrate that our algorithm converges to optimal solutions despite heterogeneous time delays and substantial link failures, significantly advancing the reliability of distributed resource allocation in practical network environments.

Paperid: 2978, https://arxiv.org/pdf/2510.17836.pdf

Abstract:
The present work proposes a novel two phases model-based strategy for leakage detection. The two phases are: the identification of the district metering area (DMA) and the pipe pre-localization into the identified DMA. The strategy is based on detecting and pre-localizing the punctual leakage as anomaly with respect to the normal working conditions. A further novelty is the fact that the pre-localization phase returns the sequence of pipes to inspect, which makes the strategy attractive for water utilities, whose aim is to identify the anomaly at DMA level and, successively, to localize it with the minimum inspection cost. Furthermore, a random database is useful to test the performance of the strategy with respect to the configuration of DMAs and the pressure metering system. Consequently, a novel strategy to design the location of pressure meters is also proposed. It is demonstrated that the entire strategy limits false positives during the DMA identification phase by using the recently proposed index named Asset Management Support Indicator (AMSI). AMSI is invariant with respect to the deterioration, i.e., it is sensitive to its increase causing punctual leakage. The strategy is studied and discussed using two real Apulian WDNs managed by Acquedotto Pugliese.

Paperid: 2979, https://arxiv.org/pdf/2510.17815.pdf

Abstract:
Transistors are core component across all domains of electrical and electronic engineering (EEE), such as data centers, electrified transportation, robotics, renewables and grid applications, etc. Transistors' switching behavior governs energy loss, carbon emissions, cooling demand, water use, lifetime, material use and cost etc. throughout EEE. Despite near a century since the transistor's invention, the understanding of transistor switching remains fragmented: switching is treated as a black box relying on observed waveforms, cannot be explained using physical laws alone, and is not integrated into circuit theory. This forms one of the most critical barriers to recognizing the true physical boundaries, prohibiting more sustainable solutions. For example, the conventional Eon prediction model, derived from the conventional switching analysis, exhibits significant prediction errors (ranging from 34.41% to 80.05%). Here we present a unified first-principles paradigm to explain the switching phenomena. Using this paradigm, we revealed the physical origins and mechanisms of switching-ON phenomena across scenarios, and derived the proposed Eon prediction model, with error ranging from 0.88% to 11.60%, achieving a 17-fold average improvement. These results demonstrate the unprecedented power of the proposed paradigm: textbook-level foundations are established, transforming the fundamental understanding of transistor switching from empirical to first-principles analysis, and simultaneously stimulating follow-up research and applications for sustainable development across disciplines.

Paperid: 2980, https://arxiv.org/pdf/2510.14414.pdf

Abstract:
This study presents a powered transtibial prosthesis with complete push-off assistance, RoboANKLE. The design aims to fulfill specific requirements, such as a sufficient range of motion (RoM) while providing the necessary torque for achieving natural ankle motion in daily activities. Addressing the challenges faced in designing active transtibial prostheses, such as maintaining energetic autonomy and minimizing weight, is vital for the study. With this aim, we try to imitate the human ankle by providing extensive push-off assistance to achieve a natural-like torque profile. Thus, Energy Store and Extended Release mechanism (ESER) is employed with a novel Extra Energy Storage (EES) mechanism. Kinematic and kinetic analyses are carried out to determine the design parameters and assess the design performance. Subsequently, a Computer-Aided Design (CAD) model is built and used in comprehensive dynamic and structural analyses. These analyses are used for the design performance evaluation and determine the forces and torques applied to the prosthesis, which aids in optimizing the design for minimal weight via structural analysis and topology optimization. The design of the prototype is then finalized and manufactured for experimental evaluation to validate the design and functionality. The prototype is realized with a mass of 1.92 kg and dimensions of 261x107x420 mm. The Functional evaluations of the RoboANKLE revealed that it is capable of achieving the natural maximum dorsi-flexion angle with 95% accuracy. Also, Thanks to the implemented mechanisms, the results show that RoboANKLE can generate 57% higher than the required torque for natural walking. The result of the power generation capacity of the RoboANKLE is 10% more than the natural power during the gait cycle.

Paperid: 2981, https://arxiv.org/pdf/2510.14119.pdf

Abstract:
Connected and Autonomous Vehicles (CAVs) are transforming modern transportation by enabling cooperative applications such as vehicle platooning, where multiple vehicles travel in close formation to improve efficiency and safety. However, the heavy reliance on inter-vehicle communication makes platoons highly susceptible to attacks, where even subtle manipulations can escalate into severe physical consequences. While existing research has largely focused on defending against attacks, far less attention has been given to stealthy adversaries that aim to covertly manipulate platoon behavior. This paper introduces a new perspective on the attack design problem by demonstrating how attackers can guide platoons toward their own desired trajectories while remaining undetected. We outline conditions under which such attacks are feasible, analyze their dependence on communication topologies and control protocols, and investigate the resources required by the attacker. By characterizing the resources needed to launch stealthy attacks, we address system vulnerabilities and informing the design of resilient countermeasures. Our findings reveal critical weaknesses in current platoon architectures and anomaly detection mechanisms and provide methods to develop more secure and trustworthy CAV systems.

Paperid: 2982, https://arxiv.org/pdf/2510.14100.pdf

Abstract:
Safety-critical control is imperative for deploying autonomous systems in the real world. Control Barrier Functions (CBFs) offer strong safety guarantees when accurate system and sensor models are available. However, widely used additive, fixed-noise models are not representative of complex sensor modalities with state-dependent error characteristics. Although CBFs have been designed to mitigate uncertainty using fixed worst-case bounds on measurement noise, this approach can lead to overly-conservative control. To solve this problem, we extend the Belief Control Barrier Function (BCBF) framework to accommodate state-dependent measurement noise via the Generalized Extended Kalman Filter (GEKF) algorithm, which models measurement noise as a linear function of the state. Using the original BCBF framework as baseline, we demonstrate the performance of the BCBF-GEKF approach through simulation results on a 1D single integrator setpoint tracking scenario and 2D unicycle kinematics trajectory tracking scenario. Our results confirm that the BCBF-GEKF approach offers less conservative control with greater safety.

Paperid: 2983, https://arxiv.org/pdf/2508.20923.pdf

Abstract:
We study a sequential resource allocation problem where a decision maker selects subsets of agents at each period to maximize overall outcomes without prior knowledge of individual-level effects. Our framework applies to settings such as community health interventions, targeted digital advertising, and workforce retention programs, where intervention effects evolve dynamically. Agents may exhibit habituation (diminished response from frequent selection) or recovery (enhanced response from infrequent selection). The technical challenge centers on nonstationary reward distributions that lead to changing intervention effects over time. The problem requires balancing two key competing objectives: heterogeneous individual rewards and the exploration-exploitation tradeoff in terms of learning for improved future decisions as opposed to maximizing immediate outcomes. Our contribution introduces the first framework incorporating this form of nonstationary rewards in the combinatorial multi-armed bandit literature. We develop algorithms with theoretical guarantees on dynamic regret and demonstrate practical efficacy through a diabetes intervention case study. Our personalized community intervention algorithm achieved up to three times as much improvement in program enrollment compared to baseline approaches, validating the framework's potential for real-world applications. This work bridges theoretical advances in adaptive learning with practical challenges in population-level behavioral change interventions.

Paperid: 2984, https://arxiv.org/pdf/2508.20433.pdf

Abstract:
Significant latency in global content delivery primarily arises from insufficient terrestrial infrastructure. Deploying space-based content delivery networks within emerging mega-constellations provides an effective means to bridge the digital divide. However, space-based caching faces constraints from physical-layer dynamics, including dynamic topologies, time-varying inter-satellite link conditions, and limited onboard energy. In addition, existing mechanisms often lack fine-grained content categorization and global optimization. This paper proposes MegaCacheX, a cost-effective hierarchical framework for collaborative content distribution that achieves "Earth-independence" by providing cloud services directly from space. Specifically, data centers in Sun-synchronous orbit act as primary content sources, while caching nodes in mega-constellations and ground stations collaboratively form a distributed edge layer. MegaCacheX optimizes caching strategies by integrating content popularity, regional user distribution, and satellite trajectory predictions. Multi-tier caching nodes serve as service anchors, enabling seamless content delivery with low latency. A prototype implemented on a microservices-based, containerized testbed demonstrates that MegaCacheX reduces global content access latency by about 36% compared to baseline approaches, while maintaining cost efficiency.

Paperid: 2985, https://arxiv.org/pdf/2508.20334.pdf

Abstract:
Transformer-based models are becoming more and more intelligent and are revolutionizing a wide range of human tasks. To support their deployment, AI labs offer inference services that consume hundreds of GWh of energy annually and charge users based on the number of tokens processed. Under this cost model, minimizing power consumption and maximizing throughput have become key design goals for the inference hardware. While graphics processing units (GPUs) are commonly used, their flexibility comes at the cost of low operational intensity and limited efficiency, especially under the high query-per-model ratios of modern inference services. In this work, we address these challenges by proposing a low-bit, model-specialized accelerator that strategically selects tasks with high operation (OP) reuse and minimal communication overhead for offloading. Our design incorporates multiple systolic arrays with deep, fine-grained pipelines and array-compatible units that support essential operations in multi-head self-attention (MSA) module. At the accelerator-level, each self-attention (SA) head is pipelined within a single accelerator to increase data reuse and further minimize bandwidth. Our 3-bit integerized model achieves 96.83% accuracy on CIFAR-10 and 77.81% top-1 accuracy on ImageNet. We validate the hardware design on a 16nm FPGA (Alveo U250), where it delivers 13,568 GigaOps/second (GOPs/s) and 219.4 GOPs/s/W. Compared to a same-technology GPU (GTX 1080), our design offers 1.50x higher throughput and 4.47x better power efficiency. Even against a state-of-the-art GPU (RTX 5090), we still achieve 20% better power efficiency despite having 87% lower throughput.

Paperid: 2986, https://arxiv.org/pdf/2508.20102.pdf

Abstract:
Signal control in urban corridors faces the dual challenge of maintaining arterial traffic progression while adapting to demand variations at local intersections. We propose a hierarchical traffic signal coordination and control scheme that integrates model-based optimization with reinforcement learning. The system consists of: (i) a High-Level Coordinator (HLC) that selects coordination strategies based on observed and predicted demand; (ii) a Corridor Coordinator that derives phase constraints from the selected strategy-either Max-Flow Coordination (MFC) or Green-Wave Coordination (GWC); and (iii) Hybrid Signal Agents (HSAs) that determine signal phases via reinforcement learning with action masking to enforce feasibility. Hierarchical reinforcement learning with Proximal Policy Optimization (PPO) is used to train HSA and HLC policies. At the lower level, three HSA policies-MFC-aware, GWC-aware, and pure agent control (PAC) are trained in conjunction with their respective coordination strategies. At the higher level, the HLC is trained to dynamically switch strategies using a multi-objective reward balancing corridor-level and network-wide performance. The proposed scheme was developed and evaluated on a SUMO-RLlib platform. Case results show that hybrid MFC maximizes throughput under heavy demand; hybrid GWC consistently minimizes arterial stops and maintains progression across diverse traffic conditions but can reduce network-wide efficiency; and PAC improves network-wide travel time in moderate demand but is less effective under heavy demand. The hierarchical design enables adaptive strategy selection, achieving robust performance across all demand levels.

Paperid: 2987, https://arxiv.org/pdf/2508.19398.pdf

Abstract:
The region of attraction is a key metric of the robustness of systems. This paper addresses the numerical solution of the generalized Zubov's equation, which produces a special Lyapunov function characterizing the robust region of attraction for perturbed systems. To handle the highly nonlinear characteristic of the generalized Zubov's equation, we propose a physics-informed neural network framework that employs a policy iteration training scheme with rollout to approximate the viscosity solution. In addition to computing the optimal disturbance during the policy improvement process, we incorporate neural network-generated value estimates as anchor points to facilitate the training procedure to prevent singularities in both low- and high-dimensional systems. Numerical simulations validate the effectiveness of the proposed approach.

Paperid: 2988, https://arxiv.org/pdf/2508.17774.pdf

Abstract:
Developing a unified small-signal model for modern, large-scale power systems that remains accurate across a wide range of operating ranges presents a formidable challenge. Traditional methods, spanning mechanistic modeling, modal identification, and deep learning, have yet to fully overcome persistent limitations in accuracy, universal applicability, and interpretability. In this paper, a novel hierarchical neural state-space equation approach is proposed to overcome these obstacles, achieving strong representation, high interpretability, and superior adaptability to both system scale and varying operating points. Specifically, we first introduce neural state-space equations integrated with virtual state observers to accurately characterize the dynamics of power system devices, even in the presence of unmeasurable states. Subsequently, a hierarchical architecture is designed to handle the modeling complexity across a wide range of operating conditions, flexibly decoupling device and grid models to effectively mitigate the curse of dimensionality. Finally, a set of spatiotemporal data transformations and a multi-stage training strategy with a multi-objective loss function is employed to enhance the models efficiency and generalization. Numerical results on the two-machine three-bus system and the Guangdong Power Grid verify the superior performance of the proposed method, presenting it as a powerful new tool for small-signal stability analysis.

Paperid: 2989, https://arxiv.org/pdf/2508.17717.pdf

Abstract:
The classic Homicidal Chauffeur game is a pursuit-evasion game played in an unbounded planar environment between a pursuer constrained to move with fixed speed on curves with bounded curvature, and a slower evader with fixed speed but with simple kinematics. We introduce a new variant of this game with asymmetric information in which the evader has the ability to choose its speed among a finite set of choices that is unknown to the pursuer a priori. Therefore the pursuer is required to estimate the evader's maximum speed based on the observations so far. This formulation leads to the question of whether the evader can exploit this asymmetry by moving deceptively by first picking a slower speed to move with and then switching to a faster speed when a specified relative configuration is attained to increase the capture time as compared to moving with the maximum speed at all times. Our contributions are as follows. First, we derive optimal feedback Nash equilibrium strategies for the complete information case of this game in which the evader is allowed to vary its speed in a given interval. Second, for the version with asymmetric information, we characterize regions of initial player locations in the game space from which the evader does not have any advantage in using deceptive strategies. Finally, we provide numerical evidence of regions in the game space from which the evader can increase the capture time by moving deceptively.

Paperid: 2990, https://arxiv.org/pdf/2508.17505.pdf

Abstract:
Forced Oscillations (FO) stemming from external periodic disturbances threaten power system security and stability. The increasing penetration of Inverter-Based Resources(IBRs) further introduces FO, leading to new challenges in identifying and locating FO sources in modern power systems. In this paper, a novel data-driven method for locating FO in power systems with IBRs is proposed. Unlike previous works, a unified representation of FO originating from IBRs is considered, which further facilitates the development of the FO locating algorithm. Leveraging on Sparse Identification for a Nonlinear Dynamical (SINDy), a purely data-driven methodology is developed for locating the source of FO by interpreting the proposed model from measurements. Numerical results on the WECC 240-bus system validate the performance of the proposed approach in successfully locating FO in the presence of IBRs.

Paperid: 2991, https://arxiv.org/pdf/2508.16944.pdf

Abstract:
Optimizing the stability and control performance of complex networks often hinges on effectively identifying critical nodes for targeted intervention. Due to their inherent complexity and high dimensionality, large-scale energy flow networks, prevalent in domains like power grids, transportation, and financial systems, present unique challenges in selecting optimal nodes for resource allocation. While numerous centrality measurements, such as Katz centrality, eigenvector centrality, closeness centrality, betweenness centrality, and PageRank, have been proposed to evaluate node importance, the impact of different centrality metrics on stability outcomes remains inadequately understood. Moreover, networks manifest diverse structural characteristics-including small-world, scale-free, and random graph properties-which further complicates the optimization problem. This paper systematically investigates how various node centrality measurements influence control stability across representative complex network structures. A unified energy-flow dynamical model is developed, and performance metrics such as the L1 norm are employed to quantify the network stability implications of employing different centrality metrics. Extensive numerical simulations over statistically generated network ensembles reveal significant variances in stability outcomes, highlighting the crucial role of centrality selection. The findings underscore the sensitivity of energy-flow stability to seemingly minor changes in topological node rankings, providing practical insights for enhancing control efficiency and robustness in real-world networked systems.

Paperid: 2992, https://arxiv.org/pdf/2508.16901.pdf

Abstract:
Estimating a target's 6-DoF motion in underwater proximity operations is difficult because the chaser lacks target-side proprioception and the available relative observations are sparse, noisy, and often partial (e.g., Ultra-Short Baseline (USBL) positions). Without a motion prior, factor-graph maximum a posteriori estimation is underconstrained: consecutive target states are weakly linked and orientation can drift. We propose a generalized constant-twist motion prior defined on the tangent space of Lie groups that enforces temporally consistent trajectories across all degrees of freedom; in SE(3) it couples translation and rotation in the body frame. We present a ternary factor and derive its closed-form Jacobians based on standard Lie group operations, enabling drop-in use for trajectories on arbitrary Lie groups. We evaluate two deployment modes: (A) an SE(3)-only representation that regularizes orientation even when only position is measured, and (B) a mode with boundary factors that switches the target representation between SE(3) and 3D position while applying the same generalized constant-twist prior across representation changes. Validation on a real-world dynamic docking scenario dataset shows consistent ego-target trajectory estimation through USBL-only and optical relative measurement segments with an improved relative tracking accuracy compared to the noisy measurements to the target. Because the construction relies on standard Lie group primitives, it is portable across state manifolds and sensing modalities.

Paperid: 2993, https://arxiv.org/pdf/2508.16474.pdf

Abstract:
This work presents a novel reinforcement learning (RL) algorithm based on Y-wise Affine Neural Networks (YANNs). YANNs provide an interpretable neural network which can exactly represent known piecewise affine functions of arbitrary input and output dimensions defined on any amount of polytopic subdomains. One representative application of YANNs is to reformulate explicit solutions of multi-parametric linear model predictive control. Built on this, we propose the use of YANNs to initialize RL actor and critic networks, which enables the resulting YANN-RL control algorithm to start with the confidence of linear optimal control. The YANN-actor is initialized by representing the multi-parametric control solutions obtained via offline computation using an approximated linear system model. The YANN-critic represents the explicit form of the state-action value function for the linear system and the reward function as the objective in an optimal control problem (OCP). Additional network layers are injected to extend YANNs for nonlinear expressions, which can be trained online by directly interacting with the true complex nonlinear system. In this way, both the policy and state-value functions exactly represent a linear OCP initially and are able to eventually learn the solution of a general nonlinear OCP. Continuous policy improvement is also implemented to provide heuristic confidence that the linear OCP solution serves as an effective lower bound to the performance of RL policy. The YANN-RL algorithm is demonstrated on a clipped pendulum and a safety-critical chemical-reactive system. Our results show that YANN-RL significantly outperforms the modern RL algorithm using deep deterministic policy gradient, especially when considering safety constraints.

Paperid: 2994, https://arxiv.org/pdf/2508.15649.pdf

Abstract:
We describe a framework of modeling a central chilled water plant (CCWP) that consists of an aggregate cooling coil, a number of heterogeneous chillers and cooling towers, and a chilled water-based thermal energy storage system. We improve upon existing component models from the open literature using a constrained optimization-based framework to ensure that the models respect capacities of all the heat exchangers (cooling coils, chillers, and cooling towers) irrespective of the inputs provided. As a result, the proposed model has a wider range of validity compared to existing models; the latter can produce highly erroneous outputs when inputs are not within normal operating range. This feature is essential for training learning-based controllers that can choose inputs beyond normal operating conditions and is lacking in currently available models. The overall plant model is implemented in Matlab and is made publicly available. Simulation of a CCWP with closed loop control is provided as an illustration.

Paperid: 2995, https://arxiv.org/pdf/2508.15517.pdf

Abstract:
Range and performance are key customer-relevant properties of electric vehicles. Both degrade over time due to battery aging, thus impacting business decisions throughout a vehicle's lifecycle, such as efficient utilization and asset valuation. For practical assessment, aging is often simplified into a single figure of merit - the state of health - typically defined by the battery pack's remaining capacity or energy. However, no standardized method for measuring the state of health at the vehicle level has been established, leaving both academia and industry without a clear consensus. Ultimately, standardization is crucial to increase transparency and build confidence in the long-term reliability of electric vehicles' battery packs. In this article, we propose a standard measurement procedure for assessing the capacity- and energy-based state of health, leveraging onboard charging to enable reproducibility and scalability. Additionally, we demonstrate how differential voltage analysis can provide deeper insights into battery aging at the vehicle level.

Paperid: 2996, https://arxiv.org/pdf/2508.15175.pdf

Abstract:
This paper focuses on the privacy-preserving multi-sensor fusion estimation (MSFE) problem with differential privacy considerations. Most existing research efforts are directed towards the exploration of traditional differential privacy, also referred to as centralized differential privacy (CDP). It is important to note that CDP is tailored to protect the privacy of statistical data at fusion center such as averages and sums rather than individual data at sensors, which renders it inappropriate for MSFE. Additionally, the definitions and assumptions of CDP are primarily applicable for large-scale systems that require statistical results mentioned above. Therefore, to address these limitations, this paper introduces a more recent advancement known as \emph{local differential privacy (LDP)} to enhance the privacy of MSFE. We provide some rigorous definitions about LDP based on the intrinsic properties of MSFE rather than directly presenting the assumptions under CDP. Subsequently, the LDP is proved to be realized with system intrinsic randomness, which is useful and has never been considered before. Furthermore, the Gaussian mechanism is designed when the intrinsic randomness is insufficient. The lower bound of the covariance for extra injected Gaussian noises is determined by integrating system information with privacy budgets. Moreover, the optimal fusion estimators under intrinsic and extra disturbances are respectively designed in the linear minimum variance sense. Finally, the effectiveness of the proposed methods is verified through numerical simulations, encompassing both one-dimensional and high-dimensional scenarios.

Paperid: 2997, https://arxiv.org/pdf/2508.15092.pdf

Abstract:
The anticipated widespread adoption of electric vehicles (EVs) necessitates a critical evaluation of existing power distribution infrastructures, as EV integration imposes additional stress on distribution networks that can lead to component overloading and power quality degradation. Implementing smart charging mechanisms can mitigate these adverse effects and defer or even avoid upgrades. This study assesses the performance of two smart charging strategies - Time of Use (TOU) pricing and Load Balancing (LB) on seven representative real-world feeders identified using k-means clustering. A time series-based steady-state load flow analysis was conducted on these feeders to simulate the impact of EV charging under both strategies across four different EV enrollment scenarios and three representative days to capture seasonal load characteristics. A grid upgrade strategy has been proposed to strengthen the power grid to support EV integration with minimal cost. Results demonstrate that both TOU and LB strategies effectively manage the additional EV load with reduced upgrade requirement and cost to existing infrastructure compared to the case without smart charging strategies and LB outperforms TOU when the customer enrollment levels are high. These findings support the viability of smart charging in facilitating EV integration while maintaining distribution network reliability and reducing investment cost.

Paperid: 2998, https://arxiv.org/pdf/2508.14185.pdf

Abstract:
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. This tracking technique has been shown to enjoy theoretical guarantees of performance and has been applied with success in simulation studies and on mobile robots with simple motion models. This paper investigates the technique through real-world flight experiments on aerial hardware platforms subject to realistic deployment and onboard computational constraints. The technique's performance is assessed in comparison with the established control frameworks of feedback linearization for the blimp, and nonlinear model predictive control for both quadrotor and blimp. The performance metrics under consideration are (i) root mean square error of flight trajectories with respect to target trajectories, (ii) algorithms' computation times, and (iii) CPU energy consumption associated with the control algorithms. The experimental findings show that the Newton-Raphson flow-based tracking controller achieves comparable or superior tracking performance to the baseline methods with substantially reduced computation time and energy expenditure.

Paperid: 2999, https://arxiv.org/pdf/2508.13604.pdf

Abstract:
Optimal sensor placement is essential for state estimation and effective network monitoring. As known in the literature, this problem becomes particularly challenging in large-scale undirected or bidirected cyclic networks with parametric uncertainties, such as water distribution networks (WDNs), where pipe resistance and demand patterns are often unknown. Motivated by the challenges of cycles, parametric uncertainties, and scalability, this paper proposes a sensor placement algorithm that guarantees structural observability for cyclic and acyclic networks with parametric uncertainties. By leveraging a graph-based strategy, the proposed method efficiently addresses the computational complexities of large-scale networks. To demonstrate the algorithm's effectiveness, we apply it to several EPANET benchmark WDNs. Most notably, the developed algorithm solves the sensor placement problem with guaranteed structured observability for the L-town WDN with 1694 nodes and 124 cycles in under 0.1 seconds.

Paperid: 3000, https://arxiv.org/pdf/2508.13339.pdf

Abstract:
This work highlights the duality between state estimation methods and model predictive control. A predictive controller, observed control, is presented that uses this duality to efficiently compute control actions with linear time-horizon length scalability. The proposed algorithms provide exceptional computational efficiency, adaptive time horizon lengths, and early optimization termination criteria. The use of Kalman smoothers as the backend optimization framework provides for a straightforward implementation supported by strong theoretical guarantees. Additionally, a formulation is presented that separates linear model predictive control into purely reactive and anticipatory components, enabling any-time any-horizon observed control while ensuring controller stability for short time horizons. Finally, numerical case studies confirm that nonlinear filter extensions, i.e., the extended Kalman filter and unscented Kalman filter, effectively extend observed control to nonlinear systems and objectives.

Paperid: 3001, https://arxiv.org/pdf/2508.12999.pdf

Abstract:
When modeling energy storage systems, an essential question is how to account for the physical infeasibility of simultaneous charge and discharge. The use of complementarity constraints or of binary variables is common, but these formulations do not scale well. Alternatively, assumptions such as perfect efficiencies or positive prices are often used to justify the choice of a linear model. In this paper, we establish new a priori conditions that guarantee the existence of an optimal solution without simultaneous charge and discharge when solving the linear relaxation of the storage scheduling problem. They are based on the characteristics of the storage system, in particular, the duration of charge. They can be valid for negative prices and with inefficiencies, thereby enlarging the set of conditions for which the complementarity constraints can be relaxed. We prove mathematically the validity of these conditions and illustrate them with practical examples. We also introduce a refined mixed-integer linear equivalent, in which the number of binary variables can be drastically reduced.

Paperid: 3002, https://arxiv.org/pdf/2508.12146.pdf

Abstract:
Travel on long arterials with signalized intersections can be inefficient if not coordinated properly. As the number of signals increases, coordination becomes more challenging and traditional progression schemes tend to break down. Long progressions save travel time and fuel, reduce pollution and traffic accidents by providing a smoother flow of traffic. This paper introduces a green-wave theory that can be applied to a network of intersecting arterial roads. It enables uninterrupted flow on arbitrary long signalized arterials using a Road-to-Traveler-Feedback Device. The approach is modelled after Euclid. We define concepts such as RGW-roads (roads where vehicles traveling at the recommended speed make all traffic signals), green-arrows (representing vehicle platoons), real nodes (representing signalized intersections where RGW-roads intersect) and virtual nodes, green-wave speed, blocks, etc. - the analogue of Euclid's postulates. We then use geometric reasoning to deduce results: green-arrow lengths have a maximum value, are restricted to discrete lengths, and green-arrow laws of motion imply that select existing arterial roads can be converted to RGW-roads. The signal timings and offsets that are produced have been shown to be effective using a simulation model developed previously called RGW-SIM.

Paperid: 3003, https://arxiv.org/pdf/2508.12141.pdf

Abstract:
This paper presents a new design framework for dynamic output-feedback controllers for Lur'e oscillation in a multiple-input multiple-output setting. We first revisit and extend dominant system theory to state-dependent rates, with the goal of deriving conditions based on linear matrix inequalities. Then, we introduce a separation principle for Lur'e oscillator design, which allows for the independent design of a state-feedback oscillator and an observer. Our proposed control synthesis is demonstrated through the rhythm synchronization in multi-agent systems, illustrating how networks of stable, heterogeneous linear agents can be driven into phase-locked rhythmic behavior.

Paperid: 3004, https://arxiv.org/pdf/2508.11979.pdf

Abstract:
In the Day-Ahead (DA) market, suppliers sell and load-serving entities (LSEs) purchase energy commitments, with both sides adjusting for imbalances between contracted and actual deliveries in the Real-Time (RT) market. We develop a supply function equilibrium model to study how virtual trading-speculating on DA-RT price spreads without physical delivery-affects market efficiency. Without virtual trading, LSEs underbid relative to actual demand in the DA market, pushing DA prices below expected RT prices. Virtual trading narrows, and in the limit of large number traders can eliminates, this price gap. However, it does not induce quantity alignment: DA-cleared demand remains below true expected demand, as price alignment makes the LSE indifferent between markets and prompts it to reduce DA bids to avoid over-purchasing. Renewable energy suppliers cannot offset these strategic distortions. We provide empirical support to our main model implications using data from the California and New York Independent System Operators.

Paperid: 3005, https://arxiv.org/pdf/2508.11422.pdf

Abstract:
As neurostimulation devices increasingly incorporate closed-loop functionality, the greater design complexity brings additional requirements for risk management and special considerations to optimise benefit. This manuscript creates a common framework upon which all current and planned neuromodulation-based physiological closed-loop controllers (PCLCs) can be mapped including integration of the Technical Considerations of Medical Devices with Physiologic Closed-Loop Control Technology guidance published in 2023 by the United States Food and Drug Administration (FDA), a classification of feedback (reactive) and feedforward (predictive) biomarkers, and control systems theory. We explain risk management in the context of this framework and illustrate its applications for three exemplary technologies. This manuscript serves as guidance to the emerging field of PCLCs in neuromodulation, mitigating risk through standardized nomenclature and a systematic outline for rigorous device development, testing, and implementation.

Paperid: 3006, https://arxiv.org/pdf/2508.11381.pdf

Abstract:
In response to the inertia decline caused by high penetration of renewable generation, traditional synchronization criteria that rely solely on frequency consistency are increasingly inadequate for characterizing the coupled behavior of frequency and voltage dynamics during power-system transients. This paper focuses on the theory of complex-frequency synchronization and develops a theory-simulation analysis framework that offers a new perspective for steady-state and transient analysis of low-inertia power systems. First, the fundamental concepts and theoretical foundations of complex-frequency synchronization are presented in detail. Second, local and global dynamic synchronization criteria are derived and the concept of generalized inertia is introduced, which unifies the conventional inertial support to frequency with the inertia-like support of voltage, thereby providing an accurate measure of region-level coupled support strength for voltage and frequency. Finally, numerical case studies on the IEEE 9-bus system validate the effectiveness of the proposed theoretical methods and criteria, and demonstrate a visualization workflow for key indicators such as disturbance impact zones and generalized-inertia regions.

Paperid: 3007, https://arxiv.org/pdf/2508.10705.pdf

Abstract:
Offshore wind power (OWP) exhibits significant fluctuations under typhoon conditions, posing substantial challenges to the secure operation of power systems. Accurate forecasting of OWP is therefore essential. However, the inherent scarcity of historical typhoon data and stochasticity of OWP render traditional point forecasting methods particularly difficult and inadequate. To address this challenge and provide grid operators with the comprehensive information necessary for decision-making, this study proposes a score-based conditional diffusion model (SCDM) for probabilistic forecasting of OWP during typhoon events. First, a knowledge graph algorithm is employed to embed historical typhoon paths as vectors. Then, a deterministic network is constructed to predict the wind power under typhoon conditions based on these vector embeddings. Finally, to better characterize prediction errors, a denoising network is developed. At the core of this approach is a mean-reverting stochastic differential equation (SDE), which transforms complex error distributions into a standard Gaussian, enabling the sampling of forecasting errors using a reverse-time SDE. The probabilistic forecasting results are reconstructed by combining deterministic forecasts with sampled errors. The proposed method is evaluated using real-world data from a cluster of 9 offshore wind farms. Results demonstrate that under typhoon conditions, our approach outperforms baseline models for both deterministic and probabilistic metrics, verifying the effectiveness of the approach.

Paperid: 3008, https://arxiv.org/pdf/2508.09876.pdf

Abstract:
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored, particularly across diverse activities. This work presents a shank angle-based control system that enables the exoskeleton to maintain real-time coordination with human gait, even under phase perturbations, while dynamically shaping assistance profiles to match the biological ankle moment patterns across walking, running, stair negotiation tasks. The control system consists of an assistance profile online generation method and a model-based feedforward control method. The assistance profile is formulated as a dual-Gaussian model with the shank angle as the independent variable. Leveraging only IMU measurements, the model parameters are updated online each stride to adapt to inter- and intra-individual biomechanical variability. The profile tracking control employs a human-exoskeleton kinematics and stiffness model as a feedforward component, reducing reliance on historical control data due to the lack of clear and consistent periodicity in non-steady locomotion. Three experiments were conducted using a lightweight soft exoskeleton with multiple subjects. The results validated the effectiveness of each individual method, demonstrated the robustness of the control system against gait perturbations across various activities, and revealed positive biomechanical and physiological responses of human users to the exoskeleton's mechanical assistance.

Paperid: 3009, https://arxiv.org/pdf/2508.09585.pdf

Abstract:
This paper introduces BAAS, a new Extended Object Tracking (EOT) and fusion-based label annotation framework for radar detections in autonomous driving. Our framework utilizes Bayesian-based tracking, smoothing and eventually fusion methods to provide veritable and precise object trajectories along with shape estimation to provide annotation labels on the detection level under various supervision levels. Simultaneously, the framework provides evaluation of tracking performance and label annotation. If manually labeled data is available, each processing module can be analyzed independently or combined with other modules to enable closed-loop continuous improvements. The framework performance is evaluated in a challenging urban real-world scenario in terms of tracking performance and the label annotation errors. We demonstrate the functionality of the proposed approach for varying dynamic objects and class types

Paperid: 3010, https://arxiv.org/pdf/2508.08611.pdf

Abstract:
This study presents a polarization-insensitive ultra-broadband terahertz metamaterial absorber based on vanadium dioxide (VO2) and evaluates machine learning methods for predicting its absorption performance. The structure consists of a VO2 metasurface, a MF2 dielectric spacer, and a gold ground plane. It achieves more than 90% absorption between 5.72 and 11.11 THz, covering a 5.38 THz bandwidth with an average absorptance of 98.15%. A dataset of 9,018 samples was generated from full-wave simulations by varying patch width, dielectric thickness, and frequency. Six regression models were trained: Linear Regression, Support Vector Regression, Decision Tree, Random Forest, XGBoost, and Bagging. Performance was measured using adjusted R2, MAE, MSE, and RMSE. Ensemble models achieved the best results, with Bagging reaching an adjusted R2 of 0.9985 and RMSE of 0.0146. The workflow offers a faster alternative to exhaustive simulations and can be applied to other metamaterial designs, enabling efficient evaluation and optimization.

Paperid: 3011, https://arxiv.org/pdf/2508.08132.pdf

Abstract:
Renewable energy integration into microgrids has become a key approach to addressing global energy issues such as climate change and resource scarcity. However, the variability of renewable sources and the rising occurrence of High Impact Low Probability (HILP) events require innovative strategies for reliable and resilient energy management. This study introduces a practical approach to managing microgrid resilience through Explainable Deep Reinforcement Learning (XDRL). It combines the Proximal Policy Optimization (PPO) algorithm for decision-making with the Local Interpretable Model-agnostic Explanations (LIME) method to improve the transparency of the actor network's decisions. A case study in Ongole, India, examines a microgrid with wind, solar, and battery components to validate the proposed approach. The microgrid is simulated under extreme weather conditions during the Layla cyclone. LIME is used to analyse scenarios, showing the impact of key factors such as renewable generation, state of charge, and load prioritization on decision-making. The results demonstrate a Resilience Index (RI) of 0.9736 and an estimated battery lifespan of 15.11 years. LIME analysis reveals the rationale behind the agent's actions in idle, charging, and discharging modes, with renewable generation identified as the most influential feature. This study shows the effectiveness of integrating advanced DRL algorithms with interpretable AI techniques to achieve reliable and transparent energy management in microgrids.

Paperid: 3012, https://arxiv.org/pdf/2508.07749.pdf

Abstract:
In intelligent transportation systems (ITS), adaptive transit signal priority (TSP) and dynamic bus control systems have been independently developed to maintain efficient and reliable urban bus services. However, those two systems could potentially lead to conflicting decisions due to the lack of coordination. Although some studies explore the integrated control strategies along the arterial, they merely rely on signal replanning to address system uncertainties. Therefore, their performance severely deteriorates in real-world intersection settings, where abrupt signal timing variation is not always applicable in consideration of countdown timers and pedestrian signal design. In this study, we propose a robust integrated priority and speed control strategy based on hierarchical stochastic optimization to enhance bus schedule adherence along the arterial. In the proposed framework, the upper level ensures the coordination across intersections while the lower level handles uncertainties for each intersection with stochastic programming. Hence, the route-level system randomness is decomposed into a series of local problems that can be solved in parallel using sample average approximation (SAA). Simulation experiments are conducted under various scenarios with stochastic bus dwell time and different traffic demand. The results demonstrate that our approach significantly enhances bus punctuality and time headway equivalence without abrupt signal timing variation, with negative impacts on car delays limited to only 0.8%-5.2% as traffic demand increases.

Paperid: 3013, https://arxiv.org/pdf/2508.06567.pdf

Abstract:
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller is to enhance the speed control performance of DC servo motors on the CE110 Servo Trainer. The proposed method integrates a traditional PID controller with a sliding mode control mechanism to effectively handle system uncertainties and disturbances. Experimental results show that the SMC-PID method provides significant improvements in accuracy and stability compared to traditional PID controllers, with metrics such as reduced overshoot, shorter settling time, and increased adaptability to system uncertainties. This research highlights the effectiveness of the SMC-PID controller, enhancing the performance of DC servo motor speed control.

Paperid: 3014, https://arxiv.org/pdf/2508.06243.pdf

Abstract:
The advent of 6G networks opens new possibilities for connected infotainment services in vehicular environments. However, traditional Radio Resource Management (RRM) techniques struggle with the increasing volume and complexity of data such as Channel Quality Indicators (CQI) from autonomous vehicles. To address this, we propose SCAR (State-Space Compression for AI-Driven Resource Management), an Edge AI-assisted framework that optimizes scheduling and fairness in vehicular infotainment. SCAR employs ML-based compression techniques (e.g., clustering and RBF networks) to reduce CQI data size while preserving essential features. These compressed states are used to train 6G-enabled Reinforcement Learning policies that maximize throughput while meeting fairness objectives defined by the NGMN. Simulations show that SCAR increases time in feasible scheduling regions by 14\% and reduces unfair scheduling time by 15\% compared to RL baselines without CQI compression. Furthermore, Simulated Annealing with Stochastic Tunneling (SAST)-based clustering reduces CQI clustering distortion by 10\%, confirming its efficiency. These results demonstrate SCAR's scalability and fairness benefits for dynamic vehicular networks.

Paperid: 3015, https://arxiv.org/pdf/2508.06052.pdf

Abstract:
We tackle the data-driven chance-constrained density steering problem using the Gromov-Wasserstein metric. The underlying dynamical system is an unknown linear controlled recursion, with the assumption that sufficiently rich input-output data from pre-operational experiments are available. The initial state is modeled as a Gaussian mixture, while the terminal state is required to match a specified Gaussian distribution. We reformulate the resulting optimal control problem as a difference-of-convex program and show that it can be efficiently and tractably solved using the DC algorithm. Numerical results validate our approach through various data-driven schemes.

Paperid: 3016, https://arxiv.org/pdf/2508.05590.pdf

Abstract:
This paper presents a VO2-based metamaterial absorber optimized for ultra-broadband, polarization-insensitive performance in the terahertz (THz) frequency range. The absorber consists of a patterned VO2 metasurface, a low-loss MF2 dielectric spacer, and a gold ground plane. Exploiting the phase transition of VO2, the design enables dynamic control of electromagnetic absorption. Full-wave simulations show an average absorptance of 98.15% across a 5.38THz bandwidth (5.72-11.11THz) and over 99% absorption sustained across 3.35THz. The absorber maintains stable performance for varying polarization angles and both TE and TM modes under oblique incidence. Impedance analysis confirms strong matching to free space, reducing reflection and eliminating transmission. Parametric analysis investigates the influence of VO2 conductivity, MF2 thickness, and unit cell periodicity on performance. Compared to recent THz metamaterial absorbers, the proposed design achieves broader bandwidth, higher efficiency, and simpler implementation. These characteristics make it suitable for THz sensing, imaging, wireless communication, and adaptive photonic systems, and position it as a promising platform for tunable and reconfigurable THz modules.

Paperid: 3017, https://arxiv.org/pdf/2508.05163.pdf

Abstract:
Security of supply is a common and important concern when integrating renewables in net-zero power systems. Extreme weather affects both demand and supply leading to power system stress; in Europe this stress spreads continentally beyond the meteorological root cause. We use an approach based on shadow prices to identify periods of elevated stress called system-defining events and analyse their impact on the power system. By classifying different types of system-defining events, we identify challenges to power system operation and planning. Crucially, we find the need for sufficient resilience back-up (power) capacities whose financial viability is precarious due to weather variability. Furthermore, we disentangle short- and long-term resilience challenges with distinct metrics and stress tests to incorporate both into future energy modelling assessments. Our methodology and implementation in the open model PyPSA-Eur can be re-applied to other systems and help researchers and policymakers in building more resilient and adequate energy systems.

Paperid: 3018, https://arxiv.org/pdf/2508.04985.pdf

Abstract:
Accurate modeling is crucial in many engineering and scientific applications, yet obtaining a reliable process model for complex systems is often challenging. To address this challenge, we propose a novel framework, reservoir computing with unscented Kalman filtering (RCUKF), which integrates data-driven modeling via reservoir computing (RC) with Bayesian estimation through the unscented Kalman filter (UKF). The RC component learns the nonlinear system dynamics directly from data, serving as a surrogate process model in the UKF prediction step to generate state estimates in high-dimensional or chaotic regimes where nominal mathematical models may fail. Meanwhile, the UKF measurement update integrates real-time sensor data to correct potential drift in the data-driven model. We demonstrate RCUKF effectiveness on well-known benchmark problems and a real-time vehicle trajectory estimation task in a high-fidelity simulation environment.

Paperid: 3019, https://arxiv.org/pdf/2508.04459.pdf

Abstract:
Systems like aircraft and spacecraft are expensive to operate in the real world. The design, validation, and testing for such systems therefore relies on a combination of mathematical modeling, abundant numerical simulations, and a relatively small set of real-world experiments. Due to modeling errors, simplifications, and uncertainties, the data synthesized by simulation models often does not match data from the system's real-world operation. We consider the broad research question of whether this model mismatch can be significantly reduced by generative artificial intelligence models (GAIMs). Unlike text- or image-processing, where generative models have attained recent successes, GAIM development for aerospace engineering applications must not only train with scarce operational data, but their outputs must also satisfy governing equations based on natural laws, e.g., conservation laws. The scope of this paper primarily focuses on two case studies of optimally controlled systems that are commonly understood and employed in aircraft guidance, namely: minimum-time navigation in a wind field and minimum-exposure navigation in a threat field. We report GAIMs that are trained with a relatively small set, of the order of a few hundred, of examples and with underlying governing equations. By focusing on optimally controlled systems, we formulate training loss functions based on invariance of the Hamiltonian function along system trajectories. We investigate three GAIM architectures, namely: the generative adversarial network (GAN) and two variants of the variational autoencoder (VAE). We provide architectural details and thorough performance analyses of these models. The main finding is that our new models, especially the VAE-based models, are able to synthesize data that satisfy the governing equations and are statistically similar to the training data despite small volumes of training data.

Paperid: 3020, https://arxiv.org/pdf/2508.03389.pdf

Abstract:
Recent research has shown that operating grid-connected converters using the grid-forming vector current control (GFVCC) scheme offers significant benefits, including the simplicity and modularity of the control architecture, as well as enabling a seamless transition from PLL-based grid-following control to grid-forming. An important aspect of any grid-connected converter control strategy is the handling of grid-fault scenarios such as symmetrical and asymmetrical short-circuit faults. This paper presents several fault ride-through (FRT) strategies for GFVCC that enable the converter to provide fault current and stay synchronized to the grid while respecting the converter hardware limitations and retaining grid-forming behavior. The converter control scheme is extended in a modular manner to include negative-sequence loops, and the proposed FRT strategies address both symmetrical and asymmetrical faults. The proposed FRT strategies are analyzed through case studies, including infinite-bus setups and multi-unit grids.

Paperid: 3021, https://arxiv.org/pdf/2508.03119.pdf

Abstract:
The objective of this paper is to report some computational results for the theory of DAE stability boundary, with the aim of advancing applications in power system voltage stability studies. Firstly, a new regularization transformation for standard differential-algebraic equations (DAEs) is proposed. Then the existence of anchor points on voltage stability boundary is examined, and an optimization method for computing the controlling pseudo-saddle is suggested. Subsequently, a local representation of the stable manifold of the pseudo-saddle on the stability boundary is presented, and a voltage stability margin expression is obtained. Finally, the proposed results are verified using several examples, demonstrating the accuracy and effectiveness of the suggested methods.

Paperid: 3022, https://arxiv.org/pdf/2508.02847.pdf

Abstract:
Laser directed energy deposition (DED) additive manufacturing struggles with consistent part quality due to complex melt pool dynamics and process variations. While much research targets defect detection, little work has validated process monitoring systems for evaluating melt pool dynamics and process quality. This study presents a novel multimodal monitoring framework, synergistically integrating contact-based acoustic emission (AE) sensing with coaxial camera vision to enable layer-wise identification and evaluation of geometric variations in DED parts. The experimental study used three part configurations: a baseline part without holes, a part with a 3mm diameter through-hole, and one with a 5mm through-hole to test the system's discerning capabilities. Raw sensor data was preprocessed: acoustic signals were filtered for time-domain and frequency-domain feature extraction, while camera data underwent melt pool segmentation and morphological feature extraction. Multiple machine learning algorithms (including SVM, random forest, and XGBoost) were evaluated to find the optimal model for classifying layer-wise geometric variations. The integrated multimodal strategy achieved a superior classification performance of 94.4%, compared to 87.8% for AE only and 86.7% for the camera only. Validation confirmed the integrated system effectively captures both structural vibration signatures and surface morphological changes tied to the geometric variations. While this study focuses on specific geometries, the demonstrated capability to discriminate between features establishes a technical foundation for future applications in characterizing part variations like geometric inaccuracies and manufacturing-induced defects.

Paperid: 3023, https://arxiv.org/pdf/2508.02524.pdf

Abstract:
Causal analysis helps us understand variables that are responsible for system failures. This improves fault detection and makes system more reliable. In this work, we present a new method that combines causal inference with machine learning to classify faults in electrical distribution systems (EDS) using graph-based models. We first build causal graphs using transfer entropy (TE). Each fault case is represented as a graph, where the nodes are features such as voltage and current, and the edges demonstrate how these features influence each other. Then, the graphs are classified using machine learning and GraphSAGE where the model learns from both the node values and the structure of the graph to predict the type of fault. To make the predictions understandable, we further developed an integrated approach using GNNExplainer and Captums Integrated Gradients to highlight the nodes (features) that influences the most on the final prediction. This gives us clear insights into the possible causes of the fault. Our experiments show high accuracy: 99.44% on the EDS fault dataset, which is better than state of art models. By combining causal graphs with machine learning, our method not only predicts faults accurately but also helps understand their root causes. This makes it a strong and practical tool for improving system reliability.

Paperid: 3024, https://arxiv.org/pdf/2508.02102.pdf

Abstract:
As power systems evolve with increased integration of renewable energy sources, they become more complex and vulnerable to both cyber and physical threats. This study validates a centralized Dynamic State Estimation (DSE) algorithm designed to enhance the protection of power systems, particularly focusing on microgrids with substantial renewable energy integration. The algorithm utilizing a structured hypothesis testing framework, systematically identifies and differentiates anomalies caused by cyberattacks from those resulting from physical faults. This algorithm was evaluated through four case studies: a False Data Injection Attack (FDIA) via manipulation of Current Transformer (CT) ratios, a single line-to-ground (SLG) fault, and two combined scenarios involving both anomalies. Results from real-time simulations demonstrate that the algorithm effectively distinguishes between cyber-induced anomalies and physical faults, thereby significantly enhancing the reliability and security of energy systems. This research underscores the critical role of advanced diagnostic tools in protecting power systems against the growing prevalence of cyber-physical threats, enhancing the resilience of the grid and preventing potential blackouts by avoiding the mis-operation of protection relays.

Paperid: 3025, https://arxiv.org/pdf/2508.01714.pdf

Abstract:
Anonymous communication networks have emerged as crucial tools for obfuscating communication pathways and concealing user identities. However, their practical deployments face significant challenges, including susceptibility to artificial intelligence (AI)-powered metadata analysis, difficulties in decentralized architectures, and the absence of provable security guarantees. To address these issues, this paper proposes a novel decentralized anonymous routing protocol with resistance to tracing and traffic analysis. The protocol eliminates dependencies on the threshold model and trusted third-party setups, ensuring indistinguishable identity privacy even in highly adversarial environments. Different from traditional empirical security analysis of anonymous networks, this paper rigorously proves indistinguishable identity privacy for users even in extremely adversarial environments. Furthermore, simulations confirm its practical feasibility, demonstrating both security and efficiency. By achieving information sharing with privacy preservation, the proposed protocol offers a provably secure solution for privacy-preserving communication in digital environments.

Paperid: 3026, https://arxiv.org/pdf/2508.00931.pdf

Abstract:
The recently proposed System Identification via Validation and Adaptation (SIVA) method allows system identification, uncertainty quantification, and model validation directly from data. Inspired by generative modeling, SIVA employs a neural network that converts random noise to physically meaningful parameters. The known equation of motion utilizes these parameters to generate fake accelerations, which are compared to real training data using a mean square error loss. For concurrent parameter validation, independent datasets are passed through the model, and the resulting signals are classified as real or fake by a discriminator network, which guides the parameter-generator network. In this work, we apply SIVA to simulated vibration data from a cantilever beam that contains a lumped mass and a nonlinear end attachment, demonstrating accurate parameter estimation and model updating on complex, highly nonlinear systems.

Paperid: 3027, https://arxiv.org/pdf/2508.00193.pdf

Abstract:
This work presents a practical finite element modeling strategy, the Crack Element Method (CEM), for simulating the dynamic crack propagation in two-dimensional structures. The method employs an element-splitting algorithm based on the Edge-based Smoothed Finite Element Method (ES-FEM) to capture the element-wise crack growth while reducing the formation of poorly shaped elements that can compromise numerical accuracy and computational performance. A fracture energy release rate formulation is also developed based on the evolving topology of the split elements. The proposed approach is validated through a series of classical benchmark problems, demonstrating its accuracy and robustness in addressing dynamic fracture scenarios. Finally, the applicability of the CEM is illustrated in a case study involving patterned Cu/Ultra Low-k interconnect structures.

Paperid: 3028, https://arxiv.org/pdf/2507.23396.pdf

Abstract:
Distribution grid operation faces new challenges caused by a rising share of renewable energy sources and the introduction of additional types of loads to the grid. With the increasing adoption of distributed generation and emerging prosumer households, Energy Management Systems, which manage and apply flexibility of connected devices, are gaining popularity. While potentially beneficial to grid capacity, strategic energy management also adds to the complexity of distribution grid operation and planning processes. Novel approaches of time-series-based planning likewise face increasingly complex simulation scenarios and rising computational cost. Discrete event modelling helps facilitating simulations of such scenarios by restraining computation to the most relevant points in simulation time. We provide an enhancement of a discrete event distribution grid simulation software that offers fast implementation and testing of energy management algorithms, embedded into a feature-rich simulation environment. Physical models are specified using the Discrete Event System Specification. Furthermore, we contribute a communication protocol that makes use of the discrete event paradigm by only computing flexibility potential when necessary.

Paperid: 3029, https://arxiv.org/pdf/2507.23076.pdf

Abstract:
Technological advancements in the design of electronic and optical materials have opened up the possibility of utilizing the latest available Radio Frequency spectrum the Terahertz (THz) band. This band holds great promise for next-generation wireless systems, which are poised to seamlessly integrate a wide array of data-intensive and time-sensitive applications. In this article, we delve into the Terahertz band, providing insights into its properties and showcasing examples of its applications. We begin by exploring the specific characteristics of wireless communications and radar systems operating in the THz band. Subsequently, we analyze various effects and parameters unique to each of these applications.so we scrutinize the application of Terahertz (THz) wireless and radar systems, delving into the modeling of various facets of radio frequency propagation within this domain. The interpretation of our findings will be presented at the conclusion of this study.

Paperid: 3030, https://arxiv.org/pdf/2507.22778.pdf

Abstract:
Brain networks typically exhibit characteristic synchronization patterns where several synchronized clusters coexist. On the other hand, neurological disorders are considered to be related to pathological synchronization such as excessive synchronization of large populations of neurons. Motivated by these phenomena, this paper presents two approaches to control the cluster synchronization and the cluster phase cohesiveness of Kuramoto oscillators. One is based on feeding back the mean phases to the clusters, and the other is based on the use of pacemakers. First, we show conditions on the feedback gains and the pacemaker weights for the network to achieve cluster synchronization. Then, we propose a method to find optimal feedback gains through convex optimization. Second, we show conditions on the feedback gains and the pacemaker weights for the network to achieve cluster phase cohesiveness. A numerical example demonstrates the effectiveness of the proposed methods.

Paperid: 3031, https://arxiv.org/pdf/2507.22022.pdf

Abstract:
We propose a framework that enables autonomous vehicles (AVs) to proactively shape the intentions and behaviors of interacting human drivers. The framework employs a leader-follower game model with an adaptive role mechanism to predict human interaction intentions and behaviors. It then utilizes a branch model predictive control (MPC) algorithm to plan the AV trajectory, persuading the human to adopt the desired intention. The proposed framework is demonstrated in an intersection scenario. Simulation results illustrate the effectiveness of the framework for generating persuasive AV trajectories despite uncertainties.

Paperid: 3032, https://arxiv.org/pdf/2507.21543.pdf

Abstract:
In recent years, mutual information optimal control has been proposed as an extension of maximum entropy optimal control. Both approaches introduce regularization terms to render the policy stochastic, and it is important to theoretically clarify the relationship between the temperature parameter (i.e., the coefficient of the regularization term) and the stochasticity of the policy. Unlike in maximum entropy optimal control, this relationship remains unexplored in mutual information optimal control. In this paper, we investigate this relationship for a mutual information optimal control problem (MIOCP) of discrete-time linear systems. After extending the result of a previous study of the MIOCP, we establish the existence of an optimal policy of the MIOCP, and then derive the respective conditions on the temperature parameter under which the optimal policy becomes stochastic and deterministic. Furthermore, we also derive the respective conditions on the temperature parameter under which the policy obtained by an alternating optimization algorithm becomes stochastic and deterministic. The validity of the theoretical results is demonstrated through numerical experiments.

Paperid: 3033, https://arxiv.org/pdf/2507.21300.pdf

Abstract:
The state of charge of battery systems is an important metric typically estimated by observation models, represented by open-circuit voltage graphs. These observation models are often nonlinear in the state of charge, resulting in varying observability from a state estimation perspective. In this paper, we employ a stochastic optimal control (also known as dual control) approach to simultaneously satisfy the control objective in the state of charge of battery systems and improve estimation accuracy. This is achieved implicitly by prioritizing trajectories that pass through high-observability regions of the state space, thereby improving the quality of future measurements. We apply our algorithm to a numerical simulation of a multi-battery system and show a statistical improvement in both the control objective and the state estimation error.

Paperid: 3034, https://arxiv.org/pdf/2507.20739.pdf

Abstract:
This research paper investigates the Adjoint Petrov-Galerkin (APG) method for reduced order models (ROM) and fluid dynamics governed by the incompressible Navier-Stokes equations. The Adjoint Petrov-Galerkin ROM, derived using the Mori-Zwanzig formalism, demonstrates superior accuracy and stability compared to standard Galerkin ROMs. However, challenges arise due to the time invariance of the test basis vectors, resulting in high computational requirements. To address this, we introduce a new efficient Adjoint Petrov-Galerkin (eAPG) ROM formulation, extending its application to the incompressible Navier-Stokes equations by exploiting the polynomial structure inherent in these equations. The offline and online phases partition eliminates the need for repeated test basis vector evaluations. This improves computational efficiency in comparison to the general Adjoint Petrov-Galerkin ROM formulation. A novel approach to augmenting the memory length, a critical factor influencing the stability and accuracy of the APG-ROM, is introduced, employing a data-driven optimization. Numerical results for the 3D turbulent flow around a circular cylinder demonstrate the efficacy of the proposed approach. Error measures and computational cost evaluations, considering metrics such as floating point operations and simulation time, provide a comprehensive analysis.

Paperid: 3035, https://arxiv.org/pdf/2507.20580.pdf

Abstract:
This paper proposes modifications to the data-enabled policy optimization (DeePO) algorithm to mitigate state perturbations. DeePO is an adaptive, data-driven approach designed to iteratively compute a feedback gain equivalent to the certainty-equivalence LQR gain. Like other data-driven approaches based on Willems' fundamental lemma, DeePO requires persistently exciting input signals. However, linear state-feedback gains from LQR designs cannot inherently produce such inputs. To address this, probing noise is conventionally added to the control signal to ensure persistent excitation. However, the added noise may induce undesirable state perturbations. We first identify two key issues that jeopardize the desired performance of DeePO when probing noise is not added: the convergence of states to the equilibrium point, and the convergence of the controller to its optimal value. To address these challenges without relying on probing noise, we propose Perturbation-Free DeePO (PFDeePO) built on two fundamental principles. First, the algorithm pauses the control gain updating in DeePO process when system states are near the equilibrium point. Second, it applies a multiplicative noise, scaled by a mean value of $1$ as a gain for the control signal, when the controller converges. This approach minimizes the impact of noise as the system approaches equilibrium while preserving stability. We demonstrate the effectiveness of PFDeePO through simulations, showcasing its ability to eliminate state perturbations while maintaining system performance and stability.

Paperid: 3036, https://arxiv.org/pdf/2507.20071.pdf

Abstract:
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The proposed control framework differs conceptually from conventional controllers that utilize Euler angle parameterization for attitude and adhere to the traditional hierarchical inner-outer loop design. In standard approaches, the translational controller and the corresponding desired attitude are computed first, followed by the design of the attitude controller based on time-scale separation between fast attitude and slow translational dynamics. In contrast, the proposed control scheme is quaternion-based and utilizes a transit feed-forward term in the attitude dynamics that anticipates the slower translational subsystem. Robustness is achieved through the use of continuously differentiable sliding manifolds. The proposed approach guarantees semi-global finite-time stability, without requiring time-scale separation. Finally, numerical simulation results are provided to demonstrate the effectiveness of the proposed controller.

Paperid: 3037, https://arxiv.org/pdf/2507.19928.pdf

Abstract:
This paper presents a Nonlinear Model Predictive Control (NMPC) scheme for maintaining a spacecraft within a specified family of periodic orbits near the libration points in cislunar space. Unlike traditional approaches that track a predefined reference orbit, the proposed method designs an optimal trajectory that keeps the spacecraft within the orbit family, regardless of the initial reference. The Circular Restricted Three-Body Problem (CR3BP) is used to model the system dynamics. First, the Pseudo-Arclength Continuation (PAC) method is employed to compute the members of each orbit family. Then, the state of each member is parameterized by two variables: one defining the orbit and the other specifying the location along it. These computed states are then fit to a Multivariate Polynomial Regression (MPR) model. An NMPC framework is developed to generate the optimal reference trajectory and compute the corresponding velocity impulses for trajectory tracking. The control system is integrated with a Extended Kalman Filter (EKF) observer that estimates the spacecraft's relative state. Numerical simulations are conducted for Lyapunov, halo, and near-rectilinear halo orbits near L1 and L2. The results demonstrate a significant reduction in fuel consumption compared to conventional tracking methods.

Paperid: 3038, https://arxiv.org/pdf/2507.19458.pdf

Abstract:
Budget planning and maintenance optimization are crucial for infrastructure asset management, ensuring cost-effectiveness and sustainability. However, the complexity arising from combinatorial action spaces, diverse asset deterioration, stringent budget constraints, and environmental uncertainty significantly limits existing methods' scalability. This paper proposes a Hierarchical Deep Reinforcement Learning methodology specifically tailored to multi-year infrastructure planning. Our approach decomposes the problem into two hierarchical levels: a high-level Budget Planner allocating annual budgets within explicit feasibility bounds, and a low-level Maintenance Planner prioritizing assets within the allocated budget. By structurally separating macro-budget decisions from asset-level prioritization and integrating linear programming projection within a hierarchical Soft Actor-Critic framework, the method efficiently addresses exponential growth in the action space and ensures rigorous budget compliance. A case study evaluating sewer networks of varying sizes (10, 15, and 20 sewersheds) illustrates the effectiveness of the proposed approach. Compared to conventional Deep Q-Learning and enhanced genetic algorithms, our methodology converges more rapidly, scales effectively, and consistently delivers near-optimal solutions even as network size grows.

Paperid: 3039, https://arxiv.org/pdf/2507.19111.pdf

Abstract:
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the data routing and resource allocation due to the time-varying topology and the need to control interference with terrestrial systems. Traditional schemes rely on time-expanded graphs with uniform and fine time subdivisions, making them impractical for interference-aware applications. This paper develops a dynamic space-time graph model with a cross-layer optimization framework that converts a joint routing and predictive resource allocation problem into a joint bottleneck path planning and resource allocation problem. We develop explicit deterministic bounds to handle the channel uncertainty and prove a monotonicity property in the problem structure that enables us to efficiently reach the globally optimal solution to the predictive resource allocation subproblem. Then, this approach is extended to multi-commodity transmission tasks through time-frequency allocation, and a bisection search algorithm is developed to find the optimum solution by leveraging the monotonicity of the feasible set family. Simulations verify that the single-commodity algorithm approaches global optimality with more than 30 dB performance gain over the classical graph-based methods for delay-sensitive and large data transportation. At the same time, the multi-commodity method achieves 100X improvements in dense service scenarios and enables an additional 20 dB performance gain by data segmenting.

Paperid: 3040, https://arxiv.org/pdf/2507.18732.pdf

Abstract:
Infrastructure asset management is essential for sustaining the performance of public infrastructure such as road networks, bridges, and utility networks. Traditional maintenance and rehabilitation planning methods often face scalability and computational challenges, particularly for large-scale networks with thousands of assets under budget constraints. This paper presents a novel deep reinforcement learning (DRL) framework that optimizes asset management strategies for large infrastructure networks. By decomposing the network-level Markov Decision Process (MDP) into individual asset-level MDPs while using a unified neural network architecture, the proposed framework reduces computational complexity, improves learning efficiency, and enhances scalability. The framework directly incorporates annual budget constraints through a budget allocation mechanism, ensuring maintenance plans are both optimal and cost-effective. Through a case study on a large-scale pavement network of 68,800 segments, the proposed DRL framework demonstrates significant improvements over traditional methods like Progressive Linear Programming and genetic algorithms, both in efficiency and network performance. This advancement contributes to infrastructure asset management and the broader application of reinforcement learning in complex, large-scale environments.

Paperid: 3041, https://arxiv.org/pdf/2507.18419.pdf

Abstract:
The increasing interest in vertical farming arises from its ability to ensure consistent, high-quality, and pest-free vegetable production while supporting synergies with energy systems and urban development. Accordingly, standardized design and operation guidelines are essential to improve energy efficiency and lower costs. This study analyzes the production performance and energy consumption of a vertical farming system, assessing its efficiency, sustainability, and economic viability. A total of 162 scenarios were evaluated by combining three levels of temperature, photosynthetic photon flux density (PPFD), and CO2 concentration across three distinct climatic zones, namely Norway, China, and Dubai, which also differ from a socio-environmental viewpoint. Two insulation thicknesses were also tested in each scenario. Results indicate that due to the heating, ventilation, and air conditioning and dehumidification (HVACD) system, neither the insulation layer nor the external climate significantly influences crop productivity. PPFD proved to be the dominant factor in crop growth (correlation: 0.85), followed by CO2 (0.36) and indoor temperature (0.22). PPFD also emerged as the primary driver of overall energy consumption (correlation: 0.73), as it affects both lighting and HVACD loads. Notably, the lowest specific energy consumption (SEC) coincided with the lowest crop productivity (55 kg/m2). The levelized cost of lettuce (LCoL), balancing productivity and energy use, identified the most cost-effective setup as 24C, 250 PPFD, 1400 ppm CO2, with insulation, consistent across all climates. Ultimately, only nearly decarbonized energy systems can support vertical farming without increasing CO2 emissions compared to imported lettuce.

Paperid: 3042, https://arxiv.org/pdf/2507.18070.pdf

Abstract:
In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsystem is updated independently, even when a relative measurement simultaneously depends on the states of multiple subsystems. We integrate the Covariance Intersection (CI) algorithm as part of our solution in order to prevent double counting of information when subsystems share estimates with each other. An alternative derivation of the CI algorithm based on least squares estimation makes this integration possible. We particularise the proposed approach to the robot-landmark localization problem. In this problem, noisy measurements of the bearing angle to a stationary landmark position measured relative to the SE(2) pose of a moving robot couple the estimation problems for the robot pose and the landmark position. In a randomized simulation study, we benchmark the proposed modular method against a monolithic joint state filter to elucidate their respective trade-offs. In this study we also include variants of the proposed method that achieve a graceful degradation of performance with reduced communication and bandwidth requirements.

Paperid: 3043, https://arxiv.org/pdf/2507.18030.pdf

Abstract:
Large-scale networked systems typically operate under resource constraints, and it is also difficult to exactly obtain the network structure between nodes. To address these issues, this paper investigates a sparse optimal control for infinite-dimensional linear systems and its application to networked systems where the network structure is represented by a limit function called a graphon that captures the overall connection pattern. The contributions of this paper are twofold: (i) To reduce computational complexity, we derive a sufficient condition under which the sparse optimal control can be obtained by solving its corresponding L1 optimization problem. Furthermore, we introduce a class of non-convex optimal control problems such that the optimal solution always coincides with a sparse optimal control, provided that the non-convex problems admit optimal solutions. (ii) We show that the sparse optimal control for large-scale finite-dimensional networked systems can be approximated by that of the corresponding limit graphon system, provided that the underlying graph is close to the limit graphon in the cut-norm topology. The effectiveness of the proposed approach is illustrated through numerical examples.

Paperid: 3044, https://arxiv.org/pdf/2507.17475.pdf

Abstract:
This paper presents a technique for designing output feedback controllers for constrained linear parameter-varying systems that are subject to persistent disturbances. Specifically, we develop an incremental parameter-varying output feedback control law to address control rate constraints, as well as state and control amplitude constraints. The proposal is based on the concept of robust positively invariant sets and applies the extended Farkas' lemma to derive a set of algebraic conditions that define both the control gains and a robust positively invariant polyhedron that satisfies the control and state constraints. These algebraic conditions are formulated into a bilinear optimization problem aimed at determining the output feedback gains and the associated polyedral robust positively invariant region. The obtained controller ensures that any closed-loop trajectory originating from the polyhedron converges to another smaller inner polyhedral set around the origin in finite time, where the trajectory remains ultimately bounded regardless of the persistent disturbances and variations in system parameters. Furthermore, by including the sizes of the two polyhedral sets inside the objective function, the proposed optimization can also jointly enlarge the outer set while minimizing the inner one. Numerical examples are presented to demonstrate the effectiveness of our proposal in managing the specified constraints, disturbances, and parameter variations.

Paperid: 3045, https://arxiv.org/pdf/2507.16982.pdf

Abstract:
This paper proposes a method to generalize the equations estimating the inductance of square-shape planar windings to rectangle shape. This is done by utilizing the optimal p-norm of the Generalized Mean Value or Power Mean (PM). Three well-established equations with verified accuracy are examined, namely Wheeler, Rosa, and the Monomial, which by definition consider only regular polygons. One critical parameter of the original equations is the outer-side length of the winding, which for the rectangle case, can be substituted by the PM of the two outer-side lengths, without the need for any further modifications. A methodology to select the optimal p-norm for the PM is presented in terms of achieving the best accuracy for this estimation. The selection of the optimal p is based on results from datasets containing more than 2600 simulations of different rectangle-shaped windings. Finally, the estimation accuracy is verified by laboratory measurements for a selection of planar inductors.

Paperid: 3046, https://arxiv.org/pdf/2507.16553.pdf

Abstract:
In this study, we propose a robust control strategy for a counter-current heat exchanger. The primary objective is to regulate the outlet temperature of one fluid stream by manipulating the flow rate of the second counter-current fluid stream. By leveraging the energy balance equations, we develop a structured bilinear system model derived by using a uniform spatial discretization of each stream into a cascade of homogeneous volumes and by considering the heat transfer and convective phenomena within the exchanger. We introduce three control strategies: (i) an enhanced forwarding-based controller, (ii) an output feedback controller incorporating a state observer, and (iii) a purely integral control law. The effectiveness of the proposed control strategy is validated through real experiments on a real heat exchanger.

Paperid: 3047, https://arxiv.org/pdf/2507.15708.pdf

Abstract:
One of the most important satellite subsystems is its electric power subsystem. The occurrence of a fault in the satellite power system causes the failure of all or part of the satellite. Calculating the overall reliability of the power system before the mission is crucial in improving the design of the satellite power system. Each component of the power system may malfunction due to pressure, launch pressure, and operating conditions. Accordingly, in this paper, first, a healthy and faulty system for the components of the electrical power system is simulated with MATLAB. Finally, by drawing a fault tree to analyze the reliability of the power subsystem, overall mission reliability, power system fault rate, and overall fault rate of the mission are calculated by Windchill software. Finally, a total mission assurance of 0.999 was achieved, indicating the high reliability of the simulated system.

Paperid: 3048, https://arxiv.org/pdf/2507.14004.pdf

Abstract:
This paper presents an new approach for detecting in the electrical power system of satellites operating in Low Earth Orbit (LEO) without an Attitude Determination and Control Subsystem (ADCS). Components of these systems are prone to faults, such as line-to-line faults in the photovoltaic subsystem, open circuits, and short circuits in the DC-to-DC converter, as well as ground faults in batteries. In the previous research has largely focused on detecting faults in each components, such as photovoltaic arrays or converter systems, therefore, has been limited attention given to whole electrical power system of satellite as a whole system. Our approach addresses this gap by utilizing a Multi-Layer Perceptron (MLP) neural network model, which leverages input data such as solar radiation and surface temperature to predict current and load outputs. These machine learning techniques that classifiy use different approaches like Principal Component Analysis (PCA) and K-Nearest Neighbors (KNN), to classify faults effectively. The model presented achieves over 99% accuracy in identifying faults across multiple subsystems, marking a notable advancement from previous approaches by offering a complete diagnostic solution for the entire satellite power system. This thorough method boosts system reliability and helps lower the chances of mission failure

Paperid: 3049, https://arxiv.org/pdf/2507.13528.pdf

Abstract:
TickTacking is a rhythm-based interface that allows users to control a pointer in a two-dimensional space through dual-button tapping. This paper investigates the generation of human-like trajectories using a receding horizon approach applied to the TickTacking interface in a target-tracking task. By analyzing user-generated trajectories, we identify key human behavioral features and incorporate them in a controller that mimics these behaviors. The performance of this human-inspired controller is evaluated against a baseline optimal-control-based agent, demonstrating the importance of specific control features for achieving human-like interaction. These findings contribute to the broader goal of developing rhythm-based human-machine interfaces by offering design insights that enhance user performance, improve intuitiveness, and reduce interaction frustration

Paperid: 3050, https://arxiv.org/pdf/2507.13286.pdf

Abstract:
Wireless sensor networks (WSNs) are critical components in modern cyber-physical systems, enabling efficient data collection and fusion through spatially distributed sensors. However, the inherent risks of eavesdropping and packet dropouts in such networks pose significant challenges to secure state estimation. In this paper, we address the privacy-preserving fusion estimation (PPFE) problem for multi-sensor systems under multiple packet dropouts and eavesdropping attacks. To mitigate these issues, we propose a distributed encoding-based privacy-preserving mechanism (PPM) within a control-theoretic framework, ensuring data privacy during transmission while maintaining the performance of legitimate state estimation. A centralized fusion filter is developed, accounting for the coupling effects of packet dropouts and the encoding-based PPM. Boundedness conditions for the legitimate user's estimation error covariance are derived via a modified algebraic Riccati equation. Additionally, by demonstrating the divergence of the eavesdropper's mean estimation error, the proposed PPFE algorithm's data confidentiality is rigorously analyzed. Simulation results for an Internet-based three-tank system validate the effectiveness of the proposed approach, highlighting its potential to enhance privacy without compromising estimation accuracy.

Paperid: 3051, https://arxiv.org/pdf/2507.13250.pdf

Abstract:
Accurate short-term electricity price forecasting is crucial for strategically scheduling demand and generation bids in day-ahead markets. While data-driven techniques have shown considerable prowess in achieving high forecast accuracy in recent years, they rely heavily on the quality of input covariates. In this paper, we investigate whether asynchronously published prices as a result of differing gate closure times (GCTs) in some bidding zones can improve forecasting accuracy in other markets with later GCTs. Using a state-of-the-art ensemble of models, we show significant improvements of 22% and 9% in forecast accuracy in the Belgian (BE) and Swedish bidding zones (SE3) respectively, when including price data from interconnected markets with earlier GCT (Germany-Luxembourg, Austria, and Switzerland). This improvement holds for both general as well as extreme market conditions. Our analysis also yields further important insights: frequent model recalibration is necessary for maximum accuracy but comes at substantial additional computational costs, and using data from more markets does not always lead to better performance - a fact we delve deeper into with interpretability analysis of the forecast models. Overall, these findings provide valuable guidance for market participants and decision-makers aiming to optimize bidding strategies within increasingly interconnected and volatile European energy markets.

Paperid: 3052, https://arxiv.org/pdf/2507.13242.pdf

Abstract:
In this work, we consider the resource allocation problem for task offloading from Internet of Medical Things (IoMT) devices, to a non-terrestrial network. The architecture considers clusters of IoMT devices that offload their tasks to a dedicated unmanned aerial vehicle (UAV) serving as a multi-access edge computing (MEC) server, which can compute the task or further offload it to an available high-altitude platform station (HAPS) or to a low-earth orbit (LEO) satellite for remote computing. We formulate a problem that has as objective the minimization of the weighted sum delay of the tasks. Given the non-convex nature of the problem, and acknowledging that the complexity of the optimization algorithms impact their performance, we derive a low-complexity joint subchannel allocation and offloading decision algorithm with dynamic computing resource initialization, developed as a greedy heuristic based on convex optimization criteria. Simulations show the gain obtained by including the different non-terrestrial nodes against architectures without them.

Paperid: 3053, https://arxiv.org/pdf/2507.13073.pdf

Abstract:
Traffic Movement Count (TMC) at intersections is crucial for optimizing signal timings, assessing the performance of existing traffic control measures, and proposing efficient lane configurations to minimize delays, reduce congestion, and promote safety. Traditionally, methods such as manual counting, loop detectors, pneumatic road tubes, and camera-based recognition have been used for TMC estimation. Although generally reliable, camera-based TMC estimation is prone to inaccuracies under poor lighting conditions during harsh weather and nighttime. In contrast, Light Detection and Ranging (LiDAR) technology is gaining popularity in recent times due to reduced costs and its expanding use in 3D object detection, tracking, and related applications. This paper presents the authors' endeavor to develop, deploy and evaluate a dual-LiDAR system at an intersection in the city of Rialto, California, for TMC estimation. The 3D bounding box detections from the two LiDARs are used to classify vehicle counts based on traffic directions, vehicle movements, and vehicle classes. This work discusses the estimated TMC results and provides insights into the observed trends and irregularities. Potential improvements are also discussed that could enhance not only TMC estimation, but also trajectory forecasting and intent prediction at intersections.

Paperid: 3054, https://arxiv.org/pdf/2507.13015.pdf

Abstract:
This work presents a novel Nonlinear Model Predictive Control (NMPC) strategy for high-speed Maglev vehicles that explicitly incorporates mechanical suspension dynamics into the control model. Unlike conventional approaches, which often neglect the interaction between levitation magnet and car body motion, the proposed method enables predictive vibration mitigation by modeling both electromagnetic forces and suspension behavior. This integrated approach significantly improves passenger comfort and ride quality by reducing vertical oscillations caused by track irregularities. Moreover, it allows for a more effective tuning of the trade-off between precise air gap tracking and ride comfort. Simulations based on a detailed multibody model of the Transrapid demonstrate that the method outperforms existing controllers in vibration suppression, making it a promising solution for future high-speed Maglev applications.

Paperid: 3055, https://arxiv.org/pdf/2507.12975.pdf

Abstract:
We consider the cyber-physical security of parallel server systems, which is relevant for a variety of engineering applications such as networking, manufacturing, and transportation. These systems rely on feedback control and may thus be vulnerable to malicious attacks such as denial-of-service, data falsification, and instruction manipulations. In this paper, we develop a learning algorithm that computes a defensive strategy to balance technological cost for defensive actions and performance degradation due to cyber attacks as mentioned above. We consider a zero-sum Markov security game. We develop an approximate minimax-Q learning algorithm that efficiently computes the equilibrium of the game, and thus a cost-aware defensive strategy. The algorithm uses interpretable linear function approximation tailored to the system structure. We show that, under mild assumptions, the algorithm converges with probability one to an approximate Markov perfect equilibrium. We first use a Lyapunov method to address the unbounded temporal-difference error due to the unbounded state space. We then use an ordinary differential equation-based argument to establish convergence. Simulation results demonstrate that our algorithm converges about 50 times faster than a representative neural network-based method, with an insignificant optimality gap between 4\%--8\%, depending on the complexity of the linear approximator and the number of parallel servers.

Paperid: 3056, https://arxiv.org/pdf/2507.12830.pdf

Abstract:
We consider the problem of data storage in a geographically distributed (or geo-distributed) network of servers (or nodes) where inter-node communication incurs certain round-trip delays. Every node serves a set of users who can request any file in the network. If the requested file is not available at the node, it communicates with other nodes to obtain the file, thus causing the user to experience latency in obtaining the file. The files can be placed uncoded, where each node stores exact copies of the files, or in coded fashion, where certain linear combination of files are placed at each node. We aim to obtain an optimal file placement on the nodes with respect to minimizing the worst-case latency at each node, as well as the system-average latency. The prior literature considered the case of equiprobable file demands at the nodes. In this paper, we investigate the generic case of non-uniform file-demand probabilities at each node. The scheme presented here is optimal within the family of uncoded schemes. It is obtained first by modeling the worst-case latency constraint as a vertex coloring problem, and then converting the system-average latency optimization to a problem of balanced-assignment.

Paperid: 3057, https://arxiv.org/pdf/2507.12624.pdf

Abstract:
Virtual staining has emerged as a powerful alternative to traditional histopathological staining techniques, enabling rapid, reagent-free image transformations. However, existing evaluation methods predominantly rely on full-reference image quality assessment (FR-IQA) metrics such as structural similarity, which are originally designed for natural images and often fail to capture pathology-relevant features. Expert pathology reviews have also been used, but they are inherently subjective and time-consuming. In this study, we introduce PaPIS (Pathology-Aware Perceptual Image Similarity), a novel FR-IQA metric specifically tailored for virtual staining evaluation. PaPIS leverages deep learning-based features trained on cell morphology segmentation and incorporates Retinex-inspired feature decomposition to better reflect histological perceptual quality. Comparative experiments demonstrate that PaPIS more accurately aligns with pathology-relevant visual cues and distinguishes subtle cellular structures that traditional and existing perceptual metrics tend to overlook. Furthermore, integrating PaPIS as a guiding loss function in a virtual staining model leads to improved histological fidelity. This work highlights the critical need for pathology-aware evaluation frameworks to advance the development and clinical readiness of virtual staining technologies.

Paperid: 3058, https://arxiv.org/pdf/2507.12495.pdf

Abstract:
Space weather events pose a growing threat to modern economies, yet their macroeconomic consequences still remain underexplored. This study presents the first dedicated economic assessment of geomagnetic storm impacts on Aotearoa New Zealand, quantifying potential GDP losses across seven disruption and mitigation scenarios due to an extreme coronal mass ejection (CME). The primary focus is upon the damaging impacts of geomagnetically induced currents (GICs) on the electrical power transmission network. The goal is to support decision-making around space weather mitigation investments by providing a first-order approximation of their potential economic benefits. We find that in the absence of mitigation, a severe but realistic storm could result in up to NZ\$8.36 billion in lost GDP, with more than half stemming from cascading supply chain effects. Yet, even less severe scenarios incur losses exceeding NZ\$3 billion. Importantly, research-led operational strategies, such as optimized switching and islanding, can avoid up to NZ\$370 million in losses for as little as NZ\$500,000 in expenditure, delivering a benefit-cost ratio of 740 to 1. Moreover, physical protections such as GIC blocking devices further reduce disruption to as low as NZ\$1.12 billion, with avoided GDP losses up to NZ\$2.3 billion, and benefit-cost returns up to 80 to 1. When also acknowledging unmodelled impacts, including multi-billion losses in capital equipment and long-term revenue, the economic rationale for pre-emptive mitigation becomes even more pertinent. Future research needs to integrate the modelling of capital and revenue losses for strategically important industrial facilities.

Paperid: 3059, https://arxiv.org/pdf/2507.12082.pdf

Abstract:
This paper proposes a simple and accurate monomial-like equation for estimating the inductance of Multilayer Rectangle-shaped Planar Windings (MLRPWs) for high-frequency, high-power applications. The equation consists of the power product of the geometrical dimensions, raised at individual power coefficients. The coefficients are generated via Multiple Linear Regression (MLR), based on a large set of approximately 6,000 simulated windings, with an 80/20 training/evaluation sample ratio. The resulting mean error value is 0%, with a standard deviation below 1.8%. The accuracy of the inductance estimation is confirmed on several experimental samples, with dimensions both within and outside the initial training dataset.

Paperid: 3060, https://arxiv.org/pdf/2507.11350.pdf

Abstract:
Distributionally Robust Optimization (DRO) is a worst-case approach to decision making when there is model uncertainty. Though formulated as a single-objective problem, we show that it is intrinsically multi-objective in that DRO solutions map out a near-Pareto-optimal frontier between expected cost and a measure of robustness called worst-case sensitivity (WCS). We take this as the starting point and explore robust decision making through a multi-objective lens. We show that WCS is a measure of spread and derive WCS for a collection of uncertainty sets commonly used in DRO. These sensitivity measures identify the errors against which the nominal expected cost is most vulnerable and the uncertainty set for the worst-case problem that most effectively mitigates it. The associated mean-sensitivity frontier is used to select its size. The multi-objective perspective provides a quantitative measure of robustness and a sensitivity-based approach to addressing important conceptual gaps in DRO -- how to choose the family and size of uncertainty sets for a given cost distribution, and how this affects the solution.

Paperid: 3061, https://arxiv.org/pdf/2507.11211.pdf

Abstract:
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC) scheme. Initially, the planner generates feasible global trajectories from partial and uncertain observations. As new visual data are incrementally fused, both the environment model and motion planning are progressively refined. A vision-based cost function promotes target-driven exploration, while a refined kernel-perceptron collision detector enables efficient constraint updates for real-time planning. The framework accommodates closed-chain kinematics and supports dynamic replanning. Experiments on a multi-arm platform validate its robustness and adaptability under uncertainties and clutter.

Paperid: 3062, https://arxiv.org/pdf/2507.10310.pdf

Abstract:
In practice, navigation of mobile robots in confined environments is often done using a spatially discrete cost-map to represent obstacles. Path following is a typical use case for model predictive control (MPC), but formulating constraints for obstacle avoidance is challenging in this case. Typically the cost and constraints of an MPC problem are defined as closed-form functions and typical solvers work best with continuously differentiable functions. This is contrary to spatially discrete occupancy grid maps, in which a grid's value defines the cost associated with occupancy. This paper presents a way to overcome this compatibility issue by re-formulating occupancy grid maps to continuously differentiable functions to be embedded into the MPC scheme as constraints. Each obstacle is defined as a polygon -- an intersection of half-spaces. Any half-space is a linear inequality representing one edge of a polygon. Using AND and OR operators, the combined set of all obstacles and therefore the obstacle avoidance constraints can be described. The key contribution of this paper is the use of fuzzy logic to re-formulate such constraints that include logical operators as inequality constraints which are compatible with standard MPC formulation. The resulting MPC-based trajectory planner is successfully tested in simulation. This concept is also applicable outside of navigation tasks to implement logical or verbal constraints in MPC.

Paperid: 3063, https://arxiv.org/pdf/2507.10004.pdf

Abstract:
The angular droop control is a grid-forming control strategy that exploits the idea of power-to-angle droop to achieve exact frequency synchronization with no stringent separation between primary and secondary frequency control. In this work, we conduct hardware experiments in the Smart Energy System Control Laboratory at Karlsruhe Institute of Technology (KIT) to test and validate the angular droop control for low voltage power grids in two different test scenarios. First, we verify its grid-forming capabilities after a major event, e.g., following a blackout, demonstrated via power-to-angle droop behavior. For this, we propose two implementation schemes that rely either on direct or indirect actuation of the modulation signal and draw a comparison between them. Second, we investigate the plug-and-play capabilities, i.e., local stability and power sharing for a two-converter system and provide suitable tuning for the control gains. Our experimental findings illustrate the usefulness of hardware test and validation for DC/AC converter control, the practical challenges entailed and the proposed remedies.

Paperid: 3064, https://arxiv.org/pdf/2507.09852.pdf

Abstract:
In unmanned aerial vehicle (UAV) networks, communication protocols and algorithms are essential for cooperation and collaboration between UAVs. Simulation provides a cost-effective solution for prototyping, debugging, and analyzing protocols and algorithms, avoiding the prohibitive expenses of field experiments. In this paper, we present ``UavNetSim-v1'', an open-source Python-based simulation platform designed for rapid development, testing, and evaluating the protocols and algorithms in UAV networks. ``UavNetSim-v1'' provides most of the functionalities developers may need, including routing/medium access control (MAC) protocols, topology control algorithms and mobility/energy models, while maintaining ease of use. Furthermore, the platform supports comprehensive performance evaluation and features an interactive visualization interface for in-depth algorithm analysis. In short, ``UavNetSim-v1'' lends itself to both rapid prototyping and educational purposes, and can serve as a lightweight yet powerful alternative to mature network simulators for UAV communication research.

Paperid: 3065, https://arxiv.org/pdf/2507.08954.pdf

Abstract:
Hardware accelerators like GPUs are now ubiquitous in data centers, but are not fully supported by common cloud abstractions such as Functions as a Service (FaaS). Many popular and emerging FaaS applications such as machine learning and scientific computing can benefit from GPU acceleration. However, FaaS frameworks (such as OpenWhisk) are not capable of providing this acceleration because of the impedance mismatch between GPUs and the FaaS programming model, which requires virtualization and sandboxing of each function. The challenges are amplified due to the highly dynamic and heterogeneous FaaS workloads. This paper presents the design and implementation of a FaaS system for providing GPU acceleration in a black-box manner (without modifying function code). Running small functions in containerized sandboxes is challenging due to limited GPU concurrency and high cold-start overheads, resulting in heavy queueing of function invocations. We show how principles from I/O scheduling, such as fair queuing and anticipatory scheduling, can be translated to function scheduling on GPUs. We develop MQFQ-Sticky, an integrated fair queueing and GPU memory management approach, which balances the tradeoffs between locality, fairness, and latency. Empirical evaluation on a range of workloads shows that it reduces function latency by 2x to 20x compared to existing GPU and CPU queueing policies.

Paperid: 3066, https://arxiv.org/pdf/2507.08411.pdf

Abstract:
Scaled relative graphs have been originally introduced in the context of convex optimization and have recently gained attention in the control systems community for the graphical analysis of nonlinear systems. Of particular interest in stability analysis of feedback systems is the scaled graph, a special case of the scaled relative graph. In many ways, scaled graphs can be seen as a generalization of the classical Nyquist plot for linear time-invariant systems, and facilitate a powerful graphical tool for analyzing nonlinear feedback systems. In their current formulation, however, scaled graphs require characterizing the input-output behaviour of a system for an uncountable number of inputs. This poses a practical bottleneck in obtaining the scaled graph of a nonlinear system, and currently limits its use. This paper presents a framework grounded in dissipativity for efficiently computing the scaled graph of several important classes of systems, including multivariable linear time-invariant systems, impulsive systems, and piecewise linear systems. The proposed approach leverages novel connections between linear matrix inequalities, integral quadratic constraints, and scaled graphs, and is shown to be exact for specific linear time-invariant systems. The results are accompanied by several examples illustrating the potential and effectiveness of the presented framework.

Paperid: 3067, https://arxiv.org/pdf/2507.08393.pdf

Abstract:
The centerline of a bobsleigh track defines its geometry and is essential for simulation modeling. To reduce bBobsleigh training costs, leveraging the centerline of the bobsleigh track to construct a virtual environment that closely replicates real competitive settings presents a promising solution. However, publicly available centerline data are typically limited and it is imprecise to construct a training system solely based on 2-dimensional (2D) centerline. To address this practical issue, this paper proposes a method for generating a 3-dimensional (3D) track centerline based on 2D centerline data. Incorporating international track design regulations, the method formulates an optimization problem that considers total track length, height difference, slope constraints, and geometric continuity. A Projected Gradient Descent (PGD) algorithm is used to solve the optimization problem. The generated 3D centerlines are compared with real track data, and the results show that the method can reproduce realistic centerline trends from original or scaled 2D data. For the selected track segment, the relative errors in total length, height difference, and average slope are within 1.7%, 3.2% and 4.1%, respectively, for real 2D data and within 1.1%, 3.5% and 4.3% respectively for scaled data. All slope values remain within the allowable limits. Moreover, by adjusting the segmentation or modifying the weight of height difference in the cost function, various centerline styles applicable to different competitions can be generated. Under different segmentation and weight factors, the maximum errors reach up to 4.4%, 4.8%, and 9.8%, and 4.4%, 4.8%, and 10.0%, respectively. The proposed method provides a flexible and efficient tool for supporting bobsleigh track centerline design.

Paperid: 3068, https://arxiv.org/pdf/2507.08367.pdf

Abstract:
This study investigates the potential of a multimodal large language model (LLM), specifically ChatGPT-4o, to perform human-like interpretations of traffic scenes using static dashcam images. Herein, we focus on three judgment tasks relevant to elderly driver assessments: evaluating traffic density, assessing intersection visibility, and recognizing stop signs recognition. These tasks require contextual reasoning rather than simple object detection. Using zero-shot, few-shot, and multi-shot prompting strategies, we evaluated the performance of the model with human annotations serving as the reference standard. Evaluation metrics included precision, recall, and F1-score. Results indicate that prompt design considerably affects performance, with recall for intersection visibility increasing from 21.7% (zero-shot) to 57.0% (multi-shot). For traffic density, agreement increased from 53.5% to 67.6%. In stop-sign detection, the model demonstrated high precision (up to 86.3%) but a lower recall (approximately 76.7%), indicating a conservative response tendency. Output stability analysis revealed that humans and the model faced difficulties interpreting structurally ambiguous scenes. However, the model's explanatory texts corresponded with its predictions, enhancing interpretability. These findings suggest that, with well-designed prompts, LLMs hold promise as supportive tools for scene-level driving risk assessments. Future studies should explore scalability using larger datasets, diverse annotators, and next-generation model architectures for elderly driver assessments.

Paperid: 3069, https://arxiv.org/pdf/2507.08196.pdf

Abstract:
Over the past decade, remarkable progress has been made in adopting deep neural networks to enhance the performance of conventional reinforcement learning. A notable milestone was the development of Deep Q-Networks (DQN), which achieved human-level performance across a range of Atari games, demonstrating the potential of deep learning to stabilise and scale reinforcement learning. Subsequently, extensions to continuous control algorithms paved the way for a new paradigm in control, one that has attracted broader attention than any classical control approach in recent literature. These developments also demonstrated strong potential for advancing data-driven, model-free algorithms for control and for achieving higher levels of autonomy. However, the application of these methods has remained largely confined to simulated and gaming environments, with ongoing efforts to extend them to real-world applications. Before such deployment can be realised, a solid and quantitative understanding of their performance on applied control problems is necessary. This paper conducts a comparative analysis of these approaches on four diverse benchmark problems with implementation results. This analysis offers a scrutinising and systematic evaluation to shed light on the real-world capabilities and limitations of deep reinforcement learning methods in applied control settings.

Paperid: 3070, https://arxiv.org/pdf/2507.07559.pdf

Abstract:
Anomaly detection (AD) plays a vital role across a wide range of real-world domains by identifying data instances that deviate from expected patterns, potentially signaling critical events such as system failures, fraudulent activities, or rare medical conditions. The demand for real-time AD has surged with the rise of the (Industrial) Internet of Things, where massive volumes of multivariate sensor data must be processed instantaneously. Real-time AD requires methods that not only handle high-dimensional streaming data but also operate in a single-pass manner, without the burden of storing historical instances, thereby ensuring minimal memory usage and fast decision-making. We propose DAD, a novel real-time decorrelation-based anomaly detection method for multivariate time series, based on an online decorrelation learning approach. Unlike traditional proximity-based or reconstruction-based detectors that process entire data or windowed instances, DAD dynamically learns and monitors the correlation structure of data sample by sample in a single pass, enabling efficient and effective detection. To support more realistic benchmarking practices, we also introduce a practical hyperparameter tuning strategy tailored for real-time anomaly detection scenarios. Extensive experiments on widely used benchmark datasets demonstrate that DAD achieves the most consistent and superior performance across diverse anomaly types compared to state-of-the-art methods. Crucially, its robustness to increasing dimensionality makes it particularly well-suited for real-time, high-dimensional data streams. Ultimately, DAD not only strikes an optimal balance between detection efficacy and computational efficiency but also sets a new standard for real-time, memory-constrained anomaly detection.

Paperid: 3071, https://arxiv.org/pdf/2507.07319.pdf

Abstract:
Recent decision-making systems are increasingly complicated, making it crucial to verify and understand their behavior for a given specification. A promising approach is to comprehensively explain undesired behavior in the systems modeled by Markov decision processes (MDPs) through formal verification and causal reasoning. However, the reliable explanation using model-based probabilistic causal analysis has not been explored when the MDP's transition probabilities are uncertain. This paper proposes a method to identify potential causes of undesired behaviors in an uncertain parametric MDP (upMDP) using parameter sampling, model checking, and a set covering for the samples. A cause is defined as a subset of states based on a probability-raising principle. We show that the probability of each identified subset being a cause exceeds a specified threshold. Further, a lower bound of the probability that the undesired paths visit the subsets is maximized as much as possible while satisfying a nonredundancy condition. While computing these probabilities is complicated, this study derives probabilistically approximately correct lower bounds of both probabilities by the sampling. We demonstrate the effectiveness of the proposed method through a path-planning scenario.

Paperid: 3072, https://arxiv.org/pdf/2507.07298.pdf

Abstract:
Unplanned power outages cost the US economy over $150 billion annually, partly due to predictive maintenance (PdM) models that overlook spatial, temporal, and causal dependencies in grid failures. This study introduces a multilayer Graph Neural Network (GNN) framework to enhance PdM and enable resilience-based substation clustering. Using seven years of incident data from Oklahoma Gas & Electric (292,830 records across 347 substations), the framework integrates Graph Attention Networks (spatial), Graph Convolutional Networks (temporal), and Graph Isomorphism Networks (causal), fused through attention-weighted embeddings. Our model achieves a 30-day F1-score of 0.8935 +/- 0.0258, outperforming XGBoost and Random Forest by 3.2% and 2.7%, and single-layer GNNs by 10 to 15 percent. Removing the causal layer drops performance to 0.7354 +/- 0.0418. For resilience analysis, HDBSCAN clustering on HierarchicalRiskGNN embeddings identifies eight operational risk groups. The highest-risk cluster (Cluster 5, 44 substations) shows 388.4 incidents/year and 602.6-minute recovery time, while low-risk groups report fewer than 62 incidents/year. ANOVA (p < 0.0001) confirms significant inter-cluster separation. Our clustering outperforms K-Means and Spectral Clustering with a Silhouette Score of 0.626 and Davies-Bouldin index of 0.527. This work supports proactive grid management through improved failure prediction and risk-aware substation clustering.

Paperid: 3073, https://arxiv.org/pdf/2507.06935.pdf

Abstract:
In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control systems poses a challenge to real-world systems. Input and output delays are caused by factors like sensor processing and mechanical response and can range up to a few hundred milliseconds. This chapter addresses the problem of dead time in path tracking control and proposes a method to compensate the dead time. The proposed solution involves a nonlinear prediction model, in a structure similar to the Smith predictor, but incorporating the kinematic behavior of the vehicle plant system. The implementation avoids numeric integration or optimization, enabling a fast execution. Simulation tests with various controllers and disturbances, including dead-time uncertainty, demonstrate the efficacy of the dead-time compensation method. Results indicate improved control performance in all tested scenarios.

Paperid: 3074, https://arxiv.org/pdf/2507.06883.pdf

Abstract:
Manifold optimization (MO) is a powerful mathematical framework that can be applied to solving complex optimization problems with objective functions (OFs) and constraints on complex geometric structures, which is particularly useful in advanced power systems. We explore the application of MO techniques, which offer a robust framework for solving complex, non-convex optimization problems in electrical power distribution systems (EPDS) and electrical power transmission systems (EPTS), particularly for power flow analysis. This paper introduces the principles of MO and demonstrates its advantages over conventional methods by applying it to power flow optimization. For EPDS, a cost function derived from a backward-forward sweep (BFS) algorithm is optimized using the Manopt toolbox, yielding high accuracy and competitive computational times on 14-bus, 33-bus, and 69-bus systems when compared to established solvers. Similarly, for EPTS, MO applied via Manopt to 3-bus and 4-bus systems effectively solves power flow equations, matching traditional methods such as Newton-Raphson in performance. The study highlights that tools such as Manopt can mitigate implementation complexities, positioning MO as an efficient and accessible tool for power system analysis and potentially broader planning applications. The paper provides a comprehensive tutorial on MO, detailing its theoretical foundations, practical methodologies, and specific applications in power systems, particularly in power flow optimization.

Paperid: 3075, https://arxiv.org/pdf/2507.06750.pdf

Abstract:
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor manipulation, and communication jamming, pose significant challenges to the performance of traditional localization methods. In this paper, we propose a novel distributed fault-tolerant cooperative localization framework to enhance resilience against sensor and communication disruptions in adversarial environments. We introduce an adaptive event-triggered communication strategy that dynamically adjusts communication thresholds based on real-time sensing and communication quality. This strategy ensures optimal performance even in the presence of sensor degradation or communication failure. Furthermore, we conduct a rigorous analysis of the convergence and stability properties of the proposed algorithm, demonstrating its resilience against bounded adversarial zones and maintaining accurate state estimation. Robotarium-based experiment results show that our proposed algorithm significantly outperforms traditional methods in terms of localization accuracy and communication efficiency, particularly in adversarial settings. Our approach offers improved scalability, reliability, and fault tolerance for MRS, making it suitable for large-scale deployments in real-world, challenging environments.

Paperid: 3076, https://arxiv.org/pdf/2507.06595.pdf

Abstract:
Net energy metering has been a successful policy for increasing solar generation installations and reducing the costs of photovoltaic arrays for consumers. However, increased maturity of solar technologies and concerns over cost shifts created by net energy metering have recently caused the policy to change its incentives. What once favored behind-the-meter solar generation now is focused on compensating flexible operation. This paper explores the impacts that different net energy metering policies have on commercial consumers with various distributed energy resources. We show that the newest iteration of net energy metering is less beneficial for consumers with only solar generation and instead favors those that pair energy storage with solar. Though shiftable flexible demand offers consumers the ability to operate flexibly, the export prices offered by the latest net energy metering policy provide limited value to flexible demand.

Paperid: 3077, https://arxiv.org/pdf/2507.06426.pdf

Abstract:
Typically, learned robot controllers are trained via relatively unsystematic regimens and evaluated with coarse-grained outcome measures such as average cumulative reward. The typical approach is useful to compare learning algorithms but provides limited insight into the effects of different training regimens and little understanding about the richness and complexity of learned behaviors. Likewise, human infants and other animals are "trained" via unsystematic regimens, but in contrast, developmental psychologists evaluate their performance in highly-controlled experiments with fine-grained measures such as success, speed of walking, and prospective adjustments. However, the study of learned behavior in human infants is limited by the practical constraints of training and testing babies. Here, we present a case study that applies methods from developmental psychology to study the learned behavior of the simulated bipedal robot Cassie. Following research on infant walking, we systematically designed reinforcement learning training regimens and tested the resulting controllers in simulated environments analogous to those used for babies--but without the practical constraints. Results reveal new insights into the behavioral impact of different training regimens and the development of Cassie's learned behaviors relative to infants who are learning to walk. This interdisciplinary baby-robot approach provides inspiration for future research designed to systematically test effects of training on the development of complex learned robot behaviors.

Paperid: 3078, https://arxiv.org/pdf/2507.05874.pdf

Abstract:
Modern power systems face significant challenges in state estimation and real-time monitoring, particularly regarding response speed and accuracy under faulty conditions or cyber-attacks. This paper proposes a hybrid approach using physics-informed neural networks (PINNs) to enhance the accuracy and robustness, of power system state estimation. By embedding physical laws into the neural network architecture, PINNs improve estimation accuracy for transmission grid applications under both normal and faulty conditions, while also showing potential in addressing security concerns such as data manipulation attacks. Experimental results show that the proposed approach outperforms traditional machine learning models, achieving up to 83% higher accuracy on unseen subsets of the training dataset and 65% better performance on entirely new, unrelated datasets. Experiments also show that during a data manipulation attack against a critical bus in a system, the PINN can be up to 93% more accurate than an equivalent neural network.

Paperid: 3079, https://arxiv.org/pdf/2507.05813.pdf

Abstract:
In this paper, we present a novel communication system model that integrates reconfigurable intelligent surfaces (RIS), spatial shift keying (SSK), and code index modulation (CIM) based on Hadamard coding called RIS based transmit SSK-CIM (RIS-CIM-TSSK). By leveraging RIS, the system adapts rapidly to dynamic environments, enhancing error rates and overall reliability. SSK facilitates the transmission of additional passive information while eliminating the need for multiple radio frequency (RF) chains, thereby reducing complexity. CIM enhances passive information transmission through frequency domain spreading, which may increase signal obfuscation. This proposed scheme not only improves energy efficiency but also offers a robust solution for reliable communication in modern wireless networks, paving the way for smarter and more adaptable implementations. We consider a suboptimal, low-complexity detector for the proposed scheme and also address the blind case for phase adjustment of the RIS. Finally, we present the simulation results for the proposed system model across various configurations, including different numbers of receive and transmit antennas, varying reflecting elements of the RIS, and different code lengths.

Paperid: 3080, https://arxiv.org/pdf/2507.05711.pdf

Abstract:
In this paper, we leverage Koopman mode decomposition to analyze the nonlinear and high-dimensional climate systems acting on the observed data space. The dynamics of atmospheric systems are assumed to be equation-free, with the linear evolution of observables derived from measured historical long-term time-series data snapshots, such as monthly sea surface temperature records, to construct a purely data-driven climate dynamics. In particular, sparsity-promoting dynamic mode decomposition is exploited to extract the dominant spatial and temporal modes, which are among the most significant coherent structures underlying climate variability, enabling a more efficient, interpretable, and low-dimensional representation of the system dynamics. We hope that the combined use of Koopman modes and sparsity-promoting techniques will provide insights into the significant climate modes, enabling reduced-order modeling of the climate system and offering a potential framework for predicting and controlling weather and climate variability.

Paperid: 3081, https://arxiv.org/pdf/2507.04800.pdf

Abstract:
This paper presents a mixed-integer, nonlinear, multi-objective optimization strategy for optimal power allocation among parallel strings in Battery Energy Storage Systems (BESS). High-fidelity control is achieved by co-simulating the optimizer with a BESS electro-thermal simulation that models spatial thermal dynamics of the battery, providing real-time State of Charge (SOC) and temperature feedback. The optimizer prioritizes reliability by enforcing power availability as a hard constraint and penalizing battery thermal derating. Within these bounds, the controller performs a Pareto sweep on the relative weights of inverter and battery losses to balance the trade-off between inverter efficiency and battery efficiency. The inverter loss model is based on an empirical lookup table (LUT) derived from a commercial inverter system, while the battery thermal loss model uses SOC and temperature-dependent internal resistance, with electric current computed from the battery Equivalent Circuit Model (ECM). When the optimization was applied to a two-string BESS, the competing effects of inverter and battery losses on system availability and thermal derating were observed. The balanced operation yielded improvements of 1% in battery efficiency, 1.5% in inverter efficiency, and 2% in derating efficiency, while maintaining higher availability. Additionally, a 5 degrees C reduction in BESS peak temperature also suggests reduced thermal stress without compromising availability.

Paperid: 3082, https://arxiv.org/pdf/2507.04712.pdf

Abstract:
In this paper, we formulate a mutual information optimal control problem (MIOCP) for discrete-time linear systems. This problem can be regarded as an extension of a maximum entropy optimal control problem (MEOCP). Differently from the MEOCP where the prior is fixed to the uniform distribution, the MIOCP optimizes the policy and prior simultaneously. As analytical results, under the policy and prior classes consisting of Gaussian distributions, we derive the optimal policy and prior of the MIOCP with the prior and policy fixed, respectively. Using the results, we propose an alternating minimization algorithm for the MIOCP. Through numerical experiments, we discuss how our proposed algorithm works.

Paperid: 3083, https://arxiv.org/pdf/2507.04371.pdf

Abstract:
Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent occlusion and unobserved space. This paper introduces a novel visibility-aware model predictive path integral framework(VA-MPPI). Formulated as a dual control problem where perceptual uncertainties and control decisions are intertwined, it reasons over perception uncertainty evolution within a unified planning and control pipeline. Unlike traditional methods that rely on explicit uncertainty objectives, the VA-MPPI controller implicitly balances exploration and exploitation, reducing uncertainty only when system performance would be increased. The VA-MPPI framework is evaluated in simulation against deterministic and prescient controllers across multiple scenarios, including a cluttered urban alleyway and an occluded off-road environment. The results demonstrate that VA-MPPI significantly improves safety by reducing collision with unseen obstacles while maintaining competitive performance. For example, in the off-road scenario with 400 control samples, the VA-MPPI controller achieved a success rate of 84%, compared to only 8% for the deterministic controller, with all VA-MPPI failures arising from unmet stopping criteria rather than collisions. Furthermore, the controller implicitly avoids unobserved space, improving safety without explicit directives. The proposed framework highlights the potential for robust, visibility-aware navigation in unstructured and occluded environments, paving the way for future advancements in autonomous ground vehicle systems.

Paperid: 3084, https://arxiv.org/pdf/2507.03621.pdf

Abstract:
The emerging field of neuromorphic computing for edge control applications poses the need to quantitatively estimate and limit the number of spiking neurons, to reduce network complexity and optimize the number of neurons per core and hence, the chip size, in an application-specific neuromorphic hardware. While rate-encoding for spiking neurons provides a robust way to encode signals with the same number of neurons as an ANN, it often lacks precision. To achieve the desired accuracy, a population of neurons is often needed to encode the complete range of input signals. However, using population encoding immensely increases the total number of neurons required for a particular application, thus increasing the power consumption and on-board resource utilization. A transition from two neurons to a population of neurons for the LQR control of a cartpole is shown in this work. The near-linear behavior of a Leaky-Integrate-and-Fire neuron can be exploited to achieve the Linear Quadratic Regulator (LQR) control of a cartpole system. This has been shown in simulation, followed by a demonstration on a single-neuron hardware, known as Lu.i. The improvement in control performance is then demonstrated by using a population of varying numbers of neurons for similar control in the Nengo Neural Engineering Framework, on CPU and on Intel's Loihi neuromorphic chip. Finally, linear control is demonstrated for four multi-linked pendula on cart systems, using a population of neurons in Nengo, followed by an implementation of the same on Loihi. This study compares LQR control in the NEF using $7$ control and $7$ neuromorphic performance metrics, followed by a comparison with other conventional spiking and non-spiking controllers.

Paperid: 3085, https://arxiv.org/pdf/2507.03525.pdf

Abstract:
Oversight and control (collectively, supervision) are often invoked as key levers for ensuring that AI systems are accountable, reliable, and able to fulfill governance and management requirements. However, the concepts are frequently conflated or insufficiently distinguished in academic and policy discourse, undermining efforts to design or evaluate systems that should remain under meaningful human supervision. This paper undertakes a targeted critical review of literature on supervision outside of AI, along with a brief summary of past work on the topic related to AI. We then differentiate control as being ex-ante or real-time, and operational rather than policy or governance. In contrast, oversight is either a policy and governance function, or is ex-post. We suggest that control aims to prevent failures. In contrast, oversight often focuses on detection, remediation, or incentives for future prevention; all preventative oversight strategies nonetheless necessitate control. Building on this foundation, we make three contributions. First, we propose a theoretically-informed yet policy-grounded framework that articulates the conditions under which each mechanism is possible, where they fall short, and what is required to make them meaningful in practice. Second, we outline how supervision methods should be documented and integrated into risk management, and drawing on the Microsoft Responsible AI Maturity Model, we outline a maturity model for AI supervision. Third, we explicitly highlight some boundaries of these mechanisms, including where they apply, where they fail, and where it is clear that no existing methods suffice. This foregrounds the question of whether meaningful supervision is possible in a given deployment context, and can support regulators, auditors, and practitioners in identifying both present limitations and the need for new conceptual and technical advances.

Paperid: 3086, https://arxiv.org/pdf/2507.02721.pdf

Abstract:
The Princess Marijke lock complex is a large lock and water-protection installation in the Netherlands between the river Rhine and the Amsterdam-Rijnkanaal -- a large waterway connecting the Rhine to the port of Amsterdam. The lock complex consists of two independent locks and a moveable flood-protection barrier. Ensuring safe control of the lock complex is of utmost importance to guarantee both flood-protection and reliable ship operations. This paper gives a precise, formal description of the software control of the lock complex in less than 400 lines of mCRL2 code. This description can act as a blueprint on how the software of this lock complex needs to be constructed. Moreover, using model checking, 53 software requirements are shown to be valid, ensuring that the formal description of the behaviour is correct with regard to these properties and is unlikely to contain mistakes and oversights.

Paperid: 3087, https://arxiv.org/pdf/2507.02700.pdf

Abstract:
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The proposed path-planning method segments the path into straight and curved path sections dedicated for accelerating/breaking and turning maneuvers, respectively. The curvature profiles of the curved sections are optimized while considering the control performance and the slipping limits of the wheel. The performance of the proposed integrated approach is demonstrated via numerical simulations.

Paperid: 3088, https://arxiv.org/pdf/2507.01727.pdf

Abstract:
This paper presents an auto-optimization control framework for wave energy converters (WECs) to maximize energy generation under unknown and changing ocean conditions. The proposed control framework consists of two levels. The high-level controller operating at a longer time scale aims to maximize the average energy generation over several wave periods. The generated Power Take-Off (PTO) profile as the reference for the low-level physical system to follow. The new auto-optimization process leverages the parameterization of the non-stationary operation condition in WECs, establishing the relationship between the average energy generation and the key design parameters of the PTO force subject to the unknown wave parameters. The high-level controller is designed based on the concept of Dual Control for Exploration and Exploitation (DCEE) to quickly learn the unknown wave parameters by actively probing the ocean condition, while generating the optimal PTO profile. During this process, the uncertainty of the estimated wave condition is quantified and embedded in the optimization cost function to enable active learning. Simulation results under unknown regular and irregular waves demonstrate the effectiveness and robustness of this novel auto-optimization WEC systems with active learning, outperforming model predictive control, extremum seeking and classic Bang-Bang control approaches.

Paperid: 3089, https://arxiv.org/pdf/2507.00853.pdf

Abstract:
Quantilized mean-field game models involve quantiles of the population's distribution. We study a class of such games with a capacity for ranking games, where the performance of each agent is evaluated based on its terminal state relative to the population's $Î±$-quantile value, $Î±\in (0,1)$. This evaluation criterion is designed to select the top $(1-Î±)\%$ performing agents. We provide two formulations for this competition: a target-based formulation and a threshold-based formulation. In the former and latter formulations, to satisfy the selection condition, each agent aims for its terminal state to be \textit{exactly} equal and \textit{at least} equal to the population's $Î±$-quantile value, respectively. For the target-based formulation, we obtain an analytic solution and demonstrate the $Îµ$-Nash property for the asymptotic best-response strategies in the $N$-player game. Specifically, the quantilized mean-field consistency condition is expressed as a set of forward-backward ordinary differential equations, characterizing the $Î±$-quantile value at equilibrium. For the threshold-based formulation, we obtain a semi-explicit solution and numerically solve the resulting quantilized mean-field consistency condition. Subsequently, we propose a new application in the context of early-stage venture investments, where a venture capital firm financially supports a group of start-up companies engaged in a competition over a finite time horizon, with the goal of selecting a percentage of top-ranking ones to receive the next round of funding at the end of the time horizon. We present the results and interpretations of numerical experiments for both formulations discussed in this context and show that the target-based formulation provides a very good approximation for the threshold-based formulation.

Paperid: 3090, https://arxiv.org/pdf/2507.00628.pdf

Abstract:
This paper presents a unified framework for the optimal scheduling of battery dispatch and internal power allocation in Battery energy storage systems (BESS). This novel approach integrates both market-based (price-aware) signals and physical system constraints to simultaneously optimize (1) external energy dispatch and (2) internal heterogeneity management of BESS, enhancing its operational economic value and performance. This work compares both model-based Linear Programming (LP) and model-free Reinforcement Learning (RL) approaches for optimization under varying forecast assumptions, using a custom Gym-based simulation environment. The evaluation considers both long-term and short-term performance, focusing on economic savings, State of Charge (SOC) and temperature balancing, and overall system efficiency. In summary, the long-term results show that the RL approach achieved 10% higher system efficiency compared to LP, whereas the latter yielded 33% greater cumulative savings. In terms of internal heterogeneity, the LP approach resulted in lower mean SOC imbalance, while the RL approach achieved better temperature balance between strings. This behavior is further examined in the short-term evaluation, which indicates that LP delivers strong optimization under known and stable conditions, whereas RL demonstrates higher adaptability in dynamic environments, offering potential advantages for real-time BESS control.

Paperid: 3091, https://arxiv.org/pdf/2507.00424.pdf

Abstract:
We study a model of strategic coordination based on a class of games with incomplete information known as Global Games. Under the assumption of Poisson-distributed signals and a Gamma prior distribution on state of the system, we demonstrate the existence of a Bayesian Nash equilibrium within the class of threshold policies for utility functions that are linear in the agents' actions. Although computing the exact threshold that constitutes an equilibrium in a system with finitely many agents is a highly non-trivial task, the problem becomes tractable by analyzing the game's potential function with countably infinitely many agents. Through numerical examples, we provide evidence that the resulting potential function is unimodal, exhibiting a well-defined maximum. Our results are applicable to the modeling of bacterial Quorum Sensing systems, whose noisy observation signals are often well-approximated using Poisson processes.

Paperid: 3092, https://arxiv.org/pdf/2507.00272.pdf

Abstract:
The Kalman filter (KF) provides optimal recursive state estimates for linear-Gaussian systems and underpins applications in control, signal processing, and others. However, it is vulnerable to outliers in the measurements and process noise. We introduce the iteratively saturated Kalman filter (ISKF), which is derived as a scaled gradient method for solving a convex robust estimation problem. It achieves outlier robustness while preserving the KF's low per-step cost and implementation simplicity, since in practice it typically requires only one or two iterations to achieve good performance. The ISKF also admits a steady-state variant that, like the standard steady-state KF, does not require linear system solves in each time step, making it well-suited for real-time systems.

Paperid: 3093, https://arxiv.org/pdf/2507.00076.pdf

Abstract:
Catalog maintenance of space objects by limited number of ground-based sensors presents a formidable challenging task to the space community. This article presents a methodology for time-invariant tracking and surveillance of space objects in low Earth orbit (LEO) by optimally directing ground sensors. Our methodology aims to maximize the expected number of space objects from a set of ground stations by utilizing concepts from stochastic geometry, particularly the Poisson point process. We have provided a systematic framework to understand visibility patterns and enhance the efficiency of tracking multiple objects simultaneously. Our approach contributes to more informed decision-making in space operations, ultimately supporting efforts to maintain safety and sustainability in LEO.

Paperid: 3094, https://arxiv.org/pdf/2507.00062.pdf

Abstract:
Road traffic simulations are crucial for establishing safe and efficient traffic environments. They are used to test various road applications before real-world implementation. SUMO is a well-known simulator for road networks and intermodal traffic, often used in conjunction with other tools to test various types of applications. Realistic simulations require accurate movement models for different road users, such as cars, bicycles, and buses. While realistic models are already implemented for most vehicle types, bicycles, which are essential for achieving safe and efficient traffic, can only be modeled as slow vehicles or fast pedestrians at present. This paper introduces the Realistic Bicycle Dynamics Model (RBDM), the first dedicated bicycle model for SUMO, addressing this significant gap. Leveraging real-world bicycle data from the SimRa dataset, the RBDM implements realistic speed, acceleration, and deceleration behaviors of bicycles in urban scenarios. The evaluation is conducted using the Monaco SUMO traffic scenario and a newly generated Berlin scenario in SUMO. The RBDM significantly outperforms the existing slow-vehicle approximation in SUMO, aligning more closely with real-world data. These results underscore the necessity of a realistic bicycle movement model for accurate simulations, given the significant differences in the movement profiles of bicycles, cars, and pedestrians. Furthermore, the model is tested for its ability to generalize to disparate scenarios and urban topologies, which is dependent on the manner and geographical region in which the SimRa data were gathered. In addition, recommendations are provided for how it could be adapted for use in different city topologies.

Paperid: 3095, https://arxiv.org/pdf/2512.24735.pdf

Abstract:
This paper investigates the output synchronization problem for discrete-time heterogeneous multi-agent systems (MASs) subject to distinct communication delays. The presence of such delays prevents the instantaneous delivery of information from neighboring nodes, thereby severely degrading the performance of standard distributed control schemes. To overcome this, we propose a prediction-based framework for exact delay compensation. Specifically, we introduce predictors combined with a mechanism of distributed predictors, which enables the recursive reconstruction of future state information across the communication network. Building upon these predictors, we construct prediction-based distributed observers and formulate both prediction-based distributed state-feedback and dynamic output-feedback controllers. Theoretical analysis confirms that the proposed strategy eliminates the impact of delays after a finite number of steps, ensuring output synchronization. The effectiveness of the methods is validated through a numerical example and a Koopman operator-based linear Susceptible-Infected-Recovered (SIR) epidemic model. Notably, for a population of 4 million, the proposed delay compensation strategy achieves a reduction of over 200,000 infected individuals at the peak, underscoring its potential significance in epidemic mitigation.

Paperid: 3096, https://arxiv.org/pdf/2512.24673.pdf

Abstract:
Vision-Language-Action (VLA) models have achieved remarkable breakthroughs in robotics, with the action chunk playing a dominant role in these advances. Given the real-time and continuous nature of robotic motion control, the strategies for fusing a queue of successive action chunks have a profound impact on the overall performance of VLA models. Existing methods suffer from jitter, stalling, or even pauses in robotic action execution, which not only limits the achievable execution speed but also reduces the overall success rate of task completion. This paper introduces VLA-RAIL (A Real-Time Asynchronous Inference Linker), a novel framework designed to address these issues by conducting model inference and robot motion control asynchronously and guaranteeing smooth, continuous, and high-speed action execution. The core contributions of the paper are two fold: a Trajectory Smoother that effectively filters out the noise and jitter in the trajectory of one action chunk using polynomial fitting and a Chunk Fuser that seamlessly align the current executing trajectory and the newly arrived chunk, ensuring position, velocity, and acceleration continuity between two successive action chunks. We validate the effectiveness of VLA-RAIL on a benchmark of dynamic simulation tasks and several real-world manipulation tasks. Experimental results demonstrate that VLA-RAIL significantly reduces motion jitter, enhances execution speed, and improves task success rates, which will become a key infrastructure for the large-scale deployment of VLA models.

Paperid: 3097, https://arxiv.org/pdf/2512.24453.pdf

Abstract:
Dynamic multipliers can be used to guarantee the stability of Lurye systems with slope-restricted nonlinearities, but give no guarantee that the closed-loop system has finite incremental gain. We show that multipliers guarantee the closed-loop power gain to be bounded and quantifiable. Power may be measured about an appropriate steady state bias term, provided the multiplier does not require the nonlinearity to be odd. Hence dynamic multipliers can be used to guarantee such Lurye systems have low sensitivity to noise, provided other exogenous signals have constant steady state. For periodic excitation, the closed-loop response can apparently have a subharmonic or chaotic response. We revisit a class of multipliers that can guarantee a unique, attractive and period-preserving solution. We show the multipliers can be derived using classical tools and reconsider assumptions required for their application. Their phase limitations are inherited from those of discrete-time multipliers. The multipliers cannot be used at all frequencies unless the circle criterion can also be applied; this is consistent with known results about dynamic multipliers and incremental stability.

Paperid: 3098, https://arxiv.org/pdf/2512.24445.pdf

Abstract:
Learning systems deployed in nonstationary and safety-critical environments often suffer from instability, slow convergence, or brittle adaptation when learning dynamics evolve over time. While modern optimization, reinforcement learning, and meta-learning methods adapt to gradient statistics, they largely ignore the temporal structure of the error signal itself. This paper proposes a diagnostic-driven adaptive learning framework that explicitly models error evolution through a principled decomposition into bias, capturing persistent drift; noise, capturing stochastic variability; and alignment, capturing repeated directional excitation leading to overshoot. These diagnostics are computed online from lightweight statistics of loss or temporal-difference error trajectories and are independent of model architecture or task domain. We show that the proposed bias-noise-alignment decomposition provides a unifying control backbone for supervised optimization, actor-critic reinforcement learning, and learned optimizers. Building on this framework, we derive diagnostic-driven instantiations including a stabilized supervised optimizer, a diagnostic-regulated actor-critic scheme, and a diagnostic-conditioned learned optimizer. Under standard smoothness assumptions, we establish bounded effective updates and stability properties for all cases. Representative diagnostic illustrations in actor-critic learning highlight how the proposed signals modulate adaptation in response to temporal-difference error structure. Overall, this work elevates error evolution to a first-class object in adaptive learning and provides an interpretable, lightweight foundation for reliable learning in dynamic environments.

Paperid: 3099, https://arxiv.org/pdf/2512.24179.pdf

Abstract:
Wilderness monitoring tasks, such as poaching surveillance and forest fire detection, require pervasive and high-accuracy sensing. While AIoT offers a promising path, covering vast, inaccessible regions necessitates the massive deployment of maintenance-free, battery-less nodes with limited computational resources. However, these constraints create a critical `Availability Gap.' Conventional intermittent operations prioritize computation throughput, forcing sensors to sleep during energy buffering. Consequently, systems miss ephemeral, `now-or-never' events (e.g., Vocalizations of natural monuments or Fire), which is fatal for detecting rare but high-stakes anomalies. To address this, we propose an Energy-aware Elastic Split Computing Algorithm that prioritizes continuous sensing by dynamically offloading tasks to energy-rich neighbors. Preliminary results demonstrate stable monitoring of an additional $2,496\;\text{m}^2$ and the capture of approximately 103 more critical events per day. Ultimately, this algorithm establishes a robust foundation for building resilient, fail-safe surveillance systems even on resource-constrained nodes.

Paperid: 3100, https://arxiv.org/pdf/2512.24170.pdf

Abstract:
DC microgrids provide an efficient framework for the interconnection of DC distributed energy resources (DERs) and DC loads. To continue to supply legacy single-phase AC loads, DC/AC converters can be integrated in the DC microgrid. The oscillatory instantaneous power of the single-phase AC load translates into a harmonic current on the converter's DC side, which increases the losses and causes unwanted voltage harmonics in the DC microgrid. To mitigate this issue, this paper proposes a hybrid voltage and current control method (HCM) for DERs. This scheme consists of an inner current control loop and an outer control layer which determines the reference for the inner loop. The outer control layer combines the DC voltage control loop with an output harmonic current control loop. This hybrid structure enables simultaneous regulation of the DC components of the DER output voltage and control of the harmonic component of the DER output current in accordance with the local single-phase AC load's demand. Frequency-domain analysis of the proposed method is presented to demonstrate the DC voltage and harmonic current loops are decoupled and there is no unwanted interaction between them. Additionally, time-domain response of the proposed scheme is validated through hardware-in-the-loop test results.

Paperid: 3101, https://arxiv.org/pdf/2512.24155.pdf

Abstract:
Modern sparse arrays are maximally economic in that they retain just as many sensors required to provide a specific aperture while maintaining a hole-free difference coarray. As a result, these are susceptible to the failure of even a single sensor. Contrarily, two-fold redundant sparse arrays (TFRSAs) and robust minimum redundancy arrays (RMRAs) ensure robustness against single-sensor failures due to their inherent redundancy in their coarrays. At present, optimal RMRA configurations are known only for arrays with sensor counts N=6 to N=10. To this end, this paper proposes two objectives: (i) developing a systematic algorithm to discover optimal RMRAs for N>10, and (ii) obtaining a new family of near-/sub-optimal RMRA that can be completely specified using closed-form expressions (CFEs). We solve the combinatorial optimization problem of finding RMRAs using an exhaustive search technique implemented in MATLAB. Optimal RMRAs for N = 11 to 14 were successfully found and near/sub-optimal arrays for N = 15 to 20 were determined using the proposed technique. As a byproduct of the exhaustive search, a large catalogue of valid near- and sub-optimal RMRAs was also obtained. In the second stage, CFEs for a new TFRSA were obtained by applying pattern mining and algebraic generalizations to the arrays obtained through exhaustive search. The proposed family enjoys CFEs for sensor positions, available aperture, and achievable degrees of freedom (DOFs). The CFEs have been thoroughly validated using MATLAB and are found to be valid for $N\geq8$. Hence, it can be concluded that the novelty of this work is two-fold: extending the catalogue of known optimal RMRAs and formulating a sub-optimal RMRA that abides by CFEs.

Paperid: 3102, https://arxiv.org/pdf/2512.24101.pdf

Abstract:
This paper investigates the economic and technical feasibility of integrating Vehicle-to-Grid (V2G) technology in the Non-Road Mobile Machinery (NRMM) sector. These often-idling assets, with their substantial battery capacities, present a unique opportunity to participate in energy markets, providing grid services and generating additional revenue. A novel methodology is introduced that integrates Bayesian Optimization (BO) to optimize the energy infrastructure together with an operating strategy optimization to reduce the electricity costs while enhancing grid interaction. While the focus lies on the methodology, the financial opportunities for the use-case of an electric NRMM rental service will be presented. However, the study is limited by the availability of real-world data on the usage of electric NRMM and does not address regulatory challenges of V2G. Further research is needed to extend the model accuracy and validate these findings.

Paperid: 3103, https://arxiv.org/pdf/2512.23658.pdf

Abstract:
This paper presents a comprehensive review of resilience metrics, covering both engineering-based measures, such as fragility-curve modeling, and data-driven approaches, including triangular and trapezoidal representations. Next, the paper examines the interdependencies between power systems resilience and community resilience, addressing socioeconomic and behavioral dimensions, infrastructure interconnections, and the emerging role of resilience hubs. The review then synthesizes state-of-the-art strategies for enhancing power system resilience, including network hardening, resource allocation, optimal scheduling, and reconfiguration techniques. Special emphasis is placed on the integration of Artificial Intelligence (AI) methods and the techno-legal dimensions of resilient power systems and communities. In particular, the paper contrasts the regulatory landscapes of the European Union and the United States, highlighting key similarities and distinctions. By analyzing methodologies for mitigating the impacts of high-impact, low-probability (HILP) events, the review identifies critical research gaps and outlines promising directions for future investigation.

Paperid: 3104, https://arxiv.org/pdf/2512.23585.pdf

Abstract:
The detection of rare and hazardous driving scenarios is a critical challenge for ensuring the safety and reliability of autonomous systems. This research explores an unsupervised learning framework for detecting rare and extreme driving scenarios using naturalistic driving data (NDD). We leverage the recently proposed Deep Isolation Forest (DIF), an anomaly detection algorithm that combines neural network-based feature representations with Isolation Forests (IFs), to identify non-linear and complex anomalies. Data from perception modules, capturing vehicle dynamics and environmental conditions, is preprocessed into structured statistical features extracted from sliding windows. The framework incorporates t-distributed stochastic neighbor embedding (t-SNE) for dimensionality reduction and visualization, enabling better interpretability of detected anomalies. Evaluation is conducted using a proxy ground truth, combining quantitative metrics with qualitative video frame inspection. Our results demonstrate that the proposed approach effectively identifies rare and hazardous driving scenarios, providing a scalable solution for anomaly detection in autonomous driving systems. Given the study's methodology, it was unavoidable to depend on proxy ground truth and manually defined feature combinations, which do not encompass the full range of real-world driving anomalies or their nuanced contextual dependencies.

Paperid: 3105, https://arxiv.org/pdf/2512.23530.pdf

Abstract:
In past work, we described the use of a reconfigurable intelligent surface (RIS) mounted on the rim of an axisymmetric prime focus-fed reflector to create nulls in the close-in sidelobes. In this paper, we show that similar performance is possible in an offset Gregorian reflector system using a RIS on the rim of the subreflector. Applications include radio astronomy, where offset Gregorian reflectors are common and observations are subject to deleterious levels of interference from satellites entering through sidelobes. We show that an efficient RIS replacing the outer one-third of the subreflector surface, employing passive elements with 1-bit phase-only control, can create a null in the peak of the second sidelobe in the quiescent pattern. This is achieved using a simple unconstrained optimization algorithm to set the states of the RIS elements. The algorithm yields a deep null with just 0.2~dB reduction in main lobe directivity, despite lacking any constraints on main lobe pattern. Compared to our previous approach of mounting the RIS on the rim of the main reflector, the subreflector-based approach demonstrated in this paper requires a much smaller RIS and can implemented in existing systems by replacing the subreflector.

Paperid: 3106, https://arxiv.org/pdf/2512.23420.pdf

Abstract:
In this paper we study the control co-design (CCD) synthesis problem for a class of systems with parabolic partial differential equation (PDE) dynamics. We formulate CCD problem and finally derive an approximate CCD problem with matrix algebraic constraint. We then solve this approximate problem with gradient-based method and prove that the optimal solution also stabilizes the PDE system. We justify approach through numerical examples.

Paperid: 3107, https://arxiv.org/pdf/2512.23186.pdf

Abstract:
Based on the driving requirement and power balance of heavy-duty vehicle equipped with Electro-Mechanical Transmission (EMT), optimization goals under different driving patterns are put forward. The optimization objectives are changed into a comprehensive optimization target based on the method of weighting, which is calculated by using analytic hierarchy process (AHP) under different working conditions. According to theory of Dynamic Programming (DP), a multi-object control strategy of DP under different driving patterns is proposed. This strategy is verified by simulation and contrasted with rule strategy, the results show that comprehensive performance is significantly enhanced, and the fuel economy is highly improved especially.

Paperid: 3108, https://arxiv.org/pdf/2512.23158.pdf

Abstract:
Multi-agent ergodic coverage via Spectral Multiscale Coverage (SMC) provides a principled framework for driving a team of agents so that their collective time-averaged trajectories match a prescribed spatial distribution. While classical SMC has demonstrated empirical success, it can suffer from gradient cancellation, particularly when agents are initialized near symmetry points of the target distribution, leading to undesirable behaviors such as stalling or motion constrained along symmetry axes. In this work, we rigorously characterize the initial conditions and symmetry-induced invariant manifolds that give rise to such directional degeneracy in first-order agent dynamics. To address this, we introduce a stochastic perturbation combined with a contraction term and prove that the resulting dynamics ensure almost-sure escape from zero-gradient manifolds while maintaining mean-square boundedness of agent trajectories. Simulations on symmetric multi-modal reference distributions demonstrate that the proposed stochastic SMC effectively mitigates transient stalling and axis-constrained motion, while ensuring that all agent trajectories remain bounded within the domain.

Paperid: 3109, https://arxiv.org/pdf/2512.23085.pdf

Abstract:
This paper presents a forward kinematics and analytical Jacobian computation approach for real-time control of a novel magnetic resonance imaging (MRI)-actuated robotic catheter. The MRI-actuated robotic catheter is modeled as a series of rigid and flexible segments and actuated by magnetic torques generated on a set of current-carrying microcoils embedded on the catheter body by the magnetic field of the MRI scanner. First, a real-time forward kinematic modeling approach of the robotic catheter employing the static Cosserat-rod theory is presented. Second, the analytical calculation approach of the forward kinematic Jacobians of the proposed forward kinematic model is presented. The accuracy, reproducibility, and computational efficiency of the proposed methods are evaluated using a robotic catheter prototype with a single coil set, where catheter tip trajectories collected by a catadioptric stereo camera tracking system are validated using the desired tip trajectories. Experimental results demonstrate that the proposed method can successfully control the catheter in an open loop to perform complex trajectories with real-time computational efficiency, paving the way for accurate closed-loop control with real-time MR-imaging feedback.

Paperid: 3110, https://arxiv.org/pdf/2512.22968.pdf

Abstract:
The Alternating Current Optimal Power Flow (ACOPF) problem remains one of the most fundamental yet computationally challenging tasks in power systems operation and planning due to its nonconvex, nonlinear, and multimodal nature. This paper proposes a convex reformulation of the AC power flow problem by introducing auxiliary variables to isolate nonlinear terms, applying logarithmic transformations to exploit product-sum properties, and approximating with Bezier curves using a novel convexifying butterfly shaped function. This model is intended for assessing and operating weak power systems that face challenges with reactive power supply and overall network robustness. Its formulation closely mirrors the AC formulation, particularly regarding active and reactive power dispatch and network voltage levels. The proposed model achieves convergence on large test systems (e.g., IEEE 118 bus) in seconds and is validated against exact AC solutions. This convex formulation stands out not only for its mathematical transparency and intuitive structure but also for its ease of validation and implementation, making it an accessible and reliable tool for researchers and system operators for energy planning. The numerical analysis conducted on the IEEE 118 bus system yielded average percentage errors in the state variables specifically, the magnitudes and angles of nodal voltages of just 0.0008 percentage and 0.014 degree, respectively, when compared with the precise AC formulation. These results underscore the high accuracy and reliability of the proposed methodology.

Paperid: 3111, https://arxiv.org/pdf/2512.22859.pdf

Abstract:
This study aims to evaluate the techno-economic feasibility of hybrid energy systems (HES) including Grid for providing reliable and sustainable power to Boru Meda Hospital, Ethiopia. HOMER pro 3.11.2 was used to design and evaluate a novel, integrated optimization and comparative assessment of diverse HRES, specif ically adjusted to the energy consumptions and available resources of the Hospital. The scenario evaluation showed that interconnecting photovoltaic (PV), biomass generator (BG), wind power (WP), diesel generator (DG), battery, and converter can effectively provide the Hospital's daily energy consumption of 11,214.66 kWh while conforming reliability and reducing emissions. The PV/BG/batt/conv configuration emerged as the most cost-effective and sustainable alternative, attaining the lowest LCOE of \$0.339/kWh, an NPC of \$25.7 million, and a 100% renewable energy fraction with simple pay back of 7.26 yr. As a result, the operational cost associated with the consumption of 500.00 L of diesel per month can be entirely avoided. The DG-integrated hybrids exhibit advanced techno-economic capability with significant worth, strong ROI (20\%) and IRR (18\%), endorsed by fast capital recovery (7.21-8.71 years). Overall, the hybrid system offers an optimal balance of cost, reliability, and sustainability, making it a promising and scalable solution for electrification of energy scare institution and areas in Ethiopia, thereby contributing to national sustainable energy development goals.

Paperid: 3112, https://arxiv.org/pdf/2512.22187.pdf

Abstract:
Joint deployment of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has been shown to be an effective method to establish communications in areas affected by disasters. However, ensuring good Quality of Services (QoS) while using as few UAVs as possible also requires optimal positioning and trajectory planning for UAVs and UGVs. This paper proposes a joint UAV-UGV-based positioning and trajectory planning framework for UAVs and UGVs deployment that guarantees optimal QoS for ground users. To model the UGVs' mobility, we introduce a road graph, which directs their movement along valid road segments and adheres to the road network constraints. To solve the sum rate optimization problem, we reformulate the problem as a Markov Decision Process (MDP) and propose a novel asynchronous Advantage Actor Critic (A3C) incorporated with meta-learning for rapid adaptation to new environments and dynamic conditions. Numerical results demonstrate that our proposed Meta-A3C approach outperforms A3C and DDPG, delivering 13.1\% higher throughput and 49\% faster execution while meeting the QoS requirements.

Paperid: 3113, https://arxiv.org/pdf/2512.21987.pdf

Abstract:
Data centers are among the fastest growing electricity consumers and can impose severe voltage drops and feeder losses when connected to weak distribution networks. This paper formulates a techno economic siting problem in which each candidate data center site is mapped to a bus of the distribution network and is assumed to deploy on site renewable generation and power electronic interfaces, resulting in a controllable net active power injection equivalent to distributed generation. A mixed integer nonlinear optimization model is developed to jointly select the connection bus and size the DG capacity while respecting network operating limits. The objective combines three normalized terms including active power losses, a voltage deviation index capturing profile quality, and investment cost derived from location dependent land price and unit DG cost. To address the discrete continuous search space, an intelligent genetic algorithm is embedded in a multi scenario decision framework with adaptive weight tuning. Three stakeholder scenarios prioritize losses, voltage quality, or techno economic balance, and additional balanced scenarios are generated automatically until the optimal bus decision converges. A case study on the IEEE 33 bus radial system demonstrates the effectiveness of the approach. The converged design selects bus 14 with 1.10 MW DG, reducing total losses from 202.67 kW to 129.37 kW while improving the minimum bus voltage to 0.933 per unit at a moderate investment cost of 1.33 MUSD. The proposed framework provides an interpretable pathway to integrate economic indicators into distribution aware data center siting.

Paperid: 3114, https://arxiv.org/pdf/2512.21801.pdf

Abstract:
AI data centers which are GPU centric, have adopted liquid cooling to handle extreme heat loads, but coolant leaks result in substantial energy loss through unplanned shutdowns and extended repair periods. We present a proof-of-concept smart IoT monitoring system combining LSTM neural networks for probabilistic leak forecasting with Random Forest classifiers for instant detection. Testing on synthetic data aligned with ASHRAE 2021 standards, our approach achieves 96.5% detection accuracy and 87% forecasting accuracy at 90% probability within plus or minus 30-minute windows. Analysis demonstrates that humidity, pressure, and flow rate deliver strong predictive signals, while temperature exhibits minimal immediate response due to thermal inertia in server hardware. The system employs MQTT streaming, InfluxDB storage, and Streamlit dashboards, forecasting leaks 2-4 hours ahead while identifying sudden events within 1 minute. For a typical 47-rack facility, this approach could prevent roughly 1,500 kWh annual energy waste through proactive maintenance rather than reactive emergency procedures. While validation remains synthetic-only, results establish feasibility for future operational deployment in sustainable data center operations.

Paperid: 3115, https://arxiv.org/pdf/2512.21501.pdf

Abstract:
In search engine advertising (SEA) market, where competition among retailers is intense and multifaceted, channel coordination between retailers and manufacturers emerges as a critical factor, which significantly influences the effectiveness of advertising strategies. This research attempts to provide managerial guidelines for cooperative advertising in the SEA context by modeling two cooperative advertising decision scenarios. Scenario I defines a simple cooperative channel consisting of one manufacturer and one retailer. In Scenario II, we consider a more general setting where there is an independent retailer who competes with the Manufacturer-Retailer alliance in Scenario I. We propose a novel cooperative advertising optimization model, wherein a manufacturer can advertise product directly through SEA campaigns and indirectly by subsidizing its retailer. To highlight the distinctive features of SEA, our model incorporates dynamic quality scores and focuses on a finite time horizon. In each scenario, we provide a feasible equilibrium solution of optimal policies for all members. Subsequently, we conduct numerical experiments to perform sensitivity analysis for both the quality score and gross margin. Additionally, we explore the impact of the initial market share of the competing retailer in Scenario II. Finally, we investigate how retail competition affects the cooperative alliance's optimal strategy and channel performance. Our identified properties derived from the equilibrium and numerical analyses offer crucial insights for participants engaged in cooperative advertising within the SEA market.

Paperid: 3116, https://arxiv.org/pdf/2512.21346.pdf

Abstract:
The increasing use of electric vehicles (EVs) requires efficient route planning solutions that take into account the limited range of EVs and the associated charging times, as well as the different types of charging stations. In this work, we model and solve an electric vehicle routing problem (EVRP) designed for a cross-platform navigation system for individual transport. The aim is to provide users with an efficient route for their daily appointments and to reduce possible inconveniences caused by charging their EV. Based on these assumptions, we propose a multi-day model in the form of a mixed integer programming (MIP) problem that takes into account the vehicle's battery capacity and the time windows of user's appointments. The model is solved using various established metaheuristics, including tabu search (TS), adaptive large neighborhood search (ALNS), and ant colony optimization (ACO). Furthermore, the performance of the individual approaches is analyzed using generated ensembles to estimate their behavior in reality and is compared with the exact results of the Google OR-Tools solver.

Paperid: 3117, https://arxiv.org/pdf/2512.21339.pdf

Abstract:
This study investigates the potential of hydrogen as a sustainable energy carrier for mobility applications in island territories, which are traditionally dependent on fossil fuel imports. Green hydrogen is identified as a key component of the energy transition. A Mixed Integer Linear Programming (MILP) model with a multi-period, multi-objective framework is used to optimize the hydrogen supply chain based on system costs, greenhouse gas (GHG) emissions, and a risk index. The model incorporates critical island-specific factors such as water resource availability, renewable energy sources, tourism flow, and geographic constraints. A multi-criteria decision making tool based on a modified version of TOPSIS (Technique for Order Preference by Similarity to Ideal Solution) aids the identification of optimal solutions. Results suggest a decentralized Hydrogen Supply Chains (HSC) structure with minimized transport. The levelized cost of hydrogen (LCOH) is estimated at 6.54 ___/kg, and GHG emissions range from 1.32 to 1.75 kgCO 2 e/kg H 2. This study highlights the impact of tourism on energy demand and the crucial role of water resources, offering a novel approach to optimizing island-specific HSC.

Paperid: 3118, https://arxiv.org/pdf/2512.21295.pdf

Abstract:
As hyperscale and co-located data centers scale, the electric grid sees an increase in large, voltage-sensitive IT loads with these data center plant size ranging between 500 MW to 2 GW. A sudden loss of these loads as they switch to onsite UPS during grid voltage excursion events causes a grid frequency rise from generation and load imbalance, and a voltage rise because less power is flowing through the network. This paper proposes and theoretically demonstrates the use of high voltage circuit breaker operated braking resistors at data center transmission substations as an effective strategy in enhancing grid resilience under such large load loss scenarios. We developed a test bed to illustrate the dynamic behavior of the system with resistive braking on a gigawatt scale data center load cluster connected to a 345 kV network. The braking resistor(s), which in the case of inverter rich system comes in a multi-stage configuration, are connected or disconnected via high-speed circuit breaker(s). Results show that insertion for 0.25 to 0.85 seconds sufficiently reduce rate of change of frequency and provides time for primary governor response and capacitor switching to restore steady state. Sensitivity across different synchronous machines and inverter-based resource mix are tested and confirms robustness. We conclude circuit breaker controlled resistive braking is a practical means to enhance Bulk Electric System (BES) resilience for gigawatt scale data centers. The approach integrates with protection, needs no generator changes, and can be scaled with cluster size or growth of the data center facility load.

Paperid: 3119, https://arxiv.org/pdf/2512.21226.pdf

Abstract:
This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a unified fusion framework, enabling robust and accurate relative positioning for collaborative robotic tasks. Experimental validation demonstrates the effectiveness of the system in realtime operation, with a rule based fusion strategy ensuring reliability across dynamic scenarios. The results highlight the potential for scalable deployment in modular robotic systems.

Paperid: 3120, https://arxiv.org/pdf/2512.21219.pdf

Abstract:
Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditional tethered sensor configurations often restrict joint movement and introduce mechanical noises. This study proposes a wireless embedded balance system designed to maintain stability on uneven surfaces. The system utilizes a custom-designed foot unit integrated with four load cells and an ESP32-C3 microcontroller to estimate the Center of Pressure (CoP) in real time. The CoP data were transmitted wirelessly to the main controller to minimize the wiring complexity of the 29-DoF VI-ROSE humanoid robot. A PID control strategy is implemented to adjust the torso, hip, and ankle roll joints based on CoP feedback. Experimental characterization demonstrated high sensor precision with an average measurement error of 14.8 g. Furthermore, the proposed control system achieved a 100% success rate in maintaining balance during single-leg lifting tasks at a 3-degree inclination with optimized PID parameters (Kp=0.10, Kd=0.005). These results validate the efficacy of wireless CoP feedback in enhancing the postural stability of humanoid robots, without compromising their mechanical flexibility.

Paperid: 3121, https://arxiv.org/pdf/2512.21196.pdf

Abstract:
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors, relying solely on local alignment and attraction cues. By systematically tuning these two interaction gains, we map a phase diagram revealing sharp transitions between swarming and schooling, as well as a critical region where susceptibility, polarization fluctuations, and reorganization capacity peak. Outdoor experiments with a swarm of ten drones, combined with simulations using a calibrated flight-dynamics model, show that operating near this transition enhances responsiveness to external disturbances. When confronted with an intruder, the swarm performs rapid collective turns, transient expansions, and reliably recovers high alignment within seconds. These results demonstrate that minimal local-interaction rules are sufficient to generate multiple collective phases and that simple gain modulation offers an efficient mechanism to adjust stability, flexibility, and resilience in drone swarms.

Paperid: 3122, https://arxiv.org/pdf/2512.20970.pdf

Abstract:
Existing dynamics prediction frameworks for transient stability analysis (TSA) fail to achieve multi-scenario "universality"--the inherent ability of a single, pre-trained architecture to generalize across diverse operating conditions, unseen faults, and heterogeneous systems. To address this, this paper proposes TSA-LLM, a large language model (LLM)-based universal framework that models multi-variate transient dynamics prediction as a univariate generative task with three key innovations: First, a novel data processing pipeline featuring channel independence decomposition to resolve dimensional heterogeneity, sample-wise normalization to eliminate separate stable or unstable pipelines, and temporal patching for efficient long-sequence modeling; Second, a parameter-efficient freeze-and-finetune strategy that augments the LLM's architecture with dedicated input embedding and output projection layers while freezing core transformer blocks to preserve generic feature extraction capabilities; Third, a two-stage fine-tuning scheme that combines teacher forcing, which feeds the model ground-truth data during initial training, with scheduled sampling, which gradually shifts to leveraging model-generated predictions, to mitigate cumulative errors in long-horizon iterative prediction. Comprehensive testing demonstrates the framework's universality, as TSA-LLM trained solely on the New England 39-bus system achieves zero-shot generalization to mixed stability conditions and unseen faults, and matches expert performance on the larger Iceland 189-bus system with only 5% fine-tuning data. This multi-scenario versatility validates a universal framework that eliminates scenario-specific retraining and achieves scalability via large-scale parameters and cross-scenario training data.

Paperid: 3123, https://arxiv.org/pdf/2512.20966.pdf

Abstract:
A feedback control system is proposed for balancing the deviations of water levels from set-points along open channels subject to uncertain supply-demand mismatch that exceeds individual pool capacity. Decentralized controllers adjust the gate flows between pools to regulate potentially weighted differences between neighbouring water-level errors to zero in steady state. A sequential SISO loop-shaping procedure is developed for the design of each local flow controller based on distributed parameter transfer function models of the channel dynamics. Recursive feasibility of the procedure for relevant performance specifications, and stability of the resulting MIMO closed-loop, are verified by supporting analysis. Both numerical simulations and field trial results are presented.

Paperid: 3124, https://arxiv.org/pdf/2512.20868.pdf

Abstract:
Maintaining stability in feedback systems, from aircraft and autonomous robots to biological and physiological systems, relies on monitoring their behavior and continuously adjusting their inputs. Incremental damage can make such control fragile. This tends to go unnoticed until a small perturbation induces instability (i.e. loss of control). Traditional methods in the field of engineering rely on accurate system models to compute a safe set of operating instructions, which become invalid when the, possibly damaged, system diverges from its model. Here we demonstrate that the approach of such a feedback system towards instability can nonetheless be monitored through dynamical indicators of resilience. This holistic system safety monitor does not rely on a system model and is based on the generic phenomenon of critical slowing down, shown to occur in the climate, biology and other complex nonlinear systems approaching criticality. Our findings for engineered devices opens up a wide range of applications involving real-time early warning systems as well as an empirical guidance of resilient system design exploration, or "tinkering". While we demonstrate the validity using drones, the generic nature of the underlying principles suggest that these indicators could apply across a wider class of controlled systems including reactors, aircraft, and self-driving cars.

Paperid: 3125, https://arxiv.org/pdf/2512.20789.pdf

Abstract:
The growing complexity of power system operations has created an urgent need for intelligent, automated tools to support reliable and efficient grid management. Conventional analysis tools often require significant domain expertise and manual effort, which limits their accessibility and adaptability. To address these challenges, this paper presents X-GridAgent, a novel large language model (LLM)-powered agentic AI system designed to automate complex power system analysis through natural language queries. The system integrates domain-specific tools and specialized databases under a three-layer hierarchical architecture comprising planning, coordination, and action layers. This architecture offers high flexibility and adaptability to previously unseen tasks, while providing a modular and extensible framework that can be readily expanded to incorporate new tools, data sources, or analytical capabilities. To further enhance performance, we introduce two novel algorithms: (1) LLM-driven prompt refinement with human feedback, and (2) schema-adaptive hybrid retrieval-augmented generation (RAG) for accurate information retrieval from large-scale structured grid datasets. Experimental evaluations across a variety of user queries and power grid cases demonstrate the effectiveness and reliability of X-GridAgent in automating interpretable and rigorous power system analysis.

Paperid: 3126, https://arxiv.org/pdf/2512.20600.pdf

Abstract:
In this paper, we demonstrate how multiport network theory can be used as a powerful modeling tool in economics. The critical insight is using the port concept to pair the flow of goods (the electrical current) with the agent's incentive (the voltage) in an economic interaction. By building networks of agents interacting through ports, we create models with multiple levels of abstraction, from the macro level down to the micro level. We are thereby able to model complex macroeconomic systems whose dynamical behavior is emergent from the micro level. Using the LTSpice circuit simulator, we then design and analyze a series of example systems that range in complexity from the textbook Robinson Crusoe economy to a model of an entire economy.

Paperid: 3127, https://arxiv.org/pdf/2512.20589.pdf

Abstract:
As systems engineering (SE) objectives evolve from design and operation of monolithic systems to complex System of Systems (SoS), the discipline of Mission Engineering (ME) has emerged which is increasingly being accepted as a new line of thinking for the SE community. Moreover, mission environments are uncertain, dynamic, and mission outcomes are a direct function of how the mission assets will interact with this environment. This proves static architectures brittle and calls for analytically rigorous approaches for ME. To that end, this paper proposes an intelligent mission coordination methodology that integrates digital mission models with Reinforcement Learning (RL), that specifically addresses the need for adaptive task allocation and reconfiguration. More specifically, we are leveraging a Digital Engineering (DE) based infrastructure that is composed of a high-fidelity digital mission model and agent-based simulation; and then we formulate the mission tactics management problem as a Markov Decision Process (MDP), and employ an RL agent trained via Proximal Policy Optimization. By leveraging the simulation as a sandbox, we map the system states to actions, refining the policy based on realized mission outcomes. The utility of the RL-based intelligent mission coordinator is demonstrated through an aerial firefighting case study. Our findings indicate that the RL-based intelligent mission coordinator not only surpasses baseline performance but also significantly reduces the variability in mission performance. Thus, this study serves as a proof of concept demonstrating that DE-enabled mission simulations combined with advanced analytical tools offer a mission-agnostic framework for improving ME practice; which can be extended to more complicated fleet design and selection problems in the future from a mission-first perspective.

Paperid: 3128, https://arxiv.org/pdf/2512.20418.pdf

Abstract:
The classical Andronov-Vyshnegradsky problem, which deals with locating regions of stability and oscillations in control systems with a Watt regulator, is solved using a divergence method for studying the stability of dynamic systems. This system is studied both with and without the self-regulation effect. The exact value of the hidden boundary of the global stability region is obtained. The stability criteria for a system with a Watt regulator are also presented in the context of the solvability of a linear matrix inequality. Computer modelling shows that the system exhibits hidden oscillations when the self-regulation effect is present and when it is not. The conditions for computing the hidden boundary of global stability are determined by three parameters in the Watt regulator model.

Paperid: 3129, https://arxiv.org/pdf/2512.20244.pdf

Abstract:
In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the sliding manifold and exponential stability of the closed-loop system. Since the closed-loop system is discontinuous, we also prove its well-posedness. A numerical example is provided to validate the effectiveness of the proposed approach.

Paperid: 3130, https://arxiv.org/pdf/2512.20015.pdf

Abstract:
The Heyland circle diagram is a classical graphical tool for representing the steady-state behavior of induction machines using no-load and blocked-rotor test data. While widely used in alternating-current machinery texts, the diagram is typically presented as a hand-constructed aid and lacks a standardized computational formulation. This paper presents HeylandCircle, a computational framework that reconstructs the classical Heyland circle diagram directly from standard test parameters. The framework formalizes the traditional geometric construction as a deterministic, reproducible sequence of geometric operations, establishing a clear mapping between measured data, fixed geometric objects, and steady-state operating points. Quantities such as power factor, slip, output power, torque, and efficiency are obtained through explicit geometric relationships on the constructed diagram. Validation using a representative textbook example demonstrates close agreement with classical results. The framework provides a computational realization of the traditional Heyland diagram suitable for instruction, analysis, and systematic extension.

Paperid: 3131, https://arxiv.org/pdf/2512.19970.pdf

Abstract:
This study introduces a novel data-driven framework and the first-ever county-scale application of Spatio-Temporal Graph Neural Networks (STGNN) to forecast composite sustainability indices from herd-level operational records. The methodology employs a novel, end-to-end pipeline utilizing a Variational Autoencoder (VAE) to augment Irish Cattle Breeding Federation (ICBF) datasets, preserving joint distributions while mitigating sparsity. A first-ever pillar-based scoring formulation is derived via Principal Component Analysis, identifying Reproductive Efficiency, Genetic Management, Herd Health, and Herd Management, to construct weighted composite indices. These indices are modelled using a novel STGNN architecture that explicitly encodes geographic dependencies and non-linear temporal dynamics to generate multi-year forecasts for 2026-2030.

Paperid: 3132, https://arxiv.org/pdf/2512.19416.pdf

Abstract:
Temperature is a fundamental regulator of chemical and biochemical kinetics, yet capturing nonlinear thermal effects directly from experimental data remains a major challenge due to limited throughput and model flexibility. Recent advances in machine learning have enabled flexible modeling beyond conventional physical laws, but most existing strategies remain confined to surrogate models of end-point yields rather than full kinetic dynamics. Consequently, an end-to-end framework that unifies systematic kinetic data acquisition with machine learning based modeling has been lacking. In this paper, we present a unified framework that integrates droplet microfluidics with machine learning for the systematic analysis of temperature-dependent reaction kinetics. The platform is specifically designed to enable stable immobilization and long-term time-lapse imaging of thousands of droplets under dynamic thermal gradients. This configuration yields massively parallel time-resolved datasets across diverse temperature conditions that capture transient kinetics and provides particularly suitable inputs for training machine-learning models of reaction dynamics. Leveraging these datasets, we train Neural ODE models, which embed neural networks within differential equations to flexibly represent nonlinear temperature dependencies beyond conventional formulations. We demonstrate accurate prediction of enzymatic kinetics across diverse thermal environments, highlighting the robustness and versatility of the approach. Our framework bridges high-throughput experimental data acquisition with data-driven modeling, establishing a versatile foundation for enhanced predictive ability and rational analysis and design of temperature-sensitive biochemical processes.

Paperid: 3133, https://arxiv.org/pdf/2512.19291.pdf

Abstract:
This paper investigates the stability properties of neural operators through the structured representation offered by the Hybrid B-spline Deep Neural Operator (HBDNO). While existing stability-aware architectures typically enforce restrictive constraints that limit universality, HBDNO preserves full expressive power by representing outputs via B-spline control points. We show that these control points form a natural observable for post-training stability analysis. By applying Dynamic Mode Decomposition and connecting the resulting discrete dynamics to the Koopman operator framework, we provide a principled approach to spectral characterization of learned operators. Numerical results demonstrate the ability to assess stability and reveal future directions for safety-critical applications.

Paperid: 3134, https://arxiv.org/pdf/2512.19172.pdf

Abstract:
We establish finite sample certificates on the quality of solutions produced by data-based forward-backward (FB) operator splitting schemes. As frequently happens in stochastic regimes, we consider the problem of finding a zero of the sum of two operators, where one is either unavailable in closed form or computationally expensive to evaluate, and shall therefore be approximated using a finite number of noisy oracle samples. Under the lens of algorithmic stability, we then derive probabilistic bounds on the distance between a true zero and the FB output without making specific assumptions about the underlying data distribution. We show that under weaker conditions ensuring the convergence of FB schemes, stability bounds grow proportionally to the number of iterations. Conversely, stronger assumptions yield stability guarantees that are independent of the iteration count. We then specialize our results to a popular FB stochastic Nash equilibrium seeking algorithm and validate our theoretical bounds on a control problem for smart grids, where the energy price uncertainty is approximated by means of historical data.

Paperid: 3135, https://arxiv.org/pdf/2512.18885.pdf

Abstract:
Dispatching mobile resources such as repair crews and mobile emergency generators is essential for the rapid restoration of distribution systems after extreme events. However, the restoration process is affected by various uncertain factors including repair time, road condition, and newly observed failures, necessitating online decision-making in response to real-time information. This paper proposes a simulation-based online dynamic programming approach to provide real-time restoration actions considering the dispatch of mobile resources. Using an index-based priority rule as the base policy, the remaining cumulative loss at the current state and a given action is evaluated from online simulation. As the base policy is explicit, the simulation is efficient. Then, the action leading to the minimum cumulative loss is chosen. It is proven that such a strategy improves the performance of base policy. The proposed policy adapts to real-time information updates and does not rely on offline training, so incurs no data and convergence-related issues, which is important in restoration tasks where the historical data of extreme events is rare. The rolling optimization approach may not meet the requirement of online use, because routing mobile resources gives rise to large-scale discrete optimization problems. Case studies on 123-bus and 8500-bus systems demonstrate that the proposed method achieves higher efficiency and better performance compared with rolling horizon optimization.

Paperid: 3136, https://arxiv.org/pdf/2512.18540.pdf

Abstract:
We study distributed control of networked systems through reinforcement learning, where neural policies must be simultaneously scalable, expressive and stabilizing. We introduce a policy parameterization that embeds Graph Neural Networks (GNNs) into a Youla-like magnitude-direction parameterization, yielding distributed stochastic controllers that guarantee network-level closed-loop stability by design. The magnitude is implemented as a stable operator consisting of a GNN acting on disturbance feedback, while the direction is a GNN acting on local observations. We prove robustness of the closed loop to perturbations in both the graph topology and model parameters, and show how to integrate our parameterization with Proximal Policy Optimization. Experiments on a multi-agent navigation task show that policies trained on small networks transfer directly to larger ones and unseen network topologies, achieve higher returns and lower variance than a state-of-the-art MARL baseline while preserving stability.

Paperid: 3137, https://arxiv.org/pdf/2512.18458.pdf

Abstract:
We provide theoretical foundations and computational tools for the systematic design of optimization-based control laws with constraints that have different priorities. By introducing the concept of prioritized intersections, we extend and unify previous work on the topic. Moreover, to enable the use of prioritized intersection in real-time applications, we propose an efficient solver for forming such intersections for polyhedral constraints. The solver in question is a tailored implementation of a dual active-set quadratic programming solver that leverages the particular problem structure of the optimization problems arising for prioritized intersections. The method is validated in a real-time MPC application for autonomous driving, where it successfully resolves six different levels of conflicting constraints, confirming its efficiency and practicality for control. Furthermore, we show that the proposed solver outperforms existing solvers for hierarchical quadratic programming, making it relevant beyond control applications.

Paperid: 3138, https://arxiv.org/pdf/2512.18441.pdf

Abstract:
City-scale logistics routing has become increasingly challenging as metropolitan road networks grow to tens of millions of edges and traffic conditions evolve rapidly under high-volume mobility demands. Conventional centralized routing algorithms and monolithic graph neural network (GNN) models suffer from limited scalability, high latency, and poor real-time adaptability, which restricts their effectiveness in large urban logistics systems. To address these challenges, this paper proposes a Distributed Hierarchical Spatio-Temporal Edge-Enhanced Graph Neural Network (HSTE-GNN) for dynamic routing over ultra-large road networks. The framework partitions the city-scale graph into regional subgraphs processed in parallel across distributed computing nodes, enabling efficient learning of localized traffic dynamics. Within each region, an edge-enhanced spatio-temporal module jointly models node states, dynamic edge attributes, and short-term temporal dependencies. A hierarchical coordination layer further aggregates cross-region representations through an asynchronous parameter-server mechanism, ensuring global routing coherence under high-frequency traffic updates. This distributed hierarchical design balances local responsiveness with global consistency, significantly improving scalability and inference efficiency. Experiments on real-world large-scale traffic datasets from Beijing and New York demonstrate that HSTE-GNN outperforms strong spatio-temporal baselines such as ST-GRAPH, achieving 34.9% lower routing delay, 14.7% lower MAPE, and 11.8% lower RMSE, while improving global route consistency by 7.3%. These results confirm that the proposed framework provides a scalable, adaptive, and efficient solution for next-generation intelligent transportation systems and large-scale logistics platforms.

Paperid: 3139, https://arxiv.org/pdf/2512.18430.pdf

Abstract:
This paper study the hyperexponential stabilization for infinite-dimensional system on Hilbert space by a distributed time depending control law. The well-posedness of the closed loop for every time is obtained through the use of maximal monotone operator. The hyperexponential stability and ISS property of the closed loop is established using Lyapunov analysis and time scale transformation.

Paperid: 3140, https://arxiv.org/pdf/2512.18428.pdf

Abstract:
This work addresses virtual resistance (VR)based control for grid-connected inverters, which enhances transient damping, reduces steady-state errors, and improves robustness to grid disturbances without requiring additional voltage sensors. Classical passivity-based VR control is robust, but limited by restrictive sector bounds on nonlinearities. We extend these bounds and model the closed-loop system as a generalized Persidskii-type nonlinear system. Using this framework, we derive input-to-state stability (ISS) conditions that account for the extended nonlinearities and external disturbances, providing a systematic and less conservative approach to VR control design under practical operating conditions, which is validated through extensive simulations.

Paperid: 3141, https://arxiv.org/pdf/2512.18207.pdf

Abstract:
Current data-driven Wi-Fi-based indoor localization systems face three critical challenges: protecting user privacy, achieving accurate predictions in dynamic multipath environments, and generalizing across different deployments. Traditional Wi-Fi localization systems often compromise user privacy, particularly when facing compromised access points (APs) or man-in-the-middle attacks. As IoT devices proliferate in indoor environments, developing solutions that deliver accurate localization while robustly protecting privacy has become imperative. We introduce FedWiLoc, a privacy-preserving indoor localization system that addresses these challenges through three key innovations. First, FedWiLoc employs a split architecture where APs process Channel State Information (CSI) locally and transmit only privacy-preserving embedding vectors to user devices, preventing raw CSI exposure. Second, during training, FedWiLoc uses federated learning to collaboratively train the model across APs without centralizing sensitive user data. Third, we introduce a geometric loss function that jointly optimizes angle-of-arrival predictions and location estimates, enforcing geometric consistency to improve accuracy in challenging multipath conditions. Extensive evaluation across six diverse indoor environments spanning over 2,000 sq. ft. demonstrates that FedWiLoc outperforms state-of-the-art methods by up to 61.9% in median localization error while maintaining strong privacy guarantees throughout both training and inference.

Paperid: 3142, https://arxiv.org/pdf/2512.18067.pdf

Abstract:
This paper presents a comprehensive review of dielectric barrier discharge (DBD) power supply topologies, aiming to bridge the gap between DBD applications and power electronics design. Two key aspects are examined: the dependence of the DBD electrical model on reactor geometry, and application-driven requirements for injected waveform characteristics, including shapes, voltage amplitude, frequency, and modulation techniques. On this basis, the paper systematically reviews two major categories of power supplies: sinusoidal types comprising transformerless and transformer-based resonant inverters, and pulsed power supplies (PPSs). The review summarizes performance trade-offs, highlights untested topologies and emerging applications, and offers guidance for advancing high-performance DBD power supply design for next-generation systems.

Paperid: 3143, https://arxiv.org/pdf/2512.17841.pdf

Abstract:
Recent advancements in robotic rehabilitation therapy have provided modular exercise systems for post-stroke muscle recovery with basic control schemes. But these systems struggle to adapt to patients' complex and ever-changing behaviour, and to operate within mobile settings, such as heat and power. To aid this, we present NeuRehab: an end-to-end framework consisting of a training and inference pipeline with AI-based automation, co-designed with neuromorphic computing-based control systems that balance action performance, power consumption, and observed latency. The framework consists of 2 partitions. One is designated for the rehabilitation device based on ultra-low power spiking networks deployed on dedicated neuromorphic hardware. The other resides on stationary hardware that can accommodate computationally intensive hardware for fine-tuning on a per-patient basis. By maintaining a communication channel between both the modules and splitting the algorithm components, the power and latency requirements of the movable system have been optimised, while retaining the learning performance advantages of compute- and power-hungry hardware on the stationary machine. As part of the framework, we propose (a) the split machine learning processes for efficiency in architectural utilisation, and (b) task-specific temporal optimisations to lower edge-inference control latency. This paper evaluates the proposed methods on a reference stepper motor-based shoulder exercise. Overall, these methods offer comparable performance uplifts over the State-of-the-art for neuromorphic deployment, while achieving over 60% savings in both power and latency during inference compared to standard implementations.

Paperid: 3144, https://arxiv.org/pdf/2512.17360.pdf

Abstract:
In multi-attribute decision-making problems where the attribute values are interval grey numbers, a simplified form based on kernels and the degree of greyness is presented. Combining fuzzy graph theory with the kernel and the degree of greyness of interval grey numbers, grey graphs and their corresponding operation rules are presented. This paper presents a new multi-attribute decision-making method based on grey graph theory. We analyzed and evaluated the alternative schemes using grey graph. Lastly, a numerical example was conducted in order to demonstrate the effectiveness and feasibility of the proposed method.

Paperid: 3145, https://arxiv.org/pdf/2512.17041.pdf

Abstract:
Agentic AI is increasingly being explored and introduced in both manually driven and autonomous vehicles, leading to the notion of Agentic Vehicles (AgVs), with capabilities such as memory-based personalization, goal interpretation, strategic reasoning, and tool-mediated assistance. While frameworks such as the OWASP Agentic AI Security Risks highlight vulnerabilities in reasoning-driven AI systems, they are not designed for safety-critical cyber-physical platforms such as vehicles, nor do they account for interactions with other layers such as perception, communication, and control layers. This paper investigates security threats in AgVs, including OWASP-style risks and cyber-attacks from other layers affecting the agentic layer. By introducing a role-based architecture for agentic vehicles, consisting of a Personal Agent and a Driving Strategy Agent, we will investigate vulnerabilities in both agentic AI layer and cross-layer risks, including risks originating from upstream layers (e.g., perception layer, control layer, etc.). A severity matrix and attack-chain analysis illustrate how small distortions can escalate into misaligned or unsafe behavior in both human-driven and autonomous vehicles. The resulting framework provides the first structured foundation for analyzing security risks of agentic AI in both current and emerging vehicle platforms.

Paperid: 3146, https://arxiv.org/pdf/2512.16555.pdf

Abstract:
In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our approach is based on Supervisory Control Theory, and it allows us to synthesize from models that represent a single robot and the target structure a correct-by-construction reactive controller, called supervisor. When this supervisor is replicated for the other robots, then the target structure can be completed by all robots

Paperid: 3147, https://arxiv.org/pdf/2512.15735.pdf

Abstract:
This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit unnecessary computations. The ESO is utilized to estimate the system states and the lumped disturbance in real time, forming the foundation for effective disturbance compensation. To obtain near-optimal behavior without an accurate system description, a value-iteration-based Adaptive Dynamic Programming (ADP) method is adopted for policy approximation. The inclusion of the ETM ensures that parameter updates of the learning module are executed only when the state deviation surpasses a predefined bound, thereby preventing excessive learning activity and substantially reducing computational load. A Lyapunov-oriented analysis is used to characterize the stability properties of the resulting closed-loop system. Numerical experiments further confirm that the developed approach maintains strong control performance and disturbance tolerance, while achieving a significant reduction in sampling and processing effort compared with standard time-triggered ADP schemes.

Paperid: 3148, https://arxiv.org/pdf/2512.15533.pdf

Abstract:
We present a sampling-based Model Predictive Control (MPC) method that implements Model Predictive Path Integral (MPPI) as an \emph{Ising machine}, suitable for novel forms of probabilistic computing. By expressing the control problem as a Quadratic Unconstrained Binary Optimization (QUBO) problem, we map MPC onto an energy landscape suitable for Gibbs sampling from an Ising model. This formulation enables efficient exploration of (near-)optimal control trajectories. We demonstrate that the approach achieves accurate trajectory tracking compared to a reference MPPI implementation, highlighting the potential of Ising-based MPPI for real-time control in robotics and autonomous systems.

Paperid: 3149, https://arxiv.org/pdf/2512.15440.pdf

Abstract:
Designing lithium-ion batteries for long service life remains a challenge, as most cells are optimized for beginning-of-life metrics such as energy density, often overlooking how design and operating conditions shape degradation. This work introduces a degradation-aware design framework built around finite, interacting reservoirs (lithium, porosity, and electrolyte) that are depleted over time by coupled degradation processes. We extend a physics-based Doyle-Fuller-Newman model to include validated mechanisms such as SEI growth, lithium plating, cracking, and solvent dry-out, and simulate how small design changes impact lifetime. Across more than 1,000 cycles, we find that increasing electrolyte volume by just 1% or porosity by 5% can extend service life by over 30% without significantly affecting cell energy density. However, lithium excess, while boosting initial capacity, can accelerate failure if not supported by sufficient structural or ionic buffers. Importantly, we show that interaction between reservoirs is crucial to optimal design: multi-reservoir tuning yields either synergistic benefits or compound failures, depending on operating conditions. We also quantify how C-rate and operating temperature influence degradation pathways, emphasizing the need for co-optimized design and usage profiles. By reframing degradation as a problem of managing finite internal reservoirs, this work offers a predictive and mechanistic foundation for designing lithium-ion batteries that balance energy, durability, and application-specific needs.

Paperid: 3150, https://arxiv.org/pdf/2512.15189.pdf

Abstract:
Historical information, such as past function values or gradients, has significant potential to enhance decentralized optimization methods for two key reasons: first, it provides richer information about the objective function, which also explains its established success in centralized optimization; second, unlike the second-order derivative or its alternatives, historical information has already been computed or communicated and requires no additional cost to acquire. Despite this potential, it remains underexploited. In this work, we employ a proximal bundle framework to incorporate the function values and gradients at historical iterates and adapt the framework to the proximal decentralized gradient descent method, resulting in a Decentralized Proximal Bundle Method (DPBM). To broaden its applicability, we further extend DPBM to the asynchronous and stochastic setting. We theoretically analysed the convergence of the proposed methods. Notably, both the asynchronous DPBM and its stochastic variant can converge with fixed step-sizes that are independent of delays, which is superior to the delay-dependent step-sizes required by most existing asynchronous optimization methods, as it is easier to determine and often leads to faster convergence. Numerical experiments on classification problems demonstrate that by using historical information, our methods yield faster convergence and stronger robustness in the step-sizes.

Paperid: 3151, https://arxiv.org/pdf/2512.14930.pdf

Abstract:
High-content screening microscopy generates large amounts of live-cell imaging data, yet its potential remains constrained by the inability to determine when and where to image most effectively. Optimally balancing acquisition time, computational capacity, and photobleaching budgets across thousands of dynamically evolving regions of interest remains an open challenge, further complicated by limited field-of-view adjustments and sensor sensitivity. Existing approaches either rely on static sampling or heuristics that neglect the dynamic evolution of biological processes, leading to inefficiencies and missed events. Here, we introduce the restless multi-process multi-armed bandit (RMPMAB), a new decision-theoretic framework in which each experimental region is modeled not as a single process but as an ensemble of Markov chains, thereby capturing the inherent heterogeneity of biological systems such as asynchronous cell cycles and heterogeneous drug responses. Building upon this foundation, we derive closed-form expressions for transient and asymptotic behaviors of aggregated processes, and design scalable Whittle index policies with sub-linear complexity in the number of imaging regions. Through both simulations and a real biological live-cell imaging dataset, we show that our approach achieves substantial improvements in throughput under resource constraints. Notably, our algorithm outperforms Thomson Sampling, Bayesian UCB, epsilon-Greedy, and Round Robin by reducing cumulative regret by more than 37% in simulations and capturing 93% more biologically relevant events in live imaging experiments, underscoring its potential for transformative smart microscopy. Beyond improving experimental efficiency, the RMPMAB framework unifies stochastic decision theory with optimal autonomous microscopy control, offering a principled approach to accelerate discovery across multidisciplinary sciences.

Paperid: 3152, https://arxiv.org/pdf/2512.14893.pdf

Abstract:
Low-resolution quantization is essential to reduce implementation cost and power consumption in massive multiple-input multiple-output (MIMO) systems for 5G and 6G. While most existing studies assume perfect channel state information (CSI), we model the impact of coarse quantization noise on both channel estimation and data transmission, yielding a more realistic assessment of system performance under imperfect CSI conditions in the uplink. We develop a tight approximation for the bit-error ratio (BER) of uncoded M-QAM with zero-forcing detection, based on the linear minimum mean-square error (LMMSE) channel estimate. These analytical results enable compensation strategies that jointly optimize quantization resolution, transmit power, and pilot length across different numbers of users and base station antennas. We further demonstrate the applicability of the proposed framework through several design scenarios that highlight its effectiveness in optimizing system parameters and improving energy efficiency under quantization constraints. For example, in a 16-QAM system, extending the pilot sequence by 2.5 times and lowering transmit power by 0.5 dB enables a 3-bit quantized system to match the BER of the full-resolution case. The proposed framework offers a fast and accurate alternative to Monte Carlo simulations, enabling practical system optimization under realistic quantization constraints.

Paperid: 3153, https://arxiv.org/pdf/2512.14535.pdf

Abstract:
This paper studies regularized data-enabled predictive control (DeePC) within a nonlinear framework and its relationship to subspace predictive control (SPC). The $Π$-regularization is extended to general basis functions and it is shown that, under suitable conditions, the resulting basis functions DeePC formulation constitutes a relaxation of basis functions SPC. To improve scalability, we introduce an SVD-based dimensionality reduction that preserves the equivalence with SPC, and we derive a reduced Π-regularization. A LASSO based sparse basis selection method is proposed to obtain a reduced basis from lifted data. Simulations on a nonlinear van der Pol oscillator model indicate that, in the absence of noise, DeePC and SPC yield equivalent absolute mean tracking errors (AMEs) when large penalties are applied. In contrast, under noisy measurements, careful tuning of the DeePC regularization results in a reduced AME, outperforming SPC.

Paperid: 3154, https://arxiv.org/pdf/2512.14359.pdf

Abstract:
For decades, focal non-invasive neuromodulation of deep brain regions has not been possible because of the steep depth-focality trade-off of conventional non-invasive brain stimulation (NIBS) techniques, such as transcranial magnetic stimulation (TMS) or classical transcranial electric stimulation (tES). Deep brain stimulation has therefore largely relied on invasive approaches in clinical populations, requiring surgery. Transcranial Temporal Interference Stimulation (tTIS) has recently emerged as a promising method to overcome this challenge and allows for the first time focal non-invasive electrical deep brain stimulation. The method, which was first validated through computational modeling and rodent work, has now been successfully translated to humans to target deep brain regions such as the hippocampus or striatum. In this Perspective, we present current evidence for tTIS-based neuromodulation, underlying mechanisms and discuss future developments of this promising technology. More specifically, we highlight key opportunities and challenges for fundamental neuroscience as well as for the design of new interventions in neuropsychiatric disorders. We also discuss the status of understanding and challenges regarding the basic mechanisms of action of tTIS and possible lines of technological innovation to optimize stimulation, in particular in terms of intensity and focality. Overall, we suggest that following the first proof-of-concepts, an important multidisciplinary research effort is now required to further validate the use of tTIS in multiple applications, understand its underlying principles and optimize the technology in the view of a wider scientific and clinical deployment.

Paperid: 3155, https://arxiv.org/pdf/2512.14344.pdf

Abstract:
Electrification in the automotive industry and increasing powertrain complexity demand accelerated, cost-effective development cycles. While data-driven models are recently investigated at component level, a gap exists in systematically integrating them into cohesive, system-level simulations for virtual validation. This paper addresses this gap by presenting a modular framework for developing powertrain simulations. By defining standardized interfaces for key components-the battery, inverter, and electric motor-our methodology enables independently developed models, whether data-driven, physics-based, or empirical, to be easily integrated. This approach facilitates scalable system-level modeling, aims to shorten development timelines and to meet the agile demands of the modern automotive industry.

Paperid: 3156, https://arxiv.org/pdf/2512.13890.pdf

Abstract:
Dynamical decoupling seeks to mitigate phase decoherence in qubits by applying a carefully designed sequence of effectively instantaneous electromagnetic pulses. Although analytic solutions exist for pulse timings that are optimal under specific noise regimes, identifying the optimal timings for a realistic noise spectrum remains challenging. We propose a reinforcement learning (RL)-based method for designing pulse sequences on qubits. Our novel action set enables the RL agent to efficiently navigate this inherently non-convex optimization landscape. The action set, derived from Thompson's group $F$, is applicable to a broad class of sequential decision problems whose states can be represented as bounded sequences. We demonstrate that our RL agent can learn pulse sequences that minimize dephasing without requiring explicit knowledge of the underlying noise spectrum. This work opens the possibility for real-time learning of optimal dynamical decoupling sequences on qubits which are dephasing-limited. The model-free nature of our algorithm suggests that the agent may ultimately learn optimal pulse sequences even in the presence of unmodeled physical effects, such as pulse errors or non-Gaussian noise.

Paperid: 3157, https://arxiv.org/pdf/2512.13870.pdf

Abstract:
Restoring natural and intuitive hand function requires simultaneous and proportional control (SPC) of multiple degrees of freedom (DoFs). This study systematically evaluated the multichannel linear descriptors-based block field method (MLD-BFM) for continuous decoding of five finger-joint DoFs by leveraging the rich spatial information of high-density surface electromyography (HD sEMG). Twenty-one healthy participants performed dynamic sinusoidal finger movements while HD sEMG signals were recorded from the extensor digitorum communis (EDC) and flexor digitorum superficialis (FDS) muscles. MLD-BFM extracted region-specific spatial features, including effective field strength ($Σ$), field-strength variation rate ($Φ$), and spatial complexity ($Ω$). Model performance was optimized (block size: $2 \times 2$; window: 0.15 s) and compared with conventional time-domain features and dimensionality reduction approaches when applied to multi-output regression models. MLD-BFM consistently achieved the highest $\mathrm{R}^2_{\mathrm{vw}}$ values across all models. The multilayer perceptron (MLP) combined with MLD-BFM yielded the best performance ($\mathrm{R}^2_{\mathrm{vw}} = 86.68\% \pm 0.33$). Time-domain features also showed strong predictive capability and were statistically comparable to MLD-BFM in some models, whereas dimensionality reduction techniques exhibited lower accuracy. Decoding accuracy was higher for the middle and ring fingers than for the thumb. Overall, MLD-BFM improved continuous finger movement decoding accuracy, underscoring the importance of taking advantage of the spatial richness of HD sEMG. These findings suggest that spatially structured features enhance SPC and provide practical guidance for designing robust, real-time, and responsive myoelectric interfaces.

Paperid: 3158, https://arxiv.org/pdf/2512.13836.pdf

Abstract:
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this demand, optimization problems are often simplified via linearization, narrowing the horizon window, or reduced temporal nodes, each compromising accuracy or reliability. This work presents the first general convex obstacle avoidance formulation, enabled by a novel approach to integrating logic. This facilitates the incorporation of an obstacle avoidance formulation into convex MPC schemes, enabling a convex optimization framework with substantially improved computational efficiency relative to conventional nonconvex methods. A key property of the formulation is that obstacle avoidance remains effective even when obstacles lie outside the prediction horizon, allowing shorter horizons for real-time deployment. In scenarios where nonconvex formulations are unavoidable, the proposed method meets or exceeds the performance of representative nonconvex alternatives. The method is evaluated in autonomous vehicle applications, where system dynamics are highly nonlinear.

Paperid: 3159, https://arxiv.org/pdf/2512.13557.pdf

Abstract:
Bidding flexibility in day-ahead and intraday auctions would enable decentralized flexible resources, such as electric vehicles and heat pumps, to efficiently align their consumption with the intermittent generation of renewable energy. However, because these resources are individually too small to participate in those auctions directly, an aggregator (e.g., a utility) must act on their behalf. This requires aggregating many decentralized resources, which is a computationally challenging task. In this paper, we propose a computationally efficient and highly accurate method that is readily applicable to European day-ahead and intraday auctions. Distinct from existing methods, we aggregate only economically relevant power profiles, identified through price forecasts. The resulting flexibility is then conveyed to the market operator via exclusive groups of block bids. We evaluate our method for a utility serving the Swiss town of Losone, where flexibility from multiple heat pumps distributed across the grid must be aggregated and bid in the Swiss day-ahead auction. Results show that our method aggregates accurately, achieving 98% of the theoretically possible cost savings. This aggregation accuracy remains stable even as the number of heat pumps increases, while computation time grows only linearly, demonstrating strong scalability.

Paperid: 3160, https://arxiv.org/pdf/2512.13504.pdf

Abstract:
This paper investigates the performance of networked control systems subject to multiplicative routing transformations that alter measurement pathways without directly injecting signals. Such transformations, arising from faults or adversarial actions, modify the feedback structure and can degrade performance while remaining stealthy. An $H_2$-norm framework is proposed to quantify the impact of these transformations by evaluating the ratio between the steady-state energies of performance and residual outputs. Equivalent linear matrix inequality (LMI) formulations are derived for computational assessment, and analytical upper bounds are established to estimate the worst-case degradation. The results provide structural insight into how routing manipulations influence closed-loop behavior and reveal conditions for stealthy multiplicative attacks.

Paperid: 3161, https://arxiv.org/pdf/2512.13483.pdf

Abstract:
Networked control systems (NCSs) are vulnerable to faults and hidden malfunctions in communication channels that can degrade performance or even destabilize the closed loop. Classical metrics in robust control and fault detection typically treat impact and detectability separately, whereas the output-to-output gain (OOG) provides a unified measure of both. While existing results have been limited to linear systems, this paper extends the OOG framework to nonlinear NCSs with quadratically constrained nonlinearities, considering false-injection attacks that can also manipulate sensor measurements through nonlinear transformations. Specifically, we provide computationally efficient linear matrix inequality conditions and complementary frequency-domain tests that yield explicit upper bounds on the OOG of this class of nonlinear systems. Furthermore, we derive frequency-domain conditions for absolute stability of closed-loop systems, generalizing the Yakubovich quadratic criterion.

Paperid: 3162, https://arxiv.org/pdf/2512.13233.pdf

Abstract:
A non-destructive, real-time method for estimating the volume fraction of a dielectric mixture inside a resonant cavity is presented. A convolutional neural network (CNN)-based approach is used to estimate the fractional composition of two-phase dielectric mixtures inside a resonant cavity using scattering parameter (S-parameter) measurements. A rectangular cavity sensor with a strip feed structure is characterized using a vector network analyzer (VNA) from 0.01--20~GHz. The CNN is trained using both simulated and experimentally measured S-parameters and achieves high predictive accuracy even without de-embedding or filtering, demonstrating robustness to measurement imperfections. The simulation results achieve a coefficient of determination ($R^2$)=0.99 using $k$-fold cross-validation, while the experimental model using raw data achieves an $R^2=0.94$ with a mean absolute error (MAE) below 6\%. Data augmentation further improves the accuracy of the experimental prediction to above $R^2=0.998$ (MAE$<$0.72\%). The proposed method enables rapid, non-destructive, accurate, low-cost, and real-time estimation of material fractions, illustrating strong potential for sensing applications in microwave material characterization.

Paperid: 3163, https://arxiv.org/pdf/2512.13183.pdf

Abstract:
Most path following and trajectory tracking algorithms in mobile robotics require the desired path or trajectory to be defined by at least twice continuously differentiable functions to guarantee key properties such as global convergence, especially for nonholonomic robots like unicycles with speed constraints. Consequently, these algorithms typically exclude continuous but non-differentiable paths, such as piecewise functions. Despite this exclusion, such paths provide convenient high-level inputs for describing robot missions or behavior. While techniques such as spline interpolation or optimization-based methods are commonly used to smooth non-differentiable paths or create feasible ones from sequences of waypoints, they either can produce unnecessarily complex trajectories or are computationally expensive. In this work, we present a method to regularize non-differentiable functions and generate feasible paths through mollification. Specifically, we approximate an arbitrary path with a differentiable function that can converge to it with arbitrary precision. Additionally, we provide a systematic method for bounding the curvature of generated paths, which we demonstrate by applying it to paths resulting from linking a sequence of waypoints with segments. The proposed approach is computationally efficient, enabling real-time implementation on microcontrollers and compatibility with standard trajectory tracking and path following algorithms.

Paperid: 3164, https://arxiv.org/pdf/2512.13170.pdf

Abstract:
Manufacturing processes are often perturbed by drifts in the environment and wear in the system, requiring control re-tuning even in the presence of repetitive operations. This paper presents an iterative learning framework for automatic tuning of Nonlinear Model Predictive Control (NMPC) weighting matrices based on task-level performance feedback. Inspired by norm-optimal Iterative Learning Control (ILC), the proposed method adaptively adjusts NMPC weights Q and R across task repetitions to minimize key performance indicators (KPIs) related to tracking accuracy, control effort, and saturation. Unlike gradient-based approaches that require differentiating through the NMPC solver, we construct an empirical sensitivity matrix, enabling structured weight updates without analytic derivatives. The framework is validated through simulation on a UR10e robot performing carbon fiber winding on a tetrahedral core. Results demonstrate that the proposed approach converges to near-optimal tracking performance (RMSE within 0.3% of offline Bayesian Optimization (BO)) in just 4 online repetitions, compared to 100 offline evaluations required by BO algorithm. The method offers a practical solution for adaptive NMPC tuning in repetitive robotic tasks, combining the precision of carefully optimized controllers with the flexibility of online adaptation.

Paperid: 3165, https://arxiv.org/pdf/2512.13099.pdf

Abstract:
Driven by the ongoing energy transition, shared mobility service providers are emerging actors in electrical power systems which aim to shift combustion-based mobility to electric paradigm. In the meantime, Energy Communities are deployed to enhance the local usage of distributed renewable production. As both ators share the same goal of satisfying the demand at the lowest cost, they could take advantage of their complementarity and coordinate their decisions to enhance each other operation. This paper presents an original Mixed-Integer Second Order Cone Programming long-term Electric Vehicle fleet planning optimization problem that integrates the coordination with a Renewable Energy Community and Vehicle-to-Grid capability. This model is used to assess the economic, energy, and grid performances of their collaboration in a 21 buses low-voltage distribution network. Key results show that, both actors coordination can help reducing the yearly cost up to 11.3 % compared to their stand-alone situation and that it may reduce the stress on the substation transformer by 46 % through the activation of the inherent EVs flexibility when subject to peak penalties from the grid operator.

Paperid: 3166, https://arxiv.org/pdf/2512.13004.pdf

Abstract:
This comprehensive literature review examines the emerging applications of Large Language Models (LLMs) in power system engineering. Through a systematic analysis of recent research published between 2020 and 2025, we explore how LLMs are being integrated into various aspects of power system operations, planning, and management. The review covers key application areas including fault diagnosis, load forecasting, cybersecurity, control and optimization, system planning, simulation, and knowledge management. Our findings indicate that while LLMs show promising potential in enhancing power system operations through their advanced natural language processing and reasoning capabilities, significant challenges remain in their practical implementation. These challenges include limited domain-specific training data, concerns about reliability and safety in critical infrastructure, and the need for enhanced explainability. The review also highlights emerging trends such as the development of power system-specific LLMs and hybrid approaches combining LLMs with traditional power engineering methods. We identify crucial research directions for advancing the field, including the development of specialized architectures, improved security frameworks, and enhanced integration with existing power system tools. This survey provides power system researchers and practitioners with a comprehensive overview of the current state of LLM applications in the field and outlines future pathways for research and development.

Paperid: 3167, https://arxiv.org/pdf/2512.12855.pdf

Abstract:
Modern engineering systems, such as autonomous vehicles, flexible robotics, and intelligent aerospace platforms, require controllers that are robust to uncertainties, adaptive to environmental changes, and safety-aware under real-time constraints. RL offers powerful data-driven adaptability for systems with nonlinear dynamics that interact with uncertain environments. RL, however, lacks built-in mechanisms for dynamic constraint satisfaction during exploration. MPC offers structured constraint handling and robustness, but its reliance on accurate models and computationally demanding online optimization may pose significant challenges. This paper proposes an integrated MPC-RL framework that combines stability and safety guarantees of MPC with the adaptability of RL. During training, MPC defines safe control bounds that guide the RL component and that enable constraint-aware policy learning. At deployment, the learned policy operates in real time with a lightweight safety filter based on Lipschitz continuity to ensure constraint satisfaction without heavy online optimizations. The approach, which is validated on a nonlinear aeroelastic wing system, demonstrates improved disturbance rejection, reduced actuator effort, and robust performance under turbulence. The architecture generalizes to other domains with structured nonlinearities and bounded disturbances, offering a scalable solution for safe artificial-intelligence-driven control in engineering applications.

Paperid: 3168, https://arxiv.org/pdf/2512.12833.pdf

Abstract:
The technological advancements facilitating the rapid development of cyber-physical systems (CPS) also render such systems vulnerable to cyber attacks with devastating effects. Supervisory control is a commonly used control method to neutralize attacks on CPS. The supervisor strives to confine the (symbolic) paths of the system to a desired language via sensors and actuators in a closed control loop, even when attackers can manipulate the symbols received by the sensors and actuators. Currently, supervisory control methods face limitations when effectively identifying and mitigating unknown, broad-spectrum attackers. In order to capture the behavior of broad-spectrum attacks on both sensing and actuation channels we model the plant, supervisors, and attackers with finite-state transducers (FSTs). Our general method for addressing unknown attackers involves constructing FST models of the attackers from spectral analysis of their input and output symbol sequences recorded from a history of attack behaviors observed in a supervisory control loop. To construct these FST models, we devise a novel learning method based on the recorded history of attack behaviors. A supervisor is synthesized using such models to neutralize the attacks.

Paperid: 3169, https://arxiv.org/pdf/2512.12826.pdf

Abstract:
The excellent structural and piezoresistive properties of continuous carbon fiber make it suitable for both structural and sensing applications. This work studies the use of 3D printed, continuous carbon fiber reinforced beams as self-sensing structures. It is demonstrated how the sensitivity of these carbon fiber strain gauges can be increased irreversibly by means of a pretreatment by ``breaking-in'' the sensors with a large compressive bending load. The increase in the gauge factor is attributed to local progressive fiber failure, due to the combination of the thermal residual stress from the printing process and external loading. The coextrusion of conductive filament around the carbon fibers is demonstrated as a means of improving the reliability, noise and electrical connection of the sensors. A micrograph of the sensor cross section shows that the conductive filament contacts the various carbon fiber bundles. All-in-all, the use of ``breaking-in'' carbon fiber strain gauges in combination with coextrusion of conductive filament hold promises for 3D printed structural sensors with a high sensitivity.

Paperid: 3170, https://arxiv.org/pdf/2512.12755.pdf

Abstract:
High penetration of renewable energy sources (RES) introduces significant uncertainty and intermittency into microgrid operations, posing challenges to economic and reliable scheduling. To address this, this paper proposes an end-to-end decision-focused framework that jointly optimizes probabilistic forecasting and robust operation for microgrids. A multilayer encoder-decoder (MED) probabilistic forecasting model is integrated with a two-stage robust optimization (TSRO) model involving direct load control (DLC) through a differentiable decision pathway, enabling gradient-based feedback from operational outcomes to improve forecasting performance. Unlike conventional sequential approaches, the proposed method aligns forecasting accuracy with operational objectives by directly minimizing decision regret via a surrogate smart predict-then-optimize (SPO) loss function. This integration ensures that probabilistic forecasts are optimized for downstream decisions, enhancing both economic efficiency and robustness. Case studies on modified IEEE 33-bus and 69-bus systems demonstrate that the proposed framework achieves superior forecasting accuracy and operational performance, reducing total and net operation costs by up to 18% compared with conventional forecasting and optimization combinations. The results verify the effectiveness and scalability of the end-to-end decision-focused approach for resilient and cost-efficient microgrid management under uncertainty.

Paperid: 3171, https://arxiv.org/pdf/2512.12649.pdf

Abstract:
Parameter tuning in real-world experiments is constrained by the limited evaluation budget available on hardware. The path-following controller studied in this paper reflects a typical situation in nonlinear geometric controller, where multiple gains influence the dynamics through coupled nonlinear terms. Such interdependence makes manual tuning inefficient and unlikely to yield satisfactory performance within a practical number of trials. To address this challenge, we propose a Bayesian optimization (BO) framework that treats the closed-loop system as a black box and selects controller gains using a Gaussian-process surrogate. BO offers model-free exploration, quantified uncertainty, and data-efficient search, making it well suited for tuning tasks where each evaluation is costly. The framework is implemented on Honda's AI-Formula three-wheeled robot and assessed through repeated full-lap experiments on a fixed test track. The results show that BO improves controller performance within 32 trials, including 15 warm-start initial evaluations, indicating that it can efficiently locate high-performing regions of the parameter space under real-world conditions. These findings demonstrate that BO provides a practical, reliable, and data-efficient tuning approach for nonlinear path-following controllers on real robotic platforms.

Paperid: 3172, https://arxiv.org/pdf/2512.12638.pdf

Abstract:
The transition to electric transportation is a key enabler for intelligent and sustainable cities; however, inadequate charging infrastructure remains a major barrier to large-scale electric vehicle (EV) adoption. This paper presents a scalable Electric Road System (ERS) architecture that enables Dynamic Wireless Charging (DWC) of EVs during motion. The proposed framework integrates inductive charging coils embedded in road pavement, real-time vehicle-to-infrastructure (V2I) communication, and adaptive energy management coordinated with smart grid systems. Modular road segments with a standardized charging process are employed to ensure scalability across urban corridors and interoperability among different EV platforms. System performance is evaluated using a co-simulation framework combining MATLAB-based power analysis with traffic inputs generated in SUMO. Key performance metrics include charging efficiency, energy cost per kilometer, and battery lifecycle improvement. Simulation results indicate a potential reduction in range anxiety and an increase in battery lifespan due to frequent shallow charging cycles. The study further discusses deployment challenges, policy considerations, and energy distribution strategies aligned with climate-resilient urban development. A case study of a tier-1 Indian city is presented to analyze the cost-benefit trade-offs of retrofitting high-density urban corridors with ERS. The proposed framework provides a practical foundation for next-generation EV infrastructure planning in smart cities.

Paperid: 3173, https://arxiv.org/pdf/2512.12370.pdf

Abstract:
In this paper, we propose a data-efficient online battery identification method which targets highly informative battery cell data segments based on the driving pattern of the vehicle. We consider the case of a vehicle driving on/off a motorway and construct an Extended Time Regular Expression (ETRE) to detect data segments fitting these driving patterns. Simulation results indicate that by only using up to 10.71% of the data on average, the proposed method provides a low-bias and low-variance estimator under non-negligible current and voltage noise compared to other conventional estimation algorithms.

Paperid: 3174, https://arxiv.org/pdf/2512.12197.pdf

Abstract:
Transportation electrification introduces strong coupling between the power and transportation systems. In this paper, we generalize the classical notion of Braess' paradox to coupled power and transportation systems, and examine how the cross-system coupling induces new types of Braess' paradoxes. To this end, we model the power and transportation networks as graphs, coupled with charging points connecting to nodes in both graphs. The power system operation is characterized by the economic dispatch optimization, while the transportation system user equilibrium models travelers' route and charging choices. By analyzing simple coupled systems, we demonstrate that capacity expansion in either transportation or power system can deteriorate the performance of both systems, and uncover the fundamental mechanisms for such new Braess' paradoxes to occur. We also provide necessary and sufficient conditions of the occurrences of Braess' paradoxes for general coupled systems, leading to managerial insights for infrastructure planners. For general networks, through characterizing the generalized user equilibrium of the coupled systems, we develop efficient algorithms to detect Braess' paradoxes and novel charging pricing policies to mitigate them.

Paperid: 3175, https://arxiv.org/pdf/2512.11987.pdf

Abstract:
This paper presents an attitude estimation and yaw-rate control framework for balloon-borne payloads using pivot-only actuation, motivated by the Taurus experiment. Taurus is a long-duration balloon instrument designed for rapid azimuthal scanning at approximately 30 deg/s using a motorized pivot at the flight-train connection, without a reaction wheel. We model the gondola as a rigid body subject to realistic disturbances and sensing limitations, and implement a Multiplicative Extended Kalman Filter (MEKF) that estimates attitude and gyroscope bias by fusing inertial and vector-camera measurements. A simple PI controller uses the estimated states to regulate yaw rate. Numerical simulations incorporating representative disturbance and measurement noise levels are used to evaluate closed-loop control performance and MEKF behavior under flight-like conditions. Experimental tests on the Taurus gondola validate the pivot-only approach, demonstrating stable high-rate tracking under realistic hardware constraints. The close agreement between simulation and experiment indicates that the simplified rigid-body model captures the dominant dynamics relevant for controller design and integrated estimation-and-control development.

Paperid: 3176, https://arxiv.org/pdf/2512.11842.pdf

Abstract:
This paper examines the IDM microscopic car-following model from a dynamical systems perspective, analyzing the effects of delay on congestion formation. Further, a case of mixed-autonomy is considered by controlling one car with Followerstopper in a ring road setting containing IDM vehicles as human drivers. Specifically, the stop-and-go waves phenomenon in idealized traffic from a dynamical systems perspective is examined. We show that Followerstopper-controlled vehicle is effective at eliminating emergent stop-and-go waves in the IDM traffic simulation. We show through simulation that the uniform flow manifold is unstable for the ring road simulation with IDM vehicles, and that replacing a single car with Followerstopper induces stability, allowing the cars to drive safely at a uniform speed. Additionally, the case of known delay is considered in a mixed-autonomy scenario. Our simulation result shows that while considering a known time delay, traffic waves emerge earlier than in the no-delay case. At the same time, a single-vehicle controlled using Followerstopper controller is able to prevent the emergence of traffic waves even in the presence of delay.

Paperid: 3177, https://arxiv.org/pdf/2512.11713.pdf

Abstract:
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally efficient method for generating collision-free trajectories along predefined vehicle paths. We reformulate a constrained minimum-time trajectory planning problem as a problem in a high-dimensional configuration space, where conflict zones are modeled by high-dimensional polyhedra constructed from two-dimensional rectangles. Still, in such a formulation, as the number of vehicles involved increases, the computational complexity increases significantly. To address this, we propose two algorithms for near-optimal local optimization that significantly reduce the computational complexity by decomposing the high-dimensional problem into a sequence of 2D graph search problems. The resulting trajectories are then incorporated into a Nonlinear Model Predictive Control (NMPC) framework to ensure safe and smooth vehicle motion. We furthermore show in numerical evaluation that this approach significantly outperforms existing MILP-based time-scheduling; both in terms of objective-value and computational time.

Paperid: 3178, https://arxiv.org/pdf/2512.11620.pdf

Abstract:
The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and action. Classic Artificial Intelligence techniques for this purpose, focusing on symbolic approaches, have long-ago hit the scalability wall on compute and memory costs. Advances in Large Language Models in the past decade (neural approaches) have resulted in unprecedented displays of capability, at the cost of control, explainability, and interpretability. Large Action Models aim at extending Large Language Models to encompass the full perception, reasoning, and action cycle; however, they typically require substantially more comprehensive training and suffer from the same deficiencies in reliability. Here, we show it is possible to build competent Large Action Models by composing off-the-shelf foundation models, and that their control, interpretability, and explainability can be effected by incorporating symbolic wrappers and associated verification on their outputs, achieving verifiable neuro-symbolic solutions for intelligent robots. Our experiments on a multi-modal robot demonstrate that Large Action Model intelligence does not require massive end-to-end training, but can be achieved by integrating efficient perception models with a logic-driven core. We find that driving action execution through the generation of Planning Domain Definition Language (PDDL) code enables a human-in-the-loop verification stage that effectively mitigates action hallucinations. These results can support practitioners in the design and development of robotic Large Action Models across novel industries, and shed light on the ongoing challenges that must be addressed to ensure safety in the field.

Paperid: 3179, https://arxiv.org/pdf/2512.11607.pdf

Abstract:
Tradable Credit Schemes (TCS) promote the use of public and shared transport by capping private car usage while maintaining fair welfare outcomes by allowing credit trading. However, most existing studies assume unlimited public transit capacity or a fixed occupancy of shared modes, often neglecting waiting time and oversimplifying time-based costs by depending solely on in-vehicle travel time. These assumptions can overstate the system's performance with TCS regulation, especially when there are insufficient public or shared transport supplies. To address this, we develop a dynamic multimodal equilibrium model to capture operation constraints and induced waiting times under TCS regulation. The model integrates travelers' mode choices, credit trading, traffic dynamics, and waiting time, which depend on key operational features of service vehicles such as fleet size and capacity. Besides, most TCS studies assume fixed transport supply, overlooking supply-side responses triggered by demand shifts. Therefore, we further propose integrating adaptive supply management through the deployment of Demand-Responsive Autonomous Shuttles (DRAS) and developing a bi-level optimization framework that incorporates the equilibrium model to jointly optimize TCS design and operational strategies for the DRAS. We apply the framework to a section of the A10 highway near Paris, France, to examine demand-supply interactions and assess the potential benefits of jointly implementing TCS and DRAS. Numerical results demonstrate the importance of modeling operational features within multimodal equilibrium and incorporating flexible supply in TCS policies for mitigating overall generalized cost.

Paperid: 3180, https://arxiv.org/pdf/2512.11351.pdf

Abstract:
The validation of highly automated, perception-based driving systems must ensure that they function correctly under the full range of real-world conditions. Scenario-based testing is a prominent approach to addressing this challenge, as it involves the systematic simulation of objects and environments. Operational Design Domains (ODDs) are usually described using a taxonomy of qualitative designations for individual objects. However, the process of transitioning from taxonomy to concrete test cases remains unstructured, and completeness is theoretical. This paper introduces a structured method of subdividing the ODD into manageable sections, termed micro-ODDs (mODDs), and deriving test cases with abstract object representations. This concept is demonstrated using a one-dimensional, laterally guided manoeuvre involving a shunting locomotive within a constrained ODD. In this example, mODDs are defined and refined into narrow taxonomies that enable test case generation. Obstacles are represented as generic cubes of varying sizes, providing a simplified yet robust means of evaluating perception performance. A series of tests were conducted in a closed-loop, co-simulated virtual environment featuring photorealistic rendering and simulated LiDAR, GNSS and camera sensors. The results demonstrate how edge cases in obstacle detection can be systematically explored and how perception quality can be evaluated based on observed vehicle behaviour, using crash versus safe stop as the outcome metrics. These findings support the development of a standardised framework for safety argumentation and offer a practical step towards the validation and authorisation of automated driving functions.

Paperid: 3181, https://arxiv.org/pdf/2512.11308.pdf

Abstract:
This paper proposes the framework of an efficient gig-work management system. A gig-work management system recommends one-off tasks with information about task hours and wages to gig-workers. To enable effective management, this paper develops a model of gig-workers' decision-making. Then, based on the model, we formulate an optimization problem to determine the optimal task hours and wages. The formulated problem belongs to the class of chance-constrained model predictive control (CC-MPC) problems. To efficiently solve the CC-MPC problem, we develop an approximate solution algorithm with guaranteed confidence levels. Finally, we develop gig-worker models based on data collected through crowdsourcing.

Paperid: 3182, https://arxiv.org/pdf/2512.11228.pdf

Abstract:
Payload swing during rapid slewing of mobile cranes poses a safety risk, as it generates overturning moments that can lead to tip-over accidents of mobile cranes. Currently, to limit the risk of tip-over, mobile crane operators are forced to either reduce the slewing speed (which lowers productivity) or reduce the load being carried to reduce the induced moments. Both of these approaches reduce productivity. This paper seeks to enable rapid slewing without compromising safety by applying input shaping to the crane-slewing commands generated by the operator. A key advantage of this approach is that the input shaper requires only the information about the rope length, and does not require detailed mobile crane dynamics. Simulations and experiments show that the proposed method reduces residual payload swing and enables significantly higher slewing speeds without tip over, reducing slewing completion time by at least 38% compared to unshaped control. Human control with input shaping improves task completion time by 13%, reduces the peak swing by 18%, and reduces the potential of collisions by 82% when compared to unshaped control. Moreover, shaped control with a human had no tip-over, whereas large swing led to tip-over without input shaping. Thereby, the proposed method substantially recovers the operational-safety envelope of mobile cranes (designed to avoid tip-over using static analysis) that would otherwise be lost in dynamic conditions. Videos and demonstrations are available at https://youtu.be/dVy3bbIhrBU.

Paperid: 3183, https://arxiv.org/pdf/2512.10851.pdf

Abstract:
Controllability and observability Gramians, along with their inverses, are widely used to solve various problems in control theory. This paper proposes spectral decompositions of the controllability Gramian and its inverse based on system eigenvalues for a continuous LTI dynamical system in the controllability canonical (companion) form. The Gramian and its inverse are represented as sums of Hermitian matrices, each corresponding to individual system eigenvalues or their pairwise combinations. These decompositions are obtained for the solutions of both algebraic and differential Lyapunov and Riccati equations with arbitrary initial conditions, allowing for the estimation of system spectral properties over an arbitrary time interval and their prediction at future moments. The derived decompositions are also generalized to the case of multiple eigenvalues in the dynamics matrix spectrum, enabling a closed-form estimation of the effects of resonant interactions with the system's eigenmodes. The spectral components are interpreted as measurable quantities in the minimum energy control problem. Therefore, they are unambiguously defined and can quantitatively characterize the influence of individual eigenmodes and associated system devices on controllability, observability, and the asymptotic dynamics of perturbation energy. The additional information obtained from these decompositions can improve the accuracy of algorithms in solving various practical problems, such as stability analysis, minimum energy control, structural design, tuning regulators, optimal placement of actuators and sensors, network analysis, and model order reduction.

Paperid: 3184, https://arxiv.org/pdf/2512.10684.pdf

Abstract:
This paper addresses the verification and enforcement of prognosability and diagnosability for discreteevent systems (DESs) modeled by deterministic finite automata. We establish the equivalence between prognosability (respectively, diagnosability) and pre-normality over a subset of the non-faulty language (respectively, a suffix of the faulty language). We then demonstrate the existence of supremal prognosable (respectively, diagnosable) and normal sublanguages. Furthermore, an algorithm is then designed to compute the supremal controllable, normal, and prognosable (respectively, diagnosable) sublanguages. Since DESs are typically composed of multiple components operating in parallel, pure local supervisors are generally insufficient, as prognosability and diagnosability are global properties of a system. Given the limited work on enforcing prognosability or diagnosability in modular DESs, where these properties are enforced through local supervisors, this paper leverages a refined version of pre-normality to compute modular supervisors for local subsystems. The resulting closed-loop system is shown to be globally controllable, normal, and prognosable/ diagnosable. Examples are provided to illustrate the proposed method.

Paperid: 3185, https://arxiv.org/pdf/2512.10639.pdf

Abstract:
Codeshare agreements are contracts that allow two or more airlines to share seats on the same flight. These agreements, which are widespread in commercial aviation as a response to highly competitive environments, have enabled the expansion of airline networks without additional costs or risks for the companies involved. The literature presents ambiguous effects associated with the practice, with evidence of increased supply and reduced prices in situations of route complementarity, while also pointing to anti-competitive impacts in markets where companies act as competitors. A review of scientific production over time, including theoretical contributions and case studies, is essential to understand the evolution of these agreements and their implications, especially in the Brazilian context, marked by its own characteristics and particular regulatory history. Thus, this article reviews the literature on codesharing, with an emphasis on the Brazilian market, and uses the Litmaps computational tool, based on artificial intelligence techniques, to support the contextual analysis of publications through their citation relationships. The ultimate goal is to identify and evaluate the main evidence accumulated over decades on the effects of these agreements in Brazil. The joint analysis of the contributions allows us to outline the current state of knowledge, characterize specificities observed in the Brazilian market, and identify gaps that may guide future studies.

Paperid: 3186, https://arxiv.org/pdf/2512.10598.pdf

Abstract:
Existing low-Earth-orbit (LEO) communication link analyses face two main challenges: (1) limited accuracy of 3D atmospheric refractivity reconstructed from sparsely sampled radiosonde data, and (2) numerical instability in previous non-uniform plane-wave ray-tracing algorithms (i.e., underflow under standard double precision), where non-uniform plane waves inevitably arise at complex-valued dielectric interfaces, is caused by extremely small atmospheric loss terms. To address these issues, we reconstruct a high-resolution 3D complex-valued refractivity model using numerical weather prediction data, and develop a fast and numerically stable non-uniform plane-wave ray tracer. The method remains stable in double precision and delivers a 24-fold speedup over high-precision benchmarks. Comparisons show that boresight-error deviations and path-loss differences between the rigorous method and the uniform-plane-wave approximation remain negligible, even under heavy precipitation. Although rays in a lossy atmosphere experience different phase- and attenuation-direction vectors-forming non-uniform plane waves-the resulting effective attenuation along the path is nearly identical to that predicted by the uniform-plane-wave model. These findings justify the continued use of uniform-plane-wave ray tracing in practical LEO link analyses.

Paperid: 3187, https://arxiv.org/pdf/2512.10319.pdf

Abstract:
Mobile robots are increasingly utilized in agriculture to automate labor-intensive tasks such as weeding, sowing, harvesting and soil analysis. Recently, agricultural robots have been developed to detect and remove weeds using mechanical tools or precise herbicide sprays. Mechanical weeding is inefficient over large fields, and herbicides harm the soil ecosystem. Laser weeding with mobile robots has emerged as a sustainable alternative in precision farming. In this paper, we present an autonomous weeding robot that uses controlled exposure to a low energy laser beam for weed removal. The proposed robot is six-wheeled with a novel double four-bar suspension for higher stability. The laser is guided towards the detected weeds by a three-dimensional linear actuation mechanism. Field tests have demonstrated the robot's capability to navigate agricultural terrains effectively by overcoming obstacles up to 15 cm in height. At an optimal speed of 42.5 cm/s, the robot achieves a weed detection rate of 86.2\% and operating time of 87 seconds per meter. The laser actuation mechanism maintains a minimal mean positional error of 1.54 mm, combined with a high hit rate of 97\%, ensuring effective and accurate weed removal. This combination of speed, accuracy, and efficiency highlights the robot's potential for significantly enhancing precision farming practices.

Paperid: 3188, https://arxiv.org/pdf/2512.10318.pdf

Abstract:
Ethernet switches are foundational to the global internet infrastructure. These devices route packets of data on a local area network between source addresses to destination media access control addresses. On the L2 layer of the Open Systems Interconnections model, Ethernet switches take in digitized data from a Media Independent Interface and send it to the corresponding output port for the destination address. Switches need to handle parallel input and output streams from each port, prioritizing throughput, efficiency, and packet integrity. Due to the confidential nature of the networking device industry, there do not exist many open source implementations of switching fabrics. We propose an open source design for an L2 Ethernet switch along with the power, performance, and area tradeoffs for architecture decisions.

Paperid: 3189, https://arxiv.org/pdf/2512.10294.pdf

Abstract:
We propose Conformal Lie-group Action Prediction Sets (CLAPS), a symmetry-aware conformal prediction-based algorithm that constructs, for a given action, a set guaranteed to contain the resulting system configuration at a user-defined probability. Our assurance holds under both aleatoric and epistemic uncertainty, non-asymptotically, and does not require strong assumptions about the true system dynamics, the uncertainty sources, or the quality of the approximate dynamics model. Typically, uncertainty quantification is tackled by making strong assumptions about the error distribution or magnitude, or by relying on uncalibrated uncertainty estimates - i.e., with no link to frequentist probabilities - which are insufficient for safe control. Recently, conformal prediction has emerged as a statistical framework capable of providing distribution-free probabilistic guarantees on test-time prediction accuracy. While current conformal methods treat robots as Euclidean points, many systems have non-Euclidean configurations, e.g., some mobile robots have SE(2). In this work, we rigorously analyze configuration errors using Lie groups, extending previous Euclidean Space theoretical guarantees to SE(2). Our experiments on a simulated JetBot, and on a real MBot, suggest that by considering the configuration space's structure, our symmetry-informed nonconformity score leads to more volume-efficient prediction regions which represent the underlying uncertainty better than existing approaches.

Paperid: 3190, https://arxiv.org/pdf/2512.09879.pdf

Abstract:
This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A neural-variable-structure adaptive controller is developed to achieve leader-follower consensus while ensuring robustness to external disturbances and adaptability to unknown nonlinear dynamics. A reliability-assessment rule is introduced to detect communication loss during DoS attacks, upon which a switched control mechanism is activated to preserve closed-loop stability and performance. Unlike existing resilient MAS control methods, the proposed strategy explicitly accommodates singular control gains and does not rely on restrictive assumptions such as Lipschitz continuity or prior bounds on nonlinearities. To the authors' knowledge, this is the first work to integrate neural learning, variable-structure robustness, and reliability-based switching into a unified consensus-tracking control architecture for heterogeneous nonlinear MASs with singular input gains under DoS attacks. Lyapunov-based analysis establishes uniform ultimate boundedness of all closed-loop signals, and Matlab/Simulink simulations on a connected automated vehicle platoon demonstrate the method's effectiveness and resilience.

Paperid: 3191, https://arxiv.org/pdf/2512.09682.pdf

Abstract:
This work presents a conceptual study on the application of Multi-Agent Reinforcement Learning (MARL) for decentralized control of unmanned aerial vehicles to relay a critical data package to a known position. For this purpose, a family of deterministic games is introduced, designed for scaling studies for MARL. A robust baseline policy is proposed, which is based on restricting agent motion envelopes and applying Dijkstra's algorithm. Experimental results show that two off-the-shelf MARL algorithms perform competitively with the baseline for a small number of agents, but scalability issues arise as the number of agents increase.

Paperid: 3192, https://arxiv.org/pdf/2512.09670.pdf

Abstract:
The proliferation of satellite constellations, coupled with reduced tasking latency and diverse sensor capabilities, has expanded the opportunities for automated Earth observation. This paper introduces a fully automated Tip-and-Cue framework designed for satellite imaging tasking and scheduling. In this context, tips are generated from external data sources or analyses of prior satellite imagery, identifying spatiotemporal targets and prioritizing them for downstream planning. Corresponding cues are the imaging tasks formulated in response, which incorporate sensor constraints, timing requirements, and utility functions. The system autonomously generates candidate tasks, optimizes their scheduling across multiple satellites using continuous utility functions that reflect the expected value of each observation, and processes the resulting imagery using artificial-intelligence-based models, including object detectors and vision-language models. Structured visual reports are generated to support both interpretability and the identification of new insights for downstream tasking. The efficacy of the framework is demonstrated through a maritime vessel tracking scenario, utilizing Automatic Identification System (AIS) data for trajectory prediction, targeted observations, and the generation of actionable outputs. Maritime vessel tracking is a widely researched application, often used to benchmark novel approaches to satellite tasking, forecasting, and analysis. The system is extensible to broader applications such as smart-city monitoring and disaster response, where timely tasking and automated analysis are critical.

Paperid: 3193, https://arxiv.org/pdf/2512.09625.pdf

Abstract:
The low-altitude economy (LAE) has emerged and developed in various fields, which has gained considerable interest. To ensure the security of LAE, it is essential to establish a proper sensing coverage scheme for monitoring the unauthorized targets. Introducing integrated sensing and communication (ISAC) into cellular networks is a promising solution that enables coordinated multiple base stations (BSs) to significantly enhance sensing performance and extend coverage. Meanwhile, deploying a reconfigurable intelligent surface (RIS) can mitigate signal blockages between BSs and low-altitude targets in urban areas. Therefore, this paper focuses on the low-altitude sensing coverage problem in RIS-assisted coordinated multi-point ISAC networks, where a RIS is employed to enable multiple BSs to sense a prescribed region while serving multiple communication users. A joint beamforming and phase shifts design is proposed to minimize the total transmit power while guaranteeing sensing signal-to-noise ratio and communication spectral efficiency. To tackle this non-convex optimization problem, an efficient algorithm is proposed by using the alternating optimization and semi-definite relaxation techniques. Numerical results demonstrate the superiority of our proposed scheme over the baseline schemes.

Paperid: 3194, https://arxiv.org/pdf/2512.09574.pdf

Abstract:
This letter seeks to clarify the different existing definitions of both instantaneous complex phase and frequency as well as their equivalence when specific hypotheses hold. To achieve this, the two fundamental definitions, i.e., those based on either the use of (i) analytic signals or (ii) space vectors, together with the premises used for their formulation, are presented and their relationship shown. Lastly, an unified notation and terminology to avoid confusion is proposed.

Paperid: 3195, https://arxiv.org/pdf/2512.09559.pdf

Abstract:
The purpose of this paper is to initiate a phase theory for tensors under the Einstein product, and explore its applications in multilinear control systems. Firstly, the sectorial tensor decomposition for sectorial tensors is derived, which allows us to define phases for sectorial tensors. A numerical procedure for computing phases of a sectorial tensor is also proposed. Secondly, the maximin and minimax expressions for tensor phases are given, which are used to quantify how close the phases of a sectorial tensor are to those of its compressions. Thirdly, the compound spectrum, compound numerical ranges and compound angular numerical ranges of two sectorial tensors $A,B$ are defined and characterized in terms of the compound numerical ranges and compound angular numerical ranges of the sectorial tensors $A,B$. Fourthly, it is shown that the angles of eigenvalues of the product of two sectorial tensors are upper bounded by the sum of their individual phases. Finally, based on the tensor phase theory developed above, a tensor version of the small phase theorem is presented, which can be regarded as a natural generalization of the matrix case, recently proposed in Ref. [10]. The results offer powerful new tools for the stability and robustness analysis of multilinear feedback control systems.

Paperid: 3196, https://arxiv.org/pdf/2512.09449.pdf

Abstract:
In this letter we introduce POLARNet -- power control of multi-layer repeater networks -- for local optimization of SNR given different repeater power constraints. We assume relays or repeaters in groups or layers spatially separated. Under ideal circumstances SISO narrow-band communication and TDD, the system may be viewed as a dual to a deep neural network, where activations, corresponding to repeater amplifications, are optimized and weight matrices, corresponding to channel matrices, are static. Repeater amplifications are locally optimized layer-by-layer in a forward-backward manner over compact sets. The method is applicable for a wide range of constraints on within-layer power/energy utilization, is furthermore gradient-free, step-size-free, and has proven monotonicity in the objective. Numerical simulations show significant improvement compared to upper bounds on the expected SNR. In addition, power distribution over multiple repeaters is shown to be superior to optimal selection of single repeaters in the layers.

Paperid: 3197, https://arxiv.org/pdf/2512.09416.pdf

Abstract:
Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we propose simulation-based methods that allow the study of such safety issues by determining the absolute minimum distance between vehicles over time for various control parameters that guarantee string stability. For our proposed time-discretized simulations, we provide two methods for selecting different time-step intervals to ensure that the error in distance approximation remains within specified bounds at all times. Through numerical examples we demonstrate that among control parameters that guarantee string stability some perform better than others under simultaneously occurring packet losses and sudden brakes.

Paperid: 3198, https://arxiv.org/pdf/2512.08757.pdf

Abstract:
This paper studies the problem of robustly optimal operation control of microgrids with a high share of renewable energy sources. The main goal is to ensure optimal operation under a wide range of circumstances, given the highly intermittent and uncertain nature of renewable sources and load demand. We formally state this problem, and, in order to solve it, we make effective use of the hierarchical power system control approach. We consider an enhanced primary control layer including droop control and autonomous limitation of power and energy. We prove that this enables the use of constant power setpoints to achieve optimal operation under certain conditions. In order to relax these conditions, the approach is combined with an energy management system, which solves a robust unit commitment problem within a model predictive control framework. Finally, a case study demonstrates the viability of the control design.

Paperid: 3199, https://arxiv.org/pdf/2512.08753.pdf

Abstract:
Post-harvest losses due to subjective quality assessment cause significant damage to the economy and food safety, especially in countries like Bangladesh. To mitigate such damages, objective decision-making backed by scientific methods is necessary. An IoT-based, cost-effective quality monitoring system can provide a solution by going beyond subjective quality monitoring and decision-making practices. Here, we propose a low-power, cost-effective fruit quality monitoring system with an array of MQ gas sensors, which can be used as an electronic nose. We track the volatile gas emissions, specifically ethanol, methane, and ammonia, encompassing both ripening and decomposition for a set of bananas. Based on the gas concentration thresholds, we develop a mathematical model to accurately assess fruit quality. We also integrate this information into a dashboard for prompt decision-making and monitoring to make it useful to the farmers. This approach has the potential to reduce economic losses, enhance food safety, and provide scalable solutions for the supply chain.

Paperid: 3200, https://arxiv.org/pdf/2512.08436.pdf

Abstract:
Time delays in communication channels present significant challenges for bilateral teleoperation systems, affecting both transparency and stability. Although traditional wave variable-based methods for a four-channel architecture ensure stability via passivity, they remain vulnerable to wave reflections and disturbances like variable delays and environmental noise. This article presents a data-driven hybrid framework that replaces the conventional wave-variable transform with an ensemble of three advanced sequence models, each optimized separately via the state-of-the-art Optuna optimizer, and combined through a stacking meta-learner. The base predictors include an LSTM augmented with Prophet for trend correction, an LSTM-based feature extractor paired with clustering and a random forest for improved regression, and a CNN-LSTM model for localized and long-term dynamics. Experimental validation was performed in Python using data generated from the baseline system implemented in MATLAB/Simulink. The results show that our optimized ensemble achieves a transparency comparable to the baseline wave-variable system under varying delays and noise, while ensuring stability through passivity constraints.

Paperid: 3201, https://arxiv.org/pdf/2512.08265.pdf

Abstract:
This paper develops a theoretical framework for the design of Active Split-Ring Resonators (ASRRs). An ASRR is a Split-Ring Resonator (SRR) equipped with a tunable negative resistor, enabling both switchability and quality factor boosting and tuning. These properties make ASRRs well-suited for integration into dense arrays on silicon chips, where pixelated near-fields are generated and leveraged for high-resolution 2D imaging of samples. Such imagers pave the way for real-time, non-invasive, and low-cost imaging of human body tissue. The paper investigates ASRR coupling to host transmission lines, nonlinear effects, signal flow, and the influence of various noise sources on detection performance. Verified through simulations, these studies provide design guidelines for optimizing the Signal-to-Noise Ratio (SNR) and power consumption of a single pixel, while adhering to the constraints of a scalable array.

Paperid: 3202, https://arxiv.org/pdf/2512.08134.pdf

Abstract:
In this paper, we address two main problems in the context of covert cyber-attacks in cyber-physical systems (CPS). First, we aim to investigate and develop necessary and sufficient conditions in terms of disruption resources of the CPS that enable adversaries to execute covert cyber-attacks. These conditions can be utilized to identify the input and output communication channels that are needed by adversaries to execute these attacks. Second, this paper introduces and develops a dynamic coding scheme as a countermeasure against covert cyber-attacks. Under certain conditions and assuming the existence of one secure input and two secure output communication channels, the proposed dynamic coding scheme prevents adversaries from executing covert cyber-attacks. A numerical case study of a flight control system is provided to demonstrate the capabilities of our proposed and developed dynamic coding scheme.

Paperid: 3203, https://arxiv.org/pdf/2512.08066.pdf

Abstract:
This study investigates how the layout and density of seats in aircraft cabins influence the pricing of airline tickets on domestic flights. The analysis is based on microdata from boarding passes linked to face-to-face interviews with passengers, allowing us to relate the price paid to the location on the aircraft seat map, as well as market characteristics and flight operations. Econometric models were estimated using the Post-Double-Selection LASSO (PDS-LASSO) procedure, which selects numerous controls for unobservable factors linked to commercial and operational aspects, thus enabling better identification of the effect of variables such as advance purchase, reason for travel, fuel price, market structure, and load factor, among others. The results suggest that a higher density of seat rows is associated with lower prices, reflecting economies of scale with the increase in aircraft size and gains in operational efficiency. An unexpected result was also obtained: in situations where there was no seat selection fee, passengers with more expensive tickets were often allocated middle seats due to purchasing at short notice, when the side alternatives were no longer available. This behavior helps explain the economic logic behind one of the main ancillary revenues of airlines. In addition to quantitative analysis, the study incorporates an exploratory approach to innovative cabin concepts and their possible effects on density and comfort on board.

Paperid: 3204, https://arxiv.org/pdf/2512.08036.pdf

Abstract:
Joint activity describes when more than one agent (human or machine) contributes to the completion of a task or activity. Designing for joint activity focuses on explicitly supporting the interdependencies between agents necessary for effective coordination among agents engaged in the joint activity. This builds and expands upon designing for usability to further address how technologies can be designed to act as effective team players. Effective joint activity requires supporting, at minimum, five primary macrocognitive functions within teams: Event Detection, Sensemaking, Adaptability, Perspective-Shifting, and Coordination. Supporting these functions is equally as important as making technologies usable. We synthesized fourteen heuristics from relevant literature including display design, human factors, cognitive systems engineering, cognitive psychology, and computer science to aid the design, development, and evaluation of technologies that support joint human-machine activity.

Paperid: 3205, https://arxiv.org/pdf/2512.07749.pdf

Abstract:
We present an efficient algorithm to compute the explicit open-loop solution to both finite and infinite-horizon dynamic games subject to state and input constraints. Our approach relies on a multiparametric affine variational inequality characterization of the open-loop Nash equilibria and extends the classical explicit constrained LQR and MPC frameworks to multi-agent non-cooperative settings. A key practical implication is that linear-quadratic game-theoretic MPC becomes viable even at very high sampling rates for multi-agent systems of moderate size. Extensive numerical experiments demonstrate order-of-magnitude improvements in online computation time and solution accuracy compared with state-of-the-art game-theoretic solvers.

Paperid: 3206, https://arxiv.org/pdf/2512.07718.pdf

Abstract:
Piezoelectric micromachined ultrasonic transducers (PMUTs) are widely used in applications that demand mechanical resilience, thermal stability, and compact form factors. Lead zirconate titanate (PZT) and aluminum nitride (AlN) active layers are used in PMUTs to enable acoustic actuation, sensing, or bidirectional operation. These platforms rely on bimorph films to maximize electromechanical coupling ($k^2$) through thin-film deposition, which uses intermediate electrode layers to establish opposing electric fields. Consequently, incumbent PMUT platforms are limited in achievable film thickness and feature material interfaces that compromise mechanical integrity and thermal performance. Combined with the intrinsic limitations of PZT and AlN, these factors motivate exploration of alternative PMUT material platforms. Recent efforts have sought to demonstrate that single-crystal lithium niobate (LN) is a promising candidate, offering substantially higher $k^2$ and bidirectional performance. Advances in LN film transfer technology have enabled the formation of periodically poled piezoelectric (P3F) LN, facilitating a bimorph stack without intermediate electrodes. In this work, we showcase bimorph PMUTs incorporating a mechanically robust, 20 micron thick P3F LN active layer. We establish the motivation for LN PMUTs through a material comparison, followed by extensive membrane geometry optimization and subsequent enhancement of the PMUT's $k^2$. We demonstrate a 775 kHz flexural mode device with a quality factor (Q) of 200 and an extracted $k^2$ of 6.4%, yielding a high transmit efficiency of 65 nm/V with a mechanically robust active layer. We leverage the high performance to demonstrate extreme-temperature resilience, showcasing stable device operation up to 600 degrees C and survival up to 900 degrees C, highlighting LN's potential as a resilient PMUT platform.

Paperid: 3207, https://arxiv.org/pdf/2512.07714.pdf

Abstract:
Given the importance of monitoring the operational status of high-voltage cables in coal mines, this study investigates the application of intelligent sensing technology to the online monitoring of such cables. Taking an actual coal mine as a case study, a three-layer architecture high-voltage cable monitoring system was designed. The system employs high-frequency current sensors and distributed optical fiber temperature sensors to achieve real-time acquisition of partial discharge signals and temperature distribution data. Data analysis and fault diagnosis are performed through a combined approach of edge computing and cloud computing. The research results demonstrate that the system can accurately identify cable insulation defects and potential overheating hazards, with a diagnostic accuracy exceeding 95%, thereby significantly enhancing the reliability of power supply in mines.

Paperid: 3208, https://arxiv.org/pdf/2512.07266.pdf

Abstract:
Integrating autonomous mobile robots into human environments requires human-like decision-making and energy-efficient, event-based computation. Despite progress, neuromorphic methods are rarely applied to Deep Reinforcement Learning (DRL) navigation approaches due to unstable training. We address this gap with a hybrid socially integrated DRL actor-critic approach that combines Spiking Neural Networks (SNNs) in the actor with Artificial Neural Networks (ANNs) in the critic and a neuromorphic feature extractor to capture temporal crowd dynamics and human-robot interactions. Our approach enhances social navigation performance and reduces estimated energy consumption by approximately 1.69 orders of magnitude.

Paperid: 3209, https://arxiv.org/pdf/2512.07153.pdf

Abstract:
Effective monitoring of mobile animal populations is crucial for ecological research, wildlife management, and agricultural applications. Monitoring of bats specifically can help understand the spread of disease as well as shine light on bat migration patterns, population dynamics, and the impacts of environmental changes on bat colonies. Fixed sensing modalities, such as infrared sensors, cameras, radar, and acoustic detectors, play a pivotal role in tracking and understanding animal behavior. This survey goes over context-informing details about bat biology, and then reviews these fixed sensing modalities, discussing the unique challenges and contributions of each approach. We highlight the coverage, applications, accuracy, and limitations associated with each of these sensing modalities. By synthesizing recent advances, we provide a comprehensive overview to guide future research in this area.

Paperid: 3210, https://arxiv.org/pdf/2512.07114.pdf

Abstract:
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control challenges. Soft-body simulators remain limited in accuracy and computational tractability, while rigid-body simulators cannot capture soft-material dynamics. Here, we present a surrogate compliance modeling approach: rather than explicitly modeling soft-body physics, we introduce indirect variables representing soft-material deformation within a rigid-body simulator. We validate this approach using our amphibious robotic turtle, a quadruped with soft morphing limbs designed for multi-environment locomotion. By capturing deformation effects as changes in effective limb length and limb center of mass, and by applying reinforcement learning with extensive randomization of these indirect variables, we achieve reliable policy learning entirely in a rigid-body simulation. The resulting gaits transfer directly to hardware, demonstrating high-fidelity sim-to-real performance on hard, flat substrates and robust, though lower-fidelity, transfer on rheologically complex terrains. The learned closed-loop gaits exhibit unprecedented terrestrial maneuverability and achieve an order-of-magnitude reduction in cost of transport compared to open-loop baselines. Field experiments with the robot further demonstrate stable, multi-gait locomotion across diverse natural terrains, including gravel, grass, and mud.

Paperid: 3211, https://arxiv.org/pdf/2512.07053.pdf

Abstract:
Integrating contention-based random access procedures into low Earth orbit (LEO) satellite communication (SatCom) systems poses new challenges, including long propagation delays, large Doppler shifts, and a large number of simultaneous access attempts. These factors degrade the efficiency and responsiveness of conventional random access schemes, particularly in scenarios such as satellite-based internet of things and direct-to-device services. In this paper, we propose a deep learning-based random access framework designed for LEO SatCom systems. The framework incorporates an early preamble collision classifier that uses multi-antenna correlation features and a lightweight 1D convolutional neural network to estimate the number of collided users at the earliest stage. Based on this estimate, we introduce an opportunistic transmission scheme that balances access probability and resource efficiency to improve success rates and reduce delay. Simulation results under 3GPP-compliant LEO settings confirm that the proposed framework achieves higher access success probability, lower delay, better physical uplink shared channel utilization, and reduced computational complexity compared to existing schemes.

Paperid: 3212, https://arxiv.org/pdf/2512.07001.pdf

Abstract:
In this paper, we first clarify the concepts of green AI versus frugal AI, positioning frugality as efficiency by design and green AI as transparency and accountability. We then argue that these approaches, while complementary, are insufficient without a shared quantitative foundation that links AI computing to power system contexts. This motivates the development of standardized carbon metrics as a bridge between algorithmic decisions and their physical consequences. We next embed these signals into scheduling and planning frameworks, presenting two architectures: (i) an iterative signal-response loop for real-time operations, and (ii) an integrated optimization that learns and encodes flexible-load behavior for long-term planning. Finally, we show how the same coordination stack supports resilience, enabling signals to shift from emissions-first to stability-first during stress events, providing targeted relief and faster restoration.

Paperid: 3213, https://arxiv.org/pdf/2512.06644.pdf

Abstract:
Power outages caused by tropical cyclones (TCs) pose serious risks to electric power systems and the communities they serve. Accurate, high-resolution outage forecasting is essential for enabling both proactive mitigation planning and real-time emergency response. This study introduces the SpatioTemporal Outage ForeCAST (STO-CAST) model, a deep learning framework developed for real-time, regional-scale outage prediction during TC events with high-resolution outputs in both space and time. STO-CAST integrates static environmental and infrastructure attributes with dynamic meteorological and outage sequences using gated recurrent units (GRUs) and fully connected layers, and is trained via a Leave-One-Storm-Out (LOSO) cross-validation strategy along with holdout grid experiments to demonstrate its preliminary generalization capability to unseen storms and grids. The model produces hourly outage forecasts at a 4 km * 4 km resolution and supports dual forecasting modes: short-term nowcasting with a 6-hour lead time via assimilation of real-time observations, and long-term forecasting with a 60-hour lead time based on evolving meteorological projections. A case study on Typhoon Muifa (2022) demonstrates STO-CAST's operational effectiveness, including error decomposition across model design, meteorological uncertainty, and observation gaps, while highlighting the value of real-time data assimilation and the model's capacity to identify evolving outage hotspots. STO-CAST offers a scalable, data-driven solution to support risk-informed emergency response and enhance power system resilience under intensifying TC threats.

Paperid: 3214, https://arxiv.org/pdf/2512.06385.pdf

Abstract:
Inspired by contagion models of social belief formation, we develop an epistemically-informed modeling framework, SIS-Vo, in which vaccine-related information propagates on a signed opinion network. Our model allows for heterogeneous treatment effects of policy messages across subpopulations through demographic-specific responses. We derive fixed-point characterizations of the healthy (disease-free) and endemic equilibria of this model, and obtain conditions for local stability of the healthy state in terms of the contact network and opinion-dependent vaccination capacities. Using numerical simulations, we illustrate how suitably targeted policy interventions, acting through opinion dynamics, can stabilize the epidemic process by moving the system towards the healthy regime. The SIS-Vo framework thus provides a natural basis for control-theoretic analysis of vaccination policies that remain robust even when misinformation targets specific subgroups.

Paperid: 3215, https://arxiv.org/pdf/2512.06130.pdf

Abstract:
Curve-straight probabilistic engagement zones (CSPEZ) quantify the spatial regions an evader should avoid to reduce capture risk from a turn-rate-limited pursuer following a curve-straight path with uncertain parameters including position, heading, velocity, range, and maximum turn rate. This paper presents methods for generating evader trajectories that minimize capture risk under such uncertainty. We first derive an analytic solution for the deterministic curve-straight basic engagement zone (CSBEZ), then extend this formulation to a probabilistic framework using four uncertainty-propagation approaches: Monte Carlo sampling, linearization, quadratic approximation, and neural-network regression. We evaluate the accuracy and computational cost of each approximation method and demonstrate how CSPEZ constraints can be integrated into a trajectory-optimization algorithm to produce safe paths that explicitly account for pursuer uncertainty.

Paperid: 3216, https://arxiv.org/pdf/2512.05845.pdf

Abstract:
We propose a simple (12 parameter) hybrid dynamic model that simultaneously captures the continuous-valued dynamics of three human cognitive states-trust, perceived risk, and mental workload-as well as discrete transitions in reliance on the automation. The discrete-time dynamic evolution of each cognitive state is modeled using a first-order affine difference equation. Reliance is defined as a single discrete-valued state, whose evolution at each time step depends on the cognitive states satisfying certain threshold conditions. Using data collected from 16 participants, we estimate participant-specific model parameters based on their reliance on the automation and intermittently self-reported cognitive states during a continuous drive in a vehicle simulator. The model can be estimated using a single user's trajectory data (e.g. 8 minutes of driving), making it suitable for online parameter adaptation methods. Our results show that the model fits the observed trajectories well for several participants, with their reliance behavior primarily influenced by trust, perceived risk, or both. Importantly, the model is interpretable, such that the variations in model parameters across participants provide insights into differences in the time scales over which cognitive states evolve, and how these states are influenced by task complexity. Implications on the design of human-centric vehicle automation design are discussed.

Paperid: 3217, https://arxiv.org/pdf/2512.05822.pdf

Abstract:
This paper presents a safe output regulation control strategy for a class of systems modeled by a coupled $2\times 2$ hyperbolic PDE-ODE structure, subject to fully distributed disturbances throughout the system. A state-feedback controller is developed by the {nonovershooting backstepping} method to simultaneously achieve exponential output regulation and enforce safety constraints on the system output, which is the state furthest from the control input. To handle unmeasured PDE states and external disturbances, a state observer and a disturbance estimator are designed. Explicit bounds on the estimation errors are derived and used to construct a robust safe regulator that accounts for the uncertainties. The proposed control scheme guarantees that: 1) If the system output is initially within the safe region, it remains there; otherwise, it will be rescued to the safety within a prescribed time; 2) The output tracking error converges to zero exponentially; 3) The observer accurately estimates both the distributed states and external disturbances, with estimation errors converging to zero exponentially; 4) All signals in the closed-loop system remain bounded. The effectiveness of the proposed method is demonstrated through a UAV delivery scenario with a cable-suspended payload, where the payload is regulated to track a desired reference while avoiding collisions with barriers.

Paperid: 3218, https://arxiv.org/pdf/2512.05692.pdf

Abstract:
Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint violation, loss of feasibility and deteriorate closed-loop performance. In this paper, we propose a new MPC scheme based on the internal model principle. This enables the MPC to reject unknown disturbances provided that the dynamics of the linear signal generator are known. We reformulate the output regulation problem as a stability problem, to ensure feasibility, constraint satisfaction, and convergence to the optimal reachable setpoint. The controller is validated on a real fourtank system.

Paperid: 3219, https://arxiv.org/pdf/2512.05653.pdf

Abstract:
Traditional Business Process Management (BPM) focuses on discrete events and fails to incorporate critical continuous sensor data in cyber-physical environments. Hybrid declarative specifications, utilizing Signal Temporal Logic (STL), address this limitation by allowing constraints over both discrete events and real-valued signals. However, existing work has been limited to monitoring and post-hoc conformance checking. This paper introduces a novel Complex Event Processing (CEP)-based execution architecture that enables the real-time execution and enforcement of hybrid declarative models. Our three-layer approach integrates STL-inspired predicates into the execution flow, allowing the system to actively trigger activities and enforce process boundaries based on continuous sensor behavior. This approach bridges the gap between hybrid specification and operational control.

Paperid: 3220, https://arxiv.org/pdf/2512.05552.pdf

Abstract:
This paper presents a method for solving the Inverse Stochastic Differential Game (ISDG) problem in finite-horizon linear-quadratic Gaussian (LQG) differential games. The objective is to recover cost function parameters of all players, as well as noise scaling parameters of the stochastic system, consistent with observed trajectories. The proposed framework combines (i) estimation of the feedback strategies, (ii) identification of the cost function parameters via a novel reformulation of the coupled Riccati differential equations, and (iii) maximum likelihood estimation of the noise scaling parameters. Simulation results demonstrate that the approach recovers parameters, yielding trajectories that closely match the observed trajectories.

Paperid: 3221, https://arxiv.org/pdf/2512.05400.pdf

Abstract:
The gray-box modeling approach, which uses a semi-physical thermal network model, has been widely used in building prediction applications, such as model predictive control (MPC). However, unmeasured disturbances, such as occupants, lighting, and in/exfiltration loads, make it challenging to apply this approach to practical buildings. In this study, we propose a hybrid modeling approach that integrates the gray-box model with a model for unmeasured disturbance. After reviewing several system identification approaches, we systematically designed the unmeasured disturbance model with a model selection process based on statistical tests to make it robust. We generated data based on the building model calibrated by real operational data and then trained the hybrid model for two different weather conditions. The Hybrid model approach demonstrates the reduction of RMSE approximately 0.2-0.9C and 0.3-2C on 1-day ahead temperature prediction compared to the Conventional approach for mild (Berkeley, CA) and cold (Chicago, IL) climates, respectively. In addition, this approach was applied for experimental data obtained from the laboratory building to be used for the MPC application, showing superior prediction performances.

Paperid: 3222, https://arxiv.org/pdf/2512.04833.pdf

Abstract:
Enhanced computational capabilities of modern decision-making software have allowed us to solve increasingly sophisticated optimisation problems. But in complex socio-economic, technical environments such as electricity markets, transparent operation is key to ensure a fair treatment of all parties involved, particularly regarding dispatch decisions. We address this issue by building on the concept of counterfactual explanations, answering questions such as "Why was this generator not dispatched?" by identifying minimum changes in the input parameters that would have changed the optimal solution. Both DC Optimal Power Flow and Unit Commitment problems are considered, wherein the variable parameters are the spatial and temporal demand profiles, respectively. The thereby obtained explanations allow users to identify the most important differences between the real and expected market outcomes and observe which constraints have led to the solution. The framework uses a bilevel optimisation problem to find the counterfactual demand scenarios. State-of-the-art methods are compared with data-driven heuristics on the basis of computational efficiency and explanation accuracy. Results show that leveraging historical data from previously solved instances can provide significant speed benefits and allows us to derive explanations in cases where conventional methods would not be tractable.

Paperid: 3223, https://arxiv.org/pdf/2512.04679.pdf

Abstract:
This work investigates a dynamic variant of Bayesian persuasion, in which a strategic sender seeks to influence a receiver's belief over time through controlling the timing of the information disclosure, under resource constraints. We consider a binary information source (i.e., taking values 0 or 1), where the source's state evolve according to a continuous-time Markov chain (CTMC). In this setting, the receiver aims to estimate the source's state as accurately as possible. In contrast, the sender seeks to persuade the receiver to estimate the state to be 1, regardless of whether this estimate reflects the true state. This misalignment between their objectives naturally leads to a Stackelberg game formulation where the sender, acting as the leader, chooses an information-revelation policy, and the receiver, as the follower, decides whether to follow the sender's messages. As a result, the sender's objective is to maximize the long-term average time that the receiver's estimate equals 1, subject to a total sampling constraint and a constraint for the receiver to follow the sender's messages called incentive compatibility (IC) constraint. We first consider the single-source problem and show that the sender's optimal policy is to allocate a minimal sampling rate to the undesired state 0 (just enough to satisfy the IC constraint) and assign the remaining sampling rate to the desired state 1. Next, we extend the analysis to the multi-source case, where each source has a different minimal sampling rate. Our results show that the sender can leverage the timeliness of the revealed information to influence the receiver, thereby achieving a higher utility.

Paperid: 3224, https://arxiv.org/pdf/2512.04609.pdf

Abstract:
To ensure economic viability, LH2 export terminals must minimize boil-off losses. We show two strategies to achieve zero boil-off losses for the transfer of 160 000 m3 LH2 (11 248 tons) using a centrifugal pump. In the first strategy, a pump with variable speed drive (VSD) and split-range control for the flow rate achieves losses from 0 wt% to 0.24 wt% in an uncertainty analysis. A pump efficiency approaching 70% is the most important factor to minimize losses. In contrast, a fixed-speed pump has unacceptably high losses ranging from 0.76 wt% to 1.06 wt% (119 tons per ship). The second strategy is to increase the maximum pressure in the seaborne tank (base case is 1.15 bara). Zero loss is achieved for the fixed speed pump if the maximum pressure is increased to 1.35 bara, while 1.22 bara is required for the pump with VSD assuming an efficiency of 60%.

Paperid: 3225, https://arxiv.org/pdf/2512.04298.pdf

Abstract:
We experimentally demonstrate enhanced sensitivity of an atom-based Rydberg radio frequency (RF) receiver integrated with a gradient refractive index (GRIN) Luneburg-type metamaterial lens. By analyzing the electromagnetically induced transparency (EIT) effect in Cesium vapor, we compare receiver performance with and without the GRIN lens under a 2.2~GHz and a 3.6~GHz far-field excitation. Our measurements reveal a significant amplification of the EIT transparency window when the lens is introduced, consistent with the theoretical prediction that the local E-field enhancement at the vapor cell reduces the minimum detectable electric field and increases the signal-to-noise ratio (SNR) of the Rydberg RF receiver. This experimental validation highlights the potential of metamaterial-assisted quantum sensing to overcome the inherent bandwidth and sensitivity limitations of bare Rydberg receivers for a variety of applications, such as electromagnetic compatibility (EMC) testing, quantum radar, and wireless communications.

Paperid: 3226, https://arxiv.org/pdf/2512.04249.pdf

Abstract:
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with partial feedback linearization and stabilization. Then, transverse linearization along the reference orbit is computed, resulting in a periodic linear time-varying system with a stable subspace. Sliding-mode control drives trajectories toward this subspace. The proposed design avoids solving computationally intensive periodic LQR problems and improves robustness to matched disturbances. The methodology is validated through experiments on the Butterfly robot.

Paperid: 3227, https://arxiv.org/pdf/2512.03990.pdf

Abstract:
Vortex-Induced Vibrations (VIVs) of cylindrical structures present significant challenges in various engineering applications, including marine risers, tall buildings, and renewable energy systems. Hence, it is vital to control Vortex-Induced Vibrations of cylindrical structures. For this purpose, in this study a novel approach is introduced to VIV control, based on a model-based active control strategy integrated with a Neural Network (NN) in the presence of uncertainty modeling. The proposed method utilizes a closed-loop control system, where feedback from the system's dynamic state is used to generate adaptive control commands, enabling the system to respond to changing flow conditions and nonlinearities. Then, the controllability analysis is conducted to assess the efficiency of the control strategy in mitigating VIV. Two control approaches are implemented: simple learning and composite learning. Both strategies significantly enhance vibration suppression, achieving up to 99% reduction in vibrations despite uncertainties in the system. The results demonstrate the potential of the proposed method to enhance the efficiency, stability, and lifespan of structures subject to VIV.

Paperid: 3228, https://arxiv.org/pdf/2512.03977.pdf

Abstract:
Finite abstractions are discrete approximations of dynamical systems, such that the set of abstraction trajectories contains all system trajectories. There is a consensus that abstractions suffer from the curse of dimensionality: for the same ``accuracy" (how closely the abstraction represents the system), the abstraction size scales poorly with system dimensions. And yet, after decades of research on abstractions, there are no formal results on their accuracy-size tradeoff. In this work, we derive a statistical, quantitative theory of abstractions' accuracy-size tradeoff and uncover fundamental limits on their scalability, through rate-distortion theory -- the information theory of lossy compression. Abstractions are viewed as encoder-decoder pairs, encoding trajectories of dynamical systems. Rate measures abstraction size, while distortion describes accuracy, defined as the spatial average deviation between abstract trajectories and system ones. We obtain a fundamental lower bound on the minimum achievable abstraction distortion, given the system dynamics and the abstraction size; and vice-versa a lower bound on the minimum size, for given distortion. The bound depends on the complexity of the dynamics, through trajectory entropy. We demonstrate its tightness on some dynamical systems. Finally, we showcase how this new theory enables constructing minimal abstractions, optimizing the size-accuracy tradeoff, through an example on a chaotic system.

Paperid: 3229, https://arxiv.org/pdf/2512.03886.pdf

Abstract:
This paper presents an Autonomous System (AS) architecture for vehicles in a closed circuit. The AS performs precision tasks including computer vision for environment perception, positioning and mapping for accurate localization, path planning for optimal trajectory generation, and control for precise vehicle actuation. Each subsystem operates independently while connecting data through a cohesive pipeline architecture. The system implements a modular design that combines state-of-the-art technologies for real-time autonomous navigation in controlled environments.

Paperid: 3230, https://arxiv.org/pdf/2512.03712.pdf

Abstract:
This paper presents a hybrid Sequential Convex Programming (SCP) framework for solving the unbalanced three-phase AC Optimal Power Flow (OPF) problem. The method combines a fixed McCormick outer approximation of bilinear voltage-current terms, first-order Taylor linearisations, and an adaptive trust-region constraint to preserve feasibility and promote convergence. The resulting formulation remains convex at each iteration and ensures convergence to a stationary point that satisfies the first-order Karush-Kuhn-Tucker (KKT) conditions of the nonlinear OPF. Case studies on standard IEEE feeders and a real low-voltage (LV) network in Cyprus demonstrate high numerical accuracy with optimality gap below 0.1% and up to 2x faster runtimes compared to IPOPT. These results confirm that the method is accurate and computationally efficient for large-scale unbalanced distribution networks.

Paperid: 3231, https://arxiv.org/pdf/2512.03615.pdf

Abstract:
This paper deals with the problem of covariance control for a class of linear stochastic discrete-time systems in the Stochastic Model Predictive Control (SMPC) framework. The considered systems are affected by independent and identically distributed (i.i.d.) additive and parametric stochastic uncertainties (potentially unbounded), in addition to polytopic deterministic uncertainties bounding the mean of the state and input parameters. The control design conditions presented in this paper are formulated as Linear Matrix Inequalities (LMIs), using the S-variable approach in order to reduce the potential conservatism. These conditions are derived using a deterministic exact characterization of the covariance dynamics, the latter involves bilinear terms in the control gain. A technique to linearize such dynamics is presented, it results in a descriptor representation allowing to derive sufficient conditions for covariance control design. The derived condition is firstly compared to a known necessary and sufficient stability condition for systems without deterministic uncertainties and additive stochastic noise, although more conservative, it turns out to be more numerically tractable. Then, the same condition is used to design controllers that are robust to both deterministic and stochastic uncertainties. Several numerical examples are presented for comparison and illustration.

Paperid: 3232, https://arxiv.org/pdf/2512.03519.pdf

Abstract:
Developing high-stakes autonomous systems that include Artificial Intelligence (AI) components is complex; the consequences of errors can be catastrophic, yet it is challenging to plan for all operational cases. In stressful scenarios for the human operator, such as short decision-making timescales, the risk of failures is exacerbated. A lack of understanding of AI failure modes obstructs this and so blocks the robust implementation of applications of AI in smart systems. This prevents early risk identification, leading to increased time, risk and cost of projects. A key tenet of Systems Engineering and acquisition engineering is centred around a "left-shift" in test and evaluation activities to earlier in the system lifecycle, to allow for "accelerated delivery of [systems] that work". We argue it is therefore essential that this shift includes the analysis of AI failure cases as part of the design stages of the system life cycle. Our proposed framework enables the early characterisation of risks emerging from human-autonomy teaming (HAT) in operational contexts. The cornerstone of this is a new analysis of AI failure modes, built on the seminal modelling of human-autonomy teams laid out by LaMonica et al., 2022. Using the analysis of the interactions between human and autonomous systems and exploring the failure modes within each aspect, our approach provides a way to systematically identify human-AI interactions risks across the operational domain of the system of interest. The understanding of the emergent behaviour enables increased robustness of the system, for which the analysis should be undertaken over the whole scope of its operational design domain. This approach is illustrated through an example use case for an AI assistant supporting a Command & Control (C2) System.

Paperid: 3233, https://arxiv.org/pdf/2512.03459.pdf

Abstract:
Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it remains unclear how such low-level mechanical computation reduces the control requirements of the high-level controller. In this study, we implement a hierarchical controller consisting of a high-level neural network trained by reinforcement learning and a low-level variable-impedance muscle coor dination model with mono- and biarticular muscles in monoped locomotion task. We systematically restrict the high-level controller by varying the control frequency and by introducing biologically inspired observation conditions: delayed, partial, and substituted observation. Under these conditions, we evaluate how the low-level variable-impedance muscle coordination contributes to learning process of high-level neural network. The results show that variable-impedance muscle coordination enables stable locomotion even under slow-rate control frequency and limited observation conditions. These findings demonstrate that the morphological computation of muscle coordination effectively offloads high-frequency feedback of the high-level controller and provide a design principle for the controller in motor control.

Paperid: 3234, https://arxiv.org/pdf/2512.03035.pdf

Abstract:
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification of physically consistent models, which are essential for model-based control synthesis. Lagrangian or Hamiltonian neural networks provide useful structural guarantees but the learning of such models often leads to inconsistent models, especially on real physical systems where training data are limited, partial and noisy. Motivated by this observation and the objective to exploit these models for model-based nonlinear control, a learning algorithm relying on an original loss function is proposed to improve the physical consistency of Lagrangian systems. A comparative analysis of different learning-based modeling approaches with the proposed solution shows significant improvements in terms of physical consistency of the learned models, on both simulated and experimental systems. The model's consistency is then exploited to demonstrate, on an experimental benchmark, the practical relevance of the proposed methodology for feedback linearization and energy-based control techniques.

Paperid: 3235, https://arxiv.org/pdf/2512.02803.pdf

Abstract:
This paper presents the modeling of autonomous vehicles with high maneuverability used in an experimental framework for educational purposes. Since standard bicycle models typically neglect wide steering angles, we develop modified planar bicycle models and combine them with both parametric and non-parametric identification techniques that progressively incorporate physical knowledge. The resulting models are systematically compared to evaluate the tradeoff between model accuracy and computational requirements, showing that physics-informed neural network models surpass the purely physical baseline in accuracy at lower computational cost.

Paperid: 3236, https://arxiv.org/pdf/2512.02695.pdf

Abstract:
In Real-Time, Feedback-Driven Single Particle Tracking methods, measurements of the emission intensity from a labeled, nanometer-scale particle are used in a feedback loop to track the motion of the particle as it moves inside its native environment, including within living cells. In this work, we take advantage of Point Spread Function (PSF) engineering techniques that encode the axial position of the particle into the shape of the PSF in the focal plane to eliminate the need for out-of-focal-plane measurements, reducing the complexity of implementation and decreasing the overall measurement time of the control loop. Specifically, we used the Double Helix PSF (DH-PSF) in which a single fluorescent source gives rise to two lobes in the image plane with the lobes rotating in the plane as the particle moves along the optical axis. We designed simple estimators of the relative error between the particle and the tracker, and a simple proportional feedback controller to regulate that error to zero. We explored the efficacy of the approach through simulation studies, demonstrating the tracking of fast-moving particles (with diffusion coefficients up to 10 {μ\text{m}^2/\text{s}}) over long time periods (multiple seconds).

Paperid: 3237, https://arxiv.org/pdf/2512.02662.pdf

Abstract:
This paper employs modal analysis to study the core inertial dynamics of governor-controlled synchronous generators (GC-SG), droop-based grid-forming (GFM) converters, and their most fundamental interactions. The results indicate that even in the simplest cases, the prevailing industry paradigm of emulating legacy GC-SG behaviour in GFM converters (high inertia to slow down the system and large droop to increase damping) could be a suboptimal policy. It is shown that GC-SGs exhibit a fundamental trade-off: adequate damping of the turbine-governor mode requires large droop constants, inevitably increasing steady-state frequency deviation and dependence on secondary regulation. In contrast, droop-based GFM converters invert this relationship: decreasing the droop constant simultaneously reduces steady-state frequency deviations and increases damping, while allowing virtual inertia to be freely chosen. When two GC-SGs are coupled, the poorly damped electromechanical swing mode emerges. Results show that replacing one GC-SG with a GFM converter of equivalent droop and inertia already significantly improves damping of both swing and turbine-governor modes. Counter-intuitively, further and remarkable damping gains are achieved by substantially lowering the GFM virtual inertia constant. These findings suggest that current industry trends may be constraining the potential benefits of Inverter Based Resources (IBRs). Optimal stability and performance are instead obtained with low droop and low virtual inertia, yielding tightly bounded frequency variations and strongly-damped electromechanical modes. The results indicate a need to re-evaluate GFM control design principles and emerging grid-code requirements.

Paperid: 3238, https://arxiv.org/pdf/2512.02579.pdf

Abstract:
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an integral term that has to be approximated for implementation. In this article, we propose a new way to implement this control law using a dynamic controller. The control law is composed of a state feedback term and a dynamic term that approaches the integral term that has to be estimated for implementation. Using a Lyapunov functional, we provide sufficient conditions, in terms of a linear matrix inequality, to guarantee that the closed-loop system is stable when the proposed control law is applied. We use three examples, taken from the literature, to show the benefits of the proposed approach.

Paperid: 3239, https://arxiv.org/pdf/2512.02452.pdf

Abstract:
As is well known, classical PID control is ubiquitous in industrial processes, yet a rigorous and explicit design theory for nonlinear uncertain MIMO second-order systems remains underdeveloped. In this paper we consider a class of such systems with both uncertain dynamics and an unknown but strictly positive input gain, where the nonlinear uncertainty is characterized by bounds on the Jacobian with respect to the state variables. We explicitly construct a three-dimensional region for the PID gains that is sufficient to guarantee global stability and asymptotic tracking of constant references for all nonlinearities satisfying these Jacobian bounds. We then derive a corresponding necessary region, thereby revealing the inherent conservatism required to cope with worst-case uncertainties. Moreover, under additional structural assumptions on the nonlinearities, these sufficient and necessary regions coincide, yielding a precise necessary-and-sufficient characterization of all globally stabilizing PID gains. All these regions are given in closed form and depend only on the prescribed Jacobian bounds and the known lower bound of the input gain, in contrast to many qualitative tuning methods in the literature.

Paperid: 3240, https://arxiv.org/pdf/2512.02297.pdf

Abstract:
5G and beyond mobile telecommunication networks are increasingly embracing software technologies in their operation and control, similar to what has powered the growth of the cloud. This is most recently seen in the radio access network (RAN). In this new approach, the RAN is increasingly controlled by software applications known as xApps, and opens the door to third party development of xApps bringing diversity to the ecosystem, similar to mobile phone apps. This model aligns closely with the controllers in the ITU-T architecture for autonomous networks, and provides a pathway towards autonomous operation in the RAN. Unfortunately, no marketplace to host or supply xApps currently exists. This work describes our experiences in leveraging open-source O-RAN implementations to design and develop an xApp store.

Paperid: 3241, https://arxiv.org/pdf/2512.02079.pdf

Abstract:
Fast, efficient, robust communication during wildfire and other emergency responses is critical. One way to achieve this is by coordinating swarms of autonomous aerial vehicles carrying communications equipment to form an ad-hoc network connecting emergency response personnel to both each other and central command. However, operating in such extreme environments may lead to individual networking agents being damaged or rendered inoperable, which could bring down the network and interrupt communications. To overcome this challenge and enable multi-agent UAV networking in difficult environments, this paper introduces and formalizes the problem of Robust Task Networking Under Attrition (RTNUA), which extends connectivity maintenance in multi-robot systems to explicitly address proactive redundancy and attrition recovery. We introduce Physics-Informed Robust Employment of Multi-Agent Networks ($Φ$IREMAN), a topological algorithm leveraging physics-inspired potential fields to solve this problem. Through simulation across 25 problem configurations, $Φ$IREMAN consistently outperforms the DCCRS baseline, and on large-scale problems with up to 100 tasks and 500 drones, maintains $>99.9\%$ task uptime despite substantial attrition, demonstrating both effectiveness and scalability.

Paperid: 3242, https://arxiv.org/pdf/2512.01683.pdf

Abstract:
Microelectronic devices in modern systems are working continuously for prolonged periods of many years. Thus, there is a crucial need for reliability model that will enable us to predict precisely the life cycle of the device and point out on the governing failure mechanisms that are responsible for degradation and failure. This is even more important when high power and frequency devices, especially Normally Off Switch Power transistors are concerned, since the reliability research on those devices lay far behind that of low power digital devices. Our main goal in our lab is to investigate the failure mechanisms of GaN transistors, aimed at determining the reliability factors of the innovative MTOL model. The main goal is to understand the reason for the transformation of the failure mechanism. Employing the recorded data may enable us to predict the performance and life time of the device at different operation parameters such as current, voltage, frequency and temperatures. In this study we employ a new different use for the well-known boost convertor circuit, based on GaN Devices in order to stress the transistor to the maximum values of voltage and current which allows us to examine the reliability of the transistor and accelerating Hot Carrier And Trap Generation failures mechanisms. The acceleration of the failure mechanism should be done in a way that will not affect the electronic device detrimentally and on the other hand we would not need to wait a long time in order to observe the degradation. In this work we will present our new boost converter circuit based on high power GaN HEMT.

Paperid: 3243, https://arxiv.org/pdf/2512.01668.pdf

Abstract:
Control Barrier Functions (CBFs) have emerged as efficient tools to address the safe navigation problem for robot applications. However, synthesizing informative and obstacle motion-aware CBFs online using real-time sensor data remains challenging, particularly in unknown and dynamic scenarios. Motived by this challenge, this paper aims to propose a novel Gaussian Process-based formulation of CBF, termed the Dynamic Log Gaussian Process Control Barrier Function (DLGP-CBF), to enable real-time construction of CBF which are both spatially informative and responsive to obstacle motion. Firstly, the DLGP-CBF leverages a logarithmic transformation of GP regression to generate smooth and informative barrier values and gradients, even in sparse-data regions. Secondly, by explicitly modeling the DLGP-CBF as a function of obstacle positions, the derived safety constraint integrates predicted obstacle velocities, allowing the controller to proactively respond to dynamic obstacles' motion. Simulation results demonstrate significant improvements in obstacle avoidance performance, including increased safety margins, smoother trajectories, and enhanced responsiveness compared to baseline methods.

Paperid: 3244, https://arxiv.org/pdf/2512.01573.pdf

Abstract:
Combined effects of transient ionizing and electromagnetic pulse on vertical NPN bipolar transistor were experimentally investigated under pulsed X-ray irradiation. Technology computer-aided design (TCAD) simulation method was also employed to explore the underlying physical mechanisms. The results demonstrate that the combined effect of a positive pulse injected into the collector (CEMP) and pulsed X-ray irradiation exceeds the linear superposition of their individual effects. Conversely, the combined effect of a positive pulse injected into the base (BEMP) and pulsed X-ray irradiation aligns closely with the results observed under BEMP acting alone. Mechanism analysis reveals that when CEMP and pulsed X-ray irradiation act simultaneously, there is a significant increase in both the drift photocurrent at the collector junction and the diffusion photocurrent near the collector junction. However, when BEMP and pulsed X-ray irradiation act simultaneously, these photocurrent components remain small, leading to a combined effect similar to the results observed when BEMP acts alone. These findings provide critical insights for the radiation-hardening design of bipolar circuits in harsh radiation environments.

Paperid: 3245, https://arxiv.org/pdf/2512.01164.pdf

Abstract:
Unmanned Aerial Vehicle (UAV) technologies are gaining high interest for many domains, which makes UAV security of utmost importance. ArduPilot is among the most widely used open-source autopilot UAV frameworks; yet, many studies demonstrate the vulnerabilities affecting such systems. Vulnerabilities within its communication subsystems (including WiFi, telemetry, or GPS) expose critical entry points, and vulnerabilities in Ardupilot can affect the control procedure. In this paper, we reconstruct the software architecture and the control models implemented by ArduPilot and then examine how these control models could potentially misused to induce malicious behaviors while relying on legitimate inputs.

Paperid: 3246, https://arxiv.org/pdf/2512.01101.pdf

Abstract:
In multilevel supervisor synthesis, dependency structure matrix techniques can be used to transform the models of plants and requirements into a tree-structured hierarchical decomposition of the synthesis problem and thus efficiently synthesize local supervisors. A bus component, which has many dependencies across a system, tends to lead to an undesirable clustering of many components in one synthesis subproblem. Prior work showed how to recognize and properly treat a global bus structure. In this paper we leverage this work from global to local bus structures through a novel multilevel discrete-event system (MLDES) architecture. Specifically, the hierarchical system decomposition is revisited by allowing bus detection not only on the top level but at each level of the system hierarchy. Given this architecture, an algorithm is introduced that constructs a tree-structured MLDES. A case study on a production line shows the effectiveness of the proposed method through significantly improved synthesis performance, measured by the sum of the controlled state-space sizes of the local supervisors.

Paperid: 3247, https://arxiv.org/pdf/2512.01093.pdf

Abstract:
Multipurpose batch processes become increasingly popular in manufacturing industries since they adapt to low-volume, high-value products and shifting demands. These processes often operate in a dynamic environment, which faces disturbances such as processing delays and demand changes. To minimise long-term cost and system nervousness (i.e., disruptive changes to schedules), schedulers must design rescheduling strategies to address such disturbances effectively. Existing methods often assume complete look-ahead information over the scheduling horizon. This assumption contrasts with realistic situations where schedulers can only access incomplete look-ahead information. Sticking with existing methods may lead to suboptimal long-term costs and high-level system nervousness. In this work we propose a Bayesian dynamic scheduling method. Our method relies on learning a Bayesian Network from the probability distribution of disturbances. Specifically, the Bayesian Network represents how likely each operation will be impacted by disturbances. During the online execution, when new disturbances become observed, this method updates the posterior distribution and therefore guides the rescheduling strategy. We compare our method with the existing periodic rescheduling strategy (which generates new schedules from scratch at fixed intervals) on four benchmark problems. Computational results show that our method achieves statistically better long-term costs and system nervousness. In the theoretical aspect, we prove that if disturbances are mutually independent, the impact-quantifying variables inherently satisfy the independence assumptions required by Bayesian Networks. As an implication, practitioners can extend the method to other scheduling problems (such as job shop scheduling and continuous processes), given that they define the problem-specific dependencies between operations.

Paperid: 3248, https://arxiv.org/pdf/2512.01069.pdf

Abstract:
In tropical semiarid regions, prickly pear cactus has emerged as a vital forage resource due to its high drought tolerance and minimal water requirements. However, even limited weed infestation can severely compromise cactus productivity, as the species are highly sensitive to competition for essential resources, which includes water, mineral nutrients, and sun exposure. Conventional herbicide-based weed control strategies face growing limitations due to resistance development and environmental concerns, underscoring the need for sustainable alternatives. This study revisits the historically underexplored application of linear Fresnel lenses for thermal weed control and establishes the technical feasibility of a contemporary autonomous weed management system that incorporates LFL technology within an unmanned ground vehicle platform. Leveraging real-time image processing, georeferencing, and mechanical actuation, the system can perform a two-phase operation-weed mapping during non-optimal solar hours and targeted solar termination during peak irradiance. Analytical modeling quantifies the effective area coverage and time constraints imposed by the solar window. Preliminary results indicate that, while unsuitable for dense weed infestations, the system presents a viable solution for precision, post-emergent weed control in sparse infestations. The favorable solar geometry in tropical zones, especially in the Brazilian semiarid region, and the targeted nature of the approach make this technology particularly well-suited for sustainable agriculture in under-resourced regions.

Paperid: 3249, https://arxiv.org/pdf/2512.01066.pdf

Abstract:
This paper presents the development of a control law, which is intended to be implemented on an optical guided glider. This guiding law follows an innovative approach, the reinforcement learning. This control law is used to make navigation more flexible and autonomous in a dynamic environment. The final objective is to track a target detected with the camera and then guide the glider to this point with high precision. Already applied on quad-copter drones, we wish by this study to demonstrate the applicability of reinforcement learning for fixed-wing aircraft on all of its axis.

Paperid: 3250, https://arxiv.org/pdf/2512.00998.pdf

Abstract:
Continuous energy monitoring is essential for identifying potential savings and predicting the energy requirements of buildings. Energy meters are often located in underground spaces that are difficult to reach with wireless technology. This paper presents an experimental study comparing different Low Power Wide Area Networks (LPWAN) technologies in terms of building penetration and radio coverage. The technologies Low Power Long Range Wide Area Networks (LoRaWAN), Narrow Band Internet of Things (NB-IoT), Sigfox 0G and Wireless Smart Ubiquitous Networks (Wi-SUN) are evaluated experimentally. It also proposes a distributed hybrid IoT architecture that combines multiple LPWAN technologies using an abstraction layer to optimize cost and coverage. Communication is message-based using the publish-subscribe messaging pattern. It is implemented using the MQTT protocol. The abstraction layer decodes the proprietary binary data and converts it to a normalized JSON format.

Paperid: 3251, https://arxiv.org/pdf/2512.00969.pdf

Abstract:
The transition to prescriptive maintenance in manufacturing is critically constrained by a dependence on predictive models. These models tend to rely on spurious correlations rather than identifying the true causal drivers of failures, often leading to costly misdiagnoses and ineffective interventions. This fundamental limitation results in a key-challenge: while we can predict that a failure may occur, we lack a systematic method to understand why a failure occurs, thereby providing the basis for identifying the most effective intervention. This paper proposes a model based on causal machine learning to bridge this gap. Our objective is to move beyond diagnosis to active prescription by simulating and evaluating potential fixes toward optimizing KPIs such as Overall Equipment Effectiveness (OEE). For this purpose a pre-trained causal foundation model is used as a "what-if" model to estimate the effects of potential fixes. By measuring the causal effect of each intervention on system-level KPIs, it provides a data-driven ranking of actions to recommend at the production line. This process not only identifies root causes but also quantifies their operational impact. The model is evaluated using semi-synthetic manufacturing data and compared with a baseline machine learning model. This paper sets the technical basis for a robust prescriptive maintenance framework, allowing engineers to test potential solutions in a causal environment to make more effective operational decisions and reduce costly downtimes.

Paperid: 3252, https://arxiv.org/pdf/2512.00906.pdf

Abstract:
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on the outer surface of buildings. The platform is supported and driven by cords that are wound on pulleys and coupled to servo controlled dc-motors located at four corners of the building surface. A mathematical model considering the actuator dynamics for this cable-driven mechanism is obtained and its simulation results are presented. Design, manufacture and real-time control tests of a prototype has been done. Both numerical simulations and experiments provide good positioning performance of the proposed cable-driven mechanism.

Paperid: 3253, https://arxiv.org/pdf/2512.00667.pdf

Abstract:
Effective medical simulators necessitate realistic haptic rendering of biological tissues that display viscoelastic material properties, such as creep and stress relaxation. Fractional-order models provide an effective means of describing intrinsically time-dependent viscoelastic dynamics with few parameters, as these models can naturally capture memory effects. However, due to the unintuitive frequency-dependent coupling between the order of the fractional element and the other parameters, determining appropriate parameters for fractional-order models that yield high perceived realism remains a significant challenge. In this study, we propose a systematic means of determining the parameters of fractional-order viscoelastic models that optimizes the perceived realism of haptic rendering across general populations. First, we demonstrate that the parameters of fractional-order models can be effectively optimized through active learning, via qualitative feedback-based human-in-the-loop~(HiL) optimizations, to ensure consistently high realism ratings for each individual. Second, we propose a rigorous method to combine HiL optimization results to form an aggregate perceptual map trained on the entire dataset and demonstrate the selection of population-level optimal parameters from this representation that are broadly perceived as realistic across general populations. Finally, we provide evidence of the effectiveness of the generalized fractional-order viscoelastic model parameters by characterizing their perceived realism through human-subject experiments. Overall, generalized fractional-order viscoelastic models established through the proposed HiL optimization and aggregation approach possess the potential to significantly improve the sim-to-real transition performance of medical training simulators.

Paperid: 3254, https://arxiv.org/pdf/2512.00629.pdf

Abstract:
This paper presents a data-driven framework for computing robust, convex polytopic contractive set for constrained noisy nonlinear systems where an analytical model is not available. Our approach utilizes a finite set of collected noisy measurements to construct a polytopic set that bounds all possible system parameters compatible to available information. Based on previous results, we contribute to provide a sufficient condition for a set to be contractive using Difference of Convex functions for a noisy nonlinear system, while the model is not available. Robustness with respect to unknown model of system is guaranteed by requiring that the computed contractive set is invariant for all possible system models that are compatible with the noisy measurements. We present a tractable, optimization-based algorithm that implements this condition to compute the largest possible contractive set within the state constraint set for the unknown, noisy nonlinear system which is subjected to both state and input constraints. The effectiveness of the proposed methodology is demonstrated with a numerical example.

Paperid: 3255, https://arxiv.org/pdf/2512.00622.pdf

Abstract:
Force feedback gloves in haptic applications remain constrained by limited adaptability, simplified feedback and fixed architectures that limit force feedback versatility. To address these challenges, we present KinesCeTI, a modular force feedback exoskeleton for the index and thumb, designed as a multipurpose device adaptable to a wide range of hand sizes. The glove incorporates interchangeable thimbles for fingertip or phalanx attachment and a bidirectional tendon transmission that supports both passive and active feedback. It is combined with a modular actuation design, where different feedback systems may be attached. The system was tested with two actuation modules: a compliant ratchet-pawl braking mechanism for passive feedback and a novel one-way clutch for variable active feedback, newly introduced here. The system was evaluated in three user studies with 20 participants each, assessing ergonomics, actuation performance and usability in both real and virtual tasks. Results indicate that the glove adapts to different hand sizes and provides effective feedback with both mechanisms, highlighting its potential as a versatile platform for haptic research.

Paperid: 3256, https://arxiv.org/pdf/2512.00393.pdf

Abstract:
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and controller nodes collaboratively perform state estimation and control tasks. Consensus refers to a distributed cooperative mechanism by which each observer node compares its state estimate with those of neighboring nodes, and use the resulting discrepancies to update its own state estimate. One key contribution of this work is to show that the distributed observers and the distributed controllers can be designed independently, which parallels the classical separation principle. This separability within the distributed framework is enabled by a discontinuous consensus strategy and two adaptive algorithms developed specifically for handling the unknown inputs. Theoretical analysis and numerical simulation results demonstrate the effectiveness of the proposed framework in achieving state estimation, stabilization, and tracking control objectives.

Paperid: 3257, https://arxiv.org/pdf/2512.00342.pdf

Abstract:
Real-world intelligence systems usually operate by combining offline learning and online adaptation with highly correlated and non-stationary system data or signals, which, however, has rarely been investigated theoretically in the literature. This paper initiates a theoretical investigation on the prediction performance of a two-stage learning framework combining offline and online algorithms for a class of nonlinear stochastic dynamical systems. For the offline-learning phase, we establish an upper bound on the generalization error for approximate nonlinear-least-squares estimation under general datasets with strong correlation and distribution shift, leveraging the Kullback-Leibler divergence to quantify the distributional discrepancies. For the online-adaptation phase, we address, on the basis of the offline-trained model, the possible uncertain parameter drift in real-world target systems by proposing a meta-LMS prediction algorithm. This two-stage framework, integrating offline learning with online adaptation, demonstrates superior prediction performances compared with either purely offline or online methods. Both theoretical guarantees and empirical studies are provided.

Paperid: 3258, https://arxiv.org/pdf/2512.00051.pdf

Abstract:
The independent control of multiple magnetic microrobots under a shared global signal presents critical challenges in biomedical applications such as targeted drug delivery and microsurgeries. Most existing systems only allow all agents to move synchronously, limiting their use in applications that require differentiated actuation. This research aims to design a controller capable of regulating the radial distance between micro-agents using only the angle ψof a global magnetic field as the actuation parameter, demonstrating potential for practical applications. The proposed cascade control approach enables faster and more precise adjustment of the inter-agent distance than a proportional controller, while maintaining smooth transitions and avoiding abrupt changes in the orientation of the magnetic field, making it suitable for real-world implementation. A bibliographic review was conducted to develop the physical model, considering magnetic dipole-dipole interactions and velocities in viscous media. A PID controller was implemented to regulate the radial distance, followed by a PD controller in cascade to smooth changes in field orientation. These controllers were simulated in MATLAB, showing that the PID controller reduced convergence time to the desired radius by about 40%. When adding the second controller, the combined PID+PD scheme achieved smooth angular trajectories within similar timeframes, with fluctuations of only \pm 5^\circ. These results validate the feasibility of controlling the radial distance of two microrobots using a shared magnetic field in a fast and precise manner, without abrupt variations in the control angle. However, the model is limited to a 2D environment and two agents, suggesting future research to extend the controller to 3D systems and multiple agents.

Paperid: 3259, https://arxiv.org/pdf/2511.23062.pdf

Abstract:
This research presents a Load Profile Generator model for non-road mobile machinery, which depicts the most common operational profiles that reflect real-world conditions. This technological bottom-up model enables users to parameterize specific machines for simulation and observe their power demand at the actuator interfaces. The application of the Load Profile Generator covers different non-road mobile machinery categories, such as construction, agriculture, industrial and forestry. In this study, the Load Profile Generator was used to demonstrate common operations of material handler and forest forwarder, which have been validated against real-world data to match the results. The usage of Load Profile Generator aids engineers in evaluation machines performance by developing operation strategies. It opens doors to further systems analysis as it can serve as an interface for energy demand calculations. The model's results are accurate enough to provide a sufficient understanding of a wide range of non-road mobile machinery load profiles as well as insights about alternative fuel and power supply concepts helping in optimising the system simulation.

Paperid: 3260, https://arxiv.org/pdf/2511.22728.pdf

Abstract:
Power systems are globally experiencing an unprecedented growth in size and complexity due to the advent of nonconventional generation and consumption technologies. To navigate computational complexity, power system dynamic models are often reduced using techniques based on singular perturbation. However, several technical assumptions enabling traditional approaches are being challenged due to the heterogeneous, and often black-box, nature of modern power system component models. This work proposes two singular perturbation approaches that aim to optimally identify fast states that shall be reduced, without prior knowledge about the physical meaning of system states. After presenting a timescale-agnostic formulation for singular perturbation, the first approach uses greedy optimization to sequentially select states to be reduced. The second approach relies on a nonlinear optimization routine allowing state transformations while obtaining an optimally reduced model. Numerical studies on a test system featuring synchronous machines, inverters, and line dynamics demonstrate the generalizability and accuracy of the developed approaches.

Paperid: 3261, https://arxiv.org/pdf/2511.22528.pdf

Abstract:
Due to changes in frequency and intensity of extreme weather events, such as heatwaves and storms, power systems around the globe are having to deal with increased imbalance between demand and supply and additional risk of loss of supply, calling for advanced control strategies that strengthen system resilience. This paper develops a Model Predictive Control (MPC) framework for coordination of Virtual Power Plants (VPPs) that manages photovoltaic (PV) systems, batteries, and loads before, during, and after extreme weather events. A multi-objective mixed-integer quadratically constrained program is solved to enforce customer-priority tiers, serving critical loads first, while minimizing operating cost and PV curtailment under network and device constraints. Simulations on the IEEE 33-bus distribution network with real UK heatwave data show that, under realistic forecast errors and modeling uncertainties, MPC improves resilience by 11-20% relative to traditional full-horizon optimization. These results indicate the practical viability of receding-horizon coordination for resilient, low-carbon VPP operation during extreme weather.

Paperid: 3262, https://arxiv.org/pdf/2511.22244.pdf

Abstract:
This paper addresses the joint scheduling problem of stochastic workloads and a hydrogen-enabled distributed energy system in a low-carbon Internet data centers (IDC). Although such workloads can be shifted over temporal and spatial horizons, it poses challenges when they cannot be accurately predicted, resulting in significant efficiency degradation and high operational cost of the energy system. The problem becomes even more difficult when the workload shifting decisions would influence their randomness, which is natural for the IDC workloads. To tackle these issues, we propose a workload classification model based on the decision-dependent uncertainty set, where the spatiotemporal elasticity of different types of random workloads are clearly identified and the decision dependencies are explicitly described as linear constraints. Thus, a mixed integer program is then established for the optimal scheduling of both workload demand and energy supply. To enhance system resilience against high volatility scenarios, a rolling horizon algorithm is developed to ensure nonanticipativity and full-scenario feasibility. Numerical tests demonstrate that the proposed method exhibits effective workload scheduling decisions with dramatic energy operational cost reductions compared to the benchmarks under most of the uncertain scenarios.

Paperid: 3263, https://arxiv.org/pdf/2511.22137.pdf

Abstract:
With an ever-growing urban population, the need for transportation is increasing at an alarming rate. Thus, the massive increase in the number of vehicles is creating traffic congestion which creates various environmental, societal, and economic problems. To tackle traffic-related issues, several Smart Traffic Systems (STS) have been proposed and implemented. As a result, a comprehensive review of STS has become necessary. The main objective of this paper is to provide an overview and a thorough review of the existing STSs in terms of various technological approaches, traffic detection technologies using different sensors, various networking/communication tools, and their pros and cons. The paper also provides information on major STS services. In addition, challenges related to modern STS are identified. Therefore, the taxonomy of STSs provided in this paper will aid researchers, urban planners, and policymakers to recognize and install the best-suited STSs for their settings.

Paperid: 3264, https://arxiv.org/pdf/2511.22123.pdf

Abstract:
We present a framework for optimal trajectory generation in flow-driven systems governed by the Navier-Stokes equations, combining a Proper Orthogonal Decomposition (POD) reduced0order model (ROM) with Model Predictive Control (MPC). The approach (i) approximates the velocity field from data via snapshot POD and orthogonal projection, (ii) derives a Galerkin-projected dynamical model in reduced coordinates, and (iii) employs MPC to plan control inputs that steer an agent through the predicted flow while satisfying state and actuation constraints. By leveraging reduced-order modeling, the method enables real-time control in high-dimensional flow environments. Simulations demonstrate accurate flow-field reconstruction and efficient trajectory generation within realistic wind environments.

Paperid: 3265, https://arxiv.org/pdf/2511.22034.pdf

Abstract:
We propose analytical mean square error (MSE) expressions for the Kalman filter (KF) and the Kalman smoother (KS) for benchmark studies, where the true system dynamics are unknown or unavailable to the estimator. In such cases, as in benchmark evaluations for target tracking, the analysis relies on deterministic state trajectories. This setting introduces a model mismatch between the estimator and the system, causing the covariance estimates to no longer reflect the actual estimation errors. To enable accurate performance prediction for fixed state trajectories without relying on computationally intensive Monte Carlo simulations, we derive recursive MSE expressions with linear time complexity. The proposed framework also accounts for measurement model mismatch and provides an efficient tool for performance evaluation in benchmark studies with long trajectories. Simulation results confirm the accuracy and computational efficiency of the proposed method.

Paperid: 3266, https://arxiv.org/pdf/2511.21997.pdf

Abstract:
Real-time sea state estimation is vital for applications like shipbuilding and maritime safety. Traditional methods rely on accurate wave-vessel transfer functions to estimate wave spectra from onboard sensors. In contrast, our approach jointly estimates sea state and vessel parameters without needing prior transfer function knowledge, which may be unavailable or variable. We model the wave-vessel system using pseudo mass-spring-dampers and develop a dynamic model for the system. This method allows for recursive modeling of wave excitation as a time-varying input, relaxing prior works' assumption of a constant input. We derive statistically consistent process noise covariance and implement a square root cubature Kalman filter for sensor data fusion. Further, we derive the Posterior Cramer-Rao lower bound to evaluate estimator performance. Extensive Monte Carlo simulations and data from a high-fidelity validated simulator confirm that the estimated wave spectrum matches methods assuming complete transfer function knowledge.

Paperid: 3267, https://arxiv.org/pdf/2511.21936.pdf

Abstract:
Unmanned Vehicles (UxVs) are increasingly used in modern military operations for reconnaissance, surveillance, and strike missions, enhancing situational awareness while reducing risk to personnel. Their affordability and rapid deployment have encouraged the adoption of commercial solutions. However, many rely on insecure protocols such as MAVLink, which lack authentication and encryption mechanisms. This paper designed, implemented, and evaluated a new secure command-and-control architecture that ensures confidentiality, integrity, and authentication (CIA) while supporting real-time control delegation between Ground Control Stations (GCSs). The proposed solution, named New Command and Control System (NC2S), enforces a zero-trust model integrating hierarchical credential-based privileges to regulate access and control among Tactical Commanders (TC), GCSs, and UxVs. It employs mutual Transport Layer Security (mTLS) with Elliptic Curve Digital Signature Algorithm (ECDSA) certificates and Elliptic Curve Diffie-Hellman (ECDH) key exchange, while message integrity is ensured through Hash-based Message Authentication Codes (HMAC). Multiple lightweight protocols were developed for credential management, key renewal, and control handover. The NC2S prototype was experimentally validated over Wi-Fi and Rohde&Schwarz HR-5000H tactical radios. Results showed that HR-5000H links introduce latencies roughly two orders of magnitude higher than broadband technologies (e.g., Wi-Fi or 5G&Beyond technologies) but are still able to maintain stable communication with minimal message loss, making them suitable for the NC2S links among TC terminals and GCSs.

Paperid: 3268, https://arxiv.org/pdf/2511.21855.pdf

Abstract:
As the automotive industry moves towards vehicle electrification, designing and optimizing thermal management systems (TMSs) for Battery Electric Vehicles (BEVs) has become a critical focus in recent years. The dependence of battery performance on operating temperature, the lack of waste combustion heat, and the significant effect of TMS energy consumption on driving range make the design of BEV TMSs highly complicated compared to conventional vehicles. Although prior research has focused on optimizing the configuration of thermal systems for varying ambient conditions, a holistic approach to studying the full potential of reconfigurable TMS architectures has not yet been fully explored. The complex design landscape of multi-mode reconfigurable systems is difficult to navigate. Relying solely on expert intuition and creativity to identify new architectures both restricts progress and leaves significant performance improvements unrealized. In this study, using graph modelling of TMS architectures, we propose a systematic method to automatically enumerate and simulate reconfigurable architectures for a TMS, given the desired operating modes, along with a framework to conduct transient performance analysis and optimization-based trade-off studies among system performance, energy consumption, and complexity. We explored more than 150 operating mode sequences, retaining 39 unique architectures for further evaluation. MATLAB Simscape models of these architectures were automatically created and their performance evaluated. The multi-objective optimization results provide decision support for selecting the best architecture based on user priorities.

Paperid: 3269, https://arxiv.org/pdf/2511.21633.pdf

Abstract:
We address the problem of optimal evasion in a planar endgame engagement, where a target with bounded lateral acceleration seeks to avoid interception by a missile guided by a linear feedback law. Contrary to existing approaches, that assume perfect information or use heuristic maneuver models in stochastic settings, we formulate the problem in an inherently stochastic framework involving imperfect information and bounded controls. Complying with the generalized separation theorem, the control law factors in the posterior distribution of the state. Extending the well-known optimality of bang-bang evasion maneuvers in deterministic settings to the realm of realistic, stochastic evasion scenarios, we firstly prove that an optimal evasion strategy always exists, and that the set of optimal solutions includes at least one bang-bang policy, rendering the resulting optimal control problem finite-dimensional. Leveraging this structure, we secondly propose the closed-loop terminal-set-based evasion (TSE) strategy, and demonstrate its effectiveness in simulation against a proportional navigation pursuer. Monte Carlo simulations show that the TSE strategy outperforms traditional stochastic evasion strategies based on random telegraph, Singer, and weaving models.

Paperid: 3270, https://arxiv.org/pdf/2511.21531.pdf

Abstract:
Obtaining safety guarantees for reinforcement learning is a major challenge to achieve applicability for real-world tasks. Safety shields extend standard reinforcement learning and achieve hard safety guarantees. However, existing safety shields commonly use random sampling of safe actions or a fixed fallback controller, therefore disregarding future performance implications of different safe actions. In this work, we propose a predictive safety shield for model-based reinforcement learning agents in discrete space. Our safety shield updates the Q-function locally based on safe predictions, which originate from a safe simulation of the environment model. This shielding approach improves performance while maintaining hard safety guarantees. Our experiments on gridworld environments demonstrate that even short prediction horizons can be sufficient to identify the optimal path. We observe that our approach is robust to distribution shifts, e.g., between simulation and reality, without requiring additional training.

Paperid: 3271, https://arxiv.org/pdf/2511.21456.pdf

Abstract:
Conventional methods for water pollutant detection, such as chemical assays and optical spectroscopy, are often invasive, expensive, and unsuitable for real-time, portable monitoring. In this paper, we introduce VibraWave, a novel non-invasive sensing framework that combines mmWave radar with controlled acoustic excitation, tensor decomposition, and deep learning to detect and quantify a wide range of water pollutants. By capturing radar reflections as a three-dimensional tensor encoding phase dynamics, range bin power, and angle-of-arrival (AoA), we apply PARAFAC decomposition with non-negative constraints to extract compact, interpretable pollutant fingerprints. These are used to train a lightweight student neural network via knowledge distillation, enabling joint classification and quantification of heavy metals (Cu, Fe, Mg), oil emulsions, and sediments. Extensive experiments show that VibraWave achieves high accuracy and low RMSE across pure, binary, and tertiary mixtures, while remaining robust and computationally efficient, making it well-suited for scalable, real-time water quality monitoring.

Paperid: 3272, https://arxiv.org/pdf/2511.21387.pdf

Abstract:
The shift from synchronous generators to inverter-based resources has caused power system inertia to be unevenly distributed across power grids. As a result, certain grid regions are more vulnerable to high rate-of-change of frequency (RoCoF) during disturbances. This paper presents a measurement-based framework for estimating grid inertia in CAISO (California Independent System Operator) region using real disturbance-driven frequency data from the Frequency Monitoring Network (FNET/GridEye). By analyzing confirmed disturbances from 2013 to 2024, we identify trends in regional inertia and frequency dynamics, highlighting their relationship with renewable generation and the evolving duck curve. Regional RoCoF values were up to six times higher than interconnection-wide values, coinciding with declining inertia. Recent recovery in inertia is attributed to the increased deployment of battery energy storage systems with synthetic inertia capabilities. These findings underscore the importance of regional inertia monitoring, strategic resource planning, and adaptive operational practices to ensure grid reliability amid growing renewable integration.

Paperid: 3273, https://arxiv.org/pdf/2511.21385.pdf

Abstract:
This paper investigates how grid-forming (GFM) and grid-following (GFL) control strategies in inverter-based resources (IBRs) influence line distance and differential protection in converter-dominated transmission systems. A modified IEEE 39-bus system is evaluated with GFM and GFL units equipped with low-voltage ride-through logic, current limiting, and positive- or negative-sequence prioritization. Distance protection is implemented with a mho characteristic, while line differential protection uses an alpha-plane approach. Results show that phase-to-ground loops in distance protection can substantially overestimate the fault location near the Zone-1 reach. For line differential protection, external faults may cause the operating point to briefly enter the trip region of the alpha-plane, even for the healthy-phase in ABG faults under GFL control and during the initial moments of the fault, demanding strong external security measures. These findings highlight that modern converter controls, together with current limitation and sequence-current prioritization, can compromise the reliability and security of traditional protection schemes.

Paperid: 3274, https://arxiv.org/pdf/2511.21327.pdf

Abstract:
Electric power systems are increasingly turning to energy storage systems to balance supply and demand. But how much storage is required? What is the optimal volume of storage in a power system and on what does it depend? In addition, what form of hedge contracts do storage facilities require? We answer these questions in the special case in which the uncertainty in the power system involves successive draws of an independent, identically-distributed random variable. We characterize the conditions for the optimal operation of, and investment in, storage and show how these conditions can be understood graphically using price-duration curves. We also characterize the optimal hedge contracts for storage units.

Paperid: 3275, https://arxiv.org/pdf/2511.21300.pdf

Abstract:
Accurate fault location is essential for operational reliability and fast restoration in wind farm collector networks. However, the growing integration of inverter-based resources changes the current and voltage behavior during faults, challenging the effectiveness of traditional phasor-based diagnostic methods. In this context, the present paper introduces an advanced machine-learning solution that enhances a deterministic fault distance estimator by incorporating a correction model driven by a Gated Residual Network, specifically designed to minimize residual fault location errors. Through comprehensive feature engineering and selection processes, an improved predictor was developed and trained on a diverse set of fault scenarios simulated in a PSCAD-based real-world wind farm model, including variations in fault type, resistance, location, inception angle, and generation penetration. Hyperparameter optimization was performed using the Optuna framework, and the robustness of the method was statistically validated. Results show a significant improvement in accuracy, with a 76% overall decrease in fault location error compared to state-of-the-art approaches. The proposed method demonstrates strong scalability and adaptability to topological and operational changes. This approach advances the deployment of data-driven fault location frameworks for modern power systems.

Paperid: 3276, https://arxiv.org/pdf/2511.21273.pdf

Abstract:
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. The study has been validated using a robotic liver phantom, and five insertions were performed. The resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60, 7.75, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. The proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure.

Paperid: 3277, https://arxiv.org/pdf/2511.21269.pdf

Abstract:
In high-renewable power systems, active-power disturbances are becoming larger and exhibit increasingly diverse time scales, which complicates frequency stability assessment under unanticipated events. This paper presents a response-based frequency stability assessment method that uses disturbance power, inferred from generator electrical responses, to provide a unified treatment of multi-scale disturbances. Unanticipated disturbances are first classified into short-term and permanent events; permanent disturbances are further divided into step, second-level slope and minute-level slope disturbances. Based on the measured power responses of generator groups, a unified disturbance-power model is constructed to identify the disturbance type online and to quantify disturbance intensity through the disturbance power and its rate of change. Analytical frequency-response models are then derived for each disturbance class. For step disturbances, the maximum tolerable disturbance power is obtained under steady-state and transient frequency deviation constraints, and a safety-margin index is defined. For slope-type disturbances, an improved system frequency response (SFR) model and the rotor motion equation after exhaustion of primary frequency regulation are used to compute the over-limit time of frequency deviation. The proposed response-based assessment method is validated on the CSEE-FS frequency-stability benchmark system, demonstrating its effectiveness and accuracy for quantitative frequency stability assessment in high-renewable power systems.

Paperid: 3278, https://arxiv.org/pdf/2511.21235.pdf

Abstract:
Efficient cache management is critical for optimizing the system performance, and numerous caching mechanisms have been proposed, each exploring various insertion and eviction strategies. In this paper, we present AdaptiveClimb and its extension, DynamicAdaptiveClimb, two novel cache replacement policies that leverage lightweight, cache adaptation to outperform traditional approaches. Unlike classic Least Recently Used (LRU) and Incremental Rank Progress (CLIMB) policies, AdaptiveClimb dynamically adjusts the promotion distance (jump) of the cached objects based on recent hit and miss patterns, requiring only a single tunable parameter and no per-item statistics. This enables rapid adaptation to changing access distributions while maintaining low overhead. Building on this foundation, DynamicAdaptiveClimb further enhances adaptability by automatically tuning the cache size in response to workload demands. Our comprehensive evaluation across a diverse set of real-world traces, including 1067 traces from 6 different datasets, demonstrates that DynamicAdaptiveClimb consistently achieves substantial speedups and higher hit ratios compared to other state-of-the-art algorithms. In particular, our approach achieves up to a 29% improvement in hit ratio and a substantial reduction in miss penalties compared to the FIFO baseline. Furthermore, it outperforms the next-best contenders, AdaptiveClimb and SIEVE [43], by approximately 10% to 15%, especially in environments characterized by fluctuating working set sizes. These results highlight the effectiveness of our approach in delivering efficient performance, making it well-suited for modern, dynamic caching environments.

Paperid: 3279, https://arxiv.org/pdf/2511.20895.pdf

Abstract:
This paper proposes a computationally efficient, real-time maximum power point tracking (MPPT) algorithm tailored for low-power photovoltaic (PV) systems operating under fast-changing irradiance and partial shading conditions (PSC). The proposed method augments the classical perturb and observe (P&O) algorithm with an adaptive gradient descent mechanism that dynamically scales the perturbation step size based on the instantaneous power-voltage slope, thereby minimizing tracking time and steady-state oscillations. An optional initialization routine enhances global MPP (GMPP) tracking under PSC. Extensive simulations, including irradiance recordings from freely moving rodent subjects relevant to the targeted application, and tests across varying converter topologies and temperatures, demonstrate its robust, topology-independent performance. The proposed algorithm achieves 99.94 percent MPPT efficiency under standard test conditions (STC), 99.21 percent when applied to experimental data, and more than 99.6 percent for the tested temperature profiles. Under PSC, the initialization routine improves tracking efficiency by up to 7.8 percent. A normalized gate-level complexity analysis and a unified figure-of-merit (FoM) incorporating efficiency, tracking time, and computational cost demonstrate that the proposed algorithm outperforms 35 state-of-the-art P&O-based MPPT algorithms. These results underscore its suitability for integration in low-power power management integrated circuits (PMICs) operating under dynamic and resource-constrained conditions.

Paperid: 3280, https://arxiv.org/pdf/2511.20848.pdf

Abstract:
Neural Signal Operated Intelligent Robots (NOIR) system is a versatile brain-robot interface that allows humans to control robots for daily tasks using their brain signals. This interface utilizes electroencephalography (EEG) to translate human intentions regarding specific objects and desired actions directly into commands that robots can execute. We present NOIR 2.0, an enhanced version of NOIR. NOIR 2.0 includes faster and more accurate brain decoding algorithms, which reduce task completion time by 46%. NOIR 2.0 uses few-shot robot learning algorithms to adapt to individual users and predict their intentions. The new learning algorithms leverage foundation models for more sample-efficient learning and adaptation (15 demos vs. a single demo), significantly reducing overall human time by 65%.

Paperid: 3281, https://arxiv.org/pdf/2511.20552.pdf

Abstract:
The behavior of a dynamical system under a given set of inputs can be captured by tracking the response of an optimal subset of process variables (\textit{state variables}). For many engineering systems, however, first-principles, model-based identification is impractical, motivating data-driven approaches for Digital Twins used in control and diagnostics. In this paper, we present RFE-DMDc, a supervised, data-driven workflow that uses Recursive Feature Elimination (RFE) to select a minimal, physically meaningful set of variables to monitor and then derives a linear state-space model via Dynamic Mode Decomposition with Control (DMDc). The workflow includes a cross-subsystem selection step that mitigates feature \textit{overshadowing} in multi-component systems. To corroborate the results, we implement a GA-DMDc baseline that jointly optimizes the state set and model fit under a common accuracy cost on states and outputs. Across a truth-known RLC benchmark and a realistic Integrated Energy System (IES) with multiple thermally coupled components and thousands of candidate variables, RFE-DMDc consistently recovers compact state sets ($\approx 10$ variables) that achieve test errors comparable to GA-DMDc while requiring an order of magnitude less computational time. The selected variables retain clear physical interpretation across subsystems, and the resulting models demonstrate competitive predictive accuracy, computational efficiency, and robustness to overfitting.

Paperid: 3282, https://arxiv.org/pdf/2511.20276.pdf

Abstract:
This paper presents an LLM-driven, end-to-end workflow that addresses the lack of automation and intelligence in power system transient stability assessment (TSA). The proposed agentic framework integrates large language models (LLMs) with a professional simulator (ANDES) to automatically generate and filter disturbance scenarios from natural language, and employs an LLM-driven Neural Network Design (LLM-NND) pipeline to autonomously design and optimize TSA models through performance-guided, closed-loop feedback. On the IEEE 39-bus system, the LLM-NND models achieve 93.71% test accuracy on four-class TSA with only 4.78M parameters, while maintaining real-time inference latency (less than 0.95 ms per sample). Compared with a manually designed DenseNet (25.9M parameters, 80.05% accuracy), the proposed approach jointly improves accuracy and efficiency. Ablation studies confirm that the synergy among domain-grounded retrieval, reasoning augmentation, and feedback mechanisms is essential for robust automation. The results demonstrate that LLM agents can reliably accelerate TSA research from scenario generation and data acquisition to model design and interpretation, offering a scalable paradigm that is readily extensible to other power system tasks such as optimal power flow, fault analysis, and market operations.

Paperid: 3283, https://arxiv.org/pdf/2511.20043.pdf

Abstract:
A vital strategy for ports to mitigate the environmental impact of the maritime industry, while complying with frameworks such as the European Green Deal and the Sustainable Development Goals (SDGs), entails the systematic implementation of comprehensive energy management solutions. This paper provides a baseline evaluation of the energy management systems (EMSs) implementation and their impact on energy consumption, carbon emissions, and operational costs in smart ports. Initially, we provide a systematic review of the literature focusing on case studies from prominent ports, including Hamburg, Genoa, Jurong, and Shanghai Yangshan Phase IV. The analysis emphasises key aspects such as energy efficiency, reductions in emissions, and the minimization of operational costs. Subsequently, we formulate an optimisation model to simulate load dispatch, carbon emission reduction, and transport scheduling. Results indicate that EMS deployment reduces annual energy consumption and carbon emissions significantly by approximately 7%-8% and 11%-12% respectively, while achieving substantial cost savings of 30%. The study also identifies critical challenges, including system integration, data quality issues, cybersecurity risks, and the need for standardization. These findings provide valuable insights for port authorities and policymakers, supporting the transition toward more sustainable and efficient port operations.

Paperid: 3284, https://arxiv.org/pdf/2511.19884.pdf

Abstract:
This work addresses electric vehicle (EV) charging station placement through a bi-level optimization model, where the upper-level planner maximizes net revenue by selecting station locations under budget constraints, while EV users at the lower level choose routes and charging stations to minimize travel and charging costs. To account for range anxiety, we construct a battery-expanded network and apply a shortest path algorithm with Frank-Wolfe traffic assignment. Our primary contribution is developing the first exact solution algorithm for large scale EV charging station placement problems. We propose a Branch-and-Price-and-Cut algorithm enhanced with value function cuts and column generation. While existing research relies on heuristic methods that provide no optimality guarantees or exact algorithms that require prohibitively long runtimes, our exact algorithm delivers globally optimal solutions with mathematical certainty under a reasonable runtime. Computational experiments on the Eastern Massachusetts network (74 nodes, 248 links), the Anaheim network (416 nodes, 914 links), and the Barcelona network (110 zones, 1,020 nodes, and 2,512 links) demonstrate exceptional performance. Our algorithm terminates within minutes rather than hours, while achieving optimality gaps below 1% across all instances. This result represents a computational speedup of over two orders of magnitude compared to existing methods. The algorithm successfully handles problems with over 300,000 feasible combinations, which transform EV charging infrastructure planning from a computationally prohibitive problem into a tractable optimization task suitable for practical decision making problem for real world networks.

Paperid: 3285, https://arxiv.org/pdf/2511.19715.pdf

Abstract:
Decarbonisation, decentralisation, and intermittency are driving the development of flexibility markets towards shorter market time units (MTU). Shorter MTUs and shorter gate closures lower the entrance barriers of demand side aggregators that face significant uncertainty on longer time scales. We study the business case for aggregated EV fleets participating in the Nordic 15-minute mFRR Energy Activation Market (EAM). Motivated by increasing system granularity and rapid EV uptake, we represent fleet flexibility as a virtual battery with time-varying power and energy envelopes and formulate a risk-aware stochastic optimisation that co-ordinates day-ahead scheduling with quarter-hour mFRR bidding. Using synthetic residential charging cohorts and observed day-ahead prices on two stylised days, we compare an independent day-ahead baseline to a co-optimised strategy under conservative availability and a CVaR-augmented objective. Across both price cases, co-optimisation increases expected profit and lowers downside risk: the model buys less energy day-ahead and shifts procurement toward mFRR down while flattening the charging plan to retain eligibility for mFRR up. Profit decomposition shows that the uplift is driven by higher mFRR down revenues and reduced reliance on unwinding day-ahead positions. We discuss operational implications for bidding and outline two extensions: rolling 45-minute re-optimisation and a V2G framework.

Paperid: 3286, https://arxiv.org/pdf/2511.19460.pdf

Abstract:
Smart grid technological advances present a recent class of complex interdisciplinary modeling and increasingly difficult simulation problems to solve using traditional computational methods. To simulate a smart grid requires a systemic approach to integrated modeling of power systems, energy markets, demand-side management, and much other resources and assets that are becoming part of the current paradigm of the power grid. This paper presents a backbone model of a smart grid to test alternative scenarios for the grid. This tool simulates disparate systems to validate assumptions before the human scale model. Thanks to a distributed optimization of subsystems, the production and consumption scheduling is achieved while maintaining flexibility and scalability.

Paperid: 3287, https://arxiv.org/pdf/2511.19383.pdf

Abstract:
In this paper, we propose a learning-to-optimize (L2O) framework to accelerate solving parametric mixed-integer quadratic programming (MIQP) problems, with a particular focus on mixed-integer model predictive control (MI-MPC) applications. The framework learns to predict integer solutions with enhanced optimality and feasibility by integrating supervised learning (for optimality), self-supervised learning (for feasibility), and a differentiable quadratic programming (QP) layer, resulting in a hybrid L2O framework. Specifically, a neural network (NN) is used to learn the mapping from problem parameters to optimal integer solutions, while a differentiable QP layer is integrated to compute the corresponding continuous variables given the predicted integers and problem parameters. Moreover, a hybrid loss function is proposed, which combines a supervised loss with respect to the global optimal solution, and a self-supervised loss derived from the problem's objective and constraints. The effectiveness of the proposed framework is demonstrated on two benchmark MI-MPC problems, with comparative results against purely supervised and self-supervised learning models.

Paperid: 3288, https://arxiv.org/pdf/2511.19159.pdf

Abstract:
Low-carbon liquid fuels play a key role in energy system decarbonization scenarios. This study uses a multi-sector capacity expansion model of the contiguous United States to examine fuels production in deeply decarbonized energy systems. Our analysis evaluates how the shares of biofuels, synthetic fuels, and fossil liquid fuels change under varying assumptions about resource constraints (biomass and CO2 sequestration availability), fuel demand distributions, and supply flexibility to produce different fuel products. Across all scenarios examined, biofuels provide a substantial share of liquid fuel supply, while synthetic fuels deploy only when biomass or CO2 sequestration is assumed to be more limited. Fossil liquid fuels remain in all scenarios examined, primarily driven by the extent to which their emissions can be offset with removals. Limiting biomass increases biogenic CO2 capture within biofuel pathways, while limiting sequestration availability increases the share of captured atmospheric (including biogenic) carbon directed toward utilization for synthetic fuel production. While varying assumptions about liquid fuel demand distributions and fuel product supply flexibility alter competition among individual fuel production technologies, broader energy system outcomes are robust to these assumptions. Biomass and CO2 sequestration availability are key drivers of energy system outcomes in deeply decarbonized energy systems.

Paperid: 3289, https://arxiv.org/pdf/2511.19070.pdf

Abstract:
This paper investigates the impact of COVID-19 on the power sector in Bangladesh, how the country has dealt with it, and explores the path to stability. The study employs data visualisation and complex statistics to examine critical data about power systems in Bangladesh. This includes load patterns on a daily, monthly, annual, weekend, and weekday basis. Significant alterations in these patterns have been observed during our study e.g., in April and May of 2020, the power demand decreased by approximately 15.4% and 17.2%, respectively, compared to the corresponding period in 2019. We have used a Long-Short-Term Memory (LSTM) framework to predict the load profile of 2020 excluding COVID-19 effects. This model is compared with the actual load profile to determine the degree to which COVID-19 has impacted. The comparison indicates that the average power demand decreased by approximately 19.5% in April 2020 and 18.3% in May 2020, relative to its projected value. The study also investigates system stability by analyzing transmission loss and load factor, and the environmental effect by analyzing the Carbon Dioxide emission rate. Finally, the study provides recommendations for overcoming future disasters, such as developing more resilient power systems, investing in renewable energy, and improving energy efficiency.

Paperid: 3290, https://arxiv.org/pdf/2511.18768.pdf

Abstract:
This paper proposes advanced soft-magnetization techniques to enable ultra-fast and reliable black-start of grid-forming (GFM) converters. Conventional hard-magnetization with well-established three-phase voltages during transformer energization induces severe inrush currents due to flux offset, which can damage power semiconductor devices. To overcome this drawback, an ultra-fast soft-magnetization method is firstly introduced, leveraging the voltage programmability of the inverter to actively reshape the initial voltage profile and thereby eliminate flux offset of the transformer core. By suppressing the formation of flux offset itself, the proposed approach prevents magnetic saturation and achieves nominal terminal voltage within a few milliseconds while effectively suppressing inrush current. However, this method can still trigger surge currents to power semiconductor devices in the presence of an LC filter due to abrupt voltage magnitude and phase transitions. To address this issue, an enhanced Archimedean spiral soft-magnetization method is developed, where both voltage magnitude and phase evolve smoothly to simultaneously suppress inrush and surge currents. Furthermore, residual flux in the transformer core is considered, and a demagnetization sequence using the inverter is validated to ensure reliable start-up. Experimental results confirm that the proposed methods achieve rapid black-start performance within one fundamental cycle while ensuring safe and stable operation of GFM converters.

Paperid: 3291, https://arxiv.org/pdf/2511.18603.pdf

Abstract:
This paper develops a new guidance law for powered descent landing of a rocket-powered vehicle. The proposed law derives the acceleration command for a point mass model of the vehicle by expressing velocity as a dynamical system undergoing supercritical transcritical bifurcation with three bifurcation parameters. The parameters are designed such that the stable equilibrium points of the velocity dynamics correspond to the guided targeting state, that is, the landing point. Numerical simulations are performed to demonstrate the working of the proposed guidance law.

Paperid: 3292, https://arxiv.org/pdf/2511.18573.pdf

Abstract:
Expired functional drinks have great valorisation potential due to the high concentration of organic molecules present. However, detailed information of the resources in these expired functional drinks is limited, hindering the rational design of a recovery system. To address this gap, we present here a study that comprehensively characterises the chemical composition of functional drinks and discus their potential use as feedstocks for biomethane production. The example functional drinks were abundant in sugars, organic acids, and amino acids, and were especially rich in glucose, fructose, and alanine. Our studies revealed that functional drinks with high COD values that corresponded to high proportions of sugar and organic acid and low proportions of sorbitol and amino acids could realise profitable recovery through anaerobic digestion, with a minimum biomethane yield of 11.72 mL CH4 / mL drink. To assess utility further we also examined the dynamic composition of functional drinks up to 16 weeks (at 4 °C) after expiration to capture the shift in resources during deterioration. In doing so, we identified 4 distinct periods of carbon resource variation: 1) chemically stable period, 2) sorbitol degradation period, 3) sugar degradation period, and 4) acidification period. Based on the time-course biomethane production experiments for expired functional drinks, the optimal operating time window for biomethane production from drinks without ascorbic acid would be after sorbitol degradation period in terms of its economic performance through convenient natural deterioration. Therefore, this comprehensive study on dynamic chemical composition in expired functional drinks and their biomethane production potential could facilitate a rational design of resource recovery system for soft drink field.

Paperid: 3293, https://arxiv.org/pdf/2511.18445.pdf

Abstract:
The speed control security system is best suited for the task of slowing the speed of a vehicle during rash driving as the Driver is over speeding the circuit captures the images of the lanes witch decides the speed of the road the car is currently on this input is further provided to the ESP-32 micro Prosser module in the car switch compiles this data with the data received for the RPM sensor of the car and decides whether the car is over speeding or not in case of over speeding a signal is send by the ESP to the Arduino witch actuates the dc motor used in the car to reduce the speed of the car by the use of a hydraulic brake system actuated by a DC motor.

Paperid: 3294, https://arxiv.org/pdf/2511.18390.pdf

Abstract:
Many large-scale constrained optimization problems can be formulated as bilevel distributed optimization tasks over undirected networks, where agents collaborate to minimize a global cost function while adhering to constraints, relying only on local communication and computation. In this work, we propose a distributed stochastic gradient aggregation scheme and establish its linear convergence under the weak assumption of global strong convexity, which relaxes the common requirement of local function convexity on the objective and constraint functions. Specifically, we prove that the algorithm converges at a linear rate when the global objective function (and not each local objective function) satisfies strong-convexity. Our results significantly extend existing theoretical guarantees for distributed bilevel optimization. Additionally, we demonstrate the effectiveness of our approach through numerical experiments on distributed sensor network problems and distributed linear regression with rank-deficient data.

Paperid: 3295, https://arxiv.org/pdf/2511.18184.pdf

Abstract:
Modular Multilevel Converter-based High Voltage Direct Current (MMC-HVDC) system is a promising technology for integration of offshore wind farms (OWFs). However, onshore AC faults on MMC-HVDC reduce the power transfer capability of onshore converter station, leading to surplus power accumulation in HVDC link. This surplus power causes a rapid rise in DC-link voltage and may hinder safe operation of OWFs. To address such a situation, this paper presents an AC fault ride-through scheme that combines the storage of surplus power in MMC submodule (SM) capacitors and dissipation of residual power in an energy dissipation device (EDD). The proposed energy control facilitates use of half-bridge MMC SMs with low-capacitance, with their storage capacity leveraged to share the surplus power during faults, with a lower-rated EDD. The proposed scheme is tested on a 640kV/420MW MMC-HVDC system. The results show that proposed control scheme effectively maintains DC link voltages, ensuring connection of OWFs.

Paperid: 3296, https://arxiv.org/pdf/2511.18154.pdf

Abstract:
Accurate mass estimation is essential for the safe and efficient operation of autonomous heavy-duty vehicles, particularly during transportation missions in unstructured environments such as mining sites, where vehicle mass can vary significantly due to loading and unloading. While prior work has recognized the importance of acceleration profiles for estimation accuracy, the systematic design of driving profiles during transport has not been thoroughly investigated. This paper presents a framework for designing driving profiles to support accurate mass estimation. Based on application-oriented input design, it aims to meet a user-defined accuracy constraint under three optimization objectives: minimum-time, minimum-distance, and maximum accuracy (within a fixed time). It allows time- and distance-dependent bounds on acceleration and velocity, and is based on a Newtonian vehicle dynamics model with actuator dynamics. The optimal profiles are obtained by solving concave optimization problems using a branch-and-bound method, with alternative rank-constrained and semi-definite relaxations also discussed. Theoretical analysis provides insights into the optimal profiles, including feasibility conditions, key ratios between velocity and acceleration bounds, and trade-offs between time- and distance-optimal solutions. The framework is validated through simulations and real-world experiments on a Scania truck with different payloads. Results show that the designed profiles are feasible and effective, enabling accurate mass estimation as part of normal transportation operations without requiring dedicated calibration runs. An additional contribution is a non-causal Wiener filter, with parameters estimated via the Empirical Bayes method, used to filter the accelerometer signal with no phase-lag.

Paperid: 3297, https://arxiv.org/pdf/2511.18086.pdf

Abstract:
Unmanned Aerial Vehicle (UAV) swarms represent a key advancement in autonomous systems, enabling coordinated missions through inter-UAV communication. However, their reliance on wireless links makes them vulnerable to jamming, which can disrupt coordination and mission success. This work investigates whether a UAV swarm can effectively overcome jamming while maintaining communication and mission efficiency. To address this, a unified optimization framework combining Genetic Algorithms (GA), Supervised Learning (SL), and Reinforcement Learning (RL) is proposed. The mission model, structured into epochs and timeslots, allows dynamic path planning, antenna orientation, and swarm formation while progressively enforcing collision rules. Null-steering antennas enhance resilience by directing antenna nulls toward interference sources. Results show that the GA achieved stable, collision-free trajectories but with high computational cost. SL models replicated GA-based configurations but struggled to generalize under dynamic or constrained settings. RL, trained via Proximal Policy Optimization (PPO), demonstrated adaptability and real-time decision-making with consistent communication and lower computational demand. Additionally, the Adaptive Movement Model generalized UAV motion to arbitrary directions through a rotation-based mechanism, validating the scalability of the proposed system. Overall, UAV swarms equipped with null-steering antennas and guided by intelligent optimization algorithms effectively mitigate jamming while maintaining communication stability, formation cohesion, and collision safety. The proposed framework establishes a unified, flexible, and reproducible basis for future research on resilient swarm communication systems.

Paperid: 3298, https://arxiv.org/pdf/2511.17743.pdf

Abstract:
This article presents a state-of-the-art review of recent advances aimed at transforming traditional Failure Mode and Effects Analysis (FMEA) into a more intelligent, data-driven, and semantically enriched process. As engineered systems grow in complexity, conventional FMEA methods, largely manual, document-centric, and expert-dependent, have become increasingly inadequate for addressing the demands of modern systems engineering. We examine how techniques from Artificial Intelligence (AI), including machine learning and natural language processing, can transform FMEA into a more dynamic, data-driven, intelligent, and model-integrated process by automating failure prediction, prioritisation, and knowledge extraction from operational data. In parallel, we explore the role of ontologies in formalising system knowledge, supporting semantic reasoning, improving traceability, and enabling cross-domain interoperability. The review also synthesises emerging hybrid approaches, such as ontology-informed learning and large language model integration, which further enhance explainability and automation. These developments are discussed within the broader context of Model-Based Systems Engineering (MBSE) and function modelling, showing how AI and ontologies can support more adaptive and resilient FMEA workflows. We critically analyse a range of tools, case studies, and integration strategies, while identifying key challenges related to data quality, explainability, standardisation, and interdisciplinary adoption. By leveraging AI, systems engineering, and knowledge representation using ontologies, this review offers a structured roadmap for embedding FMEA within intelligent, knowledge-rich engineering environments.

Paperid: 3299, https://arxiv.org/pdf/2511.17464.pdf

Abstract:
We present a patient-centric architecture for electronic health record (EHR) sharing that separates content storage from authorization and audit. Encrypted FHIR resources are stored off-chain; a public blockchain records only cryptographic commitments and patient-signed, time-bounded permissions using EIP-712. Keys are distributed via public-key wrapping, enabling storage providers to remain honest-but-curious without risking confidentiality. We formalize security goals (confidentiality, integrity, cryptographically attributable authorization, and auditability of authorization events) and provide a Solidity reference implementation deployed as single-patient contracts. On-chain costs for permission grants average 78,000 gas (L1), and end-to-end access latency for 1 MB records is 0.7--1.4s (mean values for S3 and IPFS respectively), dominated by storage retrieval. Layer-2 deployment reduces gas usage by 10--13x, though data availability charges dominate actual costs. We discuss metadata privacy, key registry requirements, and regulatory considerations (HIPAA/GDPR), demonstrating a practical route to restoring patient control while preserving security properties required for sensitive clinical data.

Paperid: 3300, https://arxiv.org/pdf/2511.17351.pdf

Abstract:
Hierarchical Reinforcement Learning promises, among other benefits, to efficiently capture and utilize the temporal structure of a decision-making problem and to enhance continual learning capabilities, but theoretical guarantees lag behind practice. In this paper, we propose a Feudal Q-learning scheme and investigate under which conditions its coupled updates converge and are stable. By leveraging the theory of Stochastic Approximation and the ODE method, we present a theorem stating the convergence and stability properties of Feudal Q-learning. This provides a principled convergence and stability analysis tailored to Feudal RL. Moreover, we show that the updates converge to a point that can be interpreted as an equilibrium of a suitably defined game, opening the door to game-theoretic approaches to Hierarchical RL. Lastly, experiments based on the Feudal Q-learning algorithm support the outcomes anticipated by theory.

Paperid: 3301, https://arxiv.org/pdf/2511.17252.pdf

Abstract:
We study linear policy approximations for the risk-conscious operation of an industrial energy system with uncertain wind power, significant and variable electricity demand, and high thermal output, as found in a modern foundry. The system incorporates thermal storage and operates under rolling forecasts, leading to a sequential decision-making framework. To address uncertainty in key parameters, we formulate chance-constrained optimization problems that limit the probability of critical constraint violations, such as unmet demand requirements or the exceedance of system boundaries. To reduce computational effort, we replace direct uncertainty handling with a parameter-modified cost function that approximates the underlying risk structure. We validate our method through a numerical case study, demonstrating the trade-offs between operational efficiency and reliability in a stochastic environment.

Paperid: 3302, https://arxiv.org/pdf/2511.17212.pdf

Abstract:
The introduction of 5G New Radio networks with massive MIMO technology has complicated electromagnetic field exposure assessments for radiation protection. Massive MIMO transmission enables beamforming, beam steering, and spatial multiplexing across multiple transmission layers, with the number of simultaneous transmission paths depending on the rank of the radio channel, further named 'transmission rank'. Since the total transmission power of a base station is shared among these layers, rank variations affect the measured exposure levels, e.g., when assessments use provoked traffic via user equipment. This study investigates the impact of the transmission rank on the measured maximum exposure in the 3.6 GHz (n78) band of a German 5G network employing massive MIMO technology. Field measurements were performed using a spectrum analyzer with isotropic probe, to capture maximum field strengths under full-load traffic conditions. The transmission rank was manipulated by artificially degrading the reception quality of the user equipment with a shielding bag, forcing a single transmission layer (rank-1). The results were compared with unshielded operation allowing up to the maximum number of four independent transmission layers (rank-4). The data reveal exposure differences ranging from 1.7 dB to 5.4 dB, with a median of 4.3 dB at the measurement points studied. These findings highlight the necessity of considering the transmission rank in exposure assessments to electromagnetic fields.

Paperid: 3303, https://arxiv.org/pdf/2511.17104.pdf

Abstract:
The large penetration of distributed generations impacts both the secondary low-voltage (LV) and the primary medium-voltage (MV) segments of the distribution network. Optimizing power flow calculations for the integrated MV/LV networks is crucial for the real-time management of modern distribution networks. Traditional methods in symmetrical coordinates are primarily limited to the three-wire model of three-phase networks, often leading to inaccuracies in power flow calculations when applied to three-phase four-wire LV segments. This paper introduces a novel power flow method for integrated three-wire MV and four-wire LV networks. Using eigenvector decomposition to diagonalize the admittance matrix of four-wire LV lines, the proposed method improves the computational efficiency of power flow calculations and accurately calculates the neutral-to-ground voltage. The results of the case studies show over 50\% reduction in the number of non-zero elements in the LU factors of the bus admittance matrix, and speed-up factors of 2.78 on the IEEE 123-node test system and 3.63 on the IEEE 8500-node test system in execution times for Volt/Var control (VVC), compared to the phase coordinates model.

Paperid: 3304, https://arxiv.org/pdf/2511.17102.pdf

Abstract:
As the world shifts towards utilizing natural resources for electricity generation, there is need to enhance forecasting systems to guarantee a stable electricity provision and to incorporate the generated power into the network systems. This work provides a machine learning environment for renewable energy forecasting that prevents the flaws which are usually experienced in the actual process; intermittency, nonlinearity and intricacy in nature which is difficult to grasp by ordinary existing forecasting procedures. Leveraging a comprehensive approximately 30-year dataset encompassing multiple renewable energy sources, our research evaluates two distinct approaches: K-Nearest Neighbors (KNN) model and Non-Linear Autoregressive distributed called with Seasonal Autoregressive Integrated Moving Average (SARIMA) model to forecast total power generation using the solar, wind, and hydroelectric resources. The framework uses high temporal resolution and multiple parameters of the environment to improve the predictions. The fact that both the models in terms of error metrics were equally significant and had some unique tendencies at certain circumstances. The long history allows for better model calibration of temporal fluctuations and seasonal and climatic effects on power generation. The reliability enhancement in the prediction function, which benefits from 30 years of data, has value to grid operators, energy traders, and those establishing renewable energy policies and standards concerning reliability

Paperid: 3305, https://arxiv.org/pdf/2511.16834.pdf

Abstract:
Performance ratio (PR) is a established measure of efficiency of photovoltaic (PV) systems. While previous research demonstrated the effects of meteorological and technical variables on PR, a gap persists in the literature on which variables strongly influence PR in large-scale, real-world, heterogeneous PV systems. This paper aims to fill this gap, applying data-driven models to PV systems located in Rondônia State, Brazil, to identify which variables strongly influence annual PR, and, hence, should be the target for optimization. Surprisingly, only negligible effects were found between meteorological and technical variables on annual PR, indicating that human-factors (such as installation, monitoring, and maintenance quality) might have a stronger effect. These findings indicates that, to improve performance of PV systems, policy makers could focus on creating educational programs to teach PV installers and technicians how to properly install, monitor, and maintain modern PV systems. Through estimating the probability density functions of PR, its peak value was found as 78.85% (mean 77.52%, 95% confidence interval of 76.12% to 78.84%, and 95% prediction interval of 58.83% to 92.70%). A map of annual final yield was developed for Rondônia State and can be used by entrepreneurs to quickly and cheaply estimate energy production.

Paperid: 3306, https://arxiv.org/pdf/2511.16777.pdf

Abstract:
A hemispherical multilayer wide-band (7-13 GHz) band-pass frequency selective surface (FSS) is reported. A new design technique based on a Goldberg discretization and unit cell scaling technique is introduced to accommodate the curved profile of the FSS. The FSS is additively manufactured by sequentially printing dielectric layers and metallic patterns until 3 patterned silver-ink surfaces are integrated within a 4.5 mm (${λ_0}/6$ at 10 GHz) thick ABS hemispherical radome. The diameter and the height of the realized hemispherical FSS are around $5{λ_0}$ and $3{λ_0}$ respectively. Measurements demonstrate a roughly 1.7 dB insertion loss in the passband and 15-20 dB rejection in the stop-band. Additionally, a new postprocessing technique is used to suppress the effects of edge diffraction in the measured transmission spectrum. The design process, manufacturing technique, and measurement postprocessing represent novel advancements enabling future conformal frequency selective surfaces.

Paperid: 3307, https://arxiv.org/pdf/2511.16425.pdf

Abstract:
This paper presents a computationally efficient approach for robust Model Predictive Control of nonlinear systems by combining Random Fourier Features with tube-based MPC. Tube-based Model Predictive Control provides robust constraint satisfaction under bounded model uncertainties arising from approximation errors and external disturbances. The Random Fourier Features method approximates nonlinear system dynamics by solving a numerically tractable least-squares problem, thereby reducing the approximation error. We develop the integration of RFF-based residual learning with tube MPC and demonstrate its application to an autonomous vehicle path-tracking problem using a nonlinear bicycle model. Compared to the linear baseline, the proposed method reduces the tube size by approximately 50%, leading to less conservative behavior and resulting in around 70% smaller errors in the test scenario. Furthermore, the proposed method achieves real-time performance while maintaining provable robustness guarantees.

Paperid: 3308, https://arxiv.org/pdf/2511.16413.pdf

Abstract:
In this study, we compare a model reference control (MRC) strategy against conventional PID controllers (tuned via metaheuristic algorithms) for surge velocity control of a thruster-driven marine system, under combined wave disturbance and sensor noise. The goal is to evaluate not only tracking performance but also control energy usage and actuator stress. A high-order identified model of a Blue Robotics T200 thruster with a 2~kg vehicle is used, with an 8~N sinusoidal wave disturbance applied and white noise ( added to the speed measurement. Results show that the optimized MRC (MRC-R*) yields the lowest control energy and smoothest command among all controllers, while maintaining acceptable tracking. The IMC-based design performs closely. In contrast, PID controllers achieve comparable RMS tracking error but at the cost of excessive actuator activity and energy use, making them impractical in such scenarios. Future

Paperid: 3309, https://arxiv.org/pdf/2511.16235.pdf

Abstract:
The describing function (DF) and phase response curve (PRC) are classical tools for the analysis of feedback oscillations and rhythmic behaviors, widely used across control engineering, biology, and neuroscience. These tools are known to have limitations in networks of relaxation oscillators and excitable systems. For this reason, the paper proposes a novel approach tailored to excitable systems. Our analysis focuses on the discrete-event operator mapping input trains of events to output trains of events. The methodology is illustrated on the excitability model of Hodgkin-Huxley. The proposed framework provides a basis for designing and analyzing central pattern generators in networks of excitable neurons, with direct relevance to neuromorphic control and neurophysiology.

Paperid: 3310, https://arxiv.org/pdf/2511.15812.pdf

Abstract:
This paper describes a new approach for using changepoint detection (CPD) to estimate the starting and stopping times of a forced oscillation (FO) in measured power system data. As with a previous application of CPD to this problem, the pruned exact linear time (PELT) algorithm is used. However, instead of allowing PELT to automatically tune its penalty parameter, a method of manually providing it is presented that dramatically reduces computation time without sacrificing accuracy. Additionally, the new algorithm requires fewer input parameters and provides a formal, data-driven approach to setting the minimum FO segment length to consider as troublesome for an electromechanical mode meter. A low-order ARMAX representation of the minniWECC model is used to test the approach, where a 98\% reduction in computation time is enjoyed with high estimation accuracy.

Paperid: 3311, https://arxiv.org/pdf/2511.15685.pdf

Abstract:
The rapid growth of large data center loads and inverter-based generation is increasing the stress on transmission networks, while expanding grid capacity at the required pace remains challenging. Power flow controllers (PFCs) that adjust effective line reactances to redistribute flows are often viewed as an interim solution to improve transmission network utilization. Traditional flexibility metrics and analysis approaches for PFCs focus on a limited number of operating points and contingencies. Towards gaining system-wide insights, this paper introduces a framework to quantify network flow controllability- the extent to which line flows can be reshaped through reactance adjustments. We derive analytical results demonstrating that installing PFCs on all lines enables complete controllability of feasible flow patterns. Building on these, we conduct empirical studies on the IEEE 39-bus system to examine how controllability varies with the number of PFCs and their reactance adjustment range. These analyses employ a mixed-integer linear program to optimize the siting and sizing of PFCs. Finally, we validate findings under AC power flow physics using an optimization routine that steers flows toward desired setpoints.

Paperid: 3312, https://arxiv.org/pdf/2511.15594.pdf

Abstract:
Excitable neuromorphic circuits are physical models of event behaviors: their continuous-time trajectories consist of sequences of discrete events. This paper explores the possibility of extracting a discrete-event model out of the physical continuous-time model. We discuss the potential of this methodology for analysis and design of neuromorphic control systems.

Paperid: 3313, https://arxiv.org/pdf/2511.15321.pdf

Abstract:
This article proposes an optimization problem formulation to find the optimal sizes of Photovoltaics (PV) and Battery Energy Storage Systems (BESS) for individual participants within the context of the Renewable Energy Community (REC). An optimization problem considered the dynamic nature of electricity pricing, solar irradiation levels, financial aspects such as capital investment, and operational and maintenance expenditures of PV and BESS. The analysis also considered replacement costs and the efficiency of charging and discharging the BESS unit. We employed Mixed-Integer Non-Linear Programming (MINLP) to determine the optimal system size that maximizes the Net Present Value (NPV) of individual participants. Furthermore, in this study, we used daily representative signals for each season of the year to reduce simulation runtime. The Fast Iterative Shrinkage-Thresholding Algorithm (FISTA) was used to extract these signals. Then, these representative signals obtained were used in the optimization problem formulation to reduce simulation time and extend our analysis to a wider planning horizon. In addition, the study introduced fairness by applying the individual marginal contribution method to distribute incentives equitably among REC participants, ensuring that each member benefited from their contribution. A simulation study was conducted using a real demand dataset of five houses located in Roseto Valfortore, a small town and commune in the Foggia Province of the Apulia region in southern Italy, to demonstrate the practical relevance and usefulness of the ideas discussed. Ultimately, the goal of the article was to empower the REC with the knowledge necessary to make informed decisions and shape the future of sustainable energy.

Paperid: 3314, https://arxiv.org/pdf/2511.15286.pdf

Abstract:
Under asymmetrical faults, analyzing the transient stability of grid-forming voltage-source converters (GFM-VSCs) becomes essential because their behavior fundamentally differs from that under symmetrical faults. When current limiting is activated under asymmetrical faults, the point-of-common-coupling voltage of a GFM-VSC contains both positive- and negative-sequence components, and the interaction between these components generates a non-negligible negative-sequence-driven active power. However, the transient stability of GFM-VSCs under asymmetrical faults has not been sufficiently investigated, and the influence of negative-sequence-driven active power remains unclear. Accordingly, this letter derives the P-δ curve of a GFM-VSC with an elliptical current limiter under asymmetrical faults by explicitly accounting for negative-sequence effects. This enables a more accurate transient stability assessment when extending conventional symmetrical-fault analyses to asymmetrical conditions. The theoretical analysis is validated by the agreement between the derived P-δ curve and both simulation and experimental results.

Paperid: 3315, https://arxiv.org/pdf/2511.15014.pdf

Abstract:
Power systems remain highly vulnerable to disturbances and cyber-attacks, underscoring the need for resilient and adaptive control strategies. In this work, we investigate a data-driven Federated Learning Control (FLC) framework for transient stability resilience under cyber-physical disturbances. The FLC employs interpretable neural controllers based on the Chebyshev Kolmogorov-Arnold Network (ChebyKAN), trained on a shared centralized control policy and deployed for distributed execution. Simulation results on the IEEE 39-bus New England system show that the proposed FLC consistently achieves faster stabilization than distributed baselines at moderate control levels (10\%--60\%), highlighting its potential as a scalable, resilient, and interpretable learning-based control solution for modern power grids.

Paperid: 3316, https://arxiv.org/pdf/2511.14752.pdf

Abstract:
Trajectory optimization methods provide an efficient and reliable means of computing feasible trajectories in nonconvex solution spaces. However, a well-known limitation of these algorithms is that they are inherently local in nature, and typically converge to a solution in the neighborhood of their initial guess. This paper presents a sequential operator-splitting framework, based on the alternating direction method of multipliers (ADMM), aimed at promoting exploration within the sequential convex programming (SCP) framework. In particular, diverse initial solutions are modeled as agents within the consensus ADMM framework. Driving these agents toward consensus facilitates exploration of the nonconvex optimization landscape. Numerical simulations demonstrate that the proposed method consistently yields equivalent or lower-cost solutions compared to the standard SCP approach, with the same number of or fewer agents.

Paperid: 3317, https://arxiv.org/pdf/2511.14626.pdf

Abstract:
What limits how fast a Lyapunov function can decay under input bounds? We address this question by showing how the shape of Lyapunov comparison functions governs guaranteed decay for control affine systems. Using a windowed nominal exponential rate together with the endpoint cap induced by actuator limits, we establish a strict ordering: concave comparison functions strictly outperform linear and convex ones, and strict concavity is necessary to improve the best achievable global exponential rate under a fixed endpoint cap. We derive a computable lower bound on the required actuation level for a target nominal rate and show that only concave shaping can reduce this level under the endpoint cap. We then establish a feasibility-preserving acceleration result: whenever a margin exists on a sublevel set, a feasible linear comparison can be replaced by a concave one that preserves feasibility while strictly increasing the guaranteed windowed decay. Finally, we give a tunable rational concave factor with controlled slope that yields a constructive design and integrates with CLF QP, as illustrated by examples.

Paperid: 3318, https://arxiv.org/pdf/2511.14527.pdf

Abstract:
Conventional high-altitude platforms (HAPs) face challenges in achieving continuous all-weather operation due to intermittent photovoltaic power generation, limited energy storage capacity, and high mission loads resulting from functional integration. To address this fundamental issue, we propose a stratospheric energy grid in which wireless power transfer (WPT) interconnections constitute the grid layer, while HAPs operate as dynamically reconfigurable integrated generation-grid-load-storage (IGGLS) nodes that harvest, buffer, consume, and peer-to-peer transfer energy for constellation-level balancing and resilience. In this system, each HAP node can flexibly switch among energy source, load, and storage roles according to its energy status and mission requirements, enabling energy exchange and spatiotemporal optimization within the stratosphere. Through cooperative scheduling, the stratospheric grid not only enables surplus-to-deficit energy support among HAPs but also extends upward to satellites and downward to the terrestrial grid and communication infrastructure, forming a heterogeneous, WPT-mediated interconnection. As an IGGLS ecosystem, it exploits peer-to-peer energy logistics, spatiotemporal smoothing of intermittency, cross-domain backup via the terrestrial grid, and service-aware dispatch, thereby boosting overall energy utilization and operational resilience. The proposed approach is validated through case studies, and we delineate an agenda of feasible research directions.

Paperid: 3319, https://arxiv.org/pdf/2511.14447.pdf

Abstract:
We present the design, fabrication, and measurement of a high-temperature superconductor (HTSC) Stepped Impedance Resonator (SIR) band-pass filter for S-band applications, and its incorporation into a cryogenic receiver cascade. The 11-pole filter, implemented in YBa2Cu3O(7-x) (YBCO) thin films on sapphire, exhibits an ultra-low insertion loss (IL) of -0.1~dB, a sharp roll-off of 100~MHz, and a rejection level exceeding --80~dB. These measured results represent, to the best of our knowledge, the lowest reported IL for an S-band filter with this number of poles. When integrated with a cryogenic low-noise amplifier (LNA), system-level simulations and measurements predict a receiver noise figure (NF) of 0.34~dB at 3.39~GHz, enabling a 20% increase in radar detection range compared with conventional copper-based front ends. This work demonstrates the feasibility of practical HTSC-based RF front-ends for next-generation communication and radar systems.

Paperid: 3320, https://arxiv.org/pdf/2511.14288.pdf

Abstract:
Overtourism poses severe challenges to popular destinations worldwide, threatening natural environments and local communities. This paper develops a decision-making model integrating system dynamics with multi-objective evolutionary algorithms (NSGA-II) to balance economic returns, environmental protection, and social satisfaction. We collect multi-source data from 2008-2024 including visitor arrivals (up to 3.1M), government revenue/expenditure (up to $10.3M), glacier retreat (220-350 ft), CO2 emissions (77K-105K tons), and social satisfaction (0.29-0.48), and establish a dynamic system with four modules: tourist behavior, government finance, environmental evolution, and social well-being. We optimize three objectives via NSGA-II: cumulative net revenue, final environmental index, and final social satisfaction. Experiments on Juneau show optimal solutions yield net revenue up to $1.64B with environmental index 0.93 and social satisfaction 0.86. Extending to Iceland reveals Pareto fronts spanning revenues $150M-$200M, environment indices up to 0.92, and social satisfaction above 0.80. Sobol and Morris sensitivity analyses indicate carbon fees and price elasticity account for over 60% of environmental outcome variance, while capacity limits explain around 90% of net revenue variability. Scenario simulations demonstrate how capacity limits and dynamic pricing on crowded attractions, combined with marketing and infrastructure investment in lesser-known sites, mitigate congestion and enhance sustainability. This work contributes: (i) an integrated system-dynamics and NSGA-II framework for sustainable tourism management; (ii) demonstrated portability via case studies on Juneau and Iceland; and (iii) global sensitivity analysis highlighting influential policy levers for decision makers.

Paperid: 3321, https://arxiv.org/pdf/2511.14217.pdf

Abstract:
Nearest level modulation (NLM) is an attractive modulation method for its implementation simplicity in modular multilevel converter (MMC). However, it introduces significant voltage and current distortion when the number of submodules (SMs) per arm is small, as in medium-voltage applications. While indirect modulation offers fully decoupled control of ac-side current, dc-side current and SM capacitor energy, its performance is fundamentally reliant on accurate arm voltage synthesis, making it incompatible with the large quantization error inherent in NLM. To resolve this conflict, this paper proposes a new control strategy based on a disturbance observer (DOB). The key idea is to estimate and actively compensate for the inevitable arm voltage synthesis error induced by NLM, thereby enabling fully decoupled control of indirect-modulated MMC even under NLM operation with a small number of SMs. A key advantage is its ease of implementation, as it requires no modifications to the conventional NLM and decoupled control structure. The validity and effectiveness of the proposed method in improving current quality and decoupled SM energy control are verified through both simulation and experimental results.

Paperid: 3322, https://arxiv.org/pdf/2511.14160.pdf

Abstract:
This work presents a case study of optimal energy management of a large Heating Ventilation and Cooling (HVAC) system within a university campus in Australia using Reinforcement Learning (RL). The HVAC system supplies to nine university buildings with an annual average electricity consumption of $\sim2$ GWh. Updated chiller Coefficient of Performance (COP) curves are identified, and a predictive building cooling demand model is developed using historical data from the HVAC system. Based on these inputs, a Proximal Policy Optimization based RL model is trained to optimally schedule the chillers in a receding horizon control framework with a priority reward function for constraint satisfaction. Compared to the traditional way of controlling the HVAC system based on a reactive rule-based method, the proposed controller saves up to 28\% of the electricity consumed by simply controlling the mass flow rates of the chiller banks and with minimal constraint violations.

Paperid: 3323, https://arxiv.org/pdf/2511.14141.pdf

Abstract:
Data centers host a variety of essential services such as cloud computing and artificial intelligence. Electric grid operators, however, have limited knowledge of the reliability risks of data center interconnection due to their unique operational characteristics. An emerging concern is the sub-synchronous resonance (SSR) which refer to unexpected voltage/current oscillations at typical frequencies below 60/50 Hz. It remains unknown whether and how the interactions between data centers and the grid may trigger resonances, equipment damages, and even cascading failures. In this paper, we focus on grid-connected data centers that draw electricity from the grid through power factor correction (PFC) converters. We conduct two-tone frequency sweep to investigate the data centers' impedance characteristics, i.e. magnitude and phase angle variations over frequencies, and showcase their deep dependence on compute workloads. The impedance modeling provides a direct approach to evaluating SSR risks and enable a cooperative mechanism to alarm and avoid resonance-prone situations. Building upon the impedance, a data-driven preventive controller is then established to raise early warnings of risky operation and suggest flexible workload management according to the given grid conditions. Through case study, we demonstrate how to use impedance to understand the unexpected interactions. Data-driven impedance is validated to show decent performance in capturing the unique impedance dips and tracking the impedance variations across a range of workload scenarios. The early warning and preventive control approaches are further effective to improve the safety margins with minimal workload rescheduling. The key findings of this work will provide valuable insights for grid operators and data center managers, and support preparation for future scenarios involving large-scale data center integration.

Paperid: 3324, https://arxiv.org/pdf/2511.14065.pdf

Abstract:
The collective frequency that emerges from synchronized neuronal populations--the network resonance--shows a systematic relationship with brain size: whole-brain's large networks oscillate slowly, whereas finer parcellations of fixed volume exhibit faster rhythms. This resonance-size scaling has been reported in delayed neural mass models and human neuroimaging, yet the physical mechanism remained unresolved. Here we show that size-dependent resonance follows directly from propagation delays in delay-coupled phase oscillators. Starting from a Kuramoto model with heterogeneous delays, we linearize around the near-synchronous solution and obtain a closed-form approximation linking the resonance $Ω$ to the mean delay and the effective coupling field. The analysis predicts a generic scaling law: $Ω\approx (\sum_j c_{ij} τ)^{-1}$, so resonance is delay-limited and therefore depends systematically on geometric size or parcellation density. We evaluate four growth scenarios--expanding geometry, fixed-volume parcellation, constant geometry, and an unphysical reference case--and show that only geometry-consistent scaling satisfies the analytical prediction. Numerical simulations with heterogeneous delays validate the law and quantify its error as a function of delay dispersion. These results identify a minimal physical mechanism for size-dependent cortical resonance and provide an analytical framework that unifies numeric simulation outputs.

Paperid: 3325, https://arxiv.org/pdf/2511.13906.pdf

Abstract:
We introduce the class of L-functions to certify the attractivity of sets for uncertain nonlinear switched systems in discrete time. The existence of an L-function associated with a set guarantees the robust local attractivity of that set under the system dynamics. We propose a constructive method for obtaining piecewise-continuous L-functions based on contractive sets for the system, and show that the existence of a robust control contractive set for the dynamics implies the existence of an appropriate L-function, and hence the robust local attractivity of the set itself. We illustrate the proposed framework through examples that elucidate the theoretical concepts, and through the case study of a nonlinear switched system modelling antimicrobial resistance, which highlights the relevance of the approach to the analysis of biological systems.

Paperid: 3326, https://arxiv.org/pdf/2511.13873.pdf

Abstract:
Maintaining system balance becomes increasingly challenging as market design and grid capacity enhancement lag behind the growing share of renewables, requiring greater effort from both the transmission system operator (TSO) and the Balance Responsible Parties (BRPs). An actor can support balancing actively by bidding into reserve markets, or passively by adjusting its portfolio in line with system needs. In some countries, BRPs are incentivized to engage in passive balancing when their deviations support overall system stability. However, BRPs focus on profit maximization rather than minimizing portfolio discrepancies, which can cause simultaneous responses to price signals and create issues at the transmission-distribution interface. This research provides a two-stage stochastic model that captures BRP dynamic behavior and their impact on the grid under day-ahead and balancing market price uncertainty across three imbalance pricing mechanisms: the single, dual, and two-price. Then, a congestion-dependent imbalance pricing mechanism is proposed that maintains incentives for passive balancing while satisfying the grid constraint. A proof of concept is provided via the simulation with a part of the Dutch distribution grid. Results show that the proposed method mitigates the unexpected peak flow issue in congested areas while preserving passive balancing contributions from other BRPs in non-congested areas.

Paperid: 3327, https://arxiv.org/pdf/2511.13872.pdf

Abstract:
This paper develops a hybrid system modeling framework for inverters that switch between grid-following and grid-forming control schemes. In particular, such inverters are modeled as hybrid automata with guard conditions on voltage and frequency, and reset maps that maintain consistent phase, frequency, and droop references during mode transitions. The hybrid model is embedded within an extended Kalman filter to assess estimation performance under explicit mode switching. Results show that the proposed framework ensures stable, well-behaved dynamics and improves state estimation, especially near switching instants, compared with smooth continuous models.

Paperid: 3328, https://arxiv.org/pdf/2511.13859.pdf

Abstract:
Distributed multi-agent optimization (DMAO) enables the scalable control and coordination of a large population of edge resources in complex multi-agent environments. Despite its great scalability, DMAO is prone to cyber attacks as it relies on frequent peer-to-peer communications that are vulnerable to malicious data injection and alteration. Existing cybersecurity research mainly focuses on \emph{broad-spectrum} attacks that aim to jeopardize the overall environment but fail to sustainably achieve specific or targeted objectives. This paper develops a class of novel strategic purpose-driven algorithmic attacks that are launched by participating agents and interface with DMAO to achieve self-interested attacking purposes. Theoretical foundations, in both primal and dual senses, are established for these attack vectors with and without stealthy features. Simulations on electric vehicle charging control validate the efficacy of the proposed algorithmic attacks and show the impacts of such attacks on the power distribution network.

Paperid: 3329, https://arxiv.org/pdf/2511.13746.pdf

Abstract:
This paper implements deep reinforcement learning (DRL) for spacecraft reorientation control with a single pointing keep-out zone. The Soft Actor-Critic (SAC) algorithm is adopted to handle continuous state and action space. A new state representation is designed to explicitly include a compact representation of the attitude constraint zone. The reward function is formulated to achieve the control objective while enforcing the attitude constraint. A curriculum learning approach is used for the agent training. Simulation results demonstrate the effectiveness of the proposed DRL-based method for spacecraft pointing-constrained attitude control.

Paperid: 3330, https://arxiv.org/pdf/2511.13690.pdf

Abstract:
This paper introduces a Ramanujan inner product and its corresponding norm, establishing a novel framework for the stability analysis of hybrid and discrete-time systems as an alternative to traditional Euclidean metrics. We establish new $ε$-$δ$ stability conditions that utilize the unique properties of Ramanujan summations and their relationship with number-theoretic concepts. The proposed approach provides enhanced robustness guarantees and reveals fundamental connections between system stability and arithmetic properties of the system dynamics. Theoretical results are rigorously proven, and simulation results on numerical examples are presented to validate the efficacy of the proposed approach.

Paperid: 3331, https://arxiv.org/pdf/2511.13662.pdf

Abstract:
Transmission System Operators routinely use transmission switching as a tool to manage congestion and ensure system security. Motivated by sub-transmission operations at RTE, this paper considers the Optimal Transmission Switching with De-energization (OTSD), which captures potential loss of connectivity (and therefore localized blackout) following loss of transmission elements. While directly relevant to real-life operations, this problem has received very little attention in the literature. The paper proposes a new mixed-integer linear programming formulation for OTSD that represents post-contingency loss of connectivity without requiring additional binary variables. This new formulation provides the foundation for a fast, iterative heuristic algorithm. Computational experiments confirms that state-of-the-art optimization solvers struggle to solve the extensive formulation of OTSD, often failing to find even trivial solutions within reasonable time. In contrast, numerical results demonstrate the efficiency of the proposed heuristic, which finds high-quality feasible solutions 100-1000x faster than using Gurobi.

Paperid: 3332, https://arxiv.org/pdf/2511.11429.pdf

Abstract:
The design of Cooperative Adaptive Cruise Control (CACC) algorithms for vehicle platooning has been extensively investigated, leading to a wide range of approaches with different requirements and performance. Most existing studies evaluate these algorithms under the assumption of homogeneous platoons, i.e., when all platoon members adopt the same CACC. However, market competition is likely to result in vehicles from different manufacturers implementing distinct CACCs. This raises fundamental questions about whether heterogeneous vehicles can safely cooperate within a platoon and what performance can be achieved. To date, these questions have received little attention, as heterogeneous platoons are difficult to model and analyze. In this work, we introduce the concept of mixed platoons, i.e., platoons made of vehicles running heterogeneous CACCs, and we study their performance through simulation-based experiments. We consider mixtures of three well-established CACCs from the literature. In the first part of the paper, we study a single mixed platoon in isolation to understand the microscopic effects on safety: we evaluate the performance of various CACC-mixtures across speed change and emergency braking scenarios. In the second part, we examine a high-density ring-road scenario to assess macroscopic impacts on safety, comfort, and traffic throughput, especially comparing throughput results with those obtained from vehicles controlled by a standard Adaptive Cruise Control (ACC) or by human drivers. Our findings highlight that some combinations of CACCs can operate robustly and safely, while others exhibit critical limitations in safety, comfort, or efficiency. These results emphasize the need for careful system design and the development of theoretical frameworks for modeling heterogeneous platoons.

Paperid: 3333, https://arxiv.org/pdf/2511.11285.pdf

Abstract:
Natural language data, such as text and speech, have become readily available through social networking services and chat platforms. By leveraging human observations expressed in natural language, this paper addresses the problem of state estimation for physical systems, in which humans act as sensing agents. To this end, we propose a Language-Aided Particle Filter (LAPF), a particle filter framework that structures human observations via natural language processing and incorporates them into the update step of the state estimation. Finally, the LAPF is applied to the water level estimation problem in an irrigation canal and its effectiveness is demonstrated.

Paperid: 3334, https://arxiv.org/pdf/2511.11180.pdf

Abstract:
Prognostics and Health Management is crucial for the reliability and lifetime assessment of Polymer Electrolyte Fuel Cells (PEFCs). Here, we review the current advances on this topic, focusing mainly on key degradation mechanisms and methodologies such as physics-aware, data-driven, and hybrid modeling approaches. Key open challenges are analyzed, including the need for more accurate degradation modeling, effective management of multi-stack systems, and advancements in the currently underdeveloped action phase, in which diagnostic and prognostic insights are translated into real-time system responses, such as dynamic load derating, thermal-management adjustments, or automated maintenance triggers, to prevent failures and extend PEFC life. While notable strides have been made in recent years in diagnostics and remaining useful life estimation, it remains challenging to seamlessly integrate these insights into actionable strategies. Future directions highlight the need to address data scarcity and advance interdisciplinary research. Key focus areas include sensor integration, artificial intelligence, and digital twins. Additionally material innovations play a crucial role in bridging existing gaps. This work, therefore, intends to map the further development of Prognostics and Health Management systems toward ensuring the viability of PEFCs in practical applications.

Paperid: 3335, https://arxiv.org/pdf/2511.11131.pdf

Abstract:
Flow $Q$-learning has recently been introduced to integrate learning from expert demonstrations into an actor-critic structure. Central to this innovation is the ``the one-step policy'' network, which is optimized through a $Q$-function that is regularized with the behavioral cloning from expert trajectories, allowing learning more expressive policies using flow-based generative models. In this paper, we studied the convergence property and stabilizablity of the one-step policy during learning for linear quadratic problems under the offline settings. Our theoretical results are based on a new formulation of the one-step policy loss based on the average expected cost, and regularized with the behavioral cloning loss. Such a formulation allows us to tap into existing strong theoretical results from the policy gradient theorem to study the convergence properties of the one-step policy. We verify our theoretical finding with simulation results on a linearized inverted pendulum.

Paperid: 3336, https://arxiv.org/pdf/2511.11026.pdf

Abstract:
Estimating the Region of Attraction (RoA) for nonlinear dynamical systems is a fundamental problem in control theory, with direct implications for stability analysis and safe controller design. Traditional approaches rely on analytically derived Lyapunov functions, which are often conservative and challenging to construct for high-dimensional or highly nonlinear systems. In this work, we propose a data-driven framework for learning and verifying RoA estimates for nonlinear systems using neural-network-based Lyapunov functions. Our method employs a composite Lyapunov function that combines a quadratic term with a neural-network-based component, providing both structure and flexibility. We introduce a novel homogeneous loss function for training, which removes the imbalance typically caused by the two non-homogeneous Lyapunov conditions. Together, these two aspects enable efficient training of the Lyapunov candidate. To guarantee the correctness of the learned Lyapunov function, we employ a Satisfiability Modulo Theories (SMT) solver to formally verify the stability results. Lastly, we perform a deeper analysis near the origin to overcome numerical artifacts, ensuring strict asymptotic stability. We demonstrate the effectiveness of our approach on benchmark nonlinear systems, showing that it significantly reduces conservatism compared to traditional Lyapunov methods while maintaining verifiability. This framework bridges the gap between function approximation and stability certification, paving the way for scalable safety analysis in learning-based control and safety-critical applications.

Paperid: 3337, https://arxiv.org/pdf/2511.10864.pdf

Abstract:
Quantifying greenhouse-gases (GHG) in wetlands is critical for climate modeling and restoration assessment, yet manual sampling is labor-intensive, and time demanding. We present WetExplorer, an autonomous tracked robot that automates the full GHG-sampling workflow. The robot system integrates low-ground-pressure locomotion, centimeter-accurate lift placement, dual-RTK sensor fusion, obstacle avoidance planning, and deep-learning perception in a containerized ROS2 stack. Outdoor trials verified that the sensor-fusion stack maintains a mean localization error of 1.71 cm, the vision module estimates object pose with 7 mm translational and 3° rotational accuracy, while indoor trials demonstrated that the full motion-planning pipeline positions the sampling chamber within a global tolerance of 70 mm while avoiding obstacles, all without human intervention. By eliminating the manual bottleneck, WetExplorer enables high-frequency, multi-site GHG measurements and opens the door for dense, long-duration datasets in saturated wetland terrain.

Paperid: 3338, https://arxiv.org/pdf/2511.10426.pdf

Abstract:
Certifying feasibility in decision-making, critical in many industries, can be framed as a constraint satisfaction problem. This paper focuses on characterising a subset of parameter values from an a priori set that satisfy constraints on a directed acyclic graph of constituent functions. The main assumption is that these functions and constraints may be evaluated for given parameter values, but they need not be known in closed form and could result from expensive or proprietary simulations. This setting lends itself to using sampling methods to gain an inner approximation of the feasible domain. To mitigate the curse of dimensionality, the paper contributes new methodology to leverage the graph structure for decomposing the problem into lower-dimensional subproblems defined on the respective nodes. The working hypothesis that the Cartesian product of the solution sets yielded by the subproblems will tighten the a priori parameter domain, before solving the full problem defined on the graph, is demonstrated through four case studies relevant to machine learning and engineering. Future research will extend this approach to cyclic graphs and account for parametric uncertainty.

Paperid: 3339, https://arxiv.org/pdf/2511.10207.pdf

Abstract:
Modern aerospace defense systems increasingly rely on autonomous decision-making to coordinate large numbers of interceptors against multiple incoming threats. Conventional weapon-target assignment (WTA) algorithms, including mixed-integer programming and auction-based methods, show limitations in dynamic and uncertain tactical environments where human-like reasoning and adaptive prioritization are required. This paper introduces a large language model (LLM) driven WTA framework that integrates generalized intelligence into cooperative missile guidance. The proposed system formulates the tactical decision process as a reasoning problem, in which an LLM evaluates spatial and temporal relationships among interceptors, targets, and defended assets to generate real-time assignments. In contrast to classical optimization methods, the approach leverages contextual mission data such as threat direction, asset priority, and closing velocity to adapt dynamically and reduce assignment switching. A dedicated simulation environment supports both static and dynamic assignment modes. Results demonstrate improved consistency, adaptability, and mission-level prioritization, establishing a foundation for integrating generalized artificial intelligence into tactical guidance systems.

Paperid: 3340, https://arxiv.org/pdf/2511.10118.pdf

Abstract:
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in opinion dynamics where the confidence given to the peers varies in time. Firstly, we establish conditions under which practical upper and lower bounds on the consensus value can be determined. Secondly, we propose control strategies for allocating a given control budget to shift agent states towards a desired consensus value despite the uncertainty. We provide computationally efficient linear programming-based approaches for both problems and validate the obtained results in numerical simulations.

Paperid: 3341, https://arxiv.org/pdf/2511.09810.pdf

Abstract:
This paper investigates how the compositional structure of neural networks shapes their optimization landscape and training dynamics. We analyze the gradient flow associated with overparameterized optimization problems, which can be interpreted as training a neural network with linear activations. Remarkably, we show that the global convergence properties can be derived for any cost function that is proper and real analytic. We then specialize the analysis to scalar-valued cost functions, where the geometry of the landscape can be fully characterized. In this setting, we demonstrate that key structural features -- such as the location and stability of saddle points -- are universal across all admissible costs, depending solely on the overparameterized representation rather than on problem-specific details. Moreover, we show that convergence can be arbitrarily accelerated depending on the initialization, as measured by an imbalance metric introduced in this work. Finally, we discuss how these insights may generalize to neural networks with sigmoidal activations, showing through a simple example which geometric and dynamical properties persist beyond the linear case.

Paperid: 3342, https://arxiv.org/pdf/2511.09111.pdf

Abstract:
The operational lifetime of energy-harvesting wireless sensor nodes is limited by availability of the energy source and the capacity of the installed energy buffer. When a sensor node depletes its energy reserves, manual intervention is often required to resume node operation. While lowering the duty cycle would help extend the network lifetime, this is often undesirable, especially in time-critical applications, where rapid collection and dissemination of information is vital. In this paper, we propose a context-aware energy management policy that helps balance the two opposing objectives of timely data collection and dissemination with energy conservation. We capture these objectives through the Value of Information (VoI) of observations made by a sensor node and the State of Energy (SoE) of the energy buffer. We formulate the energy management policy as a Model Predictive Control (MPC) problem which computes device sampling and transmission frequencies to maximize a defined utility criterion over a finite, receding, time-horizon. In the process, we also develop a unique mathematical representation for VoI, that adequately captures aspects related to continuity in monitoring, urgency of dissemination, and representation of the phenomena being observed. In the end, we use data collected from a real-world flash flood event, to evaluate our decision framework across multiple scenarios of energy availability.

Paperid: 3343, https://arxiv.org/pdf/2511.08900.pdf

Abstract:
The high-temperature glassblowing-fabricated micro hemispherical resonator (MHR) exhibits high symmetry and high Q-value for precision inertial navigation. However, MHR design entails a comprehensive evaluation of multiple possible configurations and demands extremely time-consuming simulation of key parameters combination. To address this problem, this paper proposed a rapid prediction method of modal frequency and actual anchor radius of designed MHR using an improved Transformer-LSTM (Long Short-Term Memory) model for rapid design sizing. High-temperature-induced softening deformation at the anchor point reduces the actual anchor radius below the designed value. By varying key parameters such as resonator height, anchor radius and edge thickness, finite element glassblowing simulation and modal analyse were conducted to obtain the first six modal frequencies and actual anchor radius. To address regression prediction challenges with limited data, dual multi-head self-attention (MHSA) mechanisms replaced the transformer's standard Feed Forward Network, to improve hidden information capture for high-accuracy predictions of modal frequencies and anchor radius. By checking fabricating feasibility of anchor radius and allowing rapid modal characteristics evaluation without interference, ablation and comparative experiments validated the method's superiority, as an effective support of MHR design. Design optimization experiments demonstrate a prediction accuracy of 96.35%, with computational time reduced to 1/48,000 of traditional finite element methods, significantly improving design efficiency. This study offers a new paradigm for intelligent Micro-Electro-Mechanical System (MEMS) device design under complex process conditions.

Paperid: 3344, https://arxiv.org/pdf/2511.08837.pdf

Abstract:
Successive convex programming (SCP) is a powerful class of direct optimization methods, known for its polynomial complexity and computational efficiency, making it particularly suitable for autonomous applications. Direct methods are also referred to as ``discretize-then-optimize'' with discretization being a fundamental solution step. A key step in all practical direct methods is mesh refinement, which aims to refine the solution resolution by enhancing the precision and quality of discretization techniques through strategic distribution and placement of mesh/grid points. We propose a novel method to enhance adaptive mesh refinement stability by integrating it with a nonlinearity-index-based trust-region strategy within the SCP framework for spacecraft trajectory design. The effectiveness of the proposed method is demonstrated through solving minimum-fuel, low-thrust missions, including a benchmark Earth-to-Asteroid rendezvous and an Earth-Moon L2 Halo-to-Halo transfer using the Circular Restricted Three-Body (CR3BP) model.

Paperid: 3345, https://arxiv.org/pdf/2511.08741.pdf

Abstract:
Ensuring the safety of real-world systems is challenging, especially when they rely on learned perception modules to infer the system state from high-dimensional sensor data. These perception modules are vulnerable to epistemic uncertainty, often failing when encountering out-of-distribution (OoD) measurements not seen during training. To address this gap, we introduce ATOM-CBF (Adaptive-To-OoD-Measurement Control Barrier Function), a novel safe control framework that explicitly computes and adapts to the epistemic uncertainty from OoD measurements, without the need for ground-truth labels or information on distribution shifts. Our approach features two key components: (1) an OoD-aware adaptive perception error margin and (2) a safety filter that integrates this adaptive error margin, enabling the filter to adjust its conservatism in real-time. We provide empirical validation in simulations, demonstrating that ATOM-CBF maintains safety for an F1Tenth vehicle with LiDAR scans and a quadruped robot with RGB images.

Paperid: 3346, https://arxiv.org/pdf/2511.08647.pdf

Abstract:
Controllability determines whether a system's state can be guided toward any desired configuration, making it a fundamental prerequisite for designing effective control strategies. In the context of networked systems, controllability is a well-established concept. However, many real-world systems, from biological collectives to engineered infrastructures, exhibit higher-order interactions that cannot be captured by simple graphs. Moreover, the way in which agents interact and influence one another is often unknown and must be inferred from partial observations of the system. Here, we close the loop between a hypergraph representation and our recently developed hypergraph inference algorithm, THIS, to infer the underlying multibody couplings. Building on the inferred structure, we design a parsimonious controller that, given a minimal set of controllable nodes, steers the system toward a desired configuration. We validate the proposed system identification and control framework on a network of Kuramoto oscillators evolving over a hypergraph.

Paperid: 3347, https://arxiv.org/pdf/2511.08610.pdf

Abstract:
The large-scale integration of renewable energy and power electronic devices has increased the complexity of power system stability, making transient stability assessment more challenging. Conventional methods are limited in both accuracy and computational efficiency. To address these challenges, this paper proposes MoE-GraphSAGE, a graph neural network framework based on the MoE for unified TAS and TVS assessment. The framework leverages GraphSAGE to capture the power grid's spatiotemporal topological features and employs multi-expert networks with a gating mechanism to model distinct instability modes jointly. Experimental results on the IEEE 39-bus system demonstrate that MoE-GraphSAGE achieves superior accuracy and efficiency, offering an effective solution for online multi-task transient stability assessment in complex power systems.

Paperid: 3348, https://arxiv.org/pdf/2511.08561.pdf

Abstract:
Physics-Informed Neural Networks (PINNs) have emerged as a promising framework for solving forward and inverse problems governed by differential equations. However, their reliability when used in ill-posed inverse problems remains poorly understood. In this study, we explore the fundamental limitations of PINNs using a simple illustrative case: RC low-pass filters. Showing that while PINNs can accurately predict system dynamics in forward problems, they fail to recover unique physical parameters when solving inverse problems when more than two parameters are approximated. Our findings provide grounds to understand the boundaries of PINNs applicability for parameter discovery in physical systems.

Paperid: 3349, https://arxiv.org/pdf/2511.08419.pdf

Abstract:
Safety in stochastic control systems, which are subject to random noise with a known probability distribution, aims to compute policies that satisfy predefined operational constraints with high confidence throughout the uncertain evolution of the state variables. The unpredictable evolution of state variables poses a significant challenge for meeting predefined constraints using various control methods. To address this, we present a new algorithm that computes safe policies to determine the safety level across a finite state set. This algorithm reduces the safety objective to the standard average reward Markov Decision Process (MDP) objective. This reduction enables us to use standard techniques, such as linear programs, to compute and analyze safe policies. We validate the proposed method numerically on the Double Integrator and the Inverted Pendulum systems. Results indicate that the average-reward MDPs solution is more comprehensive, converges faster, and offers higher quality compared to the minimum discounted-reward solution.

Paperid: 3350, https://arxiv.org/pdf/2511.08405.pdf

Abstract:
The multi-phase inverter has become more complicated, particularly in an Electric Vehicle (EV)'s power train, which requires a robust fault protection system. The proposed active short circuit and safe discharge mechanisms are also included in this work, dedicated to multi-phase converters in failure conditions. With silicon carbide (SiC) power modules increasingly used in high efficiency and high-power applications, the reliability under fault conditions is an extremely important factor. Cascading failures and permanent damage will occur in multi phase inverter systems if short circuit faults are not prevented. The proposed method combines one centralized short circuit detection, active phase shorting and controlled discharge to make these structures more robust. The on chip active short circuit mechanism isolates the affected phases quickly preventing faults from spreading to other areas of the inverter and the safe discharge mechanism controls energy discharged in fault scenarios, which reduces the thermal stress placed on essential components. The experimental results show that the proposed mechanisms can effectively enhance a fault detection performance, system response during faults, and the operation as whole at faults over the several existing methods. These mechanisms are demonstrated to be very important for enhancing the safety and reliability of multiphase inverters, especially for critical applications of such inverters as EV where high operational security is required.

Paperid: 3351, https://arxiv.org/pdf/2511.08370.pdf

Abstract:
This paper presents an $\mathcal{H}_\infty$ model matching control-based approach to the problem of power hardware-in-the-loop (PHIL) interfacing. The objective is to interconnect a grid simulation and a physical device via an interface in a way that is stable and accurate. Conventional approaches include the ideal transformer method (ITM) and its impedance-based variants, which trade accuracy for stability, as well as some $\mathcal{H}_\infty$ control-based approaches, which do not make use of all the available information in their optimization for accuracy. Designing for transparency, as opposed to accuracy as existing approaches do, would achieve both accuracy and stability, while making use of all the dynamical information present in the idealized interconnection of the grid and device. The approach proposed in this paper employs model matching to formulate the PHIL problem as an $\mathcal{H}_\infty$ control problem using transparency as the explicit frequency-domain control objective. The approach is experimentally validated in a real-time resistive-load PHIL setup, and is found to achieve accuracy levels that are comparable or superior to those of an ITM-based interface.

Paperid: 3352, https://arxiv.org/pdf/2511.08273.pdf

Abstract:
This paper presents the analytical design of a new wide tuning range and low-noise millimeter-wave voltage control oscillators (VCO) for 5G technology. The small signal model analysis and phase noise of the VCOs will be presented to evaluate the start-up oscillation condition, oscillation frequency, and phase noise affecting factors. Theoretical analysis and simulation results show the outperformance of the proposed cascode cross-couple LC VCO topology compared to the conventional cross-coupled LC VCO in terms of frequency tuning range, VCO gain and phase noise level.

Paperid: 3353, https://arxiv.org/pdf/2511.07893.pdf

Abstract:
Aluminium is manufactured through the Hall-Héroult process, which is very energy intensive. Power modulation, as an industrial-scale demand-side power management approach, allows aluminium smelters to operate with variable power consumption rates and as such be powered by renewable energy sources. In this way, aluminium smelting cells can be used as a large virtual energy storage to balance power demand-supply and stabilise electrical grids. This paper studies the potential optimal power modulation operating conditions, including time-varying line current and anode-cathode distance (ACD) profiles to maximise the aluminium reduction cell profitability subject to constraints on the cell thermal balance. To deal with the complex cell dynamics which are spatially distributed and multi-timescale, a novel optimisation approach that utilises both reduced-order and detailed models is developed. The results yield insight into the optimal line current and ACD profiles for different power modulation scenarios including the time of use electricity tariff and spot price. These results can form the foundation for further studies into online control policies of aluminium reduction cells.

Paperid: 3354, https://arxiv.org/pdf/2511.07870.pdf

Abstract:
We study the problem of designing a state feedback linear quadratic Gaussian (LQG) controller for a system in which the system matrices as well as the process noise covariance are unknown. We do a rigorous comparison between two approaches. The first is the classic one in which a system identification stage is used to estimate the unknown parameters, which are then used in a state-feedback LQG (SF-LQG) controller design. The second approach is a recently proposed one using a reinforcement learning paradigm called Q-learning. We do the comparison in terms of complexity and accuracy of the resulting controller. We show that the classic approach asymptotically efficient, giving virtually no room for improvement in terms of accuracy. We also propose a novel Q-learning-based method which we show asymptotically achieves the optimal controller design. We complement our proposed method with a numerically efficient algorithmic implementation aiming at making it competitive in terms of computations. Nevertheless, our complexity analysis shows that the classic approach is still numerically more efficient than this Q-learning-based alternative. We then conclude that the classic approach remains being the best choice for addressing the SF-LQG design in the case of unknown parameters.

Paperid: 3355, https://arxiv.org/pdf/2511.07830.pdf

Abstract:
The exponential growth of edge artificial intelligence demands material-focused solutions to overcome energy consumption and latency limitations when processing real-time temporal data. Physical reservoir computing (PRC) offers an energy-efficient paradigm but faces challenges due to limited device scalability and reconfigurability. Additionally, reservoir and readout layers require memory of different timescales, short-term and long-term respectively - a material challenge hindering CMOS-compatible implementations. This work demonstrates a CMOS-compatible ferroelectric transistor using hafnium-zirconium-oxide (HZO) and silicon, enabling dual-memory operation. This system exhibits non-volatile long-term memory (LTM) from ferroelectric HZO polarization and volatile short-term memory (STM) from engineered non-quasi-static (NQS) channel-charge relaxation driven by gate-source/drain overlap capacitance. Ferroelectric polarization acts as non-volatile programming of volatile dynamics: by modulating threshold voltage, the ferroelectric state deterministically switches the NQS time constant and computational behavior between paired-pulse facilitation (PPF) and depression (PPD). This establishes a generalizable material-design principle applicable to diverse ferroelectric-semiconductor heterostructures, extending beyond silicon to oxide semiconductors and heterogeneously-integrated systems. The device solves second-order nonlinear tasks with 3.69 x 10^-3 normalized error using only 16 reservoir states - ~5x reduction - achieving 20 us response time (~1000x faster) and 1.5 x 10^-7 J energy consumption, providing an immediately manufacturable pathway for neuromorphic hardware and energy-efficient edge intelligence.

Paperid: 3356, https://arxiv.org/pdf/2511.07815.pdf

Abstract:
The deployment of 5G millimeter-wave (mmWave) systems poses significant challenges in maintaining power amplifier linearity and efficiency under varying conditions, such as temperature-induced gain variations that degrade error vector magnitude (EVM). This paper presents a comparative study of three control strategies-PID, pure integral, and fuzzy-integral (FI)-for adaptive power management in a 24 GHz mmWave transceiver. The FI controller integrates fuzzy logic for handling nonlinearities with integral action for zero steady-state error. Experimental results show the FI controller outperforms others in settling time, stability, and EVM minimization.

Paperid: 3357, https://arxiv.org/pdf/2511.07363.pdf

Abstract:
We study a two-player dynamic Stackelberg game between a leader and a follower whose intention is unknown to the leader. Classical formulations of the Stackelberg equilibrium (SE) assume that the follower's best response (BR) function is known to the leader. However, this is not always true in practice. We study a setting in which the leader receives updated beliefs about the follower BR before the end of the game, such that the update prompts the leader and subsequently the follower to re-optimize their strategies. We characterize the optimality guarantees of the SE solutions under this belief update for both open loop and feedback information structures. Interestingly, we prove that in general, assuming an incorrect follower's BR can lead to more optimal leader costs over the entire game than knowing the true follower's BR. We support these results with numerical examples in a linear quadratic (LQ) Stackelberg game, and use Monte Carlo simulations to show that the instances of incorrect BR achieving lower leader costs are non-trivial in collision avoidance LQ Stackelberg games.

Paperid: 3358, https://arxiv.org/pdf/2511.07159.pdf

Abstract:
The rapid growth of data centres poses an evolving challenge for power systems with high variable renewable energy. Traditionally operated as passive electrical loads, data centres, have the potential to become active participants that provide flexibility to the grid. However, quantifying and utilising this flexibility have not yet been fully explored. This paper presents an integrated, whole facility optimisation model to investigate the least cost operating schedule of data centres and characterise the aggregate flexibility available from data centres to the power system. The model accounts for IT workload shifting, UPS energy storage, and cooling system. Motivated by the need to alleviate the increasing strain on power systems while leveraging their untapped flexibility potential, this study makes two primary contributions: (i) an operational optimisation model that integrates IT scheduling, UPS operation, and cooling dynamics to establish a cost optimal baseline operation, and (ii) a duration-aware flexibility assessment that, for any given start time and power deviation, computes the maximum feasible duration from this baseline while respecting all operational, thermal, and recovery constraints. This method characterises the aggregate flexibility envelope. Results reveal a clear temporal structure and a notable asymmetry in flexibility provision: upward flexibility (electricity load reduction) is driven by deferring IT workload, which allows for a secondary reduction in cooling power. Downward flexibility (electricity load increase) relies on increasing power consumption of the cooling system, supported by the TES buffer, and charging the UPS. This framework translates abstract flexibility potential into quantified flexibility magnitude and duration that system operators could investigate for use in services such as reserve, frequency response, and price responsive demand.

Paperid: 3359, https://arxiv.org/pdf/2511.06997.pdf

Abstract:
Classical phasor analysis is fundamentally limited to sinusoidal single-frequency conditions, which poses challenges when working in the presence of harmonics. Furthermore, the conventional solution, which consists of decomposing signals using Fourier series and applying superposition, is a fragmented process that does not provide a unified solution in the frequency domain. This paper overcomes this limitation by introducing a complete and direct approach for multi-harmonic AC circuits using Geometric Algebra (GA). In this way, all non-sinusoidal voltage and current waveforms are represented as simple vectors in a $2N$-dimensional Euclidean space. The relationship between these vectors is characterized by a single and unified geometric transformation termed the \textit{rotoflex}. This operator elevates the concept of impedance from a set of complex numbers per frequency to a single multivector that holistically captures the circuit response, while unifying the magnitude scale (flextance) and phase rotation (rotance) across all harmonics. Thus, this work establishes GA as a structurally unified and efficient alternative to phasor analysis, providing a more rigorous foundation for electrical circuit analysis. The methodology is validated through case studies that demonstrate perfect numerical consistency with traditional methods and superior performance.

Paperid: 3360, https://arxiv.org/pdf/2511.06990.pdf

Abstract:
This paper presents a Koopman-based model predictive control (MPC) framework for safe UAV navigation in dynamic environments using real-time LiDAR data. By leveraging the Koopman operator to linearly approximate the dynamics of surrounding objets, we enable efficient and accurate prediction of the position of moving obstacles. Embedding this into an MPC formulation ensures robust, collision-free trajectory planning suitable for real-time execution. The method is validated through simulation and ROS2-Gazebo implementation, demonstrating reliable performance under sensor noise, actuation delays, and environmental uncertainty.

Paperid: 3361, https://arxiv.org/pdf/2511.06950.pdf

Abstract:
In this paper, the problem of distributed state estimation of human-driven vehicles (HDVs) by connected autonomous vehicles (CAVs) is investigated in mixed traffic transportation systems. Toward this, a distributed observable state-space model is derived, which paves the way for estimation and observability analysis of HDVs in mixed traffic scenarios. In this direction, first, we obtain the condition on the network topology to satisfy the distributed observability, i.e., the condition such that each HDV state is observable to every CAV via information-exchange over the network. It is shown that strong connectivity of the network, along with the proper design of the observer gain, is sufficient for this. A distributed observer is then designed by locally sharing estimates/observations of each CAV with its neighborhood. Second, in case there exist faulty sensors or unreliable observation data, we derive the condition for redundant distributed observability as a $q$-node/link-connected network design. This redundancy is achieved by extra information-sharing over the network and implies that a certain number of faulty sensors and unreliable links can be isolated/removed without losing the observability. Simulation results are provided to illustrate the effectiveness of the proposed approach.

Paperid: 3362, https://arxiv.org/pdf/2511.06921.pdf

Abstract:
This project investigates traffic congestion within North Campus, Delhi University (DU), using continuous time simulations implemented in UXSim to model vehicle movement and interaction. The study focuses on several key intersections, identifies recurring congestion points, and evaluates the effectiveness of conventional traffic management measures. Implementing signal timing optimization and modest intersection reconfiguration resulted in measurable improvements in simulated traffic flow. The results provide practical insights for local traffic management and illustrate the value of continuous time simulation methods for informing short-term interventions and longer-term planning.

Paperid: 3363, https://arxiv.org/pdf/2511.06874.pdf

Abstract:
Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or the cloud section of the network. Cooperation among AVs is successful when the environment is unknown, or changes dynamically, so as to improve coverage and trip time, and minimize the traveled distance. The AVs, while mapping the environment with range-based sensors, move across the wireless coverage areas, with consequences on the achieved access bit rate, latency, and handover rate. In this paper, we propose to modify the cost of path planning algorithms such as Dijkstra and A*, so that not only the traveled distance is considered in the best path solution, but also the radio coverage experience. To this aim, several radio-related cost-weighting functions are introduced and tested, to assess the performance of the proposed techniques with extensive simulations. The proposed mapping algorithm can achieve a mapping error probability below 2%, while the proposed path-planning algorithms extend the experienced radio coverage of the AVs, with limited distance increase with respect to shortest-path existing methods, such as conventional Dijkstra and A* algorithms.

Paperid: 3364, https://arxiv.org/pdf/2511.06578.pdf

Abstract:
In this paper, we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal actuation behaviors learned using reinforcement learning techniques. We present our preliminary mechanical design of the tail oscillation mechanism and illustrate the swimming behaviors on FishGym simulator, where the reinforcement learning techniques will be tested on

Paperid: 3365, https://arxiv.org/pdf/2511.06523.pdf

Abstract:
The increasing integration of solar power plants into transmission grids has raised concerns about their vulnerability to disturbances, particularly lightning strokes. Solar energy, while offering significant environmental and economic benefits, faces challenges when connected to transmission lines that are prone to lightning discharges. This paper investigates the impact of lightning events on solar power plants, focusing on overvoltage effects. Lightning stroke simulations were conducted at various distances from the solar power plant along the transmission line, considering scenarios with and without surge arrester. Key lightning parameters such as peak current, front time, and tail time were varied to simulate different lightning strokes. The study also includes a Fourier transform analysis of the resulting overvoltages with and without a surge arrester, along with the Hilbert marginal spectrum of these overvoltages. The results provide insights into the effectiveness of surge arresters in mitigating lightning overvoltages and highlight the importance of proper protective measures for enhancing the reliability and safety of solar power plants connected to transmission networks.

Paperid: 3366, https://arxiv.org/pdf/2511.06511.pdf

Abstract:
It is widely recognized that no tractable necessary and sufficient conditions exist for determining whether a system is, in general, differentially flat. However, specific cases do provide such conditions. For instance, driftless systems with two inputs have known necessary and sufficient conditions. For driftless systems with three or more inputs, the available conditions are only sufficient. This paper presents new findings on determining whether a system with m inputs and $2m$ or $2m-1$ states is flat by pure prolongation, a specific subclass of differential flatness. While this condition is more restrictive than general differential flatness, the algorithm for computing flat outputs remains remarkably simple, and the verification requirements are relatively lenient. Moreover, the conditions proposed in this work broaden the class of systems recognized as differentially flat, as our sufficient condition differs from existing criteria.

Paperid: 3367, https://arxiv.org/pdf/2511.06398.pdf

Abstract:
The transition from the Internal Combustion Engine Vehicles (ICEVs) to the Electric Vehicles (EVs) is globally recommended to combat the unfavourable environmental conditions caused by reliance on fossil fuels. However, it has been established that the charging of EVs can destabilize the grid when they penetrate the market in large numbers, especially in grids that were not initially built to handle the load from the charging of EVs. In this work, we present a dynamic EV charging pricing strategy that fulfills the following three objectives: distribution network-level load peak-shaving, valley-filling, and load balancing across distribution networks. Based on historical environmental variables such as temperature, humidity, wind speed, EV charging prices and distribution of vehicles in different areas in different times of the day, we first forecast the distribution network load demand, and then use deep reinforcement learning approach to set the optimal dynamic EV charging price. While most research seeks to achieve load peak-shaving and valley-filling to stabilize the grid, our work goes further into exploring the load-balancing between the distribution networks in the close vicinity to each other. We compare the performance of Deep Deterministic Policy Gradient (DDPG), Soft Actor-Critic (SAC) and Proximal Policy Optimization (PPO) algorithms for this purpose. The best algorithm is used for dymamic EV pricing. Simulation results show an improved utilization of the grid at the distribution network level, leading to the optimal usage of the grid on a larger scale.

Paperid: 3368, https://arxiv.org/pdf/2511.06260.pdf

Abstract:
Large language models (LLMs) are increasingly used as behavioral proxies for self-interested travelers in agent-based traffic models. Although more flexible and generalizable than conventional models, the practical use of these approaches remains limited by scalability due to the cost of calling one LLM for every traveler. Moreover, it has been found that LLM agents often make opaque choices and produce unstable day-to-day dynamics. To address these challenges, we propose to model each homogeneous traveler group facing the same decision context with a single representative LLM agent who behaves like the population's average, maintaining and updating a mixed strategy over routes that coincides with the group's aggregate flow proportions. Each day, the LLM reviews the travel experience and flags routes with positive reinforcement that they hope to use more often, and an interpretable update rule then converts this judgment into strategy adjustments using a tunable (progressively decaying) step size. The representative-agent design improves scalability, while the separation of reasoning from updating clarifies the decision logic while stabilizing learning. In classic traffic assignment settings, we find that the proposed approach converges rapidly to the user equilibrium. In richer settings with income heterogeneity, multi-criteria costs, and multi-modal choices, the generated dynamics remain stable and interpretable, reproducing plausible behavioral patterns well-documented in psychology and economics, for example, the decoy effect in toll versus non-toll road selection, and higher willingness-to-pay for convenience among higher-income travelers when choosing between driving, transit, and park-and-ride options.

Paperid: 3369, https://arxiv.org/pdf/2511.06135.pdf

Abstract:
We study the secret protection problem (SPP), where the objective is to find a policy of minimal cost ensuring that every execution path from an initial state to a secret state contains a sufficient number of protected events. The problem was originally introduced and studied in the setting of finite automata. In this paper, we extend the framework to labeled Petri nets. We consider two variants of the problem: the Parikh variant, where all occurrences of protected events along an execution path contribute to the security requirement, and the indicator variant, where each protected event is counted only once per execution path. We show that both variants can be solved in exponential space for labeled Petri nets, and that their decision versions are ExpSpace-complete. As a consequence, there is no polynomial-time or polynomial-space algorithm for these problems.

Paperid: 3370, https://arxiv.org/pdf/2511.05828.pdf

Abstract:
Missiles pose a major threat to aircraft in modern air combat. Advances in technology make them increasingly difficult to detect until they are close to the target and highly resistant to jamming. The evasion maneuver is the last line of defense for an aircraft. However, conventional rule-based evasion strategies are limited by computational demands and aerodynamic constraints, and existing learning-based approaches remain unconvincing for manned aircraft against modern missiles. To enhance aircraft survivability, this study investigates missile evasion inspired by the pursuit-evasion game between a gazelle and a cheetah and proposes a multi-stage reinforcement learning-based evasion strategy. The strategy learns a large azimuth policy to turn to evade, a small azimuth policy to keep moving away, and a short distance policy to perform agile aggressive maneuvers to avoid. One of the three policies is activated at each stage based on distance and azimuth. To evaluate performance, a high-fidelity simulation environment modeling an F-16 aircraft and missile under various conditions is used to compare the proposed approach with baseline strategies. Experimental results show that the proposed method achieves superior performance, enabling the F-16 aircraft to successfully avoid missiles with a probability of 80.89 percent for velocities ranging from 800 m/s to 1400 m/s, maximum overloads from 40 g to 50 g, detection distances from 5000 m to 15000 m, and random azimuths. When the missile is detected beyond 8000 m, the success ratio increases to 85.06 percent.

Paperid: 3371, https://arxiv.org/pdf/2511.05445.pdf

Abstract:
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control strategy employs an extended state observer to predict model deviations following a fault and adjusts the original model in the subsequent time step, thereby achieving active fault-tolerant control. The proposed method is evaluated through simulations and compared to both traditional quadcopter and tilt-rotor quadcopter without observer under identical conditions. The results demonstrate that the tilt-rotor quadcopter can maintain position control without sacrificing yaw stability, unlike traditional quadcopters.

Paperid: 3372, https://arxiv.org/pdf/2511.05252.pdf

Abstract:
In recent years, virtual oscillator control, particularly the Andronov-Hopf oscillator (AHO), has received widespread attention for controlling grid-forming (GFM) inverters due to their superior dynamic response. However, traditional AHO systems feature droop coefficients that are dependent on the oscillator voltage amplitude, limiting their ability to maintain consistent grid support during disturbances and resulting in power-sharing inaccuracies. This paper presents an enhanced AHO (EAHO) strategy, where the active power droop coefficient is no longer a function of the voltage amplitude and retains the key dynamic benefits of the original AHO. The EAHO improves both frequency and voltage support and ensures accurate power sharing with other GFM inverters in grid-connected and stand-alone modes. Extensive comparative and small-signal analyses, alongside experimental validation on 2.5 kVA single-phase inverters, confirm the EAHO's improved steady-state performance, enhanced active and reactive power support, and stable operation under varying grid conditions.

Paperid: 3373, https://arxiv.org/pdf/2511.05118.pdf

Abstract:
Pebble bed reactor (PBR) operation presents unique advantages and challenges due to the ability to continuously change the fuel mixture and excess reactivity. Each operation parameter affects reactivity on a different timescale. For example, fuel insertion changes may take months to fully propagate, whereas control rod movements have immediate effects. In-core measurements are further limited by the high temperatures, intense neutron flux, and dynamic motion of the fuel bed. In this study, long short-term memory (LSTM) networks are trained to predict reactivity, flux profiles, and power profiles as functions of operating history and synthetic batch-level pebble measurements, such as discharge burnup distributions. The model's performance is evaluated using unseen temporal data, achieving an $R^2$ of 0.9914 on the testing set. The capability of the network to forecast reactivity responses to future operational changes is also examined, and its application for optimizing reactor running-in procedures is explored.

Paperid: 3374, https://arxiv.org/pdf/2511.04923.pdf

Abstract:
Fourth Industrial Revolution has brought in a new era of smart manufacturing, wherein, application of Internet of Things , and data-driven methodologies is revolutionizing the conventional maintenance. With the help of real-time data from the IoT and machine learning algorithms, predictive maintenance allows industrial systems to predict failures and optimize machines life. This paper presents the synergy between the Internet of Things and predictive maintenance in industrial engineering with an emphasis on the technologies, methodologies, as well as data analytics techniques, that constitute the integration. A systematic collection, processing, and predictive modeling of data is discussed. The outcomes emphasize greater operational efficiency, decreased downtime, and cost-saving, which makes a good argument as to why predictive maintenance should be implemented in contemporary industries.

Paperid: 3375, https://arxiv.org/pdf/2511.04370.pdf

Abstract:
Supervisory controllers control cyber-physical systems to ensure their correct and safe operation. Synthesis-based engineering (SBE) is an approach to largely automate their design and implementation. SBE combines model-based engineering with computer-aided design, allowing engineers to focus on 'what' the system should do (the requirements) rather than 'how' it should do it (design and implementation). In the Eclipse Supervisory Control Engineering Toolkit (ESCET) open-source project, a community of users, researchers, and tool vendors jointly develop a toolkit to support the entire SBE process, particularly through the CIF modeling language and tools. In this paper, we first provide a description of CIF's symbolic supervisory controller synthesis algorithm, and thereby include aspects that are often omitted in the literature, but are of great practical relevance, such as the prevention of runtime errors, handling different types of requirements, and supporting input variables (to connect to external inputs). Secondly, we introduce and describe CIF's benchmark models, a collection of 23 freely available industrial and academic models of various sizes and complexities. Thirdly, we describe recent improvements between ESCET versions v0.8 (December 2022) and v4.0 (June 2024) that affect synthesis performance, evaluate them on our benchmark models, and show the current practical synthesis performance of CIF. Fourthly, we briefly look at multi-level synthesis, a non-monolithic synthesis approach, evaluate its gains, and show that while it can help to further improve synthesis performance, further performance improvements are still needed to synthesize complex models.

Paperid: 3376, https://arxiv.org/pdf/2511.04330.pdf

Abstract:
This paper explores the application of data-driven system identification techniques in the frequency domain to obtain simplified, control-oriented models of photosynthesis regulation under oscillating light conditions. In-silico datasets are generated using simulations of the physics-based Basic DREAM Model (BDM) Funete et al.[2024], with light intensity signals -- comprising DC (static) and AC (modulated) components as input and chlorophyll fluorescence (ChlF) as output. Using these data, the Best Linear Approximation (BLA) method is employed to estimate second-order linear time-invariant (LTI) transfer function models across different operating conditions defined by DC levels and modulation frequencies of light intensity. Building on these local models, a Linear Parameter-Varying (LPV) representation is constructed, in which the scheduling parameter is defined by the DC values of the light intensity, providing a compact state-space representation of the system dynamics.

Paperid: 3377, https://arxiv.org/pdf/2511.04230.pdf

Abstract:
The control of ensembles of dynamical systems is an intriguing and challenging problem, arising for example in quantum control. We initiate the investigation of optimal control of ensembles of discrete-time systems, focusing on minimising the average finite horizon cost over the ensemble. For very general nonlinear control systems and stage and terminal costs, we establish existence of minimisers under mild assumptions. Furthermore, we provide a $Γ$-convergence result which enables consistent approximation of the challenging ensemble optimal control problem, for example, by using empirical probability measures over the ensemble. Our results form a solid foundation for discrete-time optimal control of ensembles, with many interesting avenues for future research.

Paperid: 3378, https://arxiv.org/pdf/2511.03971.pdf

Abstract:
Cyberattacks targeting critical infrastructures, such as water treatment facilities, represent significant threats to public health, safety, and the environment. This paper introduces a systematic approach for modeling and assessing covert man-in-the-middle (MitM) attacks that leverage system identification techniques to inform the attack design. We focus on the attacker's ability to deploy a covert controller, and we evaluate countermeasures based on the Process-Aware Stealthy Attack Detection (PASAD) anomaly detection method. Using a second-order linear time-invariant with time delay model, representative of water treatment dynamics, we design and simulate stealthy attacks. Our results highlight how factors such as system noise and inaccuracies in the attacker's plant model influence the attack's stealthiness, underscoring the need for more robust detection strategies in industrial control environments.

Paperid: 3379, https://arxiv.org/pdf/2511.03903.pdf

Abstract:
Feedback-based optimization (FBO) provides a simple control framework for regulating a stable dynamical system to the solution of a constrained optimization problem in the presence of exogenous disturbances, and does so without full knowledge of the plant dynamics. However, closed-loop stability requires the controller to operate on a sufficiently slower timescale than the plant, significantly constraining achievable closed-loop performance. Motivated by this trade-off, we propose an estimator-based modification of FBO which leverages dynamic plant model information to eliminate the time-scale separation requirement of traditional FBO. Under this design, the convergence rate of the closed-loop system is limited only by the dominant eigenvalue of the open-loop system. We extend the approach to the case of design based on only an approximate plant model when the original system is singularly perturbed. The results are illustrated via an application to fast power system frequency control using inverter-based resources.

Paperid: 3380, https://arxiv.org/pdf/2511.03754.pdf

Abstract:
Buses are a vital component of metropolitan public transport, yet conventional bus services often struggle with inefficiencies including extended dwelling time, which increases in-vehicle travel time for non-alighting passengers. A stop-less autonomous modular (SLAM) bus service has emerged as a solution, enabling dynamic capacity to reduce dwelling time. Meanwhile, the electrification of buses is advancing as a strategy to mitigate greenhouse gas emissions and reduces operators' costs, but introduces new operational constraints due to charging requirements. This study develops analytical optimization models for SLAM bus service that integrates vehicle-to-vehicle (V2V) charging technology. By comparing the optimal designs and their feasibility across non-charging case and charging strategies, we identify a sequence of operational stages as ridership grows: from idle capacity under low demand, to full small buses, full large buses, and a proposed frequency-capped regime where only bus capacity expands. Under the mobile charging strategy, this progression further includes an energy-limited regime, in which frequency declines, and ultimately infeasibility under high demand. These findings enable operators to deliver more efficient services.

Paperid: 3381, https://arxiv.org/pdf/2511.03737.pdf

Abstract:
Electrical load classification is generally divided into intrusive and non-intrusive approaches, both having their limitations and advantages. With the non-intrusive approach, controlling appliances is not possible, but the installation cost of a single measurement device is cheap. In comparison, intrusive, smart plug-based solutions offer individual appliance control, but the installation cost is much higher. There have been very few approaches aiming to combine these methods. In this paper we show that extending a smart plug-based solution to multiple loads per plug can reduce control granularity in favor of lowering the system's installation costs. Connecting various loads to a Smart Plug through an extension cord is seldom considered in the literature, even though it is common in households. This scenario is also handled by the hybrid load classification solution presented in this paper.

Paperid: 3382, https://arxiv.org/pdf/2511.03735.pdf

Abstract:
Designing frictional interfaces to exhibit prescribed macroscopic behavior is a challenging inverse problem, made difficult by the non-uniqueness of solutions and the computational cost of contact simulations. Traditional approaches rely on heuristic search over low-dimensional parameterizations, which limits their applicability to more complex or nonlinear friction laws. We introduce a generative modeling framework using Variational Autoencoders (VAEs) to infer surface topographies from target friction laws. Trained on a synthetic dataset composed of 200 million samples constructed from a parameterized contact mechanics model, the proposed method enables efficient, simulation-free generation of candidate topographies. We examine the potential and limitations of generative modeling for this inverse design task, focusing on balancing accuracy, throughput, and diversity in the generated solutions. Our results highlight trade-offs and outline practical considerations when balancing these objectives. This approach paves the way for near-real-time control of frictional behavior through tailored surface topographies.

Paperid: 3383, https://arxiv.org/pdf/2511.03678.pdf

Abstract:
Monitoring the in-service aerodynamic performance of airliners is critical for operational efficiency and safety, but using operational Quick Access Recorder (QAR) data for this purpose presents significant challenges. This paper first establishes that the absence of key parameters, particularly aircraft moments of inertia, makes conventional state-propagation filters fundamentally unsuitable for this application. This limitation necessitates a decoupled, Equation-Error Method (EEM). However, we then demonstrate through a comparative analysis that standard recursive estimators with time-varying gains, such as Recursive Least Squares (RLS), also fail within an EEM framework, exhibiting premature convergence or instability when applied to low-excitation cruise data. To overcome these dual challenges, we propose and validate the Constant-Gain Equation-Error Method (CG-EEM). This framework employs a custom estimator with a constant, Kalman-like gain, which is perfectly suited to the stationary, low-signal-to-noise characteristics of cruise flight. The CG-EEM is extensively validated on a large, multi-fleet dataset of over 200 flights, where it produces highly consistent, physically plausible aerodynamic parameters and correctly identifies known performance differences between aircraft types. The result is a robust, scalable, and computationally efficient tool for fleet-wide performance monitoring and the early detection of performance degradation.

Paperid: 3384, https://arxiv.org/pdf/2511.03651.pdf

Abstract:
This paper presents the innovative design and successful deployment of a pioneering autonomous unmanned aerial system developed for executing the world's largest mural painted by a drone. Addressing the dual challenges of maintaining artistic precision and operational reliability under adverse outdoor conditions such as wind and direct sunlight, our work introduces a robust system capable of navigating and painting outdoors with unprecedented accuracy. Key to our approach is a novel navigation system that combines an infrared (IR) motion capture camera and LiDAR technology, enabling precise location tracking tailored specifically for largescale artistic applications. We employ a unique control architecture that uses different regulation in tangential and normal directions relative to the planned path, enabling precise trajectory tracking and stable line rendering. We also present algorithms for trajectory planning and path optimization, allowing for complex curve drawing and area filling. The system includes a custom-designed paint spraying mechanism, specifically engineered to function effectively amidst the turbulent airflow generated by the drone's propellers, which also protects the drone's critical components from paint-related damage, ensuring longevity and consistent performance. Experimental results demonstrate the system's robustness and precision in varied conditions, showcasing its potential for autonomous large-scale art creation and expanding the functional applications of robotics in creative fields.

Paperid: 3385, https://arxiv.org/pdf/2511.03595.pdf

Abstract:
High-dimensional reinforcement learning faces challenges with complex calculations and low sample efficiency in large state-action spaces. Q-learning algorithms struggle particularly with the curse of dimensionality, where the number of state-action pairs grows exponentially with problem size. While neural network-based approaches like Deep Q-Networks have shown success, recent tensor-based methods using low-rank decomposition offer more parameter-efficient alternatives. Building upon existing tensor-based methods, we propose Tensor-Efficient Q-Learning (TEQL), which enhances low-rank tensor decomposition via improved block coordinate descent on discretized state-action spaces, incorporating novel exploration and regularization mechanisms. The key innovation is an exploration strategy that combines approximation error with visit count-based upper confidence bound to prioritize actions with high uncertainty, avoiding wasteful random exploration. Additionally, we incorporate a frequency-based penalty term in the objective function to encourage exploration of less-visited state-action pairs and reduce overfitting to frequently visited regions. Empirical results on classic control tasks demonstrate that TEQL outperforms conventional matrix-based methods and deep RL approaches in both sample efficiency and total rewards, making it suitable for resource-constrained applications, such as space and healthcare where sampling costs are high.

Paperid: 3386, https://arxiv.org/pdf/2511.03249.pdf

Abstract:
A precise estimation of the Rate of Change of Frequency (RoCoF) is crucial for secure power system operation. In fact, RoCoF is strictly related to the amount of the available physical and/or virtual inertia of the system and the severity of the active power unbalance following a disturbance. For this reason, it is widely exploited in different protection systems, e.g., Anti-Islanding, Under Frequency Load Shedding (UFLS) and wide-area protection systems. The new paradigm of modern power systems, with a low-inertia and converter-based generation assets, is increasing the transient severity, making the frequency and the RoCoF estimation more complex and less precise for the actual devices. This work addresses this issue by proposing a numerically robust approach based on concepts inherited from differential geometry and fluid mechanics. The proposed approach is then tested with high-sampling real experimental measurements and used to develop a faster control logic for a RoCoF-based UFLS control scheme. The proposed approach provides information to protections regarding the nature of the contingency which can be used to improve its response.

Paperid: 3387, https://arxiv.org/pdf/2511.03162.pdf

Abstract:
In decentralized active noise control (ANC) systems, crosstalk between multichannel secondary sources and error microphones significantly degrades control accuracy. Moreover, prefiltering reference signals in filtered-x (Fx) type algorithms may further introduce modeling errors. A theoretical analysis of the Fx-based decentralized control algorithm was performed, which reveals how prefiltering and crosstalk affect the control performance. Then, a hybrid method combining fixed-value neural networks and adaptive strategies was proposed for efficient decentralized ANC. The adaptive filter models the primary path of its own channel online using the least mean square (LMS) algorithm while the neural network (named DecNet) is used for secondary paths inverting and decoupling. The hybrid DecNet-LMS algorithm was implemented in the time domain to guarantee causality and avoid latency. Simulation results with measured acoustic paths show that the proposed method outperforms the existing ANC algorithms using either traditional adaptive filters or neural network-based fixed-coefficient methods under different acoustic conditions.

Paperid: 3388, https://arxiv.org/pdf/2511.02995.pdf

Abstract:
Neural network observers (NNOs) are proposed for real-time estimation of fluid flows, addressing a key challenge in flow control: obtaining real-time flow states from a limited set of sparse and noisy sensor data. For this task, we propose a generalization of the classical Luenberger observer. In the present framework, the estimation loop is composed of subsystems modeled as neural networks (NNs). By combining flow information from selected probes and an NN surrogate model (NNSM) of the flow system, we train NNOs capable of fusing information to provide the best estimation of the states, that can in turn be fed back to an NN controller (NNC). The NNO capabilities are demonstrated for three nonlinear dynamical systems. First, a variation of the Kuramoto-Sivashinsky (KS) equation with control inputs is studied, where variables are sparsely probed. We show that the NNO is able to track states even when probes are contaminated with random noise or with sensors at insufficient sample rates to match the control time step. Then, a confined cylinder flow is investigated, where velocity signals along the cylinder wake are estimated by using a small set of wall pressure sensors. In both the KS and cylinder problems, we show that the estimated states can be used to enable closed-loop control, taking advantage of stabilizing NNCs. Finally, we present a legacy dataset of a turbulent boundary layer experiment, where convolutional NNs (CNNs) are employed to implement the models required for the estimation loop. We show that, by combining low-resolution noise-corrupted sensor data with an imperfect NNSM, it is possible to produce more accurate estimates, outperforming both the direct reconstructions via specialized super-resolution NNs and the direct model propagation from initial conditions.

Paperid: 3389, https://arxiv.org/pdf/2511.02937.pdf

Abstract:
The agricultural sector increasingly relies on autonomous systems that operate in complex and variable environments. Unlike on-road applications, agricultural automation integrates driving and working processes, each of which imposes distinct operational constraints. Handling this complexity and ensuring consistency throughout the development and validation processes requires a structured, transparent, and verified description of the environment. However, existing Operational Design Domain (ODD) concepts do not yet address the unique challenges of agricultural applications. Therefore, this work introduces the Agricultural ODD (Ag-ODD) Framework, which can be used to describe and verify the operational boundaries of autonomous agricultural systems. The Ag-ODD Framework consists of three core elements. First, the Ag-ODD description concept, which provides a structured method for unambiguously defining environmental and operational parameters using concepts from ASAM Open ODD and CityGML. Second, the 7-Layer Model derived from the PEGASUS 6-Layer Model, has been extended to include a process layer to capture dynamic agricultural operations. Third, the iterative verification process verifies the Ag-ODD against its corresponding logical scenarios, derived from the 7-Layer Model, to ensure the Ag-ODD's completeness and consistency. Together, these elements provide a consistent approach for creating unambiguous and verifiable Ag-ODD. Demonstrative use cases show how the Ag-ODD Framework can support the standardization and scalability of environmental descriptions for autonomous agricultural systems.

Paperid: 3390, https://arxiv.org/pdf/2511.02759.pdf

Abstract:
The rapid growth of research output in control engineering calls for new approaches to structure and formalize domain knowledge. This paper briefly describes an LLM-supported method for semi-automated generation of formal knowledge representations that combine human readability with machine interpretability and increased expressiveness. Based on the Imperative Representation of Knowledge (PyIRK) framework, we demonstrate how language models can assist in transforming natural-language descriptions and mathematical definitions (available as LaTeX source code) into a formalized knowledge graph. As a first application we present the generation of an ``interactive semantic layer'' to enhance the source documents in order to facilitate knowledge transfer. From our perspective this contributes to the vision of easily accessible, collaborative, and verifiable knowledge bases for the control engineering domain.

Paperid: 3391, https://arxiv.org/pdf/2511.02724.pdf

Abstract:
This paper explores the implementation of a low-cost high-precision microwave oscillator sensor with an adjustable input resistance to enhance its limit of detection (LoD). To achieve this, we introduce a \textit{Z$_{2}$} branch in the input network, comprising a transmission line, a capacitor (\textit{C$_{B}$}) and a resistor (\textit{R$_{V}$}). The sensor is tested with eight different liquids with different dielectric constants, including water, IV fluid, milk, ethanol, acetone, petrol, olive oil, and Vaseline. By fine-tuning the \textit{Z$_{2}$} branch, a clear relationship is found between $\varepsilon_{r}$ of materials and R$_{V}$.Our experimental results demonstrate outstanding characteristics, including remarkable linearity (nonlinearity < 2.44\%), high accuracy with an average sensitivity of 21 kHz/$μ$m, and an excellent limit of detection (LoD < 0.05 mm). The sensor also exhibits good stability across a range of liquid temperatures and shows robust and repeatable behavior. Considering the strong absorption of microwave energy in liquids with high dielectric constants, this oscillator sensor is a superior choice over capacitive sensors for such applications. We validate the performance of the oscillator sensor using water as a representative liquid. Additionally, we substantiate the sensor's improvement through both experimental results and theoretical analysis. Its advantages, including affordability, compatibility with CMOS and MEMS technologies, and ease of fabrication, make it an excellent choice for small-scale liquid detection applications.

Paperid: 3392, https://arxiv.org/pdf/2511.02717.pdf

Abstract:
The input-parameter-state estimation capabilities of a novel unscented Kalman filter is examined herein on both linear and nonlinear systems. The unknown input is estimated in two stages within each time step. Firstly, the predicted dynamic states and the system parameters provide an estimation of the input. Secondly, the corrected with measurements states and parameters provide a final estimation. Importantly, it is demonstrated using the perturbation analysis that, a system with at least a zero or a non-zero known input can potentially be uniquely identified. This output-only methodology allows for a better understanding of the system compared to classical output-only parameter identification strategies, given that all the dynamic states, the parameters, and the input are estimated jointly and in real-time.

Paperid: 3393, https://arxiv.org/pdf/2511.02379.pdf

Abstract:
Early detection of heart arrhythmia can prevent severe future complications in cardiac patients. While manual diagnosis still remains the clinical standard, it relies heavily on visual interpretation and is inherently subjective. In recent years, deep learning has emerged as a powerful tool to automate arrhythmia detection, offering improved accuracy, consistency, and efficiency. Several variants of convolutional and recurrent neural network architectures have been widely explored to capture spatial and temporal patterns in physiological signals. However, despite these advancements, current models often struggle to generalize well in real-world scenarios, especially when dealing with small or noisy datasets, which are common challenges in biomedical applications. In this paper, a novel CNN-H-Infinity-LSTM architecture is proposed to identify arrhythmic heart signals from heart sound recordings. This architecture introduces trainable parameters inspired by the H-Infinity filter from control theory, enhancing robustness and generalization. Extensive experimentation on the PhysioNet CinC Challenge 2016 dataset, a public benchmark of heart audio recordings, demonstrates that the proposed model achieves stable convergence and outperforms existing benchmarks, with a test accuracy of 99.42% and an F1 score of 98.85%.

Paperid: 3394, https://arxiv.org/pdf/2511.02315.pdf

Abstract:
This paper presents the ZJUNlict team's work over the past year, covering both hardware and software advancements. In the hardware domain, the integration of an IMU into the v2023 robot was completed to enhance posture accuracy and angular velocity planning. On the software side, key modules were optimized, including the strategy and CUDA modules, with significant improvements in decision making efficiency, ball pursuit prediction, and ball possession prediction to adapt to high-tempo game dynamics.

Paperid: 3395, https://arxiv.org/pdf/2511.02183.pdf

Abstract:
In this paper, the problem of online distributed zeroth-order optimization subject to a set constraint is studied via a multi-agent network, where each agent can communicate with its immediate neighbors via a time-varying directed graph. Different from the existing works on online distributed zeroth- order optimization, we consider the case where the estimate on the gradients are influenced by some non-zero-mean adverse noises. To handle this problem, we propose a new online dis- tributed zeroth-order mirror descent algorithm involving a kernel function-based estimator and a clipped strategy. Particularly, in the estimator, the kernel function-based strategy is provided to deal with the adverse noises, and eliminate the low-order terms in the Taylor expansions of the objective functions. Furthermore, the performance of the presented algorithm is measured by employing the dynamic regrets, where the offline benchmarks are to find the optimal point at each time. Under the mild assumptions on the graph and the objective functions, we prove that if the variation in the optimal point sequence grows at a certain rate, then the high probability bound of the dynamic regrets increases sublinearly. Finally, a simulation experiment is worked out to demonstrate the effectiveness of our theoretical results.

Paperid: 3396, https://arxiv.org/pdf/2511.02157.pdf

Abstract:
No-regret learning dynamics play a central role in game theory, enabling decentralized convergence to equilibrium for concepts such as Coarse Correlated Equilibrium (CCE) or Correlated Equilibrium (CE). In this work, we improve the convergence rate to CCE in general-sum Markov games, reducing it from the previously best-known rate of $\mathcal{O}(\log^5 T / T)$ to a sharper $\mathcal{O}(\log T / T)$. This matches the best known convergence rate for CE in terms of $T$, number of iterations, while also improving the dependence on the action set size from polynomial to polylogarithmic-yielding exponential gains in high-dimensional settings. Our approach builds on recent advances in adaptive step-size techniques for no-regret algorithms in normal-form games, and extends them to the Markovian setting via a stage-wise scheme that adjusts learning rates based on real-time feedback. We frame policy updates as an instance of Optimistic Follow-the-Regularized-Leader (OFTRL), customized for value-iteration-based learning. The resulting self-play algorithm achieves, to our knowledge, the fastest known convergence rate to CCE in Markov games.

Paperid: 3397, https://arxiv.org/pdf/2511.01936.pdf

Abstract:
For autonomous vehicles lane keeping purposes it is crucial to control the vehicle yaw rate. As it is known a vehicle yaw rate control can be achieved handling the steering angle. One option is to consider a robust controller and depending of the requirements the synthesis can drive to a high order controller. Nowadays this kind of vehicles needs a networked based control (IVN -Intelligent Vehicle Network-)with a considerable amount of control loops for different vehicle components. Therefore, in this environment the controllers computation saving could be a good option for unload the network and digital processors. That is the main target of this contribution; in order to accomplish this goal a interlacing implementation technique is considered. Results in a real path tracking illustrates viability of this procedure.

Paperid: 3398, https://arxiv.org/pdf/2511.01880.pdf

Abstract:
Cross-commodity valuation approaches to value gas fire power plants are well studied in the literature. Hence, the value of the gas fire power plant is identical to the value of a spark spread option wherein the underlying are electricity and gas with a strike price assimilated to operating and maintenance costs. Power and fuels spot prices account for uncertain futures cash-flows for power-plant generator owners. For instance, for gas-fired turbine plant, spot prices of electricity and gas determine the random cash-flows of the power-plant. Other than the spot prices, the valuation of such plant involves among other deterministic cost the plant heat rate and operating costs. Recently, the cost of emissions is considered into the valuation to tackle environmental issues. Given some simplifications in the plant cash-flow modelling, the value of such plant can either be expressed as the price of i) a cross-commodity option or ii) the price of a real option. Here, we focus on cross-commodity option valuation approach where the value of the power plant is approached as the value of a spark spread option. When spot prices of the underlying commodities are log-normal, closed formulae or approximations can be obtained using Kirk's approximation. Naturally, the spot price of electricity and gas present spikes due to seasonality among other factors. However, in that case it is not possible to get a closed formula for the spark spread option. In this paper we explore possibilities to approximate spark spread options when spot prices fall into a class of jump diffusion processes.

Paperid: 3399, https://arxiv.org/pdf/2511.00941.pdf

Abstract:
Dynamic Wireless Electric Vehicle Charging (DWC) on electrified roadways is an emerging technology that can significantly reduce battery sizes, eliminate charging downtime, and alleviate range anxiety, specially for long-haul transportation and fleet operations of electric vehicles (EVs). However, these systems introduce new challenges for power system planning due to their short-duration and high-power demands which can strain the grid if not properly managed. As the energy demands from DWC depend on vehicle speed, density, dwell time in charging zones, and load profiles along road segments, there is a need for integrated planning of such systems, jointly considering both traffic behavior and EV energy consumption. In this paper, we propose a traffic-aware grid planning framework for DWC. We leverage a macroscopic Cell Transmission Model of traffic flow to estimate real-time, spatiotemporal EV charging demand from DWC corridors. The demand model is then integrated into an AC Optimal Power Flow based formulation to optimally size a microgrid that supports DWC under varying traffic conditions while minimizing the cost of operation. Our framework explicitly models how spatiotemporal traffic patterns affect the utilization of grid resources to obtain system designs that achieve lower costs and are easier to operationalize as compared to planning models that rely on worst-case traffic data. We demonstrate the framework on data from a 14-mile segment of the I-210W highway in California, USA, evaluating multiple traffic scenarios like free-flow, severe congestion, accidents of varying severity, and natural disasters like forest fires. Our results demonstrate that traffic-aware grid planning significantly reduces infrastructure costs as compared to worst-scenario based modeling, while ensuring reliability of service in terms of meeting charging demands under diverse traffic conditions.

Paperid: 3400, https://arxiv.org/pdf/2511.00932.pdf

Abstract:
This paper aims to discuss the impacts of low-cost airlines on the air transport market and, in particular, to present the most recent findings from the specialized literature in this field. To this end, several papers published on the topic since 2015 were selected and analyzed. Based on this analysis, the main subjects addressed in the studies were categorized into five groups: (i) impacts of low-cost airlines on competing carriers; (ii) impacts on airports; (iii) general effects on air transport demand; (iv) effects on passengers' choice processes; and (v) broader effects on geographical regions.

Paperid: 3401, https://arxiv.org/pdf/2511.00744.pdf

Abstract:
Various coils for transcranial magnetic stimulation (TMS) are widely available for clinical and research use. These coils are almost all designed as air coils, which require large levels of energy to achieve a given magnetic flux density and in turn electric field strength, whereas in other sectors, such as power electronics or electrical machines, magnetic materials have been used for a long time to achieve higher efficiencies. We tested the impact on the electric and magnetic properties of different soft magnetic materials, including various ferrite cores, laminated sheet materials of nonisotropic corn-oriented silicon-steel, non-oriented silicon-steel, as well as cobalt-iron, and soft magnetic compound powder cores with insulated particles. Every material led to a reduction in coil current and voltage for the same target electric field strength. For the same field energy, every material yielded lower losses. Most common materials saturated already at very low currents. More material in thicker layers could shift the saturation point but at the cost of high weight. Due to their low saturation flux density, ferrites appear unsuitable for the high amplitude requirements of TMS. Laminated sheet materials and powder cores reduce the pulse energy, but the laminated sheet material adds more weight for the same effect than powder cores. Thus, appropriate magnetic materials can reduce the required pulse energy. Saturation flux density is the most relevant parameter, whereas the permeability beyond a certain base level is practically irrelevant. Most importantly, the weight of a magnetic-core coil may always be increased compared to an air coil for the same target field.

Paperid: 3402, https://arxiv.org/pdf/2511.00593.pdf

Abstract:
Aerosol Jet (AJ) printing is a versatile additive manufacturing technique capable of producing high-resolution interconnects on both 2D and 3D substrates. The AJ process is complex and dynamic with many hidden and unobservable states that influence the machine performance, including aerosol particle diameter, aerosol carrier density, vial level, and ink deposition in the tube and nozzle. Despite its promising potential, the widespread adoption of AJ printing is limited by inconsistencies in print quality that often stem from variability in these hidden states. To address these challenges, we develop a digital twin model of the AJ process that offers real-time insights into the machine's operations. The digital twin is built around a physics-based macro-model created through simulation and experimentation. The states and parameters of the digital model are continuously updated using probabilistic sequential estimation techniques to closely align with real-time measurements extracted from the AJ system's sensor and video data. The result is a digital model of the AJ process that continuously evolves over a physical machine's lifecycle. The digital twin enables accurate monitoring of unobservable physical characteristics, detects and predicts anomalous behavior, and forecasts the effect of control adjustments. This work presents a comprehensive end-to-end digital twin framework that integrates customized computer vision techniques, physics-based macro-modeling, and advanced probabilistic estimation methods to construct an evolving digital representation of the AJ equipment and process. While the methodologies are customized for aerosol jet printing, the process for constructing the digital twin can be applied for other advanced manufacturing techniques.

Paperid: 3403, https://arxiv.org/pdf/2511.00548.pdf

Abstract:
Conservation agriculture features a soil surface covered with crop residues, which brings benefits of improving soil health and saving water. However, one significant challenge in conservation agriculture lies in precisely controlling the seeding depth on the soil covered with crop residues. This is constrained by the lack of ground distance information, since current distance measurement techniques, like laser, ultrasonic, or mechanical displacement sensors, are incapable of differentiating whether the distance information comes from the residue or the soil. This paper presents an image-based method to get the ground distance information for the crop-residues-covered soil. This method is performed with 3D camera and RGB camera, obtaining depth image and color image at the same time. The color image is used to distinguish the different areas of residues and soil and finally generates a mask image. The mask image is applied to the depth image so that only the soil area depth information can be used to calculate the ground distance, and residue areas can be recognized and excluded from ground distance detection. Experimentation shows that this distance measurement method is feasible for real-time implementation, and the measurement error is within plus or minus 3mm. It can be applied in conservation agriculture machinery for precision depth seeding, as well as other depth-control-demanding applications like transplant or tillage.

Paperid: 3404, https://arxiv.org/pdf/2511.00512.pdf

Abstract:
Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control, constraining the full robot to behave like these simplified models. This involves tracking preset reference paths for the Center of Mass and upper body obtained through low-dimensional models, often resulting in inefficient walking patterns with bent knees. However, we observe that bipedal balance is inherently low-dimensional and can be effectively described with simple state and action descriptors in a low-dimensional state space. This allows the robot's motion to evolve freely in its high-dimensional state space, only constraining its projection in the low-dimensional state space. In this work, we propose a novel control approach that avoids prescribing a low-dimensional model to the full model. Instead, our control framework uses a descriptive model with the minimum degrees of freedom necessary to maintain balance, allowing the remaining degrees of freedom to evolve freely in the high-dimensional space. This results in an efficient human-like walking gait and improved robustness.

Paperid: 3405, https://arxiv.org/pdf/2511.00420.pdf

Abstract:
Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades to deal with them. This paper presents a novel implementable constrained final-state controller based on partitioning the system's state-space, computational simulations, and graph theory. Experimental results and a comparison with Model Predictive Controller on the three tank benchmark and swing-up control of a pendulum show the effectiveness of the proposed Computational Hybrid Controller(CHC).

Paperid: 3406, https://arxiv.org/pdf/2511.00291.pdf

Abstract:
Network digital twin (NDT) models are virtual models that replicate the behavior of physical communication networks and are considered a key technology component to enable novel features and capabilities in future 6G networks. In this work, we focus on NDTs that model the communication quality properties of a multi-cell, dynamically changing wireless network over a workspace populated with multiple moving users. We propose an NDT modeled as a hybrid system, where each mode corresponds to a different base station and comprises sub-modes that correspond to areas of the workspace with similar network characteristics. The proposed hybrid NDT is identified and continuously improved through an annealing optimization-based learning algorithm, driven by online data measurements collected by the users. The advantages of the proposed hybrid NDT are studied with respect to memory and computational efficiency, data consumption, and the ability to timely adapt to network changes. Finally, we validate the proposed methodology on real experimental data collected from a two-cell 5G testbed.

Paperid: 3407, https://arxiv.org/pdf/2511.00242.pdf

Abstract:
In a world increasingly powered by renewables and aiming for greenhouse gas-neutral industrial production, the future competitiveness of todays top manufacturing countries is questioned. This study applies detailed energy system modeling to quantify the Renewable Pull, an incentive for industry relocation exerted by countries with favorable renewable conditions. Results reveal that the Renewable Pull is not a cross-industrial phenomenon but strongly depends on the relationship between energy costs and transport costs. The intensity of the Renewable Pull varies, with China, India, and Japan facing a significantly stronger effect than Germany and the United States. Incorporating national capital cost assumptions proves critical, reducing Germanys Renewable Pull by a factor of six and positioning it as the second least affected top manufacturing country after Saudi Arabia. Using Germany as a case study, the analysis moreover illustrates that targeted import strategies, especially within the EU, can nearly eliminate the Renewable Pull, offering policymakers clear options for risk mitigation.

Paperid: 3408, https://arxiv.org/pdf/2511.00099.pdf

Abstract:
The optimization-based damage detection and damage state digital twinning capabilities are examined here of a novel conditional-labeled generative adversarial network methodology. The framework outperforms current approaches for fault anomaly detection as no prior information is required for the health state of the system: a topic of high significance for real-world applications. Specifically, current artificial intelligence-based digital twinning approaches suffer from the uncertainty related to obtaining poor predictions when a low number of measurements is available, physics knowledge is missing, or when the damage state is unknown. To this end, an unsupervised framework is examined and validated rigorously on the benchmark structural health monitoring measurements of Z24 Bridge: a post-tensioned concrete highway bridge in Switzerland. In implementing the approach, firstly, different same damage-level measurements are used as inputs, while the model is forced to converge conditionally to two different damage states. Secondly, the process is repeated for a different group of measurements. Finally, the convergence scores are compared to identify which one belongs to a different damage state. The process for both healthy-to-healthy and damage-to-healthy input data creates, simultaneously, measurements for digital twinning purposes at different damage states, capable of pattern recognition and machine learning data generation. Further to this process, a support vector machine classifier and a principal component analysis procedure is developed to assess the generated and real measurements of each damage category, serving as a secondary new dynamics learning indicator in damage scenarios. Importantly, the approach is shown to capture accurately damage over healthy measurements, providing a powerful tool for vibration-based system-level monitoring and scalable infrastructure resilience.

Paperid: 3409, https://arxiv.org/pdf/2510.27528.pdf

Abstract:
Energy storage can promote the integration of renewables by operating with charge and discharge policies that balance an intermittent power supply. This study investigates the scheduling of energy storage assets under energy price uncertainty, with a focus on electricity markets. A two-stage stochastic risk-constrained approach is employed, whereby electricity price trajectories or specific power markets are observed, allowing for recourse in the schedule. Conditional value-at-risk is used to quantify tail risk in the optimization problems; this allows for the explicit specification of a probabilistic risk limit. The proposed approach is tested in an integrated hydrogen system (IHS) and a battery energy storage system (BESS). In the joint design and operation context for the IHS, the risk constraint results in larger installed unit capacities, increasing capital cost but enabling more energy inventory to buffer price uncertainty. As shown in both case studies, there is an operational trade-off between risk and expected reward; this is reflected in higher expected costs (or lower expected profits) with increasing levels of risk aversion. Despite the decrease in expected reward, both systems exhibit substantial benefits of increasing risk aversion. This work provides a general method to address uncertainties in energy storage scheduling, allowing operators to input their level of risk tolerance on asset decisions.

Paperid: 3410, https://arxiv.org/pdf/2510.27478.pdf

Abstract:
Aggregators of consumer energy resources (CERs) like rooftop solar and battery energy storage (BES) face challenges due to their inherent uncertainties. A sensible approach is to use stochastic optimization to handle such uncertainties, which can lead to infeasible problems or loss in revenues if not chosen appropriately. This paper presents three efficient two-stage stochastic optimization methods: risk-neutral, robust, and chance-constrained, to address the impact of CER uncertainties for aggregators who participate in energy and regulation services markets in the Australian National Electricity Market. Furthermore, these methods utilize the flexibility of BES, considering precise state-of-charge dynamics and complementarity constraints, aiming for scalable performance while managing uncertainty. The problems are formed as two-stage stochastic mixed-integer linear programs, with relaxations adopted for large scenario sets. The solution approach employs scenario-based methodologies and affine recourse policies to obtain tractable reformulations. These methods are evaluated across use cases reflecting diverse operational and market settings, uncertainty characteristics, and decision-making preferences, demonstrating their ability to mitigate uncertainty, enhance profitability, and provide context-aware guidance for aggregators in choosing the most appropriate stochastic optimization method.

Paperid: 3411, https://arxiv.org/pdf/2510.27306.pdf

Abstract:
As distributed energy resources (DERs) proliferate, future power system will need new market platforms enabling prosumers to trade various electricity and grid-support products. However, prosumers often exhibit complex, product interdependent preferences and face limited cognitive and computational resources, hindering engagement with complex market structures and bid formats. We address this challenge by introducing a multi-product market that allows prosumers to express complex preferences through an intuitive format, by fusing combinatorial clock exchange and machine learning (ML) techniques. The iterative mechanism only requires prosumers to report their preferred package of products at posted prices, eliminating the need for forecasting product prices or adhering to complex bid formats, while the ML-aided price discovery speeds up convergence. The linear pricing rule further enhances transparency and interpretability. Finally, numerical simulations demonstrate convergence to clearing prices in approximately 15 clock iterations.

Paperid: 3412, https://arxiv.org/pdf/2510.26959.pdf

Abstract:
Integrated energy systems (IES) are complex heterogeneous architectures that typically encompass power sources, hydrogen electrolyzers, energy storage, and heat exchangers. This integration is achieved through operating control strategy optimization. However, the lack of physical understanding as to how these systems evolve over time introduces uncertainties that hinder reliable application thereof. Techniques that can accommodate such uncertainties are fundamental for ensuring proper operation of these systems. Unfortunately, no unifying methodology exists for accommodating uncertainties in this regard. That being said, adaptive control (AC) is a discipline that may allow for accommodating such uncertainties in real-time. In the present work, we derive an AC formulation for linear systems in which all states are observable and apply it to the control of a glycol heat exchanger (GHX) in an IES. Based on prior research in which we quantified the uncertainties of the GHXs system dynamics, we introduced an error of 50% on four terms of the nominal model. In the case where a linear quadratic regulator is used as the nominal control for the reference system, we found that employing AC can reduce the mean absolute error and integral time absolute error by a factor of 30%-75%. This reduction is achieved with minimal computing overhead and control infrastructure, thus underscoring the strength of AC. However, the control effort induced is significant, therefore warranting further study in order to estimate its impact on a physical system. To address further challenges, including partially observable and non-linear dynamics, enhancements of the linear formulation are currently being developed.

Paperid: 3413, https://arxiv.org/pdf/2510.26701.pdf

Abstract:
The proposed approach yields a numerical method that provably executes in linear time with respect to the number of nodes and edges in a graph. The graph, constructed from the power system model, requires only knowledge of the dependencies between state-to-state and output-to-state variables within a state-space framework. While graph-based observability analysis methods exist for power system static-state estimation, the approach presented here is the first for dynamic-state estimation (DSE). We examine decentralized and centralized DSE scenarios and compare our findings with a well-established, albeit non-scalable, observability analysis method in the literature. When compared to the latter in a centralized DSE setting, our method reduced computation time by 1440x.

Paperid: 3414, https://arxiv.org/pdf/2510.26604.pdf

Abstract:
The proliferation of inverter-based resources challenges traditional microgrid protection by introducing variable fault currents and complex transients. This paper presents a statistically adaptive differential protection scheme based on Kullback-Leibler divergence, implemented via a Bartlett-corrected G-statistic computed on logarithm-transformed current magnitudes. The method is a multivariate fault detection engine that employs the Mahalanobis distance to distinguish healthy and faulty states, enabling robust detection even in noisy environments. Detection thresholds are statistically derived from a chi-squared distribution for precise control over the false alarm rate. Upon detection, a lightweight classifier identifies the fault type by assessing per-phase G-statistics against dedicated thresholds, enhanced by a temporal persistence filter for security. Extensive simulations on a modified CIGRE 14-bus microgrid show high efficacy: sub-cycle average detection delays, high detection and classification accuracy across operating modes, resilience to high-impedance faults up to 250 Ohms, tolerance to 10 ms communication delay, and noise levels down to a 20 dB signal-to-noise ratio. These findings demonstrate a reproducible and computationally efficient solution for next-generation AC microgrid protection.

Paperid: 3415, https://arxiv.org/pdf/2510.26393.pdf

Abstract:
The manufacturing sector is moving from rigid, hardware-dependent systems toward flexible, software-driven environments. This transformation is shaped by the convergence of several Software-Defined technologies: Software-Defined Automation virtualizes industrial control, replacing proprietary PLCs with containerized, programmable solutions that enable scalability and interoperability. Software-Defined Compute and Communications provide a means to distribute intelligence seamlessly across devices, networks, and cloud platforms, reducing latency and enabling dynamic reconfiguration. Software-Defined Manufacturing Systems, usually implemented as Digital Twins, are real-time virtual models of machines and processes, allowing predictive analysis, optimization, and closer integration between human operators and intelligent systems. This work presents XWAVE, a project that unites these three Software-Defined paradigms to present a modular, fully software-defined manufacturing system.

Paperid: 3416, https://arxiv.org/pdf/2510.26245.pdf

Abstract:
This study analyzes the performance of positioning techniques based on configuration changes of 5G New Radio signals. In 5G networks, a terminal position is determined from the Time of Arrival of Positioning Reference Signals transmitted by base stations. We propose an algorithm that improves TOA accuracy under low sampling rate constraints and implement 5G PRS for positioning in a software defined modem. We also examine how flexible time frequency resource allocation of PRS affects TOA estimation accuracy and discuss optimal PRS configurations for a given signal environment.

Paperid: 3417, https://arxiv.org/pdf/2508.20905.pdf

Abstract:
This paper presents the design and implementation of a compact, cost-effective phased array antenna system. It is capable of real-time beam-steering for dynamic target-tracking applications. The system employs a 4$\times$4 rectangular microstrip patch array, utilizing advanced beamforming techniques and a Direction of Arrival (DoA) estimation algorithm. It achieves $\pm 42^{\circ}$ wide-angle scanning in both azimuth and elevation planes. The design emphasizes a balance between high angular coverage and consistent gain performance. This makes it suitable for wireless tracking, radar, and satellite communication terminals. Fabricated on Rogers 6010.2LM substrate, the system demonstrates reproducibility and scalability. All components are sourced locally to ensure practical deployment. The system is built using commercially available components, highlighting its affordability for research and prototyping purposes.

Paperid: 3418, https://arxiv.org/pdf/2508.20806.pdf

Abstract:
Traditional state estimation methods rely on probabilistic assumptions that often collapse epistemic uncertainty into scalar beliefs, risking overconfidence in sparse or adversarial sensing environments. We introduce the Epistemic Support-Point Filter (ESPF), a novel non-Bayesian filtering framework fully grounded in possibility theory and epistemic humility. ESPF redefines the evolution of belief over state space using compatibility-weighted support updates, surprisalaware pruning, and adaptive dispersion via sparse grid quadrature. Unlike conventional filters, ESPF does not seek a posterior distribution, but rather maintains a structured region of plausibility or non-rejection, updated using ordinal logic rather than integration. For multi-model inference, we employ the Choquet integral to fuse competing hypotheses based on a dynamic epistemic capacity function, generalizing classical winner-take-all strategies. The result is an inference engine capable of dynamically contracting or expanding belief support in direct response to information structure, without requiring prior statistical calibration. This work presents a foundational shift in how inference, evidence, and ignorance are reconciled, supporting robust estimation where priors are unavailable, misleading, or epistemically unjustified.

Paperid: 3419, https://arxiv.org/pdf/2508.20740.pdf

Abstract:
Decreasing skilled workers is a very serious problem in the world. To deal with this problem, the skill transfer from experts to robots has been researched. These methods which teach robots by human motion are called imitation learning. Experts' skills generally appear in not only position data, but also force data. Thus, position and force data need to be saved and reproduced. To realize this, a lot of research has been conducted in the framework of a motion-copying system. Recent research uses machine learning methods to generate motion commands. However, most of them could not change tasks by following human intention. Some of them can change tasks by conditional training, but the labels are limited. Thus, we propose the flexible motion translation method by using Generative Adversarial Networks. The proposed method enables users to teach robots tasks by inputting data, and skills by a trained model. We evaluated the proposed system with a 3-DOF calligraphy robot.

Paperid: 3420, https://arxiv.org/pdf/2508.20649.pdf

Abstract:
Physics-constrained machine learning (PCML) combines physical models with data-driven approaches to improve reliability, generalizability, and interpretability. Although PCML has shown significant benefits in diverse scientific and engineering domains, technical and intellectual challenges hinder its applicability in complex chemical engineering applications. Key difficulties include determining the amount and type of physical knowledge to embed, designing effective fusion strategies with ML, scaling models to large datasets and simulators, and quantifying predictive uncertainty. This perspective summarizes recent developments and highlights challenges/opportunities in applying PCML to chemical engineering, emphasizing on closed-loop experimental design, real-time dynamics and control, and handling of multi-scale phenomena.

Paperid: 3421, https://arxiv.org/pdf/2508.20493.pdf

Abstract:
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made to converge to a reference (homogeneous) platoon via adaptive laws designed using of set-theoretic model reference adaptive control. Yet, in contrast to the state-of-art that is based on ensuring collision avoidance on the reference platoon dynamics only, the approach we propose can ensure collision avoidance on the actual platoon dynamics. This result is possible thanks to the introduction of a novel concept of virtual platoon, only used for analysis, but that does not interact with the actual platoon. The stability and convergence properties of the proposed framework are established using Lyapunov-based analysis in conjunction with the aforementioned virtual platoon concept.

Paperid: 3422, https://arxiv.org/pdf/2508.20457.pdf

Abstract:
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full visibility and fixed tools, which can lead to collisions or overly conservative behavior. In our work, we introduce a tool-aware collision avoidance system that adjusts in real time to different tool sizes and modes of tool-environment interaction. Using a learned perception model, our system filters out robot and tool components from the point cloud, reasons about occluded area, and predicts collision under partial observability. We then use a control policy trained via constrained reinforcement learning to produce smooth avoidance maneuvers in under 10 milliseconds. In simulated and real-world tests, our approach outperforms traditional approaches (APF, MPPI) in dynamic environments, while maintaining sub-millimeter accuracy. Moreover, our system operates with approximately 60% lower computational cost compared to a state-of-the-art GPU-based planner. Our approach provides modular, efficient, and effective collision avoidance for robots operating in dynamic environments. We integrate our method into a collaborative robot application and demonstrate its practical use for safe and responsive operation.

Paperid: 3423, https://arxiv.org/pdf/2508.20204.pdf

Abstract:
We study stochastic systems characterized by difference inclusions. Such stochastic differential inclusions are defined by set-valued maps involving the current state and stochastic input. For such systems, we investigate the problem of proving bounds on the worst-case probability of violating safety properties. Our approach uses the well-known concept of barrier functions from the study of stochastic control systems. However, barrier functions are hard to prove in the presence of stochastic inputs and adversarial choices due to the set-valued nature of the dynamics. In this paper, we show that under some assumptions on the set-valued map including upper semi-continuity and convexity combined with a concave barrier function vastly simplifies the proof of barrier conditions, allowing us to effectively substitute each random input in terms of its expectation. We prove key results based on the theory of set-valued maps and provide some interesting numerical examples. The ideas proposed here will contribute to the growing interest in problems of robust control and verification of stochastic systems in the presence of uncertain distributions and unmodeled dynamics.

Paperid: 3424, https://arxiv.org/pdf/2508.20121.pdf

Abstract:
Spiking Neural Networks (SNNs) are promising candidates for low-power edge computing in domains such as wearable sensing and time-series analysis. A key neuronal parameter, the leaky time constant (LTC), governs temporal integration of information in Leaky Integrateand-Fire (LIF) neurons, yet its impact on feedforward SNN performance across different data modalities remains underexplored. This study investigates the role of LTC in a temporally adaptive feedforward SNN applied to static image, dynamic image, and biosignal time-series classification. Presented experiments demonstrate that LTCs critically affect inference accuracy, synaptic weight distributions, and firing dynamics. For static and dynamic images, intermediate LTCs yield higher accuracy and compact, centered weight histograms, reflecting stable feature encoding. In time-series tasks, optimal LTCs enhance temporal feature retention and result in broader weight sparsity, allowing for tolerance of LTC variations. The provided results show that inference accuracy peaks at specific LTC ranges, with significant degradation beyond this optimal band due to over-integration or excessive forgetting. Firing rate analysis reveals a strong interplay between LTC, network depth, and energy efficiency, underscoring the importance of balanced spiking activity. These findings reveal that task-specific LTC tuning is essential for efficient spike coding and robust learning. The results provide practical guidelines for hardware-aware SNN optimization and highlight how neuronal time constants can be designed to match task dynamics. This work contributes toward scalable, ultra-lowpower SNN deployment for real-time classification tasks in neuromorphic computing.

Paperid: 3425, https://arxiv.org/pdf/2508.19760.pdf

Abstract:
Phased execution models are a well-known solution to tackle the unpredictability of today's complex COTS multi-core platforms. The semantics of these models dedicate phases for a task's execution and shared memory accesses. Memory phases are solely dedicated to load all necessary instructions and data to private local memory, and to write back the results of the computation. During execution phases, only the private local memory is accessed. While non-preemptive execution phases utilize the local memory well, schedulability is reduced due to blocking. On the other hand, fully preemptive execution phases allow for better schedulability, but require local memory to be large enough to hold all tasks involved in preemption simultaneously. Limited preemption is a promising approach that provides moderation between non-preemptive and fully preemptive scheduling. In this paper, we propose using preemption thresholds to limit the number of preemptions to minimize local memory usage while maintaining schedulability. We propose a worst-case response time and a worst-case memory requirement analysis for sporadic 3-phase tasks under partitioned fixed-priority scheduling with preemption thresholds. We further show how the state-of-the-art algorithm to assign preemption thresholds can be applied to the considered task model. Evaluations demonstrate that preemption thresholds can significantly reduce the memory usage (by $2.5\times$) compared to fully preemptive scheduling, while maintaining high schedulability ratios ($13\times$) compared to non-preemptive scheduling.

Paperid: 3426, https://arxiv.org/pdf/2508.19756.pdf

Abstract:
Model-free adaptive optimization methods are capable of optimizing unknown, time-varying processes even when other optimization methods are not. However, their practical application is often limited by perturbations that are used to gather information on the unknown cost and its gradient. The aim of this paper is to develop a perturb-and-observe (P&O) method that reduces the need for such perturbations while still achieving fast and accurate tracking of time-varying optima. To this end, a (time-varying) model of the cost is constructed in an online fashion, taking into account the uncertainty on the measured performance cost as well as the decreasing reliability of older measurements. Perturbations are only used when this is expected to lead to improved performance over a certain time horizon. Convergence conditions are provided under which the strategy converges to a neighborhood of the optimum. Finally, simulation results demonstrate that uncertainty-based P\&O can reduce the number of perturbations significantly while still tracking a time-varying optimum accurately.

Paperid: 3427, https://arxiv.org/pdf/2508.19644.pdf

Abstract:
Polarimetric phased arrays (PPAs) enhance radar target detection and anti-jamming capabilities. However, the dual transmit/receive (T/R) channel requirement leads to high costs and system complexity. To address this, this paper introduces a polarization-coding reconfigurable phased array (PCRPA) and associated pattern synthesis techniques to reduce PPA costs while minimizing performance degradation. Each PCRPA element connects to a single T/R channel and incorporates two-level RF switches for real-time control of polarization states and waveforms. By adjusting element codes and excitation weights, the PCRPA can generate arbitrarily polarized and dual-polarized beams. Efficient beam pattern synthesis methods are also proposed, featuring novel optimization constraints derived from theoretical and analytical analysis of PCRPAs. Simulations demonstrate that the approach achieves low cross-polarization and sidelobe levels comparable to conventional architectures within the scan range, particularly for large arrays. However, the channel reduction inevitably incurs power and directivity loss. Experiments conducted on an $8\times 8$ X-band array antenna validate the effectiveness of the proposed system. The PCRPA and synthesis methods are well-suited for large-scale PPA systems, offering significant cost-effectiveness while maintaining good sidelobe suppression and polarization control performance.

Paperid: 3428, https://arxiv.org/pdf/2508.19612.pdf

Abstract:
With increasing penetration of distributed energy resources installed behind the meter, there is a growing need for adequate modelling of composite loads to enable accurate power system simulation analysis. Existing measurement based load modeling methods either fit fixed-structure physical models, which limits adaptability to evolving load mixes, or employ flexible machine learning methods which are however black boxes and offer limited interpretability. This paper presents a new learning based load modelling method based on Kolmogorov Arnold Networks towards modelling flexibility and interpretability. By actively learning activation functions on edges, KANs automatically derive free form symbolic equations that capture nonlinear relationships among measured variables without prior assumptions about load structure. Case studies demonstrate that the proposed approach outperforms other methods in both accuracy and generalization ability, while uniquely representing composite loads into transparent, interpretable mathematical equations.

Paperid: 3429, https://arxiv.org/pdf/2508.19387.pdf

Abstract:
The increasing challenges posed by climate change necessitate a comprehensive examination of the resilience of waterborne transport systems. This paper explores the nexus of climate resilience, and waterborne transport, addressing the challenges faced by ports and their connecting waterborne transport systems. It provides an in-depth analysis of the current status of climate-resilient infrastructure and operations while emphasizing the transformative potential of emerging technologies. Through a systematic review, the paper identifies critical gaps and opportunities. Research predominantly emphasizes port infrastructure over supply chain resilience, neglecting the interconnected vulnerabilities of maritime networks. There is limited focus on specific climate-induced disruptions, such as drought and compounded events, which complicate resilience planning. Methodologically, risk assessments and case studies dominate the field, while advanced technologies such as digital twins, artificial intelligence, and satellite monitoring remain underutilized. Geographic disparities in research output and a tendency toward short- to medium-term planning further constrain global and long-term resilience efforts. To address these gaps, the study advocates for systems-based approaches that integrate infrastructure, operations, and supply chains. It highlights collaborative frameworks and advanced tools, including digital twins, machine learning, and participatory modeling, as crucial for enabling predictive and adaptive risk management. This study stands as one of the first comprehensive reviews exclusively focused on climate resilience in ports and waterborne transport systems. It provides actionable insights for policymakers, researchers, and industry stakeholders, proposing a future research agenda to advance waterborne transport systems capable of withstanding multifaceted climate impacts.

Paperid: 3430, https://arxiv.org/pdf/2508.19383.pdf

Abstract:
Modern plant science increasingly relies on large, heterogeneous datasets, but challenges in experimental design, data preprocessing, and reproducibility hinder research throughput. Here we introduce Aleks, an AI-powered multi-agent system that integrates domain knowledge, data analysis, and machine learning within a structured framework to autonomously conduct data-driven scientific discovery. Once provided with a research question and dataset, Aleks iteratively formulated problems, explored alternative modeling strategies, and refined solutions across multiple cycles without human intervention. In a case study on grapevine red blotch disease, Aleks progressively identified biologically meaningful features and converged on interpretable models with robust performance. Ablation studies underscored the importance of domain knowledge and memory for coherent outcomes. This exploratory work highlights the promise of agentic AI as an autonomous collaborator for accelerating scientific discovery in plant sciences.

Paperid: 3431, https://arxiv.org/pdf/2508.19371.pdf

Abstract:
Fictitious play (FP) is a well-studied algorithm that enables agents to learn Nash equilibrium in games with certain reward structures. However, when agents have no prior knowledge of the reward functions, FP faces a major challenge: the joint action space grows exponentially with the number of agents, which slows down reward exploration. Anonymous games offer a structure that mitigates this issue. In these games, the rewards depend only on the actions taken; not on who is taking which action. Under such a structure, we introduce aggregate fictitious play (agg-FP), a variant of FP where each agent tracks the frequency of the number of other agents playing each action, rather than these agents' individual actions. We show that in anonymous polymatrix games, agg-FP converges to a Nash equilibrium under the same conditions as classical FP. In essence, by aggregating the agents' actions, we reduce the action space without losing the convergence guarantees. Using simulations, we provide empirical evidence on how this reduction accelerates convergence.

Paperid: 3432, https://arxiv.org/pdf/2508.19345.pdf

Abstract:
The increasing deployment of distributed Battery Energy Storage Systems (BESSs) in modern power grids necessitates effective coordination strategies to ensure state-of-charge (SoC) balancing and accurate power delivery. While distributed control frameworks offer scalability and resilience, they also raise significant privacy concerns due to the need for inter-agent information exchange. This paper presents a novel privacy-preserving distributed control algorithm for SoC balancing in a networked BESS. The proposed framework includes distributed power allocation law that is designed based on two privacy-preserving distributed estimators, one for the average unit state and the other for the average desired power. The average unit state estimator is designed via the state decomposition method without disclosing sensitive internal states. The proposed power allocation law based on these estimators ensures asymptotic SoC balancing and global power delivery while safeguarding agent privacy from external eavesdroppers. The effectiveness and privacy-preserving properties of the proposed control strategy are demonstrated through simulation results.

Paperid: 3433, https://arxiv.org/pdf/2508.19083.pdf

Abstract:
Several methods have been proposed in the literature to improve the quality of AC optimal power flow (AC-OPF) datasets used in machine learning (ML) models. Yet, scalability to large power systems remains unaddressed and comparing generation approaches is still hindered by the absence of widely accepted metrics quantifying AC-OPF dataset quality. In this work, we tackle both these limitations. We provide a simple heuristic that samples load setpoints uniformly in total load active power, rather than maximizing volume coverage, and solves an AC-OPF formulation with load slack variables to improve convergence. For quality assessment, we formulate a multi-criteria framework based on three metrics, measuring variability in the marginal distributions of AC-OPF primal variables, diversity in constraint activation patterns among AC-OPF instances and activation frequency of variable bounds. By comparing four open-source methods based on these metrics, we show that our heuristic consistently outperforms uniform random sampling, whether independent or constrained to a convex polytope, scoring as best in terms of balance between dataset quality and scalability.

Paperid: 3434, https://arxiv.org/pdf/2508.18460.pdf

Abstract:
Data-driven Artificial Intelligence (AI) approaches have exhibited remarkable prowess across various cognitive tasks using extensive training data. However, the reliance on large datasets and neural networks presents challenges such as highpower consumption and limited adaptability, particularly in SWaP-constrained applications like planetary exploration. To address these issues, we propose enhancing the autonomous capabilities of intelligent robots by emulating the associative learning observed in animals. Associative learning enables animals to adapt to their environment by memorizing concurrent events. By replicating this mechanism, neuromorphic robots can navigate dynamic environments autonomously, learning from interactions to optimize performance. This paper explores the emulation of associative learning in rodents using neuromorphic robots within open-field maze environments, leveraging insights from spatial cells such as place and grid cells. By integrating these models, we aim to enable online associative learning for spatial tasks in real-time scenarios, bridging the gap between biological spatial cognition and robotics for advancements in autonomous systems.

Paperid: 3435, https://arxiv.org/pdf/2508.18452.pdf

Abstract:
Successfully engineering interactive industrial DTs is a complex task, especially when implementing services beyond passive monitoring. We present here an experience report on engineering a safety-critical digital twin (DT) for beer fermentation monitoring, which provides continual sampling and reduces manual sampling time by 91%. We document our systematic methodology and practical solutions for implementing bidirectional DTs in industrial environments. This includes our three-phase engineering approach that transforms a passive monitoring system into an interactive Type 2 DT with real-time control capabilities for pressurized systems operating at seven bar. We contribute details of multi-layered safety protocols, hardware-software integration strategies across Arduino controllers and Unity visualization, and real-time synchronization solutions. We document specific engineering challenges and solutions spanning interdisciplinary integration, demonstrating how our use of the constellation reporting framework facilitates cross-domain collaboration. Key findings include the critical importance of safety-first design, simulation-driven development, and progressive implementation strategies. Our work thus provides actionable guidance for practitioners developing DTs requiring bidirectional control in safety-critical applications.

Paperid: 3436, https://arxiv.org/pdf/2508.18431.pdf

Abstract:
With Digital Twin (DT) construction and evolution occurring over time, stakeholders require tools to understand the current characteristics and conceptual architecture of the system at any time. We introduce DTInsight, a systematic and automated tool and methodology for producing continuous reporting for DTs. DTInsight offers three key features: (a) an interactive conceptual architecture visualization of DTs; (b) generation of summaries of DT characteristics based on ontological data; and (c) integration of these outputs into a reporting page within a continuous integration and continuous deployment (CI/CD) pipeline. Given a modeled description of the DT aligning to our DT Description Framework (DTDF), DTInsight enables up-to-date and detailed reports for enhanced stakeholder understanding.

Paperid: 3437, https://arxiv.org/pdf/2508.18096.pdf

Abstract:
We propose a direct optimization framework for learning reduced and sparse chemical reaction networks (CRNs) from time-series trajectory data. In contrast to widely used indirect methods-such as those based on sparse identification of nonlinear dynamics (SINDy)-which infer reaction dynamics by fitting numerically estimated derivatives, our approach fits entire trajectories by solving a dynamically constrained optimization problem. This formulation enables the construction of reduced CRNs that are both low-dimensional and sparse, while preserving key dynamical behaviors of the original system. We develop an accelerated proximal gradient algorithm to efficiently solve the resulting non-convex optimization problem. Through illustrative examples, including a Drosophila circadian oscillator and a glycolytic oscillator, we demonstrate the ability of our method to recover accurate and interpretable reduced-order CRNs. Notably, the direct approach avoids the derivative estimation step and mitigates error accumulation issues inherent in indirect methods, making it a robust alternative for data-driven CRN realizations.

Paperid: 3438, https://arxiv.org/pdf/2508.18039.pdf

Abstract:
Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of mission-critical objects. This work presents a dynamic model of a dual-arm space manipulator system and compares various tracking control laws. The key contributions of this work are the development of a cooperative manipulator dynamic model and the comparative analysis of control laws to support autonomous R2R handovers in ISAM scenarios.

Paperid: 3439, https://arxiv.org/pdf/2508.18025.pdf

Abstract:
Autonomous planetary exploration missions are critically dependent on real-time, accurate environmental perception for navigation and hazard avoidance. However, deploying deep learning models on the resource-constrained computational hardware of planetary exploration platforms remains a significant challenge. This paper introduces the Adaptive Quantized Planetary Crater Detection System (AQ-PCDSys), a novel framework specifically engineered for real-time, onboard deployment in the computationally constrained environments of space exploration missions. AQ-PCDSys synergistically integrates a Quantized Neural Network (QNN) architecture, trained using Quantization-Aware Training (QAT), with an Adaptive Multi-Sensor Fusion (AMF) module. The QNN architecture significantly optimizes model size and inference latency suitable for real-time onboard deployment in space exploration missions, while preserving high accuracy. The AMF module intelligently fuses data from Optical Imagery (OI) and Digital Elevation Models (DEMs) at the feature level, utilizing an Adaptive Weighting Mechanism (AWM) to dynamically prioritize the most relevant and reliable sensor modality based on planetary ambient conditions. This approach enhances detection robustness across diverse planetary landscapes. Paired with Multi-Scale Detection Heads specifically designed for robust and efficient detection of craters across a wide range of sizes, AQ-PCDSys provides a computationally efficient, reliable and accurate solution for planetary crater detection, a critical capability for enabling the next generation of autonomous planetary landing, navigation, and scientific exploration.

Paperid: 3440, https://arxiv.org/pdf/2508.17882.pdf

Abstract:
The development of advanced software tools for power system analysis requires extensive programming expertise. Even when using open-source tools, programming skills are essential to modify built-in models. This can be particularly challenging for domain experts who lack coding proficiency. This paper introduces modelSolver, a software solution with a new framework centered around symbolic mathematical modeling. The proposed paradigm facilitates defining models through intuitive mathematical expressions, thus eliminating the need for traditional programming constructs such as arrays, loops, and sparse matrix computations. The modelSolver focuses on power flow and state estimation using an open-box approach, which allows users to specify custom models using either real or complex variables. Unlike existing tools that rely on hard-coded models, modelSolver enables the representation of a wide range of advanced functionalities, including power flow with voltage regulators and load tap changers, continuation power flow, and Gauss-Newton state estimation with equality constraints. Compatibility with MATPOWER is ensured via a converter that automates importing data files. The framework prioritizes model-driven development and empowers domain experts to focus on power system modeling without programming barriers. It aims to simplify power system computations, making them more accessible to students, scientists, and practitioners.

Paperid: 3441, https://arxiv.org/pdf/2508.17772.pdf

Abstract:
Electric vehicles (EVs) have the potential to reduce grid stress through smart charging strategies while simultaneously meeting user demand. This requires accurate forecasts of key charging parameters, such as energy demand and connection time. Although previous studies have made progress in this area, they have overlooked the importance of dynamic training to capture recent patterns and have excluded EV sessions with limited information, missing potential opportunities to use these data. To address these limitations, this study proposes a dual-model approach incorporating incremental learning with six machine-learning models to predict EV charging session parameters. This approach includes dynamic training updates, optimal features, and hyperparameter set selection for each model to make it more robust and inclusive. Using a data set of 170,000 measurements from the real world electric vehicle session, week-long charging parameters were predicted over a one-year period. The findings reveal a significant difference between workplace and residential charging locations regarding connection duration predictability, with workplace sessions being more predictable. The proposed stacking ensemble learning method enhanced forecasting accuracy, improving R2 by 2.83% to 43.44% across all parameters and location settings. A comparison of the two models reveals that incorporating user IDs as a feature, along with the associated historical data, is the most significant factor influencing the accuracy of the forecast. Forecasts can be used effectively in smart charging and grid management applications by incorporating uncertainty quantification techniques, allowing charge point operators to optimize charging schedules and energy management.

Paperid: 3442, https://arxiv.org/pdf/2508.17503.pdf

Abstract:
In this paper, we investigate the optimal $\mathcal{H}_2$ model reduction problem for single-input single-output (SISO) continuous-time linear time-invariant (LTI) systems. A semi-definite relaxation (SDR) approach is proposed to determine globally optimal interpolation points, providing an effective way to compute the reduced-order models via Krylov projection-based methods. In contrast to iterative approaches, we use the controllability Gramian and the moment-matching conditions to recast the model reduction problem as a convex optimization by introducing an upper bound $Î³$ to minimize the $\mathcal{H}_2$ norm of the model reduction error system. We also prove that the relaxation is exact for first order reduced models and demonstrate, through examples, that it is exact for second order reduced models. We compare the performance of our proposed method with other iterative approaches and shift-selection methods on examples. Importantly, our approach also provides a means to verify the global optimality of known locally convergent methods.

Paperid: 3443, https://arxiv.org/pdf/2508.16553.pdf

Abstract:
In the context of industry 4.0, long-serving industrial machines can be retrofitted with process monitoring capabilities for future use in a smart factory. One possible approach is the deployment of wireless monitoring systems, which can benefit substantially from the TinyML paradigm. This work presents a complete TinyML flow from dataset generation, to machine learning model development, up to implementation and evaluation of a full preprocessing and classification pipeline on a microcontroller. After a short review on TinyML in industrial process monitoring, the creation of the novel MillingVibes dataset is described. The feasibility of a TinyML system for structure-integrated process quality monitoring could be shown by the development of an 8-bit-quantized convolutional neural network (CNN) model with 12.59kiB parameter storage. A test accuracy of 100.0% could be reached at 15.4ms inference time and 1.462mJ per quantized CNN inference on an ARM Cortex M4F microcontroller, serving as a reference for future TinyML process monitoring solutions.

Paperid: 3444, https://arxiv.org/pdf/2508.16221.pdf

Abstract:
For a large class of Lur'e systems with time-varying nonlinearities and feedthrough we consider several well-posedness issues, namely: existence, continuation, blow-up in finite-time, forward completeness and uniqueness of solutions. Lur'e systems with feedthrough are systems of forced, nonlinear ordinary differential equations coupled with a nonlinear algebraic equation determining the output of the system. The presence of feedthrough means that the algebraic equation is implicit in the output, and, in general, the output may not be expressible by an analytic formula in terms of the state and the input. Simple examples illustrate that the well-posedness properties of such systems are not necessarily guaranteed by assumptions sufficient for the corresponding well-posedness properties of Lur'e systems without feedthrough. We provide sufficient conditions for the well-posedness properties mentioned above, using global inversion theorems from real analysis and tools from non-smooth analysis and differential inclusions. The theory is illustrated with examples.

Paperid: 3445, https://arxiv.org/pdf/2508.16181.pdf

Abstract:
Cross-organizational collaboration in Model-Based Systems Engineering (MBSE) faces many challenges in achieving semantic alignment across independently developed system models. SysML v2 introduces enhanced structural modularity and formal semantics, offering a stronger foundation for interoperable modeling. Meanwhile, GPT-based Large Language Models (LLMs) provide new capabilities for assisting model understanding and integration. This paper proposes a structured, prompt-driven approach for LLM-assisted semantic alignment of SysML v2 models. The core contribution lies in the iterative development of an alignment approach and interaction prompts, incorporating model extraction, semantic matching, and verification. The approach leverages SysML v2 constructs such as alias, import, and metadata extensions to support traceable, soft alignment integration. It is demonstrated with a GPT-based LLM through an example of a measurement system. Benefits and limitations are discussed.

Paperid: 3446, https://arxiv.org/pdf/2508.16091.pdf

Abstract:
Despite growing interest in data-driven analysis and control of linear systems, descriptor systems--which are essential for modeling complex engineered systems with algebraic constraints like power and water networks--have received comparatively little attention. This paper develops a comprehensive data-driven framework for analyzing and controlling discrete-time descriptor systems without relying on explicit state-space models. We address fundamental challenges posed by non-causality through the construction of forward and backward data matrices, establishing data-based sufficient conditions for controllability and observability in terms of input-output data, where both R-controllability and C-controllability (R-observability and C-observability) have been considered. We then extend Willems' fundamental lemma to incompletely controllable systems. These methodological advances enable Data-Enabled Predictive Control (DeePC) to achieve output tracking in descriptor systems and to maintain performance under incomplete controllability conditions, as demonstrated in two case studies: i) Frequency regulation in an IEEE 9-bus power system with 3 generators, where DeePC maintained the frequency stability of the power system despite deliberate violations of R-controllability; and ii) Pressure head control in an EPANET water network with 3 tanks, 2 reservoirs, and 117 pipes, where output tracking was successfully enforced under algebraic constraints.

Paperid: 3447, https://arxiv.org/pdf/2508.15966.pdf

Abstract:
We consider contextual bandit learning under distribution shift when reward vectors are ordered according to a given preference cone. We propose an adaptive-discretization and optimistic elimination based policy that self-tunes to the underlying distribution shift. To measure the performance of this policy, we introduce the notion of preference-based regret which measures the performance of a policy in terms of distance between Pareto fronts. We study the performance of this policy by establishing upper bounds on its regret under various assumptions on the nature of distribution shift. Our regret bounds generalize known results for the existing case of no distribution shift and vectorial reward settings, and scale gracefully with problem parameters in presence of distribution shifts.

Paperid: 3448, https://arxiv.org/pdf/2508.15963.pdf

Abstract:
Rail and wheel interaction functionality is pivotal to the railway system safety, requiring accurate measurement systems for optimal safety monitoring operation. This paper introduces an innovative onboard measurement system for monitoring wheel flange wear depth, utilizing displacement and temperature sensors. Laboratory experiments are conducted to emulate wheel flange wear depth and surrounding temperature fluctuations in different periods of time. Employing collected data, the training of machine learning algorithms that are based on regression models, is dynamically automated. Further experimentation results, using standards procedures, validate the system's efficacy. To enhance accuracy, an infinite impulse response filter (IIR) that mitigates vehicle dynamics and sensor noise is designed. Filter parameters were computed based on specifications derived from a Fast Fourier Transform analysis of locomotive simulations and emulation experiments data. The results show that the dynamic machine learning algorithm effectively counter sensor nonlinear response to temperature effects, achieving an accuracy of 96.5 %, with a minimal runtime. The real-time noise reduction via IIR filter enhances the accuracy up to 98.2 %. Integrated with railway communication embedded systems such as Internet of Things devices, this advanced monitoring system offers unparalleled real-time insights into wheel flange wear and track irregular conditions that cause it, ensuring heightened safety and efficiency in railway systems operations.

Paperid: 3449, https://arxiv.org/pdf/2508.15937.pdf

Abstract:
Recent works have shown the use of equivalent circuit-based infeasibility analysis to identify weak locations in distribution power grids. For three-phase power flow problems, when the power flow solver diverges, three-phase infeasibility analysis (TPIA) can converge and identify weak locations. The original TPIA problem is non-convex, and local minima and saddle points are possible. This can result in grid upgrades that are sub-optimal. To address this issue, we reformulate the original non-convex nonlinear program (NLP) as an exact non-convex bilinear program (BLP). Subsequently, we apply the spatial branch-and-bound (SBnB) algorithm to compute a solution with near-zero optimality gap. To improve SBnB performance, we introduce a bound tightening algorithm with variable filtering and decomposition, which tightens bounds on bilinear variables. We demonstrate that sequential bound tightening (SBT) significantly improves the efficiency and accuracy of Gurobi's SBnB algorithm. Our results show that the proposed method can solve large-scale three-phase infeasibility analysis problems with >5k nodes, achieving an optimality gap of less than 10e-4. Furthermore, we demonstrate that by utilizing the developed presolve routine for bounding, we can reduce the runtime of SBnB by up to 97%.

Paperid: 3450, https://arxiv.org/pdf/2508.15729.pdf

Abstract:
This paper presents a fully-integrated CMOS voltage reference designed in a 90 nm process node using low voltage threshold (LVT) transistor models. The voltage reference leverages subthreshold operation and near-weak inversion characteristics, backed by an all-region MOSFET model. The proposed design achieves a very low operating supply voltage of 0.5 V and a remarkably low temperature coefficient of 16.28 ppm/$^\circ$C through the mutual compensation of CTAT, PTAT, and curvature-correction currents, over a wide range from -40 $^\circ$C to 130 $^\circ$C. A stable reference voltage of 205 mV is generated with a line sensitivity of 1.65 %/V and a power supply rejection ratio (PSRR) of -50 dB at 10 kHz. The circuit achieves all these parameters while maintaining a good power efficiency, consuming only 0.67 $Î¼$W.

Paperid: 3451, https://arxiv.org/pdf/2508.15451.pdf

Abstract:
This paper studies an input-driven one-state differential equation model initially developed for an experimentally demonstrated dynamic molecular switch that switches like synapses in the brain do. The linear-in-the-state and nonlinear-in-the-input model is exactly solvable, and it is shown that it also possesses mathematical properties of convergence and fading memory that enable stable processing of time-varying inputs by nonlinear dynamical systems. Thus, the model exhibits the co-existence of biologically-inspired behavior and desirable mathematical properties for stable learning on sequential data. The results give theoretical support for the use of the dynamic molecular switches as computational units in deep cascaded/layered feedforward and recurrent architectures as well as other more general structures for neuromorphic computing. They could also inspire more general exactly solvable models that can be fitted to emulate arbitrary physical devices which can mimic brain-inspired behaviour and perform stable computation on input signals.

Paperid: 3452, https://arxiv.org/pdf/2508.14956.pdf

Abstract:
We present Holo-Artisan, a novel system architecture enabling immersive multi-user experiences in virtual museums through true holographic displays and personalized edge intelligence. In our design, local edge computing nodes process real-time user data -- including pose, facial expression, and voice -- for multiple visitors concurrently. Generative AI models then drive digital artworks (e.g., a volumetric Mona Lisa) to respond uniquely to each viewer. For instance, the Mona Lisa can return a smile to one visitor while engaging in a spoken Q\&A with another, all in real time. A cloud-assisted collaboration platform composes these interactions in a shared scene using a universal scene description, and employs ray tracing to render high-fidelity, personalized views with a direct pipeline to glasses-free holographic displays. To preserve user privacy and continuously improve personalization, we integrate federated learning (FL) -- edge devices locally fine-tune AI models and share only model updates for aggregation. This edge-centric approach minimizes latency and bandwidth usage, ensuring a synchronized shared experience with individual customization. Through Holo-Artisan, static museum exhibits are transformed into dynamic, living artworks that engage each visitor in a personal dialogue, heralding a new paradigm of cultural heritage interaction.

Paperid: 3453, https://arxiv.org/pdf/2508.14675.pdf

Abstract:
This paper proposes a distributed diagnosis scheme to detect and estimate actuator and power line faults in DC microgrids subject to unknown power loads and stochastic noise. To address actuator faults, we design a fault estimation filter whose parameters are determined through a tractable optimization problem to achieve fault estimation, decoupling from power line faults, and robustness against noise. In contrast, the estimation of power line faults poses greater challenges due to the inherent coupling between fault currents and unknown power loads, which becomes ill-posed when the underlying system is insufficiently excited. To the best of our knowledge, this is the first study to address this critical yet underexplored issue. Our solution introduces a novel differentiate-before-estimate strategy. A set of diagnostic rules based on the temporal characteristics of a constructed residual is developed to distinguish load changes from line faults. Once a power line fault is detected, a regularized least-squares method is activated to estimate the fault currents, for which we further derive an upper bound on the estimation error. Finally, comprehensive simulation results validate the effectiveness of the proposed methods.

Paperid: 3454, https://arxiv.org/pdf/2508.14454.pdf

Abstract:
This work presents analytical solutions for the current distribution in lithium-ion battery packs composed of cells connected in parallel, explicitly accounting for the presence of interconnection resistances. These solutions enable the reformulation of the differential-algebraic equations describing the pack dynamics into a set of ordinary differential equations, thereby simplifying simulation and analysis. Conditions under which uniform current sharing across all cells occurs are also derived. The proposed formulation is validated against experimental data and confirms its ability to capture the key behaviours induced by interconnection resistances. These results can support the improved design and control of parallel-connected battery packs.

Paperid: 3455, https://arxiv.org/pdf/2508.14225.pdf

Abstract:
This paper proposes a hybrid infrastructure-to-vehicle (I2V) communication framework to support future 6G-enabled intelligent transportation systems (ITS) in smart cities. Leveraging existing LED streetlighting infrastructure, the system simultaneously delivers energy-efficient illumination and high-speed wireless connectivity. The proposed scheme integrates visible light communication (VLC) with a complementary ter-ahertz (THz) antenna array to overcome VLC limitations under high ambient light and adverse weather conditions. Key con-tributions include the design of a VLC/THz access network, seamless integration with lighting infrastructure, a proposed switching-combination (PSC) mechanism, and a physical layout optimization strategy. Using a grid search method, thousands of configurations were evaluated to maximize lighting coverage, re-ceived power, signal-to-noise ratio (SNR), signal-to-interference-and-noise ratio (SINR), and minimize outage probability. Results show that optimized lighting coverage improves from 35% to 97%, while hybrid communication coverage increases from 49%to 99.9% at the same power level. Under extreme environmental conditions, the hybrid system maintains up to 99% coverage, compared to 69% with VLC alone. These results demonstrate the scalability, cost-efficiency, and practicality of the proposed system for next-generation ITS deployment.

Paperid: 3456, https://arxiv.org/pdf/2508.14046.pdf

Abstract:
Horizontal curves are often associated with roadway crashes due to speed misjudgment and loss of control. With the growing adoption of autonomous and connected vehicles, the accurate estimation of safe speed at curves is becoming increasingly important. The widely used AASHTO design method for safe curve speed estimation relies on an analytical equation based on a simplified point mass model, which often uses conservative parameters to account for vehicular and environmental variations. This paper presents a digital twin-based framework for estimating safe speed at curves using a physics-driven virtual environment developed in the Unity engine. In this framework, a real-world horizontal road curve is selected, and vehicle speed data are collected using a radar gun under various weather conditions. A 3D model of the road curve is constructed in a Unity environment using roadway geometric and elevation data. A parameterized vehicle model is integrated, allowing for variations in mass, acceleration, and center of gravity to reflect different vehicle types and loading scenarios. This simulation identifies the maximum safe speed at which a vehicle can traverse the given curve, providing a more vehicle and environment-specific estimate of the safe operating speed. The study validated that the safe curve speed estimates generated by the simulation were consistent with the real-world speed values observed at a curve. This study demonstrates how a physics-based digital twin can estimate a safer and more adaptive operating speed for vehicles traversing horizontal curves.

Paperid: 3457, https://arxiv.org/pdf/2508.13656.pdf

Abstract:
Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input multi-output systems subject to input and state constraints. It is now a standard tool for trajectory tracking control of automated vehicles. As such it has been used in many research and development projects. However, MPC faces several challenges to be integrated into industrial production vehicles. The most important ones are its high computational demands and the complexity of implementation. The software packages AutoMPC aims to address both of these challenges. It builds on a robustified version of an active set algorithm for Nonlinear MPC. The algorithm is embedded into a framework for vehicle trajectory tracking, which makes it easy to used, yet highly customizable. Automatic code generation transforms the selections into a standalone, computationally efficient C-code file with static memory allocation. As such it can be readily deployed on a wide range of embedded platforms, e.g., based on Matlab/Simulink or Robot Operating System (ROS). Compared to a previous version of the code, the vehicle model and the numerical integration method can be manually specified, besides basic algorithm parameters. All of this information and all specifications are directly baked into the generated C-code. The algorithm is suitable driving scenarios at low or high speeds, even drifting, and supports direction changes. Multiple simulation scenarios show the versatility and effectiveness of the AutoMPC code, with the guarantee of a feasible solution, a high degree of robustness, and computational efficiency.

Paperid: 3458, https://arxiv.org/pdf/2508.13595.pdf

Abstract:
The model reduction problem for high-order multi-input, multi-output (MIMO) polynomial nonlinear systems based on moment matching is addressed. The technique of power-series decomposition is exploited: this decomposes the solution of the nonlinear PDE characterizing the center manifold into the solutions of a series of recursively defined Sylvester equations. This approach allows yielding nonlinear reduced-order models in very much the same way as in the linear case (e.g. analytically). Algorithms are proposed for obtaining the order and the parameters of the reduced-order models with precision of degree $Îº$. The approach also provides new insights into the nonlinear moment matching problem: first, a lower bound for the order of the reduced-order model is obtained, which, in the MIMO case, can be strictly less than the number of matched moments; second, it is revealed that the lower bound is affected by the ratio of the number of the input and output channels; third, it is shown that under mild conditions, a nonlinear reduced-order model can always be constructed with either a linear state equation or a linear output equation.

Paperid: 3459, https://arxiv.org/pdf/2508.13554.pdf

Abstract:
For $r > 0$ and integers $t \ge n > 0$, we consider the following problem: maximize the amplitude $|x_t|$ at time $t$, over all complex solutions $x = (x_0, x_1, \dots)$ of arbitrary homogeneous linear difference equations of order $n$ with the characteristic roots in the disc $\{z \in \mathbb{C}: |z| \le r\}$, and with initial values $x_0, \dots, x_{n-1}$ in the unit disc. We find that for any triple $t,n,r$, the maximum is attained with coinciding roots on the boundary circle; in particular, this implies that the peak amplitude $\sup_{t \ge n} |x_t|$ can be maximized explicitly, by studying a unique equation with the characteristic polynomial $(z-r)^n$. Moreover, the optimality of the cophase root configuration holds for origin-centered polydiscs. To prove this result, we first reduce the problem to a certain interpolation problem over monomials, then solve the latter by leveraging the theory of symmetric functions and identifying the associated Schur positivity structure. We also discuss the implications for more general Reinhardt domains. Finally, we study the problem of estimating the derivatives of a real entire function from its values at $n/2$ pairs of complex conjugate points in the unit disc. We propose conjectures on the extremality of the monomial $z^n$, and restate them in terms of Schur polynomials.

Paperid: 3460, https://arxiv.org/pdf/2508.13475.pdf

Abstract:
Distributed control of large-scale systems is challenging due to the need for scalable and localized communication and computation. In this work, we introduce a Predictive System-Level Synthesis PredSLS framework that designs controllers by jointly integrating communication constraints and local disturbance predictions into an affine feedback structure. Rather than focusing on the worst-case uncertainty, PredSLS leverages both current state feedback and future system disturbance predictions to achieve distributed control of networked systems. In particular, PredSLS enables a unified system synthesis of the optimal $Îº$-localized controller, therefore outperforms approaches with post hoc communication truncation, as was commonly seen in the literature. The PredSLS framework can be naturally decomposed into spatial and temporal components for efficient and parallelizable computation across the network, yielding a regret upper bound that explicitly depends on the prediction error and communication range. Our regret analysis not only reveals a non-monotonic trade-off between control performance and communication range when prediction errors are present, but also guides the identification of an optimal size for local communication neighborhoods, thereby enabling the co-design of controller and its underlying communication topology.

Paperid: 3461, https://arxiv.org/pdf/2508.13457.pdf

Abstract:
An all-wheel omni-directional independent steering vehicle (AWOISV) is a specialized all-wheel independent steering vehicle with each wheel capable of steering up to 90Â°, enabling unique maneuvers like yaw and diagonal movement. This paper introduces a theoretical steering radius angle and sideslip angle ($ Î¸_R $-$Î²_R $) representation, based on the position of the instantaneous center of rotation relative to the wheel rotation center, defining the motion modes and switching criteria for AWOISVs. A generalized $ v$-$Î²$-$r $ dynamic model is developed with forward velocity $v$, sideslip angle $Î²$, and yaw rate $r$ as states, and $Î¸_R$ and $Î²_R$ as control inputs. This model decouples longitudinal and lateral motions into forward and rotational motions, allowing seamless transitions across all motion modes under specific conditions. A filtered tube-based linear time-varying MPC (FT-LTVMPC) strategy is proposed, achieving simultaneous tracking of lateral position and arbitrary heading angles, with robustness to model inaccuracies and parameter uncertainties. Co-simulation and hardware-in-loop (HIL) experiments confirm that FT-LTVMPC enables high-precision control of both position and heading while ensuring excellent real-time performance.

Paperid: 3462, https://arxiv.org/pdf/2508.12694.pdf

Abstract:
The Newton-Raphson Controller, established on the output prediction and the Newton-Raphson algorithm, is shown to be effective in a variety of control applications. Although the stability condition of the controller for linear systems has already been established, such condition for nonlinear systems remains unexplored. In this paper, we study the stability of the Newton-Raphson controller for a class of differentially flat nonlinear systems in the context of output regulation and tracking control. For output regulation, we prove that the controlled system is stable within a neighborhood of the origin if the corresponding flat system and output predictor satisfy a verifiable stability criterion. A semi-quantitative analysis is conducted to determine the measure of the domain of attraction. For tracking control, we prove that the controller is capable of driving the outputs to the external reference signals using a specific selection of controller parameters. Simulation results show that the controller achieves regulation and tracking respectively on the inverted pendulum and the kinematic bicycle, suggesting a potential in future control applications.

Paperid: 3463, https://arxiv.org/pdf/2508.12526.pdf

Abstract:
The ongoing energy transition is significantly increasing the share of renewable energy sources (RES) in power systems; however, their intermittency and variability pose substantial challenges, including load shedding and system congestion. This study examines the role of the battery storage system (BSS) in mitigating these challenges by balancing power supply and demand. We optimize the location, size, and type of batteries using a two-stage stochastic program, with the second stage involving hourly operational decisions over an entire year. Unlike previous research, we incorporate the comprehensive technical and economic characteristics of battery technologies. The New York State (NYS) power system, currently undergoing a significant shift towards increased RES generation, serves as our case study. Using available load and weather data from 1980-2019, we account for the uncertainty of both load and RES generation through a sample average approximation approach. Our findings indicate that BSS can reduce renewable curtailment by 34% and load shedding by 21%, contributing to a more resilient power system in achieving NYS 2030 energy targets. Furthermore, the cost of employing BSS for the reduction of load shedding and RES curtailment does not increase linearly with additional capacity, revealing a complex relationship between costs and renewable penetration. This study provides valuable insights for the strategic BSS deployment to achieve a cost-effective and reliable power system in the energy transition as well as the feasibility of the NYS 2030 energy targets.

Paperid: 3464, https://arxiv.org/pdf/2508.12487.pdf

Abstract:
This study introduces a Fractional Order Fuzzy PID (FOFPID) controller that uses the Whale Optimization Algorithm (WOA) to manage the Bispectral Index (BIS), keeping it within the ideal range of forty to sixty. The FOFPID controller combines fuzzy logic for adapting to changes and fractional order dynamics for fine tuning. This allows it to adjust its control gains to handle a person's unique physiology. The WOA helps fine tune the controller's parameters, including the fractional orders and the fuzzy membership functions, which boosts its performance. Tested on models of eight different patient profiles, the FOFPID controller performed better than a standard Fractional Order PID (FOPID) controller. It achieved faster settling times, at two and a half minutes versus three point two minutes, and had a lower steady state error, at zero point five versus one point two. These outcomes show the FOFPID's excellent strength and accuracy. It offers a scalable, artificial intelligence driven solution for automated anesthesia delivery that could enhance clinical practice and improve patient results.

Paperid: 3465, https://arxiv.org/pdf/2508.12443.pdf

Abstract:
This paper presents the design, instrumentation, and experimental procedures used to test the Spherical Sailing Omnidirectional Rover (SSailOR) in a controlled wind tunnel environment. The SSailOR is a wind-powered autonomous rover. This concept is motivated by the growing need for persistent and sustainable robotic systems in applications such as planetary exploration, Arctic observation, and military surveillance. SSailOR uses wind propulsion via onboard sails to enable long-duration mobility with minimal energy consumption. The spherical design simplifies mechanical complexity while enabling omnidirectional movement. Experimental tests were conducted to validate dynamic models and assess the aerodynamic performance of the rover under various configurations and environmental conditions. As a result, this design requires a co-design approach. Details of the mechanical structure, sensor integration, electronics, data acquisition system, and test parameters are presented in this paper. In addition, key observations are made that are relevant to the design optimization for further development of the rover.

Paperid: 3466, https://arxiv.org/pdf/2508.12249.pdf

Abstract:
This paper presents a comprehensive analytical and simulation-based study of curved electrode geometries for enhancing the sensitivity of MEMS capacitive accelerometers. Expressions for the capacitance between a planar movable electrode and six distinct fixed electrode profiles (biconvex, biconcave, concavo-convex, convexo-concave, plano-convex, and plano-concave) are derived, enabling direct calculation of differential gain and sensitivity as functions of electrode curvature and gap displacement. These analytical models are then rigorously validated using finite element simulations performed using COMSOL Multiphysics under identical bias and boundary conditions. The simulation results demonstrate agreement with the analytical results with a deviation of less than 7% in all configurations. The results also reveal that biconvex curved electrodes yield the greatest sensitivity improvement over the planar electrodes, with sensitivity monotonically increasing with arc length, while concave and plano-concave designs exhibit reduced performance. The concavo-convex and convexo-concave configurations furthermore introduce polarity inversion in the output voltage, offering additional design flexibility. Importantly, these sensitivity enhancements are achieved without any change in the overall volumetric dimensions of the device or the proofmass dimensions of the module for achieving higher-resolution inertial sensing.

Paperid: 3467, https://arxiv.org/pdf/2508.11812.pdf

Abstract:
The advancement of computing equipment and the advances in services over the Internet has allowed corporations, higher education, and many other organizations to pursue the shared computing network environment. A requirement for shared computing environments is a centralized identity system to authenticate and authorize user access. An organization's digital identity plane is a prime target for cyber threat actors. When compromised, identities can be exploited to steal credentials, create unauthorized accounts, and manipulate permissions-enabling attackers to gain control of the network and undermine its confidentiality, availability, and integrity. Cybercrime losses reached a record of 16.6 B in the United States in 2024. For organizations using Microsoft software, Active Directory is the on-premises identity system of choice. In this article, we examine the challenge of security compromises in Active Directory (AD) environments and present effective strategies to prevent credential theft and limit lateral movement by threat actors. Our proposed approaches aim to confine the movement of compromised credentials, preventing significant privilege escalation and theft. We argue that through our illustration of real-world scenarios, tiering can halt lateral movement and advanced cyber-attacks, thus reducing ransom escalation. Our work bridges a gap in existing literature by combining technical guidelines with theoretical arguments in support of tiering, positioning it as a vital component of modern cybersecurity strategy even though it cannot function in isolation. As the hardware advances and the cloud sourced services along with AI is advancing with unprecedented speed, we think it is important for security experts and the business to work together and start designing and developing software and frameworks to classify devices automatically and accurately within the tiered structure.

Paperid: 3468, https://arxiv.org/pdf/2508.11805.pdf

Abstract:
Brain-computer interfaces (BCIs) read neural signals directly from the brain to infer motor planning and execution. However, the implementation of this technology has been largely limited to laboratory settings, with few real-world applications. We developed a bimanual BCI system to drive a vehicle in both simulated and real-world environments. We demonstrate that an individual with tetraplegia, implanted with intracortical BCI electrodes in the posterior parietal cortex (PPC) and the hand knob region of the motor cortex (MC), reacts at least as fast and precisely as motor intact participants, and drives a simulated vehicle as proficiently as the same control group. This BCI participant, living in California, could also remotely drive a Ford Mustang Mach-E vehicle in Michigan. Our first teledriving task relied on cursor control for speed and steering in a closed urban test facility. However, the final BCI system added click control for full-stop braking and thus enabled bimanual cursor-and-click control for both simulated driving through a virtual town with traffic and teledriving through an obstacle course without traffic in the real world. We also demonstrate the safety and feasibility of BCI-controlled driving. This first-of-its-kind implantable BCI application not only highlights the versatility and innovative potentials of BCIs but also illuminates the promising future for the development of life-changing solutions to restore independence to those who suffer catastrophic neurological injury.

Paperid: 3469, https://arxiv.org/pdf/2508.10608.pdf

Abstract:
Multi-Objective Reinforcement Learning (MORL) is a generalization of traditional Reinforcement Learning (RL) that aims to optimize multiple, often conflicting objectives simultaneously rather than focusing on a single reward. This approach is crucial in complex decision-making scenarios where agents must balance trade-offs between various goals, such as maximizing performance while minimizing costs. We consider the problem of MORL where the objectives are combined using a non-linear scalarization function. Just like in standard RL, policy gradient methods (PGMs) are amongst the most effective for handling large and continuous state-action spaces in MORL. However, existing PGMs for MORL suffer from high sample inefficiency, requiring large amounts of data to be effective. Previous attempts to solve this problem rely on overly strict assumptions, losing PGMs' benefits in scalability to large state-action spaces. In this work, we address the issue of sample efficiency by implementing variance-reduction techniques to reduce the sample complexity of policy gradients while maintaining general assumptions.

Paperid: 3470, https://arxiv.org/pdf/2508.10515.pdf

Abstract:
Monitoring the degradation state of Insulated Gate Bipolar Transistor (IGBT) modules is essential for ensuring the reliability and longevity of power electronic systems, especially in safety-critical and high-performance applications. However, direct measurement of key degradation indicators - such as junction temperature, solder fatigue or delamination - remains challenging due to the physical inaccessibility of internal components and the harsh environment. In this context, machine learning-based virtual sensing offers a promising alternative by bridging the gap from feasible sensor placement to the relevant but inaccessible locations. This paper explores the feasibility of estimating the degradation state of solder layers, and the corresponding full temperature maps based on a limited number of physical sensors. Based on synthetic data of a specific degradation mode, we obtain a high accuracy in the estimation of the degraded solder area (1.17% mean absolute error), and are able to reproduce the surface temperature of the IGBT with a maximum relative error of 4.56% (corresponding to an average relative error of 0.37%).

Paperid: 3471, https://arxiv.org/pdf/2508.10035.pdf

Abstract:
False Data Injection Attacks (FDIAs) pose a significant threat to smart grid infrastructures, particularly Home Area Networks (HANs), where real-time monitoring and control are highly adopted. Owing to the comparatively less stringent security controls and widespread availability of HANs, attackers view them as an attractive entry point to manipulate aggregated demand patterns, which can ultimately propagate and disrupt broader grid operations. These attacks undermine the integrity of smart meter data, enabling malicious actors to manipulate consumption values without activating conventional alarms, thereby creating serious vulnerabilities across both residential and utility-scale infrastructures. This paper presents a machine learning-based framework for both the detection and classification of FDIAs using residential energy data. A real-time detection is provided by the lightweight Artificial Neural Network (ANN), which works by using the most vital features of energy consumption, cost, and time context. For the classification of different attack types, a Bidirectional LSTM is trained to recognize normal, trapezoidal, and sigmoid attack shapes through learning sequential dependencies in the data. A synthetic time-series dataset was generated to emulate realistic household behaviour. Experimental results demonstrate that the proposed models are effective in identifying and classifying FDIAs, offering a scalable solution for enhancing grid resilience at the edge. This work contributes toward building intelligent, data-driven defence mechanisms that strengthen smart grid cybersecurity from residential endpoints.

Paperid: 3472, https://arxiv.org/pdf/2508.09678.pdf

Abstract:
Urban traffic congestion remains a critical challenge in modern cities, with traffic signal control systems often struggling to manage congestion during peak travel times. Perimeter control of a Protected Network (PN) has emerged as a potential solution to reducing gridlock in urban networks. This paper proposes a novel auction-based mechanism for green time allocation at signalized intersections, for effective perimeter control application. Utilising a Sealed Bid, Second Price auction framework, our approach combines real-time traffic monitoring with market-inspired mechanisms to regulate vehicle inflows into PN areas. Unlike existing methods that focus primarily on gated links, our system allocates budgets to individual traffic movements, providing greater flexibility in managing multi-directional flows. We evaluate the proposed mechanism using a test case intersection with a single controlled inflow, comparing it against a volume-based fixed-time approach. The results demonstrate that our auction-based method controls flows into the PN with improved accuracy, outperforming the volume-based approach in terms of inflow regulation, queue management and delays. The framework can be applied in real time to any generic intersection, offering a scalable solution for urban traffic management. This work bridges the gap between perimeter control and market-based intersection auctions, providing a pathway for further research on adaptive traffic management systems.

Paperid: 3473, https://arxiv.org/pdf/2508.09128.pdf

Abstract:
Reinforcement learning (RL) has proven to be particularly effective in solving complex decision-making problems for a wide range of applications. From a control theory perspective, RL can be considered as an adaptive optimal control scheme. Lyapunov and barrier functions are the most commonly used certificates to guarantee system stability for a proposed/derived controller and constraint satisfaction guarantees, respectively, in control theoretic approaches. However, compared to theoretical guarantees available in control theoretic methods, RL lacks closed-loop stability of a computed policy and constraint satisfaction guarantees. Safe reinforcement learning refers to a class of constrained problems where the constraint violations lead to partial or complete system failure. The goal of this review is to provide an overview of safe RL techniques using Lyapunov and barrier functions to guarantee this notion of safety discussed (stability of the system in terms of a computed policy and constraint satisfaction during training and deployment). The different approaches employed are discussed in detail along with their shortcomings and benefits to provide critique and possible future research directions. Key motivation for this review is to discuss current theoretical approaches for safety and stability guarantees in RL similar to control theoretic approaches using Lyapunov and barrier functions. The review provides proven potential and promising scope of providing safety guarantees for complex dynamical systems with operational constraints using model-based and model-free RL.

Paperid: 3474, https://arxiv.org/pdf/2508.08725.pdf

Abstract:
Many application domains face the challenges of high-power consumption and high computational demands, especially with the advancement in embedded machine learning and edge computing. Designing application-specific circuits is crucial to reducing hardware complexity and power consumption. In these perspectives, this paper presents the design of a Digital Time-to-Digital converter (DTDC) based on multiple delay line topologies. The DTDC is implemented in VHDL for the Xilinx Artix-7 AC701 FPGA device. Simulation results demonstrate the effectiveness of the circuit in converting the input period along a wide range up to 1ps. The designed circuit is implemented with less than 1% of the resource utilization on the target FPGA device.

Paperid: 3475, https://arxiv.org/pdf/2508.08286.pdf

Abstract:
Emergency pharmaceutical logistics during rapid-onset disasters must balance timeliness, legal compliance, and environmental uncertainty. We present a hybrid framework that co-designs quantum-inspired decision dynamics, embedded legal constraints, and blockchain-verified environmental feedback. Candidate routes are modeled as a superposed state whose collapse is governed by entropy modulation-delaying commitment under ambiguity and accelerating resolution when coherent signals emerge. Legal statutes act as real-time projection operators shaping feasible choices, while environmental decoherence cues adjust confidence and path viability. The core engine is situated within a multilevel governance and mechanism design architecture, establishing clear roles, accountability channels, and audit trails. Large-scale simulations in wildfire scenarios demonstrate substantial gains over conventional baselines in latency, compliance, and robustness, while preserving interpretability and fairness adaptation. The resulting system offers a deployable, governance-aware infrastructure where law and physical risk jointly inform emergency routing decisions.

Paperid: 3476, https://arxiv.org/pdf/2508.08187.pdf

Abstract:
Participation of Distributed Energy Resources (DERs) in bid-based Transactive Energy Systems (TES) at the distribution systems facilitates strongly coupled, bidirectional interactions between Transmission-Distribution (T-D) systems. Capturing these interactions is critical for ensuring seamless integration within an Integrated Transmission and Distribution (ITD) framework. This study proposes a methodology to preserve such tight T-D linkages by developing an Independent Distribution System Operator (IDSO) managed bid-based TES design for unbalanced distribution systems. The proposed design operates within the ITD paradigm and permits DER participation in the Wholesale Power Market (WPM) through IDSO while preserving tight T-D linkages. To this end, this research offers the following key contributions: a novel bid/offer prequalification-cum-aggregation method to ensure a grid-safe and value-based aggregation of DERs' bids and offers for WPM participation through IDSO; and a retail pricing mechanism that reflects the true value of procuring or offering additional units of power within the distribution system. Case studies are conducted on a modified IEEE 123-bus radial feeder populated with a high DER concentration to validate the proposed frameworks' effectiveness in coordinating the DERs efficiently and reliably.

Paperid: 3477, https://arxiv.org/pdf/2508.08137.pdf

Abstract:
Conducting a comprehensive literature review is crucial for advancing circuit design methodologies. However, the rapid influx of state-of-the-art research, inconsistent data representation, and the complexity of optimizing circuit design objectives make this task significantly challenging. In this paper, we propose MuaLLM, an open-source multimodal Large Language Model (LLM) agent for circuit design assistance that integrates a hybrid Retrieval-Augmented Generation (RAG) framework with an adaptive vector database of circuit design research papers. Unlike conventional LLMs, the MuaLLM agent employs a Reason + Act (ReAct) workflow for iterative reasoning, goal-setting, and multi-step information retrieval. It functions as a question-answering design assistant, capable of interpreting complex queries and providing reasoned responses grounded in circuit literature. Its multimodal capabilities enable processing of both textual and visual data, facilitating more efficient and comprehensive analysis. The system dynamically adapts using intelligent search tools, automated document retrieval from the internet, and real-time database updates. Unlike conventional approaches constrained by model context limits, MuaLLM decouples retrieval from inference, enabling scalable reasoning over arbitrarily large corpora. At the maximum context length supported by standard LLMs, MuaLLM remains up to 10x less costly and 1.6x faster while maintaining the same accuracy. This allows rapid, no-human-in-the-loop database generation, overcoming the bottleneck of simulation-based dataset creation for circuits. To evaluate MuaLLM, we introduce two custom datasets: RAG-250, targeting retrieval and citation performance, and Reasoning-100 (Reas-100), focused on multistep reasoning in circuit design. MuaLLM achieves 90.1% recall on RAG-250, and 86.8% accuracy on Reas-100.

Paperid: 3478, https://arxiv.org/pdf/2508.07885.pdf

Abstract:
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and incorporates a custom-designed printed circuit board (PCB) for efficient sensor data acquisition, enabling robust navigation in confined spaces. The system integrates YOLOv11 for object detection, Depth Anything V2 for monocular depth estimation, a PCB equipped with Time-of-Flight (ToF) sensors and an Inertial Measurement Unit (IMU), and a cloud-based Large Language Model (LLM) for context-aware decision-making. A virtual safety envelope, enforced by calibrated sensor offsets, ensures collision avoidance, while a multithreaded architecture achieves low-latency processing. Enhanced spatial awareness is facilitated by 3D bounding box estimation with Kalman filtering. Experimental results in an indoor testbed demonstrate strong performance, with object detection achieving a mean Average Precision (mAP50) of 0.6, depth estimation Mean Absolute Error (MAE) of 7.2 cm, only 16 safety envelope breaches across 42 trials over approximately 11 minutes, and end-to-end system latency below 1 second. This cloud-supported, high-intelligence framework serves as an auxiliary perception and navigation system, complementing state-of-the-art drone autonomy for GPS-denied confined spaces.

Paperid: 3479, https://arxiv.org/pdf/2508.07510.pdf

Abstract:
Batteryless energy harvesting IoT sensor nodes such as beat sensors can be deployed in millions without the need to replace batteries. They are ultra-low-power and cost-effective wireless sensor nodes without the maintenance cost and can work for 24 hours/365 days. However, they were not equipped with security mechanisms to protect user data. Data encryption and authentication can be used to secure beat sensor applications, but generating a secure cryptographic key is challenging. In this paper, we proposed an SRAM-based Physically Unclonable Function (PUF) combining a high-reliability bit selection algorithm with a lightweight error-correcting code to generate reliable secure keys for data encryption. The system employs a feature of beat sensors, in which the microcontroller is powered on to transmit the ID signals and then powered off. This fits the SRAM-based PUF requirement, which needs the SRAM to be powered off to read out its random values. The proposed system has been evaluated on STM32 Cortex M0+ microcontrollers and has been implemented to protect important data on beat sensors.

Paperid: 3480, https://arxiv.org/pdf/2508.07314.pdf

Abstract:
The increasing integration of renewable energy into the power grid has highlighted the critical importance of demand-side flexibility. Among flexible loads, heating, ventilation, and air-conditioning (HVAC) systems are particularly significant due to their high energy consumption and controllability. This study presents the development of an interactive simulation platform that integrates a high-fidelity simulation engine with a user-facing dashboard, specifically designed to explore and demonstrate the demand flexibility capacity of HVAC systems. Unlike conventional simulations, where users are passive observers of simulation results with no ability to intervene in the embedded control during the simulation, this platform transforms them into active participants. Users can override system default control settings, such as zone temperature setpoints and HVAC schedules, at any point during the simulation runtime to implement demand response strategies of their choice. This human-in-the-loop capability enables real-time interaction and allows users to observe the immediate impact of their actions, emulating the practical decision-making process of a building or system operator. By exploring different demand flexibility scenarios and system behaviour in a manner that reflects real-world operation, users gain a deeper understanding of demand flexibility and their impacts. This interactive experience builds confidence and supports more informed decision-making in the practical adoption of demand-side flexibility. This paper presents the architecture of the simulation platform, user-oriented dashboard design, and user case showcase. The introduced human-in-the-loop simulation paradigm offers a more intuitive and interactive means of engaging with grid-interactive building operations, extending beyond HVAC demand flexibility exploration.

Paperid: 3481, https://arxiv.org/pdf/2508.07206.pdf

Abstract:
This paper proposes a new technique for computer modeling linear filters based on the spectral form of mathematical description of linear systems. It assumes that input and output signals of the filter are represented as orthogonal expansions, while filters themselves are described by two-dimensional non-stationary transfer functions. This technique allows one to model the output signal in continuous time, and it is successfully tested on the Butterworth, Linkwitz-Riley, and Chebyshev filters with different orders.

Paperid: 3482, https://arxiv.org/pdf/2508.07177.pdf

Abstract:
In this paper, we present an analogy for a power system dominated by grid-forming (GFM) sources that proves to be a powerful visualization tool for analyses of power flow, frequency regulation, and power dispatch. Frequency droop characteristics of a typical GFM source are exactly reflected by an ordinary model of water vessels. The frequency is represented by visible water levels while the droop slope is reified by the vessel sizes. This proposed analogy allows us to use the intuitive water-flow phenomenon to explain the abstract power-flow problems. The grid integration of renewables via GFM inverters is interestingly simulated by a vessel connected to an infinite water tank. This paper also provides a means for demonstrating issues to audiences with little or no background in power systems. Finally, the proposal is verified by simulation results.

Paperid: 3483, https://arxiv.org/pdf/2508.06994.pdf

Abstract:
The rapid growth of the digital economy and artificial intelligence has transformed cloud data centers into essential infrastructure with substantial energy consumption and carbon emission, necessitating effective energy management. However, existing methods face challenges such as incomplete information, uncertain parameters, and dynamic environments, which hinder their real-world implementation. This paper proposes an adaptive power capping framework tailored to cloud data centers. By dynamically setting the energy consumption upper bound, the power load of data centers can be reshaped to align with the electricity price or other market signals. To this end, we formulate the power capping problem as a partially observable Markov decision process. Subsequently, we develop an uncertainty-aware model-based reinforcement learning (MBRL) method to perceive the cloud data center operational environment and optimize power-capping decisions. By incorporating a two-stage uncertainty-aware optimization algorithm into the MBRL, we improve its adaptability to the ever-changing environment. Additionally, we derive the optimality gap of the proposed scheme under finite iterations, ensuring effective decisions under complex and uncertain scenarios. The numerical experiments validate the effectiveness of the proposed method using a cloud data center operational environment simulator built on real-world production traces from Alibaba, which demonstrates its potential as an efficient energy management solution for cloud data centers.

Paperid: 3484, https://arxiv.org/pdf/2508.05583.pdf

Abstract:
The application of big data is one of the significant features of integrated smart energy. Applying it to the file management of integrated smart energy projects is of great significance for improving the efficiency of project management and control. This article first discussed the benefits and challenges of implementing big data analysis in document management and control of integrated smart energy projects. In addition, an implementation framework for big data analysis in integrated smart energy project document management was developed, and a method for optimizing the efficiency of integrated smart energy project document management through machine learning was proposed. Using various types of data and information generated during the project document management process, the efficiency of the entire process project document control through three different machine learning methods was optimized. The result of fitting a penalty linear regression model shows that when there is enough data as a training set, the accuracy of the model achieved can reach over 95\%. By using big data analysis and machine learning to analyze the efficiency of comprehensive smart energy project document management, it is possible to track the entire process of comprehensive smart energy project documents and optimize business processes, thereby strengthening project construction control and improving project construction efficiency.

Paperid: 3485, https://arxiv.org/pdf/2508.05479.pdf

Abstract:
In this paper, a sub-uW power 802.11b backscattering transmitter is presented to enable reuse of the same incident wave for three purposes: RF harvesting, backscattering communications and position/motion sensing. The removal of the battery and any off-chip motion sensor (e.g., MEMS) enables unprecedented level of miniaturization and ubiquity, unrestricted device lifespan, low fabrication and maintenance cost. The uW power wall for WiFi transmitters is broken for the first time via local oscillator elimination, as achieved by extracting its frequency through second-order intermodulation of a twotone incident wave. The two-tone scheme also enables a cumulative harvesting/transmission/sensing sensitivity down to Pmin -19 dBm. Position/motion sensing is enabled by using the harvested voltage as a proxy for the Received Signal Strength (RSS), allowing to sense the chip location with respect to the tone generator(s) shared across tags in indoor neighborhoods.

Paperid: 3486, https://arxiv.org/pdf/2508.05177.pdf

Abstract:
In the field of supervisory control theory, the literature often proposes different definitions for the same concept, making it difficult to understand how these definitions are related. This is definitely so for the fundamental notion of controllability of a supervisor w.r.t. a plant. This paper lists definitions of controllability found in the literature and studies their relationships in settings of both deterministic and nondeterministic automata. In the general context, where both the supervisor and the plant are allowed to be nondeterministic, the notions of controllability as described by Flordal and Malik, and uncontrollable event admissibility by Kushi and Takai are equivalent. These are also the only notions that imply the traditional notion of (language) controllability. From a practical perspective, one is often more interested in controllability of a supervised plant w.r.t. a plant. In this context, in addition to the previous two controllability notions, state controllability by Zhou et al. implies language controllability.

Paperid: 3487, https://arxiv.org/pdf/2508.04871.pdf

Abstract:
This paper introduces a novel approach to evaluating the asymptotic stability of equilibrium points in both continuous-time (CT) and discrete-time (DT) nonlinear autonomous systems. By utilizing indirect Lyapunov methods and linearizing system dynamics through Jacobian matrices, the methodology replaces traditional semi-definite programming (SDP) techniques with computationally efficient linear programming (LP) conditions. This substitution substantially lowers the computational burden, including time and memory usage, particularly for high-dimensional systems. The stability criteria are developed using matrix transformations and leveraging the structural characteristics of the system, improving scalability. Several examples demonstrated the computational efficiency of the proposed approach compared to the existing SDP-based criteria, particularly for high-dimensional systems.

Paperid: 3488, https://arxiv.org/pdf/2508.04799.pdf

Abstract:
Most recent advances in machine learning and analytics for process control pose the question of how to naturally integrate new data-driven methods with classical process models and control. We propose a process modeling framework enabling integration of data-driven algorithms through consistent topological properties and conservation of extensive quantities. Interconnections among process network units are represented through connectivity matrices and network graphs. We derive the system's natural objective function equivalent to the non-equilibrium entropy production in a steady state system as a driving force for the process dynamics. We illustrate how distributed control and optimization can be implemented into process network structures and how control laws and algorithms alter the system's natural equilibrium towards engineered objectives. The basic requirement is that the flow conditions can be expressed in terms of conic sector (passivity) conditions. Our formalism allows integration of fundamental conservation properties from topology with learned dynamic relations from data through sparse deep neural networks. We demonstrate in a practical example of a simple inventory control system how to integrate the basic topology of a process with a neural network ordinary differential equation model. The system specific constitutive equations are left undescribed and learned by the neural ordinary differential equation algorithm using the adjoint method in combination with an adaptive ODE solver from synthetic time-series data. The resulting neural network forms a state space model for use in e.g. a model predictive control algorithm.

Paperid: 3489, https://arxiv.org/pdf/2508.04694.pdf

Abstract:
Analyzing the structure and function of urban transportation networks is critical for enhancing mobility, equity, and resilience. This paper leverages network science to conduct a multi-modal analysis of San Diego's transportation system. We construct a multi-layer graph using data from OpenStreetMap (OSM) and the San Diego Metropolitan Transit System (MTS), representing driving, walking, and public transit layers. By integrating thousands of Points of Interest (POIs), we analyze network accessibility, structure, and resilience through centrality measures, community detection, and a proposed metric for walkability. Our analysis reveals a system defined by a stark core-periphery divide. We find that while the urban core is well-integrated, 30.3% of POIs are isolated from public transit within a walkable distance, indicating significant equity gaps in suburban and rural access. Centrality analysis highlights the driving network's over-reliance on critical freeways as bottlenecks, suggesting low network resilience, while confirming that San Diego is not a broadly walkable city. Furthermore, community detection demonstrates that transportation mode dictates the scale of mobility, producing compact, local clusters for walking and broad, regional clusters for driving. Collectively, this work provides a comprehensive framework for diagnosing urban mobility systems, offering quantitative insights that can inform targeted interventions to improve transportation equity and infrastructure resilience in San Diego.

Paperid: 3490, https://arxiv.org/pdf/2508.04436.pdf

Abstract:
Autonomous highway driving presents a high collision risk due to fast-changing environments and limited reaction time, necessitating reliable and efficient trajectory planning. This paper proposes a hybrid trajectory planning framework that integrates the adaptability of learning-based methods with the formal safety guarantees of optimization-based approaches. The framework features a two-layer architecture: an upper layer employing a graph neural network (GNN) trained on real-world highway data to predict human-like longitudinal velocity profiles, and a lower layer utilizing path optimization formulated as a mixed-integer quadratic programming (MIQP) problem. The primary contribution is the lower-layer path optimization model, which introduces a linear approximation of discretized vehicle geometry to substantially reduce computational complexity, while enforcing strict spatiotemporal non-overlapping constraints to formally guarantee collision avoidance throughout the planning horizon. Experimental results demonstrate that the planner generates highly smooth, collision-free trajectories in complex real-world emergency scenarios, achieving success rates exceeding 97% with average planning times of 54 ms, thereby confirming real-time capability.

Paperid: 3491, https://arxiv.org/pdf/2508.03914.pdf

Abstract:
One of the most promising paths towards large scale fault tolerant quantum computation is the use of quantum error correcting stabilizer codes. Just like every other quantum circuit, these codes must be compiled to hardware in a way to minimize the total physical error introduced into the system, for example either due to high latency execution or excessive gates to meet connectivity limitations of the target hardware. However, unlike arbitrary quantum circuits, all syndrome extraction circuits have several common properties, for example they have a bipartite connectivity graph, consist only of commuting subcircuits, among other properties. For the most part, compilation methods have aimed at being generic, able to map any input circuit into executables on the hardware, and therefore cannot appropriately exploit these properties and result in executables which have higher physical error. In the case of modular trapped ion systems, specifically QCCDs, this corresponds to the insertion of excessive shuttling operations necessary to realize arbitrary qubit interactions. We propose a compilation scheme explicitly tailored for the structural regularity of QEC circuits based on several key observations: 1. only ancilla or data (but not both) should be shuttled, 2. stabilizers can be executed in any order meaning we can dynamically modify circuit execution on a per-cycle basis 3. ancilla are indistinguishable meaning any can be selected to begin a stabilizer measurement and retain a fixed-point mapping between cycles, and 4. QCCD hardware limits the number of parallel operations equal to the number traps in the system, meaning fewer ancilla are necessary and can be reused. Our resulting compiler, leads to QEC circuits which are on average 3.38x faster to execute, and lead to up to two orders of magnitude of improvement in logical error rates with realistic physical error rates.

Paperid: 3492, https://arxiv.org/pdf/2508.03154.pdf

Abstract:
This article addresses the problem of state observer design for continuous-time linear positive networked systems. Considering the bandwidth constraint in the communication network, an event-measurement-based positive observer design is proposed. The physical interpretation of a positive observer differs from that of a general observer. Its primary goal is to ensure that all state estimates remain non-negative at all times. Using output measurements, a law with weighted sampling error is used to determine the sampling sequence between the system and the observer. The observer dynamics are designed using the standard Luenberger structure with the event-based sampled output information, which is updated only when an event occurs. Assuming observability and sufficient conditions for the positivity of the system, the asymptotic stability of the observer dynamics with sampled information is established. Sufficient conditions of stability and positivity are derived using linear matrix inequalities. Moreover, the design ensures that the event-based architecture is free from Zeno behavior, ensuring a positive minimum bound on the inter-execution time. In addition, numerical simulations on a three-tank system having variable cross-sections are used to demonstrate the efficacy of the proposed event-based positive observer.

Paperid: 3493, https://arxiv.org/pdf/2508.02899.pdf

Abstract:
Introduction: Rehabilitation after a neurological impairment can be supported by functional electrical stimulation (FES). However, FES is limited by early muscle fatigue, slowing down the recovery progress. The use of optimal control to reduce overstimulation and improve motion precision is gaining interest. This review aims to map the current literature state meanwhile clarifying the best practices, identifying persistent challenges, and outlining directions for future research. Methods: Following the PRISMA guidelines, a search was conducted up to February 2024 using the combined keywords "FES", "optimal control" or "fatigue" across five databases (Medline, Embase, CINAHL Complete, Web of Science, and ProQuest Dissertations & Theses Citation Index). Inclusion criteria included the use of optimal control with FES for healthy individuals and those with neuromuscular disorders. Results: Among the 44 included studies, half were in silico and half in vivo, involving 87 participants, predominantly healthy young men. Twelve different motor tasks were investigated, with a focus on single joint lower limb movements. These studies principally used simple FES models, modulating pulse width or intensity to track joint angle. Conclusions: Optimal control-driven FES can deliver precise motions and reduce fatigue. Yet clinical adoption is slowed down by the lack of consensus about modelling, inconvenient model identification protocol and limited validation. Additional barriers include insufficient open-science practices, computational performance reporting and the availability of customizable commercial hardware. Comparative FES model studies and longitudinal trials with large cohorts, among other efforts, are required to improve the technology readiness level. Such advances would help clinical adoption and improve patient outcomes.

Paperid: 3494, https://arxiv.org/pdf/2508.02873.pdf

Abstract:
We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adjusting leg stiffness, we aim to maximize apex hopping height, a key metric for energy-efficient vertical hopping. We hypothesize that softer legs perform better on soft, damped ground by minimizing penetration and energy loss, while stiffer legs excel on hard, less damped ground by reducing limb deformation and energy dissipation. Through experimental tests and simulations, we find the best leg stiffness within our selection for each combination of ground stiffness and damping, enabling the robot to achieve maximum steady-state hopping height with a constant energy input. These results support our hypothesis that tunable stiffness improves energy-efficient locomotion in controlled experimental conditions. In addition, the simulation provides insights that could aid in the future development of controllers for selecting leg stiffness.

Paperid: 3495, https://arxiv.org/pdf/2508.02289.pdf

Abstract:
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information measured from its neighbors. Although this problem has been extensively investigated, existing approaches are mostly limited to uniform scaling transformations. This article proposes a new type of local matrix-valued constraints, via which non-uniform scaling control of position formation can be achieved by tuning the positions of only two agents (i.e., leaders). Here, the non-uniform scaling transformation refers to scaling the position formation with different ratios along different orthogonal coordinate directions. Moreover, by defining scaling and translation of attitude formation, we propose a distributed control scheme for scaling and translation maneuver control of joint position-attitude formations. It is proven that the proposed controller achieves global convergence, provided that the sensing graph among agents is a 2-rooted bidirectional graph. Compared with the affine formation maneuver control approach, the proposed approach leverages a sparser sensing graph, requires fewer leaders, and additionally enables scaling transformations of the attitude formation. A simulation example is proposed to demonstrate our theoretical results.

Paperid: 3496, https://arxiv.org/pdf/2508.01468.pdf

Abstract:
Hydrogen Purchase Agreements (HPAs) guarantee revenue streams that mitigate the financial risks inherent in the long-term production of green hydrogen from renewable energy sources. However, the intermittency of renewable electricity and the availability of parallel revenue opportunities in both the electricity and hydrogen markets complicate the scheduling of green hydrogen production. The scheduling should maximise the total revenue from short-term sales of electricity and hydrogen against the long-term HPA delivery obligations. This challenge is addressed by developing a Bounded Fuzzy Logic Control (BFLC) which determines the daily HPA delivery target based on day-ahead forecasts of electricity and hydrogen prices, as well as wind capacity factors. Subsequently, the daily target is imposed as a constraint in dispatch optimisation which allocates energy and hydrogen flows for each hour of the day. Revenue comparisons over several years demonstrate that the BFLC achieves total annual revenues within 9% of optimal revenues that are based on perfect foresight. The BFLC revenues consistently exceed those of steady control, with the largest differences observed under conditions of elevated price levels and variability. The BFLC provides an effective long-term scheduling of green hydrogen production, enabling realistic revenue quantification that mitigates economic risks without overlooking economically viable projects.

Paperid: 3497, https://arxiv.org/pdf/2508.01453.pdf

Abstract:
The choice of parameterization in Nonlinear (NL) system models greatly affects the quality of the estimated model. Overly complex models can be impractical and hard to interpret, necessitating data-driven methods for simpler and more accurate representations. In this paper, we propose a data-driven approach to simplify a class of continuous-time NL system models using linear approximations around varying operating points. Specifically, for sparse additive NL models, our method identifies the number of NL subterms and their corresponding input spaces. Under small-signal operation, we approximate the unknown NL system as a trajectory-scheduled Linear Parameter-Varying (LPV) system, with LPV coefficients representing the gradient of the NL function and indicating input sensitivity. Using this sensitivity measure, we determine the NL system's structure through LPV model reduction by identifying non-zero LPV coefficients and selecting scheduling parameters. We introduce two sparse estimators within a vector-valued Reproducing Kernel Hilbert Space (RKHS) framework to estimate the LPV coefficients while preserving their structural relationships. The structure of the sparse additive NL model is then determined by detecting non-zero elements in the gradient vector (LPV coefficients) and the Hessian matrix (Jacobian of the LPV coefficients). We propose two computationally tractable RKHS-based estimators for this purpose. The sparsified Hessian matrix reveals the NL model's structure, with numerical simulations confirming the approach's effectiveness.

Paperid: 3498, https://arxiv.org/pdf/2508.01410.pdf

Abstract:
This work analyzes accelerating and decelerating wall-driven flows by quantifying the upper bound of transient energy growth using a Lyapunov-type approach. By formulating the linearized Navier-Stokes equations as a linear time-varying system and constructing a time-dependent Lyapunov function, we obtain a rigorous upper bound on transient energy growth by solving linear matrix inequalities (LMI). The LMI approach can obtain the upper bound of transient energy growth that closely matches transient growth computed via the singular value decomposition of the state-transition matrix of linear time-varying systems. Our analysis captures that decelerating base flows exhibit significantly larger transient growth compared with accelerating flows. Our approach offers the advantages of providing a rigorous certificate of uniform stability and an invariant ellipsoid to bound the solution trajectory. This Lyapunov-based analysis also has the potential to be extended to input-output analysis and nonlinear analysis.

Paperid: 3499, https://arxiv.org/pdf/2508.01149.pdf

Abstract:
This paper introduces Q8bot, an open-source, miniature quadruped designed for robotics research and education. We present the robot's novel zero-wire design methodology, which leads to its superior form factor, robustness, replicability, and high performance. With a size and weight similar to a modern smartphone, this standalone robot can walk for over an hour on a single battery charge and survive meter-high drops with simple repairs. Its 300-dollar bill of materials includes minimal off-the-shelf components, readily available custom electronics from online vendors, and structural parts that can be manufactured on hobbyist 3D printers. A preliminary user assembly study confirms that Q8bot can be easily replicated, with an average assembly time of under one hour by a single person. With heuristic open-loop control, Q8bot achieves a stable walking speed of 5.4 body lengths per second and a turning speed of 5 radians per second, along with other dynamic movements such as jumping and climbing moderate slopes.

Paperid: 3500, https://arxiv.org/pdf/2508.00905.pdf

Abstract:
Stochastic models in biomolecular contexts can have a state-dependent process noise covariance. The choice of the process noise covariance is an important parameter in the design of a Kalman Filter for state estimation and the theoretical guarantees of updating the process noise covariance as the state estimate changes are unclear. Here we investigated this issue using the Minimum Mean Square Error estimator framework and an interpretation of the Kalman Filter as minimizing a weighted least squares cost using Newton's method. We found that a Kalman Filter-like algorithm with a process noise covariance update is the best linear unbiased estimator for a class of systems with linear process dynamics and a square root-dependence of the process noise covariance on the state. We proved the result for discrete-time system dynamics and then extended it to continuous-time dynamics using a limiting procedure. For nonlinear dynamics with a general dependence of process noise covariance on the state, we showed that this algorithm minimizes a quadratic approximation to a least squares cost weighted by the noise covariance. The algorithm is illustrated with an example.

Paperid: 3501, https://arxiv.org/pdf/2508.00724.pdf

Abstract:
The increasing demand for automation and flexibility drives the widespread adoption of heterogeneous automated guided vehicles (AGVs). This work intends to investigate a new scheduling problem in a material transportation system consisting of attachable heterogeneous AGVs, namely carriers and shuttles. They can flexibly attach to and detach from each other to cooperatively execute complex transportation tasks. While such collaboration enhances operational efficiency, the attachment-induced synchronization and interdependence render the scheduling coupled and susceptible to deadlock. To tackle this challenge, Petri nets are introduced to model AGV schedules, well describing the concurrent and sequential task execution and carrier-shuttle synchronization. Based on Petri net theory, a firing-driven decoding method is proposed, along with deadlock detection and prevention strategies to ensure deadlock-free schedules. Furthermore, a Petri net-based metaheuristic is developed in an adaptive large neighborhood search framework and incorporates an effective acceleration method to enhance computational efficiency. Finally, numerical experiments using real-world industrial data validate the effectiveness of the proposed algorithm against the scheduling policy applied in engineering practice, an exact solver, and four state-of-the-art metaheuristics. A sensitivity analysis is also conducted to provide managerial insights.

Paperid: 3502, https://arxiv.org/pdf/2508.00663.pdf

Abstract:
Hybrid oscillator architectures that combine feedback oscillators with self-sustained negative resistance oscillators have emerged as a promising platform for artificial neuron design. In this work, we introduce a modeling and analysis framework for amplifier-assisted organic electrochemical neurons, leveraging nonlinear dynamical systems theory. By formulating the system as coupled differential equations describing membrane voltage and internal state variables, we identify the conditions for self-sustained oscillations and characterize the resulting dynamics through nullclines, phase-space analysis, and bifurcation behavior, providing complementary insight to standard circuit-theoretic arguments of the operation of oscillators. Our simplified yet rigorous model enables tractable analysis of circuits integrating classical feedback components (e.g., operational amplifiers) with novel devices exhibiting negative differential resistance, such as organic electrochemical transistors (OECT). This approach reveals the core mechanisms behind oscillation generation, demonstrating the utility of dynamic systems theory in understanding and designing complex hybrid circuits. Beyond neuromorphic and bioelectronic applications, the proposed framework offers a generalizable foundation for developing tunable, biologically inspired oscillatory systems in sensing, signal processing, and adaptive control.

Paperid: 3503, https://arxiv.org/pdf/2508.00609.pdf

Abstract:
This paper presents a low-dimensional observer design for stable, single-input single-output, continuous-time linear time-invariant (LTI) systems. Leveraging the model reduction by moment matching technique, we approximate the system with a reduced-order model. Based on this reduced-order model, we design a low-dimensional observer that estimates the states of the original system. We show that this observer establishes exact asymptotic state reconstruction for a given class of inputs tied to the observer's dimension. Furthermore, we establish an exponential input-to-state stability property for generic inputs, ensuring a bounded estimation error. Numerical simulations confirm the effectiveness of the approach for a benchmark model reduction problem.

Paperid: 3504, https://arxiv.org/pdf/2508.00188.pdf

Abstract:
We consider a finite-horizon discrete-time dynamic system jointly controlled by a designer and one or more agents, where the designer can influence the agents' actions through selective information disclosure. At each time step, the designer sends a message to the agent(s) from a prespecified message space. The designer may also take an action that directly influences system dynamics and rewards. Each agent uses its received message (and its own information) to choose its action. We are interested in the setting where the designer would like to incentivize each agent to play a specific strategy. We consider a notion of incentive compatibility that is based on sequential rationality at each realization of the common information between the designer and the agent(s). Our objective is to find a messaging and action strategy for the designer that maximizes its total expected reward while incentivizing each agent to follow a prespecified strategy. Under certain assumptions on the information structure of the problem, we show that an optimal designer strategy can be computed using a backward inductive algorithm that solves a family of linear programs.

Paperid: 3505, https://arxiv.org/pdf/2508.00011.pdf

Abstract:
Sixth-generation (6G) networks are designed to meet the hyper-reliable and low-latency communication (HRLLC) requirements of safety-critical applications such as autonomous driving. Integrating non-terrestrial networks (NTN) into the 6G infrastructure brings redundancy to the network, ensuring continuity of communications even under extreme conditions. In particular, high-altitude platform stations (HAPS) stand out for their wide coverage and low latency advantages, supporting communication reliability and enhancing information freshness, especially in rural areas and regions with infrastructure constraints. In this paper, we present reinforcement learning-based approaches using deep deterministic policy gradient (DDPG) to dynamically optimize the age-of-information (AoI) in HAPS-enabled vehicle-to-everything (V2X) networks. The proposed method improves information freshness and overall network reliability by enabling independent learning without centralized coordination. The findings reveal the potential of HAPS-supported solutions, combined with DDPG-based learning, for efficient AoI-aware resource allocation in platoon-based autonomous vehicle systems.

Paperid: 3506, https://arxiv.org/pdf/2507.23571.pdf

Abstract:
This paper presents an integration study for a power electronic-based fast-frequency response technology, an asynchronous grid connection operating as an aggregator for behindthe-meter resources and distributed generators. Both technical feasibility and techno-economic viability studies are presented. The dynamic performance of the fast-frequency response enabled by the asynchronous grid connection is validated with Power Hardware-in-the-Loop experiments and transferred to an IEEE 9-bus system in DigSilent PowerFactory for dynamic stability analysis. We demonstrate that droop-based control enhancements to the local distributed generators could allow their aggregation to provide grid-supporting functionalities and participate in the market for ancillary services. To this end, we performed a long-term simulation embedding the system within the ancillary service market framework of PJM. The fast-frequency response regulation is subsequently used to calculate the potential revenue and project the results on a 15-year investment horizon. Finally, the techno-economic analysis concludes with recommendations for enhancements to access the full potential of distributed generators on a technical and regulatory level.

Paperid: 3507, https://arxiv.org/pdf/2507.23401.pdf

Abstract:
Estimating electricity consumption accurately is essential for the planning and operation of energy systems, as well as for billing processes. Standard Load Profiles (SLP) are widely used to estimate consumption patterns of different user groups. However, in Germany these SLP were formulated using historical data from over 20 years ago and have not been adjusted since. Changing electricity consumption behaviour, which leads to increasing deviations between load patterns and SLP, results in a need for a revision taking into account new data. The growing number of smart meters provides a large measurement database, which enables more accurate load modelling. This paper creates updated SLP using recent data. In addition, the assumptions of the SLP method are validated and improvements are proposed, taking into account the ease of applicability. Furthermore, a Fourier Series-based model is proposed as an alternative SLP model. The different models are compared and evaluated.

Paperid: 3508, https://arxiv.org/pdf/2507.23350.pdf

Abstract:
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while minimizing travel distance and adhering to curvature constraints to prevent soil damage and protect vegetation. This paper presents an integrated navigation framework combining a global path planner based on the Dubins Traveling Salesman Problem (DTSP) with a Nonlinear Model Predictive Control (NMPC) strategy for local path planning and control. The DTSP generates a minimum-length, curvature-constrained path that efficiently visits all targets, while the NMPC leverages this path to compute control signals to accurately reach each waypoint. The system's performance was validated through comparative simulation analysis on real-world field datasets, demonstrating that the coupled DTSP-based planner produced smoother and shorter paths, with a reduction of about 16% in the provided scenario, compared to decoupled methods. Based thereon, the NMPC controller effectively steered the robot to the desired waypoints, while locally optimizing the trajectory and ensuring adherence to constraints. These findings demonstrate the potential of the proposed framework for efficient autonomous navigation in agricultural environments.

Paperid: 3509, https://arxiv.org/pdf/2507.23270.pdf

Abstract:
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated multi-robot motion sequences that minimize the assembly duration. This work presents a simulation-based method for generating such optimized sequences. The approach separates assembly steps into task-related core operations and connecting traverse operations. While core operations are constrained and predetermined, traverse operations offer substantial optimization potential. Scheduling the core operations is formulated as an optimization problem, requiring feasible traverse operations to be integrated using a decomposition-based motion planning strategy. Several solution techniques are explored, including a sampling heuristic, tree-based search and gradient-free optimization. For motion planning, a decomposition method is proposed that identifies specific areas in the schedule, which can be solved independently with modified centralized path planning algorithms. The proposed method generates efficient and collision-free multi-robot assembly procedures that outperform a baseline relying on decentralized, robot-individual motion planning. Its effectiveness is demonstrated through simulation experiments.

Paperid: 3510, https://arxiv.org/pdf/2507.23078.pdf

Abstract:
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means of Vehicle-to-Everything (V2X) communication. It involves a detailed examination of existing longitudinal controllers and their performance in homogeneous vehicle platoons. Moreover, extensive tests are conducted using multiple autonomous experimental vehicle platform topologies to verify the effectiveness of the controller. The outcomes from both simulations and field tests affirm the substantial benefits of the proposed CACC platooning approach in longitudinal vehicle platooning scenarios. This research is crucial due to a notable gap in the existing literature; while numerous studies focus on simulated vehicle platooning systems, there is lack of research demonstrating these controllers on physical vehicle systems or robot platforms. This paper seeks to fill this gap by providing a practical demonstration of CACC systems in action, showcasing their potential for real-world application in intelligent transportation systems.

Paperid: 3511, https://arxiv.org/pdf/2507.22693.pdf

Abstract:
This study proposes an encrypted PID control system with a disturbance observer (DOB) using a keyed-homomorphic encryption (KHE) scheme, aiming to achieve control performance while providing resistance to malleability-based attacks. The controller integrates a DOB with a PID structure to compensate for modeling uncertainties by estimating and canceling external disturbances. To enhance security, the system is designed to output error symbols when ciphertexts are falsified during decryption or evaluation, enabling real-time detection of malleability-based signal or parameter falsification. To validate the proposed method, we conduct stage positioning control experiments and attack detection tests using an industrial linear stage. The results show that the encrypted DOB-based PID controller outperforms a conventional encrypted PID controller in terms of tracking accuracy. Furthermore, the system successfully detects two types of malleability-based attacks: one that destabilizes the control system, and another that degrades its performance. The primary contributions of this study are: (i) the implementation of a KHE-based encrypted DOB-PID controller, (ii) the improvement of control performance under uncertainties, and (iii) the experimental demonstration of attack detection capabilities in encrypted control systems.

Paperid: 3512, https://arxiv.org/pdf/2507.22295.pdf

Abstract:
This paper presents a novel UAV swarm-based phased array antenna system that leverages MagSafe- and LEGO-inspired radio frequency (RF) connectors to address key challenges in distributed phased arrays, including inter-element oscillator synchronization, localization, phase coherence, and positional accuracy. The proposed non-threaded, hands-free connectors enable precise inter-element spacing and establish a continuous, low-loss RF signal propagation path during mid-flight docking. A multi-stage optimization of the RF connector achieves a compact form factor, DC-to-RF bandwidth, and a measured insertion loss as low as 0.2\,dB. The system architecture offers scalability in gain and frequency by adjusting the array element density per UAV and UAV dimensions. Experimental results from both stationary and in-flight tests of two UAV-based phased array prototypes align closely with simulations, demonstrating robust beam steering to multiple directions. This work delivers a practical, scalable, and low-complexity platform that enables rapid deployment for next-generation airborne communications, radar, and remote sensing applications.

Paperid: 3513, https://arxiv.org/pdf/2507.22243.pdf

Abstract:
The paper presents a new control algorithm for unstable linear systems with input delay. In comparison with known analogues, the control law has been designed, which is a modification of the Smith predictor, and is the simplest one to implement without requiring complex integration methods. At the same time, the problem of stabilization of a closed system is effectively solved, ensuring the boundedness of all state variables and the exponential stability of the equilibrium point.

Paperid: 3514, https://arxiv.org/pdf/2507.22227.pdf

Abstract:
In this paper, we design a safe and efficient cruise control for the connected automated vehicle with access to motion information from multiple vehicles ahead via vehicle-to-vehicle (V2V) communication. Position and velocity data collected from a chain of human-driven vehicles are systematically leveraged to design a connected cruise controller that smoothly responds to traffic perturbations while maximizing energy efficiency. A safety filter derived from a control barrier function provides the safety guarantee. We investigate the proposed control design's energy performance against real traffic datasets and quantify the safety filter's energy impact. It is shown that optimally utilizing V2V connectivity reduces energy consumption by more than 10\% compared to standard non-connected adaptive cruise control. Meanwhile, interesting interplays between safety filter and energy efficiency design are highlighted, revealing future research directions.

Paperid: 3515, https://arxiv.org/pdf/2507.22198.pdf

Abstract:
A RL (Reinforcement Learning) algorithm was developed for command automation onboard a 3U CubeSat. This effort focused on the implementation of macro control action RL, a technique in which an onboard agent is provided with compiled information based on live telemetry as its observation. The agent uses this information to produce high-level actions, such as adjusting attitude to solar pointing, which are then translated into control algorithms and executed through lower-level instructions. Once trust in the onboard agent is established, real-time environmental information can be leveraged for faster response times and reduced reliance on ground control. The approach not only focuses on developing an RL algorithm for a specific satellite but also sets a precedent for integrating trusted AI into onboard systems. This research builds on previous work in three areas: (1) RL algorithms for issuing high-level commands that are translated into low-level executable instructions; (2) the deployment of AI inference models interfaced with live operational systems, particularly onboard spacecraft; and (3) strategies for building trust in AI systems, especially for remote and autonomous applications. Existing RL research for satellite control is largely limited to simulation-based experiments; in this work, these techniques are tailored by constructing a digital twin of a specific spacecraft and training the RL agent to issue macro actions in this simulated environment. The policy of the trained agent is copied to an isolated environment, where it is fed compiled information about the satellite to make inference predictions, thereby demonstrating the RL algorithm's validity on orbit without granting it command authority. This process enables safe comparison of the algorithm's predictions against actual satellite behavior and ensures operation within expected parameters.

Paperid: 3516, https://arxiv.org/pdf/2507.22188.pdf

Abstract:
Soft everting robots present significant advantages over traditional rigid robots, including enhanced dexterity, improved environmental interaction, and safe navigation in unpredictable environments. While soft everting robots have been widely demonstrated for exploration type tasks, their potential to move and deploy payloads in such tasks has been less investigated, with previous work focusing on sensors and tools for the robot. Leveraging the navigation capabilities, and deployed body, of the soft everting robot to deliver payloads in hazardous areas, e.g. carrying a water bottle to a person stuck under debris, would represent a significant capability in many applications. In this work, we present an analysis of how soft everting robots can be used to deploy larger, heavier payloads through the inside of the robot. We analyze both what objects can be deployed and what terrain features they can be carried through. Building on existing models, we present methods to quantify the effects of payloads on robot growth and self-support, and develop a model to predict payload slip. We then experimentally quantify payload transport using soft everting robot with a variety of payload shapes, sizes, and weights and though a series of tasks: steering, vertical transport, movement through holes, and movement across gaps. Overall, the results show that we can transport payloads in a variety of shapes and up to 1.5kg in weight and that we can move through circular apertures with as little as 0.01cm clearance around payloads, carry out discrete turns up to 135 degrees, and move across unsupported gaps of 1.15m in length.

Paperid: 3517, https://arxiv.org/pdf/2507.22176.pdf

Abstract:
We address numerical differentiation under coarse, non-uniform sampling and Gaussian noise. A maximum-likelihood estimator with $L_2$-norm constraint on a higher-order derivative is obtained, yielding spline-based solution. We introduce a non-standard parameterization of quadratic splines and develop recursive online algorithms. Two formulations -- quadratic and zero-order -- offer tradeoff between smoothness and computational speed. Simulations demonstrate superior performance over high-gain observers and super-twisting differentiators under coarse sampling and high noise, benefiting systems where higher sampling rates are impractical.

Paperid: 3518, https://arxiv.org/pdf/2507.21669.pdf

Abstract:
Efficient greenhouse management is essential for sustainable food production in response to a growing global population. However, maintaining optimal indoor climates requires significant energy and resources, making advanced control systems critical for economic viability and environmental sustainability. Traditional greenhouse models are often complex and imprecise, limiting the effectiveness of conventional control strategies. To address these challenges, this study investigates data-driven predictive control methods using Gated Recurrent Unit (GRU) and Long Short-Term Memory (LSTM) neural networks. Our experiments showed that GRU-based predictive control reduced temperature and humidity violations by up to 5\% and required 40\% less computation time than the LSTM approach, all while maintaining equivalent economic performance and crop yield. These findings demonstrate that GRU-based predictive control offers a more efficient and practical solution for real-time greenhouse climate regulation in precision agriculture.

Paperid: 3519, https://arxiv.org/pdf/2507.21667.pdf

Abstract:
This letter proposes a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external disturbances. The DNN is used to compensate the unknown nonlinear dynamics with higher accuracy than shallow neural networks (NNs) and SMC ensures robust tracking. This framework employs restricted potential functions within a set-theoretic paradigm to ensure system trajectories remain bounded within a compact set, improving robustness against approximation errors and external disturbances. The control scheme is grounded in non-smooth Lyapunov stability theory, with update laws derived for both inner and outer layer network weights of DNN. A numerical example is simulated that showcases the proposed controller's effectiveness, adaptability, and robustness.

Paperid: 3520, https://arxiv.org/pdf/2507.21624.pdf

Abstract:
This paper proposes an algorithm to efficiently solve multistage stochastic programs with block separable recourse where each recourse problem is a multistage stochastic program with stage-wise independent uncertainty. The algorithm first decomposes the full problem into a reduced master problem and subproblems using Adaptive Benders decomposition. The subproblems are then solved by an enhanced SDDP. The enhancement includes (1) valid bounds at each iteration, (2) a path exploration rule, (3) cut sharing among subproblems, and (4) guaranteed Î´-optimal convergence. The cuts for the subproblems are then shared by calling adaptive oracles. The key contribution of the paper is the first algorithm for solving this class of problems. The algorithm is demonstrated on a power system investment planning problem with multi-timescale uncertainty. The case study results show that (1) the proposed algorithm can efficiently solve this type of problem, (2) deterministic wind modelling underestimate the objective function, and (3) stochastic modelling of wind leads to different investment decisions.

Paperid: 3521, https://arxiv.org/pdf/2507.21579.pdf

Abstract:
We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to long actuation delays that may be distinct for each individual vehicle. We provide the explicit formulae of the control design that is implemented, accounting for the effect of zero-order hold and sampled measurements; as well as we obtain vehicle and string stability conditions numerically, via derivation of the transfer functions relating the speeds of pairs of consecutive vehicles. We also present consistent simulation results for a platoon with a larger number of vehicles, under digital implementation of the controller. Both the simulation and experimental results confirm the effectiveness of the predictor-based CACC design in guaranteeing individual vehicle stability, string stability, and tracking, despite long/distinct actuation delays.

Paperid: 3522, https://arxiv.org/pdf/2507.21441.pdf

Abstract:
We address the problem of steering the phase distribution of oscillators all receiving the same control input to a given target distribution. In a large population limit, the distribution of oscillators can be described by a probability density. Then, our problem can be seen as that of ensemble control with a constraint on the steady-state density. In particular, we consider the case where oscillators are subject to stochastic noise, for which the theoretical understanding is still lacking. First, we characterize the reachability of the phase distribution under periodic feedforward control via the Fourier coefficients of the target density and the phase sensitivity function of oscillators. This enables us to design a periodic input that makes the stationary distribution of oscillators closest to the target by solving a convex optimization problem. Next, we devise an ensemble control method combining periodic and feedback control, where the feedback component is designed to accelerate the convergence of the distribution of oscillators. We exhibit some convergence results for the proposed method, including a result that holds even under measurement errors in the phase distribution. The effectiveness of the proposed method is demonstrated by a numerical example.

Paperid: 3523, https://arxiv.org/pdf/2507.21384.pdf

Abstract:
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body images via Selected Coefficient of Perceived Motion, SCoMo, after each training session. Based on human motor learning theory extended to wearer-robot systems, we hypothesized that learning the perceived body image when walking with a robotic leg co-evolves with the actual gait improvement and becomes more certain and more accurate to the actual motion. Our result confirmed that motor learning improved both physical and perceived gait pattern towards normal, indicating that via practice the wearers incorporated the robotic leg into their sensorimotor systems to enable wearer-robot movement coordination. However, a persistent discrepancy between perceived and actual motion remained, likely due to the absence of direct sensation and control of the prosthesis from wearers. Additionally, the perceptual overestimation at the later training sessions might limit further motor improvement. These findings suggest that enhancing the human sense of wearable robots and frequent calibrating perception of body image are essential for effective training with lower limb wearable robots and for developing more embodied assistive technologies.

Paperid: 3524, https://arxiv.org/pdf/2507.20835.pdf

Abstract:
Minimum Attention Control (MAC) is a control technique that provides minimal input changes to meet the control objective. Mathematically, the zero norm of the input changes is used as a constraint for the given control objective and minimized with respect to the process dynamics. In this paper, along with the zero norm constraint, stage costs are also considered for reference tracking in a receding horizon framework. For this purpose, the optimal inputs of the previous horizons are also considered in the optimization problem of the current horizon. An alternating minimization algorithm is applied to solve the optimization problem (Minimum Attention Model Predictive Control (MAMPC)). The outer step of the optimization is a quadratic program, while the inner step, which solves for sparsity, has an analytical solution. The proposed algorithm is implemented on two case studies: a four-tank system with slow dynamics and a fuel cell stack with fast dynamics. A detailed comparative study of the proposed algorithm with standard MPC indicates sparse control actions with a tradeoff in the tracking error.

Paperid: 3525, https://arxiv.org/pdf/2507.20792.pdf

Abstract:
Advancements in analog-to-digital converter (ADC) technology have enabled higher sampling rates, making it feasible to adopt digital radar architectures that directly sample the radio-frequency (RF) signal, eliminating the need for analog downconversion. This digital approach supports greater flexibility in waveform design and signal processing, particularly through digital modulation schemes like orthogonal frequency division multiplexing (OFDM). This paper presents a digital radar system mounted on an uncrewed aerial vehicle (UAV), which employs OFDM waveforms for coherent multistatic synthetic aperture radar (SAR) imaging in the L-band. The radar setup features a primary UAV node responsible for signal transmission and monostatic data acquisition, alongside secondary nodes that operate in a receive-only mode. These secondary nodes capture the radar signal reflected from the scene as well as a direct sidelink signal. RF signals from both the radar and sidelink paths are sampled and processed offline. To manage data storage efficiently, a trigger mechanism is employed to record only the relevant portions of the radar signal. The system maintains coherency in both fast-time and slow-time domains, which is essential for multistatic SAR imaging. Because the secondary nodes are passive, the system can be easily scaled to accommodate a larger swarm of UAVs. The paper details the full signal processing workflow for both monostatic and multistatic SAR image formation, including an analysis and correction of synchronization errors that arise from the uncoupled operation of the nodes. The proposed coherent processing method is validated through static radar measurements, demonstrating coherency achieved by the concept. Additionally, a UAV-based bistatic SAR experiment demonstrates the system's performance by producing high-resolution monostatic, bistatic, and combined multistatic SAR images.

Paperid: 3526, https://arxiv.org/pdf/2507.20250.pdf

Abstract:
Enhancing resilience in multi-agent systems in the face of selfish agents is an important problem that requires further characterisation. This work develops a truthful mechanism that avoids self-interested and strategic agents maliciously manipulating the algorithm. We prove theoretically that the proposed mechanism incentivises self-interested agents to participate and follow the provided algorithm faithfully. Additionally, the mechanism is compatible with any distributed optimisation algorithm that can calculate at least one subgradient at a given point. Finally, we present an illustrative example that shows the effectiveness of the mechanism.

Paperid: 3527, https://arxiv.org/pdf/2507.20098.pdf

Abstract:
This paper compares data-driven predictive control strategies by examining their theoretical foundations, assumptions, and applications. The three most widely recognized and consequential methods, Data Enabled Predictive Control, Willems-Koopman Predictive Control, Model-Free Adaptive Predictive Control are employed. Each of these strategies is systematically reviewed, and the primary theories supporting it are outlined. Following analysis, a discussion is provided regarding their fundamental assumptions, emphasizing their influence on control effectiveness. A numerical example is presented as a benchmark for comparison to enable a rigorous performance evaluation.

Paperid: 3528, https://arxiv.org/pdf/2507.19838.pdf

Abstract:
This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in GPS-denied environments. To address this challenge, the proposed architecture integrates a Bayesian Multiple-Model Adaptive Estimation (MMAE) framework operating over an N x N x N 3D hypothesis grid. Each hypothesis employs a 9-state Multiplicative Extended Kalman Filter (MEKF) to estimate attitude, angular velocity, and gyroscope bias using TRIAD-based vector measurements. A key contribution is the development of a robust grid refinement strategy that uses hypothesis diversity and weighted-mean grid centering to prevent the premature convergence commonly encountered in classical, dominant model-based refinement triggers. Extensive Monte Carlo simulations demonstrate that the proposed method reduces the final misalignment RMSE relative to classical approaches, achieving arcsecond-level accuracy. The resulting framework offers a computationally tractable and statistically robust solution for in-flight calibration, enhancing the navigational autonomy of resource-constrained spacecraft.

Paperid: 3529, https://arxiv.org/pdf/2507.19542.pdf

Abstract:
This study proposes optimized Type-I and Type-II fuzzy controllers for automotive suspension systems to enhance ride comfort and stability under road disturbances (step/sine inputs), addressing the lack of systematic performance comparisons in existing literature. We integrate Biogeography-Based Optimization (BBO), Particle Swarm Optimization (PSO), and Genetic Algorithms (GA) to tune controller parameters for a quarter car model, with emphasis on BBO's underexplored efficacy. MATLAB Simulink simulations demonstrate that BBO-optimized Type-II fuzzy control reduces body displacement by 22% and acceleration by 18% versus baseline methods under step disturbances, while maintaining computational efficiency. The framework provides practical, high-performance solutions for modern vehicles, particularly electric and autonomous platforms where vibration attenuation and energy efficiency are critical.

Paperid: 3530, https://arxiv.org/pdf/2507.19532.pdf

Abstract:
One of the most important surgical factors is Depth of Anesthesia (DOA) control in patients. The main problem is to overcome the uncertainty and nonlinearity of the system, due to different physiological parameters of the patient's body and maintain DOA of patients in desired range during surgery. This study demonstrates a fractional order fuzzy PID controller (FOFPID) and fractional order PID controller (FOPID) to the problem. The Whale Optimization Algorithms (WOA) is used to optimized the parameters of proposed controllers. The orders of derivative and integral fractional controller is achieved by WOA. The results indicate that FOFPID has a better performance than FOPID. To check the performance of the controllers in presence of uncertainty, physiological logical model of 8 patients has been investigated. The modeling is based on Pharmacodynamic and Pharmacokinetic model. The results show the performance of the proposed method.

Paperid: 3531, https://arxiv.org/pdf/2507.19509.pdf

Abstract:
This study presents a comprehensive evaluation of dynamic aerodynamic derivatives during aircraft transition phases using advanced CFD simulations and forced oscillation testing. Two case studies are examined: a three dimensional fighter aircraft (Standard Dynamic Model, SDM) and a UT24 eVTOL model. The transition phase from vertical hover to forward cruise is analyzed with harmonic oscillation techniques to capture unsteady aerodynamic forces and moments. Grid sensitivity studies and multi zone meshing strategies ensure simulation accuracy, while ANSYS Fluent finite volume solver and coupled pressure velocity algorithms provide high fidelity results. Dynamic derivatives are derived from variations in angle of attack, flight path, and rotational movements, with experimental and numerical data validating the approach. The findings offer valuable insights for robust control design and stability analysis, supporting future advancements in urban air mobility and aerospace engineering. Overall, this approach demonstrates substantial promise for optimizing aircraft performance during critical transition phases. These results pave the way for future innovations

Paperid: 3532, https://arxiv.org/pdf/2507.19327.pdf

Abstract:
This work presents two complementary real-time rail vehicle localization methods based on magnetic field measurements and a pre-recorded magnetic map. The first uses a particle filter reweighted via magnetic similarity, employing a heavy-tailed non-Gaussian kernel for enhanced stability. The second is a stateless sequence alignment technique that transforms real-time magnetic signals into the spatial domain and matches them to the map using a similarity measure. Experiments with operational train data show that the particle filter achieves track-selective, sub-5-meter accuracy over 21.6 km, though its performance degrades at low speeds and during cold starts. Accuracy tests were constrained by the GNSS-based reference system. In contrast, the alignment-based method excels in cold-start scenarios, localizing within 30 m in 92 % of tests (100 % using top-3 matches). A hybrid approach combines both methods$\unicode{x2014}$alignment-based initialization followed by particle filter tracking. Runtime analysis confirms real-time capability on consumer-grade hardware. The system delivers accurate, robust localization suitable for safety-critical rail applications.

Paperid: 3533, https://arxiv.org/pdf/2507.19100.pdf

Abstract:
Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments.

Paperid: 3534, https://arxiv.org/pdf/2507.19029.pdf

Abstract:
Achieving high distribution-reliability levels and concurrently minimizing operating costs can be considered as the main issues in distribution system optimization. Determination of the optimal number and location of automation devices in the distribution system network is an essential issue from the reliability and economical points of view. To address these issues, this paper develops a multi-objective model, wherein the primary objective, optimal automation devices placement is implemented aiming at minimizing the operating costs, while in the second objective the reliability indices improvement is taken into account. So, modified non dominated sorting genetic algorithm, is developed and presented to solve this multi-objective mixed-integer non-linear programming problem. The feasibility of the proposed algorithm examined by application to two distribution feeders of the Tabriz distribution network containing the third feeder of the Azar substation with a distributed generation unit and first and third feeders of ElGoli substation which form a double feed feeder.

Paperid: 3535, https://arxiv.org/pdf/2507.18738.pdf

Abstract:
Fair and dynamic energy allocation in community microgrids remains a critical challenge, particularly when serving socio-economically diverse participants. Static optimization and cost-sharing methods often fail to adapt to evolving inequities, leading to participant dissatisfaction and unsustainable cooperation. This paper proposes a novel framework that integrates multi-objective mixed-integer linear programming (MILP), cooperative game theory, and a dynamic equity-adjustment mechanism driven by reinforcement learning (RL). At its core, the framework utilizes a bi-level optimization model grounded in Equity-regarding Welfare Maximization (EqWM) principles, which incorporate Rawlsian fairness to prioritize the welfare of the least advantaged participants. We introduce a Proximal Policy Optimization (PPO) agent that dynamically adjusts socio-economic weights in the optimization objective based on observed inequities in cost and renewable energy access. This RL-powered feedback loop enables the system to learn and adapt, continuously striving for a more equitable state. To ensure transparency, Explainable AI (XAI) is used to interpret the benefit allocations derived from a weighted Shapley value. Validated across six realistic scenarios, the framework demonstrates peak demand reductions of up to 72.6%, and significant cooperative gains. The adaptive RL mechanism further reduces the Gini coefficient over time, showcasing a pathway to truly sustainable and fair energy communities.

Paperid: 3536, https://arxiv.org/pdf/2507.18204.pdf

Abstract:
The integration of renewable sources is essential for decarbonizing heat production in district energy networks. Beyond biomass-based solutions, solar thermal energy, with or without heat pumps, presents a significant opportunity. However, system performance is highly dependent on outdoor and setpoint temperatures. This study aims to optimize system design using a multi-criteria approach that considers techno-economic and environmental (CO2) factors. A Mixed-Integer Linear Programming (MILP) model is developed, incorporating temperature discretization for problem linearization and capturing key dynamic characteristics of heat generators. The model improves convergence, reducing a 19% MIP gap in 26 hours to 10% in 12 hours by dissipating 6% excess solar heat. A multi-scenario analysis under two carbon taxation levels and different CO2 emission cases revealed solar integration up to 11,932 m${}^2$ but increased gas reliance (50%) and TES losses (49%). Wood boiler inclusion reduced solar dependency, covering 45% of heat, lowered LCOH, but limited renewable penetration. Higher carbon taxes boosted solar adoption but faced storage inefficiencies, while biomass enhanced cost efficiency and system stability.

Paperid: 3537, https://arxiv.org/pdf/2507.17990.pdf

Abstract:
Designing industrial systems, such as building, improving, and automating distribution centers and manufacturing plants, involves critical decision-making with limited information in the early phases. The lack of information leads to less accurate designs of the systems, which are often difficult to resolve later. It is effective to use simulators to model the designed system and find out the issues early. However, the modeling time required by conventional simulators is too long to allow for rapid model creation to meet decision-making demands. In this paper, we propose a Rapid Modeling Architecture (RMA) for a lightweight industrial simulator that mitigates the modeling burden while maintaining the essential details in order to accelerate and improve decision-making. We have prototyped a simulator based on the RMA and applied it to the actual factory layout design problem. We also compared the modeling time of our simulator to that of an existing simulator, and as a result, our simulator achieved a 78.3% reduction in modeling time compared to conventional simulators.

Paperid: 3538, https://arxiv.org/pdf/2507.17638.pdf

Abstract:
We study the problem of learning clusters of partially observed linear dynamical systems from multiple input-output trajectories. This setting is particularly relevant when there are limited observations (e.g., short trajectories) from individual data sources, making direct estimation challenging. In such cases, incorporating data from multiple related sources can improve learning. We propose an estimation algorithm that leverages different data requirements for the tasks of clustering and system identification. First, short impulse responses are estimated from individual trajectories and clustered. Then, refined models for each cluster are jointly estimated using multiple trajectories. We establish end-to-end finite sample guarantees for estimating Markov parameters and state space realizations and highlight trade-offs among the number of observed systems, the trajectory lengths, and the complexity of the underlying models.

Paperid: 3539, https://arxiv.org/pdf/2507.17071.pdf

Abstract:
Due to environmental changes and sensor aging, sensor drift challenges the performance of electronic nose systems in gas classification during real-world deployment. Previous studies using the UCI Gas Sensor Array Drift Dataset reported promising drift compensation results but lacked robust statistical experimental validation and may overcompensate for sensor drift, losing class-related variance.To address these limitations and improve sensor drift compensation with statistical rigor, we first designed two domain adaptation tasks based on the same electronic nose dataset: using the first batch to predict the remaining batches, simulating a controlled laboratory setting; and predicting the next batch using all prior batches, simulating continuous training data updates for online training. We then systematically tested three methods: our proposed novel Knowledge Distillation (KD) method, the benchmark method Domain Regularized Component Analysis (DRCA), and a hybrid method KD-DRCA, across 30 random test set partitions on the UCI dataset. We showed that KD consistently outperformed both DRCA and KD-DRCA, achieving up to an 18% improvement in accuracy and 15% in F1-score, demonstrating KD's superior effectiveness in drift compensation. This is the first application of KD for electronic nose drift mitigation, significantly outperforming the previous state-of-the-art DRCA method and enhancing the reliability of sensor drift compensation in real-world environments.

Paperid: 3540, https://arxiv.org/pdf/2507.17011.pdf

Abstract:
This paper introduces an innovative Energy-Autonomous Wireless Sensing Node (EAWSN) that addresses power constraints by harnessing ambient light for energy. It combines this energy harvesting capability with the Time Domain to Digital Conversion (TDDC) technique for efficient and accurate measurements of resistive sensors. Bluetooth Low Energy (BLE) communication ensures data can be transmitted wirelessly to a base station, providing a promising solution for various applications, particularly in environments with limited access to wired power sources, enabling long-term, maintenance-free operation by eliminating batteries. Experimental results showed a linear relationship between the test resistance R_m and the measured number of clock pulses N_m within the sensor's operating range.

Paperid: 3541, https://arxiv.org/pdf/2507.16963.pdf

Abstract:
The growing adoption of inverter-based resources (IBRs) has introduced unprecedented dynamics in power systems, resulting in oscillations across a broad spectrum of frequencies. Communication delay between the plant-level control and the inverter-level control in IBR plants has been recognized as one of the causes of such oscillations and a factor that impacts the system's stability. The control signals from the plant-level controller also experience sampling, with the sampled values held constant by the hold elements for the duration of the sampling period. This also has a bearing on the response of IBR plants. In this paper, we analyze the impacts of communication delay and sampling of control signals between plant-level control and inverter-level control of grid-following IBR plants on the small-signal stability of power systems. The underlying fundamentals of communication delay and sampling are revisited to explain the observed responses. Our findings emphasize the unique effects of communication delay and sampling period on the stability of IBR-rich power systems and suggest strategies to mitigate their detrimental impacts. The work also highlights the need for more accurate approaches for small-signal stability analysis of such systems.

Paperid: 3542, https://arxiv.org/pdf/2507.16520.pdf

Abstract:
This paper proposes a reinforcement learning (RL)-based backstepping control strategy to achieve fixed time consensus in nonlinear multi-agent systems with strict feedback dynamics. Agents exchange only output information with their neighbors over a directed communication graph, without requiring full state measurements or symmetric communication. Achieving fixed time consensus, where convergence occurs within a pre-specified time bound that is independent of initial conditions is faced with significant challenges due to the presence of unknown nonlinearities, inter-agent couplings, and external disturbances. This work addresses these challenges by integrating actor critic reinforcement learning with a novel fixed time adaptation mechanism. Each agent employs an actor critic architecture supported by two estimator networks designed to handle system uncertainties and unknown perturbations. The adaptation laws are developed to ensure that all agents track the leader within a fixed time regardless of their initial conditions. The consensus and tracking errors are guaranteed to converge to a small neighborhood of the origin, with the convergence radius adjustable through control parameters. Simulation results demonstrate the effectiveness of the proposed approach and highlight its advantages over state-of-the-art methods in terms of convergence speed and robustness.

Paperid: 3543, https://arxiv.org/pdf/2507.16101.pdf

Abstract:
The growing number of space debris in Low Earth Orbit (LEO) jeopardizes long-term orbital sustainability, requiring efficient risk assessment for active debris removal (ADR) missions. This study presents the development and validation of Filtered Modified MITRI (FMM), an enhanced risk index designed to improve the prioritization of high-criticality debris. Leveraging the MOCAT-MC simulation framework, we conducted a comprehensive performance evaluation and sensitivity analysis to probe the robustness of the FMM formulation. The results demonstrate that while the FMM provides superior identification of high-risk targets for annual removal campaigns, a nuanced performance trade-off exists between risk models depending on the operational removal cadence. The analysis also confirms that physically grounded mass terms are indispensable for practical risk assessment. By providing a validated open source tool and critical insights into the dynamics of risk, this research enhances our ability to select optimal ADR targets and ensure the long-term viability of LEO operations.

Paperid: 3544, https://arxiv.org/pdf/2507.16071.pdf

Abstract:
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically suffers from false positives. To mitigate these, in this paper, we introduce three monitoring strategies based on dynamic spatial properties, relevant object sizes, and motion-aware prediction. In experiments in a validated simulation, we compare the initial monitoring strategy against the proposed improvements. The results demonstrate that the proposed strategies can significantly improve the reliability of near-field monitoring systems.

Paperid: 3546, https://arxiv.org/pdf/2507.15489.pdf

Abstract:
This paper presents a novel quadratic programming (QP) approach for constrained control allocation that directly incorporates continuous-time actuator rate constraints without requiring slack variables. Over-actuated aircraft configurations, particularly prevalent in eVTOL and military applications, require control allocation algorithms to distribute commanded control moments among available actuators while respecting position and rate constraints. Existing methods such as direct allocation, pseudo-inverse, cascaded generalized inverse, and exact redistributed pseudo-inverse either cannot handle rate constraints in continuous time or require discretization approaches that compromise performance. Current QP methods that incorporate rate constraints rely on slack variables to ensure feasibility, which prevents full utilization of the attainable moment set and degrades allocation performance. The proposed methodology addresses this limitation by calculating the attainable moment set from both position and rate constraints through convex hull operations, then ensuring feasibility by scaling unattainable commanded moments to the boundary of the attainable moment set while preserving their direction. This approach guarantees the feasibility of the optimization problem without slack variables. The method is validated through simulation on an F-18 fighter aircraft control allocation problem, demonstrating equivalent performance to the established exact redistributed pseudo-inverse method while providing smoother actuator behavior and enhanced constraint satisfaction. Results show that incorporating continuous-time rate constraints leads to improved actuator tracking, reduced overshoot, and more precise adherence to position limits, which is essential for aircraft safety, ride comfort, and actuator longevity.

Paperid: 3547, https://arxiv.org/pdf/2507.15283.pdf

Abstract:
The resilient consensus problem is investigated in this paper for a class of networked Euler-Lagrange systems with event-triggered communication in the presence of Byzantine attacks. One challenge that we face in addressing the considered problem is the inapplicability of existing resilient decision algorithms designed for one-dimensional multi-agent systems. This is because the networked Euler-Lagrange systems fall into the category of multi-dimensional multi-agent systems with coupling among state vector components. To address this problem, we propose a new resilient decision algorithm. This algorithm constructs auxiliary variables related to the coordinative objectives for each normal agent, and transforms the considered resilient consensus problem into the consensus problem of the designed auxiliary variables. Furthermore, to relax the constraints imposed on Byzantine agent behavior patterns within continuous-time scenarios, the event-triggered communication scheme is adopted. Finally, the effectiveness of the proposed algorithm is demonstrated through case studies.

Paperid: 3548, https://arxiv.org/pdf/2507.15127.pdf

Abstract:
This paper develops a sequential-linearization feedback optimization framework for driving nonlinear dynamical systems to an optimal steady state. A fundamental challenge in feedback optimization is the requirement of accurate first-order information of the steady-state input-output mapping, which is computationally prohibitive for high-dimensional nonlinear systems and often leads to poor performance when approximated around a fixed operating point. To address this limitation, we propose a sequential algorithm that adaptively updates the linearization point during optimization, maintaining local accuracy throughout the trajectory. We prove convergence to a neighborhood of the optimal steady state with explicit error bounds. To reduce the computational burden of repeated linearization operations, we further develop a multi-timescale variant where linearization updates occur at a slower timescale than optimization iterations, achieving significant computational savings while preserving convergence guarantees. The effectiveness of the proposed framework is demonstrated via numerical simulations of a realistic wind farm control problem. The results validate both the theoretical convergence predictions and the expected computational advantages of our multi-timescale formulation.

Paperid: 3549, https://arxiv.org/pdf/2507.15047.pdf

Abstract:
This paper studies a set-theoretic generalization of Lyapunov and Lagrange stability for abstract systems described by set-valued maps. Lyapunov stability is characterized as the property of inversely mapping filters to filters, Lagrange stability as that of mapping ideals to ideals. These abstract definitions unveil a deep duality between the two stability notions, enable a definition of global stability for abstract systems, and yield an agile generalization of the stability theorems for basic series, parallel, and feedback interconnections, including a small-gain theorem. Moreover, it is shown that Lagrange stability is abstractly identical to other properties of interest in control theory, such as safety and positivity, whose preservation under interconnections can be thus studied owing to the developed stability results.

Paperid: 3550, https://arxiv.org/pdf/2507.15022.pdf

Abstract:
Among the promising approaches to enforce safety in control systems, learning Control Barrier Functions (CBFs) from expert demonstrations has emerged as an effective strategy. However, a critical challenge remains: verifying that the learned CBFs truly enforce safety across the entire state space. This is especially difficult when CBF is represented using neural networks (NCBFs). Several existing verification techniques attempt to address this problem including SMT-based solvers, mixed-integer programming (MIP), and interval or bound-propagation methods but these approaches often introduce loose, conservative bounds. To overcome these limitations, in this work we use CPED-NCBFs a split-conformal prediction based verification strategy to verify the learned NCBF from the expert demonstrations. We further validate our method on point mass systems and unicycle models to demonstrate the effectiveness of the proposed theory.

Paperid: 3551, https://arxiv.org/pdf/2507.14765.pdf

Abstract:
In this paper, we mainly focus on the problem of multi-target observability, focusing on the unique state estimation criteria for multiple targets. We derive the condition which is necessary as well as sufficient for observability using bearing angles with multiple higher-order dynamics observed by a single observer. We then establish an alternative notion of observability by analyzing ambiguous target trajectories and deriving the condition which is NECNDSUF (Nec. and Suff.) for multi-target observability, considering three types of measurements: Doppler-only, bearing-only, and combined Doppler and bearing measurements, which offers insights that can improve target distinguishability, trajectory reconstruction, and overall tracking accuracy.

Paperid: 3552, https://arxiv.org/pdf/2507.14756.pdf

Abstract:
This study evaluates the role of grid-connected hydrogen electrolyzers in advancing a cost-effective and in particular an equitable green hydrogen industry in Kenya to serve both domestic and international needs and markets. Using a multi-nodal capacity expansion model with county-level spatial resolution, we assess how electrolyzer deployment affects electricity cost, grid flexibility, and carbon intensity under various renewable and demand scenarios. Results show that electrolyzers enable up to 30 percent reduction in levelized cost of electricity (LCOE) and US\$460 million in cumulative system cost savings by 2050 compared to a business-as-usual scenario. As a flexible demand available to absorb surplus generation, electrolyzers reduce curtailment and support large-scale wind integration while still requiring a diverse mix of renewable electricity. The resulting hydrogen reaches a levelized cost of \$3.2 per kg by 2050, and its carbon intensity from electricity use falls below one kg carbon dioxide per kg of hydrogen, suggesting likely compliance with international certification thresholds. Benefits persist across all demand trajectories, though their scale depends on the pace of wind expansion. Spatial analyses reveal unequal distribution of infrastructure gains, underscoring the need for equity-oriented planning. These findings suggest that grid-integrated hydrogen, if planned in coordination with wind investment, transmission, and equitable infrastructure deployment, can reduce costs, support certification, and promote a more equitable model of hydrogen development. In other words, connecting electrolyzers to the grid will not only make green hydrogen in Kenya but also for Kenya.

Paperid: 3553, https://arxiv.org/pdf/2507.14354.pdf

Abstract:
We derive a decomposition for the gradient of the innovation loss with respect to the filter gain in a linear time-invariant system, decomposing as a product of an observability Gramian and a term quantifying the ``non-orthogonality" between the estimation error and the innovation. We leverage this decomposition to give a convergence proof of gradient descent to the optimal Kalman gain, specifically identifying how recovery of the Kalman gain depends on a non-standard observability condition, and obtaining an interpretable geometric convergence rate.

Paperid: 3554, https://arxiv.org/pdf/2507.14219.pdf

Abstract:
As nations seek sustainable alternatives to fossil fuels, green hydrogen has emerged as a promising strategic pathway toward decarbonisation, particularly in solar-rich arid regions. However, identifying optimal locations for hydrogen production requires the integration of complex environmental, atmospheric, and infrastructural factors, often compounded by limited availability of direct hydrogen yield data. This study presents a novel Artificial Intelligence (AI) framework for computing green hydrogen yield and site suitability index using mean absolute SHAP (SHapley Additive exPlanations) values. This framework consists of a multi-stage pipeline of unsupervised multi-variable clustering, supervised machine learning classifier and SHAP algorithm. The pipeline trains on an integrated meteorological, topographic and temporal dataset and the results revealed distinct spatial patterns of suitability and relative influence of the variables. With model predictive accuracy of 98%, the result also showed that water proximity, elevation and seasonal variation are the most influential factors determining green hydrogen site suitability in Oman with mean absolute shap values of 2.470891, 2.376296 and 1.273216 respectively. Given limited or absence of ground-truth yield data in many countries that have green hydrogen prospects and ambitions, this study offers an objective and reproducible alternative to subjective expert weightings, thus allowing the data to speak for itself and potentially discover novel latent groupings without pre-imposed assumptions. This study offers industry stakeholders and policymakers a replicable and scalable tool for green hydrogen infrastructure planning and other decision making in data-scarce regions.

Paperid: 3555, https://arxiv.org/pdf/2507.14020.pdf

Abstract:
Understanding how batteries perform after automotive use is crucial to determining their potential for reuse. This article presents experimental results aimed at advancing knowledge of retired battery performance. Three modules extracted from electric vehicles were tested. Their performance was assessed, and the results were analyzed statistically using analysis of variance (ANOVA). The 36 retired cells exhibited a high level of performance, albeit with significant variation. On average, the cells had a 95% state of health capacity with a dispersion of 2.4%. ANOVA analysis suggests that cell performance is not correlated with their position inside the module. These results demonstrate the need to evaluate dispersion within retired batteries and to develop thermal management and balancing systems for second-life batteries.

Paperid: 3556, https://arxiv.org/pdf/2507.13982.pdf

Abstract:
Reliable energy delivery is a critical requirement for long-term lunar missions, particularly in regions with limited solar access, such as polar craters and during extended lunar nights. Optical Power Beaming (OPB) using high-power lasers offers a promising alternative to conventional solar power, but the effects of suspended lunar dust on beam propagation remain poorly understood. This study introduces a detailed simulation model that incorporates both diffraction and height-dependent scattering by the electrostatically suspended lunar regolith. Un like prior approaches, which assumed uniform dust layers or center-to-center transmission loss, our model uses generalized diffraction theory and refractive index gradients derived from particle density to assess beam deformation and attenuation. The results show that even in ground-to-ground scenarios, lunar dust significantly degrades energy transfer efficiency, dropping from 57% to 3.7% over 50 km in dust-free vs. dusty conditions with 175 nm particles. Increasing the particle size to 250 nm limits the viable transmission range to below 30 km at 6% efficiency. The study further demonstrates that raising the laser source height can improve efficiency, achieving 91% for a distance of 5 km and 25% at 50 km when the source is positioned 12 m above ground. These findings underscore the importance of system elevation and dust modeling in lunar OPB design and reveal the mission-critical role of particle size distribution, especially in environments disturbed by human activity.

Paperid: 3557, https://arxiv.org/pdf/2507.13931.pdf

Abstract:
This contribution presents a parameter identification methodology for the accurate and fast estimation of model parameters in a pseudo-two-dimensional (P2D) battery model. The methodology consists of three key elements. First, the data for identification is inspected and specific features herein that need to be captured are included in the model. Second, the P2D model is analyzed to assess the identifiability of the physical model parameters and propose alternative parameterizations that alleviate possible issues. Finally, diverse operating conditions are considered that excite distinct battery dynamics which allows the use of different low-order battery models accordingly. Results show that, under low current conditions, the use of low-order models achieve parameter estimates at least 500 times faster than using the P2D model at the expense of twice the error. However, if accuracy is a must, these estimated parameters can be used to initialize the P2D model and perform the identification in half of the time.

Paperid: 3558, https://arxiv.org/pdf/2507.13888.pdf

Abstract:
We present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Order CBFs (HOCBFs) ensure asymptotic safety but lack mechanisms for fixed-time convergence, which is critical in time-sensitive and safety-critical applications such as autonomous navigation. In contrast, our approach imposes a structured differential constraint using repeated roots in the characteristic polynomial, enabling closed-form polynomial solutions with exact convergence at a prescribed time. We derive conditions on the barrier function and its derivatives that ensure forward invariance and fixed-time reachability, and we provide an explicit formulation for second-order systems. Our method is evaluated on three robotic systems - a point-mass model, a unicycle, and a bicycle model and benchmarked against existing HOCBF approaches. Results demonstrate that our formulation reliably enforces convergence within the desired time, even when traditional methods fail. This work provides a tractable and robust framework for real-time control with provable finite-time safety guarantees.

Paperid: 3559, https://arxiv.org/pdf/2507.13871.pdf

Abstract:
Synthesising safe controllers from visual data typically requires extensive supervised labelling of safety-critical data, which is often impractical in real-world settings. Recent advances in world models enable reliable prediction in latent spaces, opening new avenues for scalable and data-efficient safe control. In this work, we introduce a semi-supervised framework that leverages control barrier certificates (CBCs) learned in the latent space of a world model to synthesise safe visuomotor policies. Our approach jointly learns a neural barrier function and a safe controller using limited labelled data, while exploiting the predictive power of modern vision transformers for latent dynamics modelling.

Paperid: 3560, https://arxiv.org/pdf/2507.13687.pdf

Abstract:
Multi-target tracking (MTT) serves as a cornerstone technology in information fusion, yet faces significant challenges in robustness and efficiency when dealing with model uncertainties, clutter interference, and target interactions. Conventional approaches like Gaussian Mixture PHD (GM-PHD) and Cardinalized PHD (CPHD) filters suffer from inherent limitations including combinatorial explosion, sensitivity to birth/death process parameters, and numerical instability. This study proposes an innovative minimax robust PHD filtering framework with four key contributions: (1) A theoretically derived robust GM-PHD recursion algorithm that achieves optimal worst-case error control under bounded uncertainties; (2) An adaptive real-time parameter adjustment mechanism ensuring stability and error bounds; (3) A generalized heavy-tailed measurement likelihood function maintaining polynomial computational complexity; (4) A novel partition-based credibility weighting method for extended targets. The research not only establishes rigorous convergence guarantees and proves the uniqueness of PHD solutions, but also verifies algorithmic equivalence with standard GM-PHD. Experimental results demonstrate that in high-clutter environments, this method achieves a remarkable 32.4% reduction in OSPA error and 25.3% lower cardinality RMSE compared to existing techniques, while maintaining real-time processing capability at 15.3 milliseconds per step. This breakthrough lays a crucial foundation for reliable MTT in safety-critical applications.

Paperid: 3561, https://arxiv.org/pdf/2507.13678.pdf

Abstract:
Coordinating multi-agent systems requires balancing synchronization performance and controller implementation costs. To this end, we classify agents by their intrinsic properties, enabling each group to be controlled by a uniform controller and thus reducing the number of unique controller types required. Existing centralized control methods, despite their capability to achieve high synchronization performance with fewer types of controllers, suffer from critical drawbacks such as limited scalability and vulnerability to single points of failure. On the other hand, distributed control strategies, where controllers are typically agent-dependent, result in the type of required controllers increasing proportionally with the size of the system. This paper introduces a novel phase-alignment-based framework to minimize the type of controllers by strategically clustering agents with aligned synchronization behaviors. Leveraging the intrinsic phase properties of complex matrices, we formulate a constrained clustering problem and propose a hierarchical optimization method combining recursive exact searches for small-scale systems and scalable stochastic approximations for large-scale networks. This work bridges theoretical phase analysis with practical control synthesis, offering a cost-effective solution for large-scale multi-agent systems. The theoretical results applied for the analysis of a 50-agent network illustrate the effectiveness of the proposed algorithms.

Paperid: 3562, https://arxiv.org/pdf/2507.13613.pdf

Abstract:
We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural assumptions on the uncertainty, our framework enhances contraction-based robust control with data-driven uncertainty prediction, remaining agnostic to the models of the uncertainty and predictor. We statistically quantify how reliably the contraction conditions are satisfied under dynamics with uncertainty via conformal prediction, thereby obtaining a distribution-free and finite-time probabilistic guarantee for exponential boundedness of the trajectory tracking error. We further propose the probabilistically robust control invariant (PRCI) tube for distributionally robust motion planning, within which the perturbed system trajectories are guaranteed to stay with a finite probability, without explicit knowledge of the uncertainty model. Numerical simulations validate the effectiveness of the proposed robust control framework and the performance of the PRCI tube.

Paperid: 3563, https://arxiv.org/pdf/2507.13557.pdf

Abstract:
The efficient computer optimization of magnetic resonance pulses and pulse sequences involves the calculation of a problem-adapted cost function as well as its gradients with respect to all controls applied. The gradients generally can be calculated as a finite difference approximation, as a GRAPE approximation, or as an exact function, e.g. by the use of the augmented matrix exponentiation, where the exact gradient should lead to best optimization convergence. However, calculation of exact gradients is computationally expensive and analytical exact solutions to the problem would be highly desirable. As the majority of todays pulse optimizations involve a single spin 1/2, which can be represented by simple rotation matrices in the Bloch space or by their corresponding Cayley-Klein/quaternion parameters, the derivations of analytical exact gradient functions appear to be feasible. Taking two optimization types, the optimization of point-to-point pulses using 3D-rotations and the optimization of universal rotation pulses using quaternions, analytical solutions for gradients with respect to controls have been derived. Controls in this case can be conventional $x$ and $y$ pulses, but also $z$-controls, as well as gradients with respect to amplitude and phase of a pulse shape. In addition, analytical solutions with respect to pseudo controls, involving holonomic constraints to maximum rf-amplitudes, maximum rf-power, or maximum rf-energy, are introduced. Using the hyperbolic tangent function, maximum values are imposed in a fully continuous and differentiable way. The obtained analytical gradients allow the calculation two orders of magnitude faster than the augmented matrix exponential approach. The exact gradients for different controls are finally compared in a number of optimizations involving broadband pulses for $^{15}$N, $^{13}$C, and $^{19}$F applications.

Paperid: 3564, https://arxiv.org/pdf/2507.12718.pdf

Abstract:
This paper presents a novel approach for computing enlarged Region of Attractions (ROA) for nonlinear dynamical systems through the integration of multiple coordinate transformations and piecewise quadratic Lyapunov functions within the Takagi-Sugeno (TS) modeling framework. While existing methods typically follow a single-path approach of original system $\rightarrow$ TS model $\rightarrow$ ROA computation, the proposed methodology systematically applies a sequence of coordinate transformations to generate multiple system representations, each yielding distinct ROA estimations. Specifically, the approach transforms the original nonlinear system using transformation matrices $T_1, T_2, \ldots, T_N$ to obtain $N$ different coordinate representations, constructs corresponding TS models for each transformed system, and computes individual ROAs using piecewise quadratic Lyapunov functions. The final ROA estimate is obtained as the union of all computed regions, leveraging the flexibility inherent in piecewise quadratic Lyapunov functions compared to traditional quadratic approaches. The enhanced methodology demonstrates significant improvements in ROA size estimation compared to conventional single-transformation techniques, as evidenced through comparative analysis with existing TS-based stability methods.

Paperid: 3565, https://arxiv.org/pdf/2507.12708.pdf

Abstract:
In this paper, we investigate on the modeling of demand response activities between the single aggregator and multiple participating consumers. The model incorporates the bilevel structure that naturally occurs in the information structure and decision sequence, where the aggregator assumes the role of a leader and the participating consumers play the role of followers. The proposed model is demonstrated to be effective in load control, helping the aggregator to meet the target reduction while the consumers pay cheaper electricity bill.

Paperid: 3566, https://arxiv.org/pdf/2507.12479.pdf

Abstract:
We demonstrate the feedback control of a weakly conducting magnetohydrodynamic (MHD) flow via Lorentz forces generated by externally applied electric and magnetic fields. Specifically, we steer the flow of an electrolyte toward prescribed velocity or vorticity patterns using arrays of electrodes and electromagnets positioned around and beneath a fluid reservoir, with feedback provided by planar particle image velocimetry (PIV). Control is implemented using a model predictive control (MPC) framework, in which control signals are computed by minimizing a cost function over the predicted evolution of the flow. The predictor is constructed entirely from data using Koopman operator theory, which enables a linear representation of the underlying nonlinear fluid dynamics. This linearity allows the MPC problem to be solved by alternating between two small and efficiently solvable convex quadratic programs (QPs): one for the electrodes and one for the electromagnets. The resulting controller runs in a closed loop on a standard laptop, enabling real-time control of the flow. We demonstrate the functionality of the approach through experiments in which the flow is shaped to match a range of reference velocity fields and a time-varying vorticity field.

Paperid: 3567, https://arxiv.org/pdf/2507.12452.pdf

Abstract:
Energy-efficient high-bandwidth interconnects play a key role in computing systems. Advances in silicon photonic electro-optic modulators and wavelength selective components have enabled the utilization of wavelength-division-multiplexing (WDM) in integrated optical transceivers, offering a high data-rate operation while achieving enhanced energy efficiency, bandwidth density, scalability, and the reach required for data-centers. Here, we report the demonstration of a single chip optical WDM PAM4 receiver, where by co-integration of a 32-channel optical demultiplexer (O-DeMux) with autonomous wavelength tuning and locking at a near-zero power consumption and a 32-channel ultra-low power concurrent electrical detection system, a record chip energy efficiency of under 0.38 pJ/bit is measured. The implemented 32 channel monolithic WDM optical receiver chip achieves an end-to-end latency of under 100 ps and a bit-error-rate of less than 10-12 with no equalization, pre-distortion, or digital-signal-processing, while operating at 1.024 Tb/s aggregate data-rate on a single input fiber, the largest reported data-rate for a WDM PAM4 receiver chip to date. The receiver bandwidth density of more than 3.55 Tb/s/mm2 corresponds to more than an order-of-magnitude larger bandwidth density-energy efficiency product compared to the state-of-the-art optical PAM4 receivers for beyond 100Gb/s links. The chip, integrated using GlobalFoundries 45CLO CMOS-photonic process, can be used for implementation of energy-efficient high data-rate optical links for AI applications.

Paperid: 3568, https://arxiv.org/pdf/2507.12433.pdf

Abstract:
Accurate pedestrian intention estimation is crucial for the safe navigation of autonomous vehicles (AVs) and hence attracts a lot of research attention. However, current models often fail to adequately consider dynamic traffic signals and contextual scene information, which are critical for real-world applications. This paper presents a Traffic-Aware Spatio-Temporal Graph Convolutional Network (TA-STGCN) that integrates traffic signs and their states (Red, Yellow, Green) into pedestrian intention prediction. Our approach introduces the integration of dynamic traffic signal states and bounding box size as key features, allowing the model to capture both spatial and temporal dependencies in complex urban environments. The model surpasses existing methods in accuracy. Specifically, TA-STGCN achieves a 4.75% higher accuracy compared to the baseline model on the PIE dataset, demonstrating its effectiveness in improving pedestrian intention prediction.

Paperid: 3569, https://arxiv.org/pdf/2507.12327.pdf

Abstract:
With the increasing energy demand and the growing integration of renewable sources of energy, power systems face operational challenges such as overloads, losses, and stability concerns, particularly as networks operate near their capacity limits. Flexible alternating current transmission system (FACTS) devices are essential to ensure reliable grid operations and enable the efficient integration of renewable energy. This work introduces a mixed-integer second-order cone programming (MISOCP) model for the multi-period scheduling of key FACTS devices in electric transmission systems. The proposed model integrates four key control mechanisms: (i) on-load tap changers (OLTCs) for voltage regulation via discrete taps; (ii) static synchronous compensators (STATCOMs) and (iii) shunt reactors for reactive power compensation; and (iv) thyristor-controlled series capacitors (TCSCs) for adjustable impedance and flow control. The objective is to minimize active power losses using a limited number of control actions while meeting physical and operational constraints at all times throughout the defined time horizon. To ensure tractability, the model employs a second-order cone relaxation of the power flow. Device-specific constraints are handled via binary expansion and linearization: OLTCs and shunt reactors are modelled with discrete variables, STATCOMs through reactive power bounds, and TCSCs using a reformulation-linearization technique (RLT). A multi-period formulation captures the sequential nature of decision making, ensuring consistency across time steps. The model is evaluated on the IEEE 9-bus, 30-bus, and RTS96 test systems, demonstrating its ability to reduce losses, with potential applicability to larger-scale grids.

Paperid: 3570, https://arxiv.org/pdf/2507.12163.pdf

Abstract:
Energy Harvesting technologies will play a fundamental role in the development of the next generation of electronic systems as well as in advancing the development of sustainable infrastructure. One of the critical challenges in EH is utilizing ambient vibrations to harvest energy. Piezo Energy Harvesting, which uses ambient vibrations, is a promising technology in energy harvesting and a self-powered technology. However, it suffers from several practical challenges. Some of these challenges include narrow bandwidth, non-linearity, and impedance mismatch, among others. This paper presents a novel, simulated Piezo Energy Harvesting (PEH) framework that addresses some of these challenges. The proposed model is designed to be adaptive and effective against the inherent non-linearity of PEH. This detailed model covers a non-linear piezo, Synchronous Electric Charge Extraction (SECE), Hybrid Maximum Power Point Tracking (MPPT) and a Switched Capacitor Array (SCA). The SECE extracts the maximum charge accumulated on the piezo every time the piezo reaches the mechanical extremum. The Bouc-Wen model has been used to establish nonlinearity in the system. The hybrid MPPT exhibits significant improvement over conventional P&O, while the SCA-tuned system demonstrates resilience against variable frequency input.

Paperid: 3571, https://arxiv.org/pdf/2507.12146.pdf

Abstract:
In MIMO systems, the presence of phase noise is a significant factor that can degrade performance. For MIMO testbeds build from SDR devices, phase noise cannot be ignored, particular in applications that require phase synchronization. This is especially relevant in MIMO systems that employ digital beamforming, where precise phase alignment is crucial. Accordingly, accurate phase noise modelling of SDR devices is essential. However, the information provided in data sheets for different SDR models varies widely and is often insufficient for comprehensive characterization of their phase noise performance. While numerical simulations of PLL phase noise behavior are documented in the literature, there is a lack of extensive measurements supported by appropriate system modelling. In this work, we present a practical phase noise modeling methodology applied to an SDR from the USRP X310 series. Based on measurement data, we derive estimates of key PLL performance indicators such as cycle-to-cycle jitter, oscillator constants, and PLL bandwidth. Furthermore, we propose a parametric model for the phase noise PSD of the PLL circuit and provide corresponding parameter estimates. This model can be used for further investigation into the impact of phase noise on MIMO system performance implemented by similar SDR devices.

Paperid: 3572, https://arxiv.org/pdf/2507.11924.pdf

Abstract:
In distributed target-tracking sensor networks, efficient data gathering methods are necessary to save communication resources and assure information accuracy. This paper proposes a Feedback (FB) distributed data-gathering method which lets the central unit feed information back to the mobile sensors; each sensor then uses it to cancel redundant transmissions and reduce communication congestion. We rigorously compare its performance, in terms of mean-squared error (MSE) and cost of power per sensor, against more conventional Non-Feedback (NF) architectures by evaluating conditions of feasibility and advantage under different architecture specifications (e.g., communication delay rate, power cost rate, maximum back-off time, sampling period, observation noise). Here, we defined the advantage as the performance gain achieved by FB over NF, while FB is said to be feasible if the advantage region is nonempty. Our theoretical analyses show that the feasibility of FB depends more on the communication power cost, while the advantage depends on the sensors' propagation delay per transmission interval; we derive concrete conditions under which these outcomes hold. Using extensive numerical simulations under a variety of settings, we confirm the accuracy of the derived conditions, and show that our theoretical results hold even for more complex scenarios where the simplifying assumptions no longer hold.

Paperid: 3573, https://arxiv.org/pdf/2507.11749.pdf

Abstract:
The adoption of electric vehicles (EVs) is rapidly growing as a key solution to reducing greenhouse gas emissions. However, prolonged charging times remain a significant barrier to widespread EV usage, especially for individuals without access to fast charging infrastructure. This paper explores the potential of reconfigurable battery systems to reduce EV charging times without compromising battery life. We propose innovative battery pack configurations that dynamically adjust the arrangement of cells to optimize charging performance. Simulations were conducted using MATLAB and Simulink to compare the efficiency of various battery configurations, focusing on charging times, state of charge (SOC), voltage, and current under different conditions. The results demonstrate that connecting more batteries in series through reconfigurability in battery packs can significantly reduce charging times while maintaining operational safety. This study offers insights into how reconfigurable battery designs can provide a practical solution for faster, more efficient home-based EV charging, making EV ownership more accessible and sustainable.

Paperid: 3574, https://arxiv.org/pdf/2507.11499.pdf

Abstract:
Next-Generation Radio Access Networks (NGRAN) aim to support diverse vertical applications with strict security, latency, and Service-Level Agreement (SLA) requirements. These demands introduce challenges in securing the infrastructure, allocating resources dynamically, and enabling real-time reconfiguration. This demo presents SnSRIC, a secure and intelligent network slicing framework that mitigates a range of Distributed Denial-of-Service (DDoS) attacks in Open RAN environments. SnSRIC incorporates an AI-driven xApp that dynamically allocates Physical Resource Blocks (PRBs) to active users while enforcing slice-level security. The system detects anomalous behavior, distinguishes between benign and malicious devices, and uses the E2 interface to throttle rogue signaling while maintaining service continuity for legitimate users.

Paperid: 3575, https://arxiv.org/pdf/2507.10706.pdf

Abstract:
Two-fold redundant sparse arrays (TFRAs) are designed to maintain accurate direction estimation even in the event of a single sensor failure, leveraging the deliberate coarray redundancy infused into their design. Robust Minimum Redundancy Arrays (RMRAs), a specialized class of TFRAs, optimize this redundancy to achieve the maximum possible aperture for a given number of sensors. However, finding optimal RMRA configurations is an NP-hard problem, with prior research reporting optimal solutions only for arrays of up to ten sensors. This paper presents newly discovered optimal RMRA configurations for array sizes 11 to 15, identified using a novel Leap-on-Success exhaustive search algorithm that efficiently reduces computational effort by terminating the search upon locating optimal solutions. The robustness of these arrays was validated under all single-element failure scenarios using MATLAB simulations, confirming their superior resilience compared to some existing TFRAs vulnerable to failures at specific sensor positions. Furthermore, near-optimal configurations for array sizes 16 to 20 are also reported, highlighting the potential applicability of the proposed method for larger array designs given sufficient computational resources. This work not only advances the state-of-the-art in RMRA design but also introduces an effective search methodology that can be leveraged for future explorations in array configuration optimization.

Paperid: 3576, https://arxiv.org/pdf/2507.10609.pdf

Abstract:
The United Arab Emirates (UAE) relies heavily on seawater desalination to meet over 90% of its drinking water needs. Desalination processes are highly energy intensive and account for approximately 15% of the UAE's electricity consumption, contributing to over 22% of the country's energy-related CO2 emissions. Moreover, these processes face significant sustainability challenges in the face of climate uncertainties such as rising seawater temperatures, salinity, and aerosol optical depth (AOD). AOD greatly affects the operational and economic performance of solar-powered desalination systems through photovoltaic soiling, membrane fouling, and water turbidity cycles. This study proposes a novel pipelined two-stage predictive modelling architecture: the first stage forecasts AOD using satellite-derived time series and meteorological data; the second stage uses the predicted AOD and other meteorological factors to predict desalination performance efficiency losses. The framework achieved 98% accuracy, and SHAP (SHapley Additive exPlanations) was used to reveal key drivers of system degradation. Furthermore, this study proposes a dust-aware rule-based control logic for desalination systems based on predicted values of AOD and solar efficiency. This control logic is used to adjust the desalination plant feed water pressure, adapt maintenance scheduling, and regulate energy source switching. To enhance the practical utility of the research findings, the predictive models and rule-based controls were packaged into an interactive dashboard for scenario and predictive analytics. This provides a management decision-support system for climate-adaptive planning.

Paperid: 3577, https://arxiv.org/pdf/2507.10321.pdf

Abstract:
The aerospace industry has experienced significant transformations over the last decade, driven by technological advancements and innovative solutions in goods and personal transportation. This evolution has spurred the emergence of numerous start-ups that now face challenges traditionally encountered by established aerospace companies. Among these challenges is the efficient processing of digital intra-device communication interfaces for onboard equipment - a critical component for ensuring seamless system integration and functionality. Addressing this challenge requires solutions that emphasize clear and consistent interface descriptions, automation of processes, and reduced labor-intensive efforts. This paper presents a novel process and toolchain designed to streamline the development of digital interfaces and onboard software, which our team has successfully applied in several completed projects. The proposed approach focuses on automation and flexibility while maintaining compliance with design assurance requirements.

Paperid: 3578, https://arxiv.org/pdf/2507.10280.pdf

Abstract:
Digital twins are increasingly applied in transportation modelling to replicate real-world traffic dynamics and evaluate mobility and energy efficiency. This study presents a SUMO-based digital twin that simulates mixed ICEV-EV traffic on a major motorway segment, leveraging multi-sensor data fusion from inductive loops, GPS probes, and toll records. The model is validated under both complete and partial information scenarios, achieving 93.1% accuracy in average speed estimation and 97.1% in average trip length estimation. Statistical metrics, including KL Divergence and Wasserstein Distance, demonstrate strong alignment between simulated and observed traffic patterns. Furthermore, CO2 emissions were overestimated by only 0.8-2.4%, and EV power consumption underestimated by 1.0-5.4%, highlighting the model's robustness even with incomplete vehicle classification information.

Paperid: 3579, https://arxiv.org/pdf/2507.10011.pdf

Abstract:
Components of electrical power systems are susceptible to failures caused by lightning strikes, aging or human errors. These faults can cause equipment damage, affect system reliability, and results in expensive repair costs. As electric power systems are becoming more complex, traditional protection methods face limitations and shortcomings. Faults in power systems can occur at anytime and anywhere, can be caused by a natural disaster or an accident, and their occurrence can be hardly predicted or avoided; therefore, it is crucial to accurately estimate the fault location and quickly restore service. The development of methods capable of accurately detecting, locating and removing faults is essential (i.e. fast isolation of faults is necessary to maintain the system stability at transmission levels; accurate and fast detection and location of faults are essential for increasing reliability and customer satisfaction at distribution levels). This has motivated the development of new and more efficient methods. Methods developed to detect and locate faults in power systems can be divided into two categories, conventional and artificial intelligence-based techniques. Although the utilization of artificial intelligence (AI) techniques offer tremendous potential, they are challenging and time consuming (i.e. many AI techniques require training data for processing). This paper presents a survey of the application of AI techniques to fault diagnosis (detection, classification and location of faults) of lines and cables of power systems at both transmission and distribution levels. The paper provides a short introduction to AI concepts, a brief summary of the application of AI techniques to power system analysis and design, and a discussion on AI-based fault diagnosis methods.

Paperid: 3580, https://arxiv.org/pdf/2507.09997.pdf

Abstract:
This paper presents a trust-based predictive multi-agent consensus protocol that analyses neighbours' anticipation data and makes coordination decisions. Agents in the network share their future predicted data over a finite look-ahead horizon with their neighbours and update their predictions in a rolling-horizon fashion. The prediction data is then used by agents to learn both the trust and the commitment traits exhibited by their neighbours over time. The proposed protocol is named as the Anticipatory Distributed Coordination (ADC) protocol. Lyapunov theory-based agreement convergence between agents is provided, followed by demonstrations using numerical simulations.

Paperid: 3581, https://arxiv.org/pdf/2507.09464.pdf

Abstract:
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of cost-effective sensors to obtain orientation and location data subsequently processed through the application of data filtering algorithms and sensor fusion techniques to improve the data quality to make a precise model visualization on the software. UAV's orientation is obtained using processed Inertial Measurement Unit (IMU) data and represented using Quaternion Representation to avoid the gimbal lock problem. The UAV's location is determined by combining data from the Global Positioning System (GPS), which provides stable geographic coordinates but slower data update frequency, and the accelerometer, which has higher data update frequency but integrating it to get position data is unstable due to its accumulative error. By combining data from these two sensors, the software is able to calculate and continuously update the UAV's real-time position during its flight operations. The result shows that the software effectively renders UAV orientation and position with high degree of accuracy and fluidity

Paperid: 3582, https://arxiv.org/pdf/2507.09134.pdf

Abstract:
The motion planning problem of generating dynamically feasible, collision-free trajectories in non-convex environments is a fundamental challenge for autonomous systems. Decomposing the problem into path planning and path tracking improves tractability, but integrating these components in a theoretically sound and computationally efficient manner is challenging. We propose the Path Feasibility Governor (PathFG), a framework for integrating path planners with nonlinear Model Predictive Control (MPC). The PathFG manipulates the reference passed to the MPC controller, guiding it along a path while ensuring constraint satisfaction, stability, and recursive feasibility. The PathFG is modular, compatible with replanning, and improves computational efficiency and reliability by reducing the need for long prediction horizons. We prove safety and asymptotic stability with a significantly expanded region of attraction, and validate its real-time performance through a simulated case study of quadrotor navigation in a cluttered environment.

Paperid: 3583, https://arxiv.org/pdf/2507.08849.pdf

Abstract:
Machine Learning models are increasingly used in businesses to detect faults and anomalies in complex systems. In this work, we take this approach a step further: beyond merely detecting anomalies, we aim to identify the optimal control strategy that restores the system to a safe state with minimal disruption. We frame this challenge as a counterfactual problem: given a Machine Learning model that classifies system states as either good or anomalous, our goal is to determine the minimal adjustment to the system's control variables (i.e., its current status) that is necessary to return it to the good state. To achieve this, we leverage a mathematical model that finds the optimal counterfactual solution while respecting system specific constraints. Notably, most counterfactual analysis in the literature focuses on individual cases where a person seeks to alter their status relative to a decision made by a classifier, such as for loan approval or medical diagnosis. Our work addresses a fundamentally different challenge: optimizing counterfactuals for a complex energy system, specifically an offshore wind turbine oil type transformer. This application not only advances counterfactual optimization in a new domain but also opens avenues for broader research in this area. Our tests on real world data provided by our industrial partner show that our methodology easily adapts to user preferences and brings savings in the order of 3 million euros per year in a typical farm.

Paperid: 3584, https://arxiv.org/pdf/2507.07512.pdf

Abstract:
This study demonstrates 3D monolithic integration of amorphous indium-gallium-zinc oxide (a-IGZO) thin-film transistors (TFTs) on Gallium Nitride (GaN) high electron mobility transistors (HEMTs) in a cascode configuration, achieving high breakdown voltage capabilities exceeding 1900 V. Two device configurations, differing in a-IGZO channel thickness (30 nm / 10 nm), are fabricated and evaluated. Sample B, with a 10 nm a-IGZO channel, demonstrates superior electrical performance, including a high ON/OFF current ratio (~10^7), low subthreshold swing (SS), and a high breakdown voltage exceeding 1900 V comparable to standalone GaN power HEMTs. The results highlight the feasibility and potential of 3D integrated TFT on GaN power HEMTs, paving the way for new opportunities for the TFTs for high voltage applications.

Paperid: 3585, https://arxiv.org/pdf/2507.07115.pdf

Abstract:
The increasing complexity of modern chemical processes, coupled with workforce shortages and intricate fault scenarios, demands novel automation paradigms that blend symbolic reasoning with adaptive control. In this work, we introduce a unified agentic framework that leverages large language models (LLMs) for both discrete fault-recovery planning and continuous process control within a single architecture. We adopt Finite State Machines (FSMs) as interpretable operating envelopes: an LLM-driven planning agent proposes recovery sequences through the FSM, a Simulation Agent executes and checks each transition, and a Validator-Reprompting loop iteratively refines invalid plans. In Case Study 1, across 180 randomly generated FSMs of varying sizes (4-25 states, 4-300 transitions), GPT-4o and GPT-4o-mini achieve 100% valid-path success within five reprompts-outperforming open-source LLMs in both accuracy and latency. In Case Study 2, the same framework modulates dual-heater inputs on a laboratory TCLab platform (and its digital twin) to maintain a target average temperature under persistent asymmetric disturbances. Compared to classical PID control, our LLM-based controller attains similar performance, while ablation of the prompting loop reveals its critical role in handling nonlinear dynamics. We analyze key failure modes-such as instruction following lapses and coarse ODE approximations. Our results demonstrate that, with structured feedback and modular agents, LLMs can unify high-level symbolic planningand low-level continuous control, paving the way towards resilient, language-driven automation in chemical engineering.

Paperid: 3586, https://arxiv.org/pdf/2507.06881.pdf

Abstract:
The Architecture Analysis & Design Language (AADL) is an architecture description language for design of cyber-physical systems--machines controlled by software. The AADL standard, SAE International AS5506D, describes Run-Time Services (RTS) to be provided to execute AADL models in accordance with semantics defined by the standard. The RTS of primary concern are transport services and timing services. Although, the study presented in [1] sets a foundation for the formal semantics of AADL, but without modeling time. This paper extends and simplifies this formalization using a modal logic defined by a Kripke structure, to explicitly include time. The RTS defined in the AADL standard are also expanded to support reactive state-transition machines of the Behavior Specification annex standard language (BA) and its closely-related, formally-defined counterpart, the Behavior Language for Embedded Systems with Software (BLESS). An example of AADL RTS with time, implemented by the High Assurance Modeling and Rapid Engineering for Embedded Systems (HAMR) for state-transition machine behavior written in BLESS, is also presented.

Paperid: 3587, https://arxiv.org/pdf/2507.06788.pdf

Abstract:
In this paper we propose a dynamic output-feedback controller synthesis method for discrete-time linear time-invariant systems. The synthesis goal is to render closed-loop system dissipative with respect to a given generic unstructured quadratic supply rate, while the system dynamics is partially represented by input-state data corrupted by a bounded disturbance. The controller synthesis is performed with respect to all systems which are consistent with the available data, and it is formulated in terms of a linear matrix inequality parametrized by a scalar variable, so that the synthesis can be performed using line search and convex optimization. Within the considered setting, the proposed synthesis procedure is non-conservative in a sense that it is based on conditions which are both necessary and sufficient.

Paperid: 3588, https://arxiv.org/pdf/2507.06787.pdf

Abstract:
This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in inviscid, incompressible flows. The approach leverages the vortex panel method (VPM) and incorporates safety margins to control the stream function and flow properties around virtual surfaces, enabling navigation in complex, partially observed environments using real-time sensing. To address the limitations of the VPM in managing relative distance and avoiding rapidly accelerating obstacles at close proximity, the system integrates a model predictive controller (MPC) based on higher-order control barrier functions (HOCBF). This integration incorporates VPM trajectory generation, state estimation, and constraint handling into a receding-horizon optimization problem. The 2D rigid surfaces are enclosed using minimum bounding ellipses (MBEs), while an adaptive Kalman filter (AKF) captures and predicts obstacle dynamics, propagating these estimates into the MPC-HOCBF for rapid avoidance maneuvers. Evaluation is conducted using a PX4-powered Clover drone Gazebo simulator and real-time experiments involving a COEX Clover quadcopter equipped with a 360 degree LiDAR sensor.

Paperid: 3589, https://arxiv.org/pdf/2507.06736.pdf

Abstract:
In the context of growing concerns about power disruptions, grid reliability and the need for decarbonization, this study evaluates a broad range of clean backup power systems (BPSs) to replace traditional emergency diesel generators. A scenario-based stochastic optimization framework using actual load profiles and outage probabilities is proposed to assess the most promising options from a pool of 27 technologies. This framework allows a comparison of cost-effectiveness and environmental impact of individual technologies and hybrid BPSs across various scenarios. The results highlight the trade-off between total annual system cost and emissions. Significant emission reductions can be achieved at moderate cost increases but deep decarbonization levels incur higher costs. Primary and secondary batteries are included in optimal clean fuel-based systems across all decarbonization levels, combining cost-effective power delivery and long-term storage benefits. The findings highlight the often-overlooked importance of fuel replacement on both emissions and costs. Among the assessed technologies, ammonia generators and hydrogen fuel cells combined with secondary iron-air batteries emerge as cost-effective solutions for achieving decarbonization goals. To ensure a broad range of applicability, the study outlines the impact of emergency fuel purchases, varying demand patterns and demand response options on the optimal BPS. The research findings are valuable for optimizing the design of clean BPSs to economically meet the needs of many facility types and decarbonization targets.

Paperid: 3590, https://arxiv.org/pdf/2507.06713.pdf

Abstract:
In the context of dynamic virtual power plants (DVPPs), the integration of frequency containment reserve (FCR) and fast frequency control (FFC) enabled via local compensation of power imbalance represents a significant advancement in decentralized frequency regulation. However, they still have to cope with the limited power and energy capacities associated with commonly available storage solutions. This work combines a disturbance estimation based decentralized local control with distributed imbalance compensation in the event of local shortfall. The layered architecture facilitates fast local corrections in power setpoints while enabling coordination between neighbouring DVPP nodes to leverage the aggregated capacity, ensuring scalable and efficient operation suitable for renewable-heavy future grids. The proposed approach is validated on an illustrative 4-bus system with a high percentage of renewables.

Paperid: 3591, https://arxiv.org/pdf/2507.06446.pdf

Abstract:
This paper addresses a shortcoming in adaptive control, that the property of a regressor being persistently exciting (PE) is not well-behaved. One can construct regressors that upend the commonsense notion that excitation should not be created out of nothing. To amend the situation, a notion of regularity of regressors is needed. We are naturally led to a broad class of regular regressors that enjoy the property that their excitation is always confined to a subspace, a foundational result called the PE decomposition. A geometric characterization of regressor excitation opens up new avenues for adaptive control, as we demonstrate by formulating a number of new adaptive control problems.

Paperid: 3592, https://arxiv.org/pdf/2507.06389.pdf

Abstract:
This paper leverages linear systems theory to propose a principled measure of complexity for network systems. We focus on a network of first-order scalar linear systems interconnected through a directed graph. By locally filtering out the effect of nodal dynamics in the interconnected system, we propose a new quantitative index of network complexity rooted in the notion of McMillan degree of a linear system. First, we show that network systems with the same interconnection structure share the same complexity index for almost all choices of their interconnection weights. Then, we investigate the dependence of the proposed index on the topology of the network and the pattern of heterogeneity of the nodal dynamics. Specifically, we find that the index depends on the matching number of subgraphs identified by nodal dynamics of different nature, highlighting the joint impact of network architecture and component diversity on overall system complexity.

Paperid: 3593, https://arxiv.org/pdf/2507.06383.pdf

Abstract:
In this study, we propose a fuzzy system for conducting short-term transactions in the forex market. The system is designed to enhance common strategies in the forex market using fuzzy logic, thereby improving the accuracy of transactions. Traditionally, technical strategies based on oscillator indicators have relied on predefined ranges for indicators such as Relative Strength Index (RSI), Commodity Channel Indicator (CCI), and Stochastic to determine entry points for trades. However, the use of these classic indicators has yielded suboptimal results due to the changing nature of the market over time. In our proposed approach, instead of employing classical indicators, we introduce a fuzzy Mamdani system for each indicator. The results obtained from these systems are then combined through voting to design a trading robot. Our findings demonstrate a considerable increase in the profitability factor compared to three other methods. Additionally, net profit, gross profit, and maximum capital reduction are calculated and compared across all approaches.

Paperid: 3594, https://arxiv.org/pdf/2507.05967.pdf

Abstract:
Hybrid transformers are a relatively new technology that combine conventional power transformers with power electronics to provide voltage and reactive power control capabilities in distribution networks. This paper proposes a novel method of determining the optimal location and utilisation of hybrid transformers in 3-phase distribution networks to maximise the net present value of hybrid transformers based on their ability to increase the export of power produced by distributed generators over their operational lifespan. This has been accomplished through sequential linear programming, a key feature of which is the consideration of nonlinear characteristics and constraints relating to hybrid transformer power electronics and control capabilities. Test cases were carried out in a modified version of the Cigre European Low Voltage Distribution Network Benchmark, which has been extended by connecting it with two additional low voltage distribution test networks. All test case results demonstrate that the installation and utilisation of hybrid transformers can improve the income earned from exporting excess active power, justifying their installation cost (with the highest net present value being Â£6.56 million, resulting from a 45.53 percent increase in estimated annual profits due to coordinated HT compensation).

Paperid: 3595, https://arxiv.org/pdf/2507.05867.pdf

Abstract:
Roll stabilization is a critical aspect of ship motion control, particularly for vessels operating in low-speed or zero-speed conditions, where traditional hydrodynamic fins lose their effectiveness. In this paper, we consider a roll damping system, developed by Navis JSC, based on two actively controlled zero-speed fins. Unlike conventional fin stabilizers, zero-speed fins employ a drag-based mechanism and active oscillations to generate stabilizing forces even when the vessel is stationary. We propose a simple linear control architecture that, however, accounts for nonlinear drag forces and actuator limitations. Simulation results on a high-fidelity vessel model used for HIL testing demonstrate the effectiveness of the proposed approach.

Paperid: 3596, https://arxiv.org/pdf/2507.05794.pdf

Abstract:
For securing systems, it is essential to manage their vulnerability posture and design appropriate security controls. Vulnerability management allows to proactively address vulnerabilities by incorporating pertinent security controls into systems designs. Current vulnerability management approaches do not support systematic reasoning about the vulnerability postures of systems designs. To effectively manage vulnerabilities and design security controls, we propose a formally grounded automated reasoning mechanism. We integrate the mechanism into an open-source security design tool and demonstrate its application through an illustrative example driven by real-world challenges. The automated reasoning mechanism allows system designers to identify vulnerabilities that are applicable to a specific system design, explicitly specify vulnerability mitigation options, declare selected controls, and thus systematically manage vulnerability postures.

Paperid: 3597, https://arxiv.org/pdf/2507.04707.pdf

Abstract:
To address the limitations imposed by Bode's gain-phase relationship in linear controllers, a reset-based filter called the Constant in gain- Lead in phase (CgLp) filter has been introduced. This filter consists of a reset element and a linear lead filter. However, the sequencing of these two components has been a topic of debate. Positioning the lead filter before the reset element in the loop leads to noise amplification in the reset signal, whereas placing the lead filter after the reset element results in the magnification of higher-order harmonics. This study introduces a tunable lead CgLp structure in which the lead filter is divided into two segments, enabling a balance between noise reduction and higher-order harmonics mitigation. Additionally, a filtering technique is proposed, employing a target-frequency-based approach to mitigate nonlinearity in reset control systems in the presence of noise. The effectiveness of the proposed methods in reducing nonlinearity is demonstrated through both frequency domain and time-domain analyses using a simulated precision positioning system as a case study.

Paperid: 3598, https://arxiv.org/pdf/2507.04309.pdf

Abstract:
Feedback control of fluid-based systems poses significant challenges due to their high-dimensional, nonlinear, and multiscale dynamics, which demand real-time, three-dimensional, multi-component measurements for sensing. While such measurements are feasible in digital simulations, they are often only partially accessible in the real world. In this paper, we propose a method to adapt feedback control policies obtained from full-state measurements to setups with only partial measurements. Our approach is demonstrated in a simulated environment by minimising the aerodynamic drag of a simplified road vehicle. Reinforcement learning algorithms can optimally solve this control task when trained on full-state measurements by placing sensors in the wake. However, in real-world applications, sensors are limited and typically only on the vehicle, providing only partial measurements. To address this, we propose to train a Domain Specific Feature Transfer (DSFT) map reconstructing the full measurements from the history of the partial measurements. By applying this map, we derive optimal policies based solely on partial data. Additionally, our method enables determination of the optimal history length and offers insights into the architecture of optimal control policies, facilitating their implementation in real-world environments with limited sensor information.

Paperid: 3599, https://arxiv.org/pdf/2507.04188.pdf

Abstract:
Model reduction with error bounds in nonlinear systems with non-affine control inputs remains an active field of research. In this work we present a construction for Controllability and Observability Gramians in a class of non-affine control input systems satisfying certain induced norm properties. We do so using a combination of representational forms, including a novel function decomposition that resembles linear Singular Value Decomposition (SVD), in tandem with an additional unconventional decomposition of the dynamics, and Koopman operator theory. The resulting representation allows one to place error bounds on the $H_{\infty}$ norm on a reduced-order representation of the system computed using finite-dimensional nonlinear Controllability and Observability Gramians.

Paperid: 3600, https://arxiv.org/pdf/2507.03950.pdf

Abstract:
Devices operating in Internet of Things (IoT) networks may be deployed across vast geographical areas and interconnected via multi-hop communications. Further, they may be unguarded. This makes them vulnerable to attacks and motivates operators to check on devices frequently. To this end, we propose and study an Unmanned Aerial Vehicle (UAV)-aided attestation framework for use in IoT networks with a charging station powered by solar. A key challenge is optimizing the trajectory of the UAV to ensure it attests as many devices as possible. A trade-off here is that devices being checked by the UAV are offline, which affects the amount of data delivered to a gateway. Another challenge is that the charging station experiences time-varying energy arrivals, which in turn affect the flight duration and charging schedule of the UAV. To address these challenges, we employ a Deep Reinforcement Learning (DRL) solution to optimize the UAV's charging schedule and the selection of devices to be attested during each flight. The simulation results show that our solution reduces the average age of trust by 88% and throughput loss due to attestation by 30%.

Paperid: 3601, https://arxiv.org/pdf/2507.03869.pdf

Abstract:
This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct hydrodynamic and aerodynamic forces across three operational zones: aerial, aquatic, and transitional hybrid regions. The model incorporates variable buoyancy, added mass effects, and fluid resistance, with thrust characteristics of submerged propellers analyzed through computational fluid dynamics (CFD) simulations. A hierarchical control strategy is developed, combining twisting sliding mode control (TWSMC) for robust attitude stabilization during medium transitions with cascade PID controllers for precise motion tracking in homogeneous media. Experimental validation using a modified FPV quadrotor prototype demonstrates the effectiveness of the approach, achieving steady-state height errors below 0.1 m and attitude fluctuations under 5Â° during repeated water-crossing maneuvers. The results highlight the system's adaptability to fluid medium variations while maintaining cost-effectiveness and operational simplicity.

Paperid: 3602, https://arxiv.org/pdf/2507.03770.pdf

Abstract:
We propose a reformulation of the streaming dynamic mode decomposition method that requires maintaining a single orthonormal basis, thereby reducing computational redundancy. The proposed efficient streaming dynamic mode decomposition method results in a constant-factor reduction in computational complexity and memory storage requirements. Numerical experiments on representative canonical dynamical systems show that the enhanced computational efficiency does not compromise the accuracy of the proposed method.

Paperid: 3603, https://arxiv.org/pdf/2507.03649.pdf

Abstract:
This paper presents a battery-less, self-powered water leak detection system that utilizes LoRa communication for long-range, real-time monitoring. The system harvests hydroelectric energy through a layered stack of conductive nanomaterials and metals, achieving a peak short-circuit current of over 500 mA and 1.65 V open-circuit voltage upon exposure to water. To address LoRa's higher power demands, an energy management subsystem -- comprising a DC-DC boost converter and a 100 mF supercapacitor -- ensures stable power delivery for the LLCC68 LoRa module. Experimental results demonstrate the system's ability to detect leaks as shallow as 0.5 mm, activate within 50 seconds across varying water depths, and transmit data reliably over LoRaWAN. This solution eliminates battery dependency, offering a scalable, maintenance-free approach for industrial, commercial, and residential applications, while advancing sustainable IoT infrastructure.

Paperid: 3604, https://arxiv.org/pdf/2507.03630.pdf

Abstract:
This paper addresses a fundamental and important question in control: under what conditions does there fail to exist a robust control policy that keeps the state of a constrained linear system within a target set, despite bounded disturbances? This question has practical implications for actuator and sensor specification, feasibility analysis for reference tracking, and the design of adversarial attacks in cyber-physical systems. While prior research has predominantly focused on using optimization to compute control-invariant sets to ensure feasible operation, our work complements these approaches by characterizing explicit sufficient conditions under which robust control is fundamentally infeasible. Specifically, we derive novel closed-form, algebraic expressions that relate the size of a disturbance set -- modelled as a scaled version of a basic shape -- to the system's spectral properties and the geometry of the constraint sets.

Paperid: 3605, https://arxiv.org/pdf/2507.03456.pdf

Abstract:
This work introduces a novel analytical model for estimating the airspeed of fixed-wing Unmanned Aerial Vehicles (UAVs) using solely propeller power and rotational speed measurements. The model can be used to replace Pitot-tube-based airspeed sensors, or contribute to redundancy in airspeed estimation. It does not require knowledge of the vehicle's dynamic model and is computationally lightweight. It leverages power and rotational speed feedback, which is readily available from modern Electronic Speed Controllers (ESCs), thereby enabling seamless integration with existing systems and off-the-shelf components. A systematic approach is followed to derive the model structure based on least squares optimization and regularization techniques on Blade Element Momentum (BEM) simulation, wind tunnel, and flight test datasets. The final model generalizes well achieving a normalized Root Mean Square Error (nRMSE) of 5% on unseen flight data. The model parameters can be identified either offline, using flight logs with airspeed measurements, or in-flight, using a lightweight identification method based only on Global Positioning System (GPS) velocity data. The resulting system provides a robust and computationally efficient solution for real-time airspeed estimation across diverse fixed-wing UAV platforms.

Paperid: 3606, https://arxiv.org/pdf/2507.03416.pdf

Abstract:
The primary motor cortex appears to be in the center of transcranial magnetic stimulation (TMS). It is one of few locations that provide directly observable responses, and its physiology serves as model or reference for almost all other TMS targets, e.g., through the motor threshold and spatial targeting relative to its position. It furthermore sets the safety limits for the entire brain. Its easily detectable responses have led to closed-loop methods for a range of aspects, e.g., for automated thresholding, amplitude tracking, and targeting. The high variability of brain stimulation methods would substantially benefit from fast unbiased closed-loop methods. However, the development of more potent methods would early on in the design phase require proper models that allowed tuning and testing with sufficient without a high number of experiments, which are time-consuming and expensive or even impossible at the needed scale. On the one hand, theoretical researchers without access to experiments miss realistic spatial response models of brain stimulation to develop better methods. On the other hand, subjects should potentially not be exposed to early closed-loop-methods without sufficient prior testing as not yet well tuned feed-back as needed for closed-loop operation is known to erratic behavior. To bridge this gap, we developed a digital-twin-style population model that generates motor evoked potentials in response to virtual stimuli and includes statistical information on spatial (coil position and orientation) as well as recruitment in the population to represent inter- and intra-individual variability. The model allows users to simulate different subjects and millions of runs for software-in-the loop testing. The model includes all code to stimulate further development.

Paperid: 3607, https://arxiv.org/pdf/2507.03276.pdf

Abstract:
Component Modal Synthesis (CMS) is a reduced order modelling method widely used for large-scale complex systems. It can effectively approximate system-level models through component synthesis, in which the repetitive geometrical components are modelled once and synthesised together. However, the conventional CMS only applies to systems with stationary components connected by strictly compatible ports, limiting it from modelling systems with moving components. This paper presents an adaptive port (AP) technique to extend CMS approaches for modelling parametric systems with rotational parts. To demonstrate the capability of the AP technique, we apply it to the Static Condensation Reduced Basis Element (SCRBE), one widely used variant of CMS approaches. The AP-based SCRBE (AP-SCRBE) can enforce the synthesis of rotational-stationary components over a shared adaptive port when the connecting surfaces of two components are discretisation-wise incompatible, which happens when one component moves relative to the others. Numerical experiments on the NREL 5MW wind turbine show that, in the context of rotational-stationary component synthesis, the AP-SCRBE can accurately and efficiently model the rotating rotor with pitch rotation of blades. It can produce almost identical results to a high-fidelity finite element model at two to three orders faster speeds.

Paperid: 3608, https://arxiv.org/pdf/2507.02981.pdf

Abstract:
Q-filter-based disturbance observer (DOB) is one of the most widely used robust controller due to its design simplicity. Such simplicity arises from that reducing the time constant of low pass filters, not only ensures robust stability but also enhances nominal performance recovery -- ability to recover the trajectory of nominal closed-loop system. However, in contrast to noise-free environment, excessively small time constant can rather damage the nominal performance recovery under measurement noise. That is, minimizing time constant is no longer immediately guaranteeing nominal performance recovery. Motivated by this observation, this paper concentrates on determination of time constant to ensure transient and steady state performance. This analysis uses Lyapunov method based on the coordinate change inspired by the singular perturbation theory. As a result, we present an affordable noise level and open interval for the time constant that guarantees both the required performances. The analysis can also lead to theoretical demonstration on that excessively reducing time constant is assured to achieve target performance only for noise-free case.

Paperid: 3609, https://arxiv.org/pdf/2507.02943.pdf

Abstract:
The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when economically feasible. This study addresses the orbital design challenge associated with inspecting numerous satellites distributed across multiple orbital planes through flybys by proposing an innovative orbital-plane-based inspection strategy. The proposed methodology reformulates the multi-satellite flyby problem into a multi-rendezvous trajectory planning problem by proposing an analytical approach to determine a maneuver-free inspection orbit that enables flyby of all satellites within a specific orbital plane. Additionally, a three-layer global optimization framework is developed to tackle this problem. The first layer establishes an approximate cost evaluation model for orbital plane visitation sequences, utilizing a genetic algorithm to identify the optimal sequence from a vast array of candidate planes, thereby maximizing inspection targets while minimizing fuel consumption. The second layer constructs a mixed-integer programming model to locally refine the rendezvous epochs and orbital parameters of each inspection orbit to reduce the total velocity increment. The third layer accurately computes the optimal impulsive maneuvers and trajectories between inspection orbits. In contrast to traditional low-Earth orbit rendezvous optimization frameworks, the proposed framework fully leverages the adjustable freedom in inclination and right ascension of the ascending node (RAAN) of inspection orbits, significantly reducing the total velocity increment. Simulation results demonstrate that the proposed method can effectively address the trajectory optimization problem associated with constellation inspection for tens of thousands of satellites.

Paperid: 3610, https://arxiv.org/pdf/2507.02412.pdf

Abstract:
Green ammonia is emerging as a strategic intermediary within green energy supply chains, serving effectively as both an industrial commodity and hydrogen carrier. This study provides a techno-economic analysis of green ammonia supply chains, comparing cost-effective pathways from global production to European consumers, and evaluates ammonia alongside alternative hydrogen carriers. Gaseous hydrogen consistently remains the most economical import option for Europe, though ammonia holds a narrowing cost advantage over liquid hydrogen (from 16 % in 2030 to 10 % by 2040). Competitive ammonia suppliers, notably Morocco, the United States, and the United Arab Emirates, benefit from low renewable energy costs, with significant price reductions expected by 2040, driven by falling costs for electricity, electrolysers, and conversion technologies. Optimal transport modes vary by consumer demand and distance: trucks are ideal for low demands at all distances, rail for medium ranges, and pipelines for high-demand scenarios. By 2040, ammonia will primarily serve direct-use applications, as hydrogen consumers increasingly shift to direct hydrogen supplies. Policymakers should prioritize pipeline infrastructure for hydrogen distribution, cautiously invest in ammonia's short- to medium-term infrastructure advantages, and limit long-term reliance on ammonia as a hydrogen carrier to mitigate stranded asset risks.

Paperid: 3611, https://arxiv.org/pdf/2507.01996.pdf

Abstract:
This work investigates the benefits of implementing a systematic approach to social isolation policies during epidemics. We develop a mixed integer data-driven model predictive control (MPC) scheme based on an SIHRD model which is identified from available data. The case of the spread of the SARS-CoV-2 virus (also known as COVID-19) in Mauritius is used as a reference point with data obtained during the period December 2021 to May 2022. The isolation scheme is designed with the control decision variable taking a finite set of values corresponding to the desired level of isolation. The control input is further restricted to shifting between levels only after a minimum amount of time. The simulation results validate our design, showing that the need for hospitalisation remains within the capacity of the health centres, with the number of deaths considerably reduced by raising the level of isolation for short periods of time with negligible social and economic impact. We also show that the introduction of additional isolation levels results in a smoother containment approach with a considerably reduced hospitalisation burden.

Paperid: 3612, https://arxiv.org/pdf/2507.01460.pdf

Abstract:
With the rapid development of industrial automation and smart manufacturing, the control of flexible structures and underactuated systems has become a critical research focus. Residual vibrations in these systems not only degrade operational efficiency but also pose risks to structural integrity and longevity. Traditional input shaping techniques, while effective, often suffer from performance degradation due to parameter inaccuracies and environmental disturbances. To address these challenges, this paper introduces an innovative unscented Kalman filter-based zero vibration derivative input shaping (UZS) method. The proposed approach combines two key innovations: 1) a data-driven Unscented Kalman Filterfor real-time system parameter identification, and 2) a zero-vibration derivative (ZVD) input shaper for robust vibration suppression. To validate the effectiveness of UZS, we conducted extensive experiments on a vertical flexible beam platform, and the results demonstrate significant improvements over state-of-the-art methods. Additionally, we have made the experimental datasets publicly available to facilitate further research. The findings highlight UZS's potential for practical applications in industrial automation, robotics, and precision engineering.

Paperid: 3613, https://arxiv.org/pdf/2507.01247.pdf

Abstract:
The growing availability of high-resolution, long-term time series data has highlighted the need for methods capable of capturing both local and global patterns. To address this, we introduce the Probabilistic Visibility Graph (PVG), a novel approach inspired by the quantum tunnelling phenomenon. The PVG extends the classical Visibility Graph (VG) by introducing probabilistic connections between time points that are obstructed in the VG due to intermediate values. We demonstrate the PVG's effectiveness in capturing long-range dependencies through simulations of amplitude-modulated signals and analysis of electrocorticography (ECoG) data under rest and anesthesia conditions. Key results show that the PVG presents distinct network properties between rest and anesthesia, with rest exhibiting stronger small-worldness and scale-free behavior, reflecting a hub-dominated, centralized connectivity structure, compared to anesthesia. These findings highlight the PVG's potential for analyzing complex signals with interacting temporal scales, offering new insights into neural dynamics and other real-world phenomena.

Paperid: 3614, https://arxiv.org/pdf/2507.01161.pdf

Abstract:
This paper presents a novel satellite attitude control framework that integrates Soft Actor-Critic (SAC) reinforcement learning with Generative Adversarial Imitation Learning (GAIL) to achieve robust performance under various unknown perturbations. Traditional control techniques often rely on precise system models and are sensitive to parameter uncertainties and external perturbations. To overcome these limitations, we first develop a SAC-based expert controller that demonstrates improved resilience against actuator failures, sensor noise, and attitude misalignments, outperforming our previous results in several challenging scenarios. We then use GAIL to train a learner policy that imitates the expert's trajectories, thereby reducing training costs and improving generalization through expert demonstrations. Preliminary experiments under single and combined perturbations show that the SAC expert can rotate the antenna to a specified direction and keep the antenna orientation reliably stable in most of the listed perturbations. Additionally, the GAIL learner can imitate most of the features from the trajectories generated by the SAC expert. Comparative evaluations and ablation studies confirm the effectiveness of the SAC algorithm and reward shaping. The integration of GAIL further reduces sample complexity and demonstrates promising imitation capabilities, paving the way for more intelligent and autonomous spacecraft control systems.

Paperid: 3615, https://arxiv.org/pdf/2507.01113.pdf

Abstract:
Efficient workload scheduling is a critical challenge in modern heterogeneous computing environments, particularly in high-performance computing (HPC) systems. Traditional software-based schedulers struggle to efficiently balance workload distribution due to high scheduling overhead, lack of adaptability to dynamic workloads, and suboptimal resource utilization. These pitfalls are compounded in heterogeneous systems, where differing computational elements can have vastly different performance profiles. To resolve these hindrances, we present a novel FPGA-based accelerator for stochastic online scheduling (SOS). We modify a greedy cost selection assignment policy by adapting existing cost equations to engage with discretized time before implementing them into a hardware accelerator design. Our design leverages hardware parallelism, precalculation, and precision quantization to reduce job scheduling latency. By introducing a hardware-accelerated approach to real-time scheduling, this paper establishes a new paradigm for adaptive scheduling mechanisms in heterogeneous computing systems. The proposed design achieves high throughput, low latency, and energy-efficient operation, offering a scalable alternative to traditional software scheduling methods. Experimental results demonstrate consistent workload distribution, fair machine utilization, and up to 1060x speedup over single-threaded software scheduling policy implementations. This makes the SOS accelerator a strong candidate for deployment in high-performance computing system, deeplearning pipelines, and other performance-critical applications.

Paperid: 3616, https://arxiv.org/pdf/2507.01047.pdf

Abstract:
While digital twins (DT) hold promise for providing real-time insights into complex energy assets, much of the current literature either does not offer a clear framework for information exchange between the model and the asset, lacks key features needed for real-time implementation, or gives limited attention to model uncertainty. Here, we aim to solve these gaps by proposing a variational digital twin (VDT) framework that augments standard neural architectures with a single Bayesian output layer. This lightweight addition, along with a novel VDT updating algorithm, lets a twin update in seconds on commodity GPUs while producing calibrated uncertainty bounds that can inform experiment design, control algorithms, and model reliability. The VDT is evaluated on four energy-sector problems. For critical-heat-flux prediction, uncertainty-driven active learning reaches R2 = 0.98 using 47 % fewer experiments and one-third the training time of random sampling. A three-year renewable-generation twin maintains R2 > 0.95 for solar output and curbs error growth for volatile wind forecasts via monthly updates that process only one month of data at a time. A nuclear reactor transient cooldown twin reconstructs thermocouple signals with R2 > 0.99 and preserves accuracy after 50 % sensor loss, demonstrating robustness to degraded instrumentation. Finally, a physics-informed Li-ion battery twin, retrained after every ten discharges, lowers voltage mean-squared error by an order of magnitude relative to the best static model while adapting its credible intervals as the cell approaches end-of-life. These results demonstrate that combining modest Bayesian augmentation with efficient update schemes turns conventional surrogates into uncertainty-aware, data-efficient, and computationally tractable DTs, paving the way for dependable models across industrial and scientific energy systems.

Paperid: 3617, https://arxiv.org/pdf/2507.00909.pdf

Abstract:
Artificial intelligence (AI) is fueling exponential electricity demand growth, threatening grid reliability, raising prices for communities paying for new energy infrastructure, and stunting AI innovation as data centers wait for interconnection to constrained grids. This paper presents the first field demonstration, in collaboration with major corporate partners, of a software-only approach--Emerald Conductor--that transforms AI data centers into flexible grid resources that can efficiently and immediately harness existing power systems without massive infrastructure buildout. Conducted at a 256-GPU cluster running representative AI workloads within a commercial, hyperscale cloud data center in Phoenix, Arizona, the trial achieved a 25% reduction in cluster power usage for three hours during peak grid events while maintaining AI quality of service (QoS) guarantees. By orchestrating AI workloads based on real-time grid signals without hardware modifications or energy storage, this platform reimagines data centers as grid-interactive assets that enhance grid reliability, advance affordability, and accelerate AI's development.

Paperid: 3618, https://arxiv.org/pdf/2507.00522.pdf

Abstract:
The digital transformation of power systems is accelerating the adoption of IEC 61850 standard. However, its communication protocols, including Sampled Values (SV), lack built-in security features such as authentication and encryption, making them vulnerable to malicious packet injection. Such cyber attacks can delay fault clearance or trigger unintended circuit breaker operations. While most existing research focuses on detecting cyber attacks in digital substations, intrusion prevention systems have been disregarded because of the risk of potential communication network disruptions. This paper proposes a novel method using hybrid statistical-deep learning for the detection, prevention, and source localization of IEC 61850 SV injection attacks. The method uses exponentially modified Gaussian distributions to model communication network latency and long short-term memory and Elman recurrent neural network to detect anomalous variations in the estimated probability distributions. It effectively discards malicious SV frames with minimal processing overhead and latency, maintains robustness against communication network latency variation and time-synchronization issues, and guarantees a near-zero false positive rate in non-attack scenarios. Comprehensive validation is conducted on three testbeds involving industrial-grade devices, hardware-in-the-loop simulations, virtualized intelligent electronic devices and merging units, and high-fidelity emulated communication networks. Results demonstrate the method's suitability for practical deployment in IEC 61850-compliant digital substations.

Paperid: 3619, https://arxiv.org/pdf/2507.00268.pdf

Abstract:
Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an agent's selected actions and the actual system response. In real-world applications, such as robotics, mechatronics, and communication networks, execution mismatches arising from system dynamics, hardware constraints, and latency can significantly degrade performance. This work advances AI by developing a novel control-optimized DRL framework that explicitly models and compensates for action execution mismatches, a challenge largely overlooked in existing methods. Our approach establishes a structured two-stage process: determining the desired action and selecting the appropriate control signal to ensure proper execution. It trains the agent while accounting for action mismatches and controller corrections. By incorporating these factors into the training process, the AI agent optimizes the desired action with respect to both the actual control signal and the intended outcome, explicitly considering execution errors. This approach enhances robustness, ensuring that decision-making remains effective under real-world uncertainties. Our approach offers a substantial advancement for engineering practice by bridging the gap between idealized learning and real-world implementation. It equips intelligent agents operating in engineering environments with the ability to anticipate and adjust for actuation errors and system disturbances during training. We evaluate the framework in five widely used open-source mechanical simulation environments we restructured and developed to reflect real-world operating conditions, showcasing its robustness against uncertainties and offering a highly practical and efficient solution for control-oriented applications.

Paperid: 3620, https://arxiv.org/pdf/2507.00231.pdf

Abstract:
Large neck vessels (carotid artery and internal jugular vein, IJV) offer a unique opportunity to monitor hemodynamics non-invasively by optical means. The primary shortcoming of past work has been the focus on healthy volunteers in normal physiological conditions and well-controlled environments. To drive the technology closer to the bedside, testing is required under more re-alistic conditions, including in pathologies and real-world environments (e.g., similar toICU or emergency care settings). The primary goal of the current work was to extend the range of physiological maneuvers for blood flow modulation by introducing new maneuvers and ob-serving PPG response to them. The data from the necks of two healthy volunteers in a supine position were collected by clinical PPG and in-house built PPG sensors, accompanied by ECG signal collection. Seven maneuvers (abdominojugular test, breath holding, Valsalva, proximal occlusion of right IJV, distal occlusion of right IJV, proximal occlusion of left IJV, distal occlusion of left IJV) were performed in sequence with 1 min allocated for each maneuver. The 1 min was split into three segments: baseline (15 s), experiment (15 s), and recovery (30 s). Thus, the overall du-ration of the experiment was 7 min. AC amplitude from clinical PPG, DC amplitudes from in-house built PPG, and ECG signal were compared during all seven physiological maneuvers. Newly proposed maneuvers (Valsalva and IJV occlusions) demonstrated modulation of blood flow, which was more significant than previously reported maneuvers (abdominojugular test and breath holding). The proposed physiological maneuvers demonstrate high potential as instruments for modulating blood flow in major neck vessels.

Paperid: 3621, https://arxiv.org/pdf/2507.00105.pdf

Abstract:
We study the applicability of GNNs to the problem of wind energy forecasting. We find that certain architectures achieve performance comparable to our best CNN-based benchmark. The study is conducted on three wind power facilities using five years of historical data. Numerical Weather Prediction (NWP) variables were used as predictors, and models were evaluated on a 24 to 36 hour ahead test horizon.

Paperid: 3622, https://arxiv.org/pdf/2512.24755.pdf

Abstract:
Predictive maintenance demands accurate anomaly detection and trustable explanations. Although multimodal fusion of sensor time-series and thermal imagery shows promise, we demonstrate that naive fusion strategies can paradoxically degrade performance. This paper introduces a Cascaded Anomaly Detection framework that decouples detection and localization. Stage 1 employs an LSTM-based sensor encoder with temporal attention for high-accuracy detection, while Stage 2 activates a CNN-based thermal encoder for post-detection fault localization. Our results reveal that sensor-only detection outperforms full fusion by 8.3 percentage points (93.08% vs. 84.79% F1-score), challenging the assumption that additional modalities invariably improve performance. We further contribute an explainability pipeline integrating SHAP, temporal/spatial attention, and gate weight analysis. This analysis uncovers a "modality bias" where fusion models assign 65-87% weight to the weaker thermal modality. Validated on a real-world bearing dataset (78,397 samples), our cascaded approach achieves state-of-the-art accuracy while providing actionable diagnostics for maintenance decision-making.

Paperid: 3623, https://arxiv.org/pdf/2512.24435.pdf

Abstract:
This report investigates the extension of the Bayesian Subspace System Identification method proposed in our previous work to the Multiple-Input Multiple-Output (MIMO) case. We derive new equivariant priors and posterior distributions specifically suited for the MIMO framework. Numerical results utilizing the DAISY dataset are reported to validate the approach.

Paperid: 3624, https://arxiv.org/pdf/2512.24377.pdf

Abstract:
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to demonstrate that exponentially convergent position trajectory tracking is theoretically possible. Notably, our analysis reveals new aspects of the control strategy, including how tracking error in the attitude loop influences the position loop, how model uncertainties affect the closed-loop system, and the practical pitfalls of the control architecture.

Paperid: 3625, https://arxiv.org/pdf/2512.23505.pdf

Abstract:
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long dominated, so full electrification, via direct replacement or redesign, raises major technical and economic challenges. Although advanced artificial intelligence (AI) could enable higher autonomy, adoption in HDMMs is limited by strict safety requirements, and these machines still rely heavily on human supervision. This dissertation develops a control framework that (1) simplifies control design for electrified HDMMs through a generic modular approach that is energy-source independent and supports future modifications, and (2) defines hierarchical control policies that partially integrate AI while guaranteeing safety-defined performance and stability. Five research questions align with three lines of investigation: a generic robust control strategy for multi-body HDMMs with strong stability across actuation types and energy sources; control solutions that keep strict performance under uncertainty and faults while balancing robustness and responsiveness; and methods to interpret and trust black-box learning strategies so they can be integrated stably and verified against international safety standards. The framework is validated in three case studies spanning different actuators and conditions, covering heavy-duty mobile robots and robotic manipulators. Results appear in five peer-reviewed publications and one unpublished manuscript, advancing nonlinear control and robotics and supporting both transitions.

Paperid: 3626, https://arxiv.org/pdf/2512.23081.pdf

Abstract:
Synchronization in power systems is traditionally achieved through physical network coupling, whereby inverter-based resources (IBRs) and synchronous machines converge to a common frequency via oscillatory swing dynamics. In conventional operation, secondary control acts on a slow time scale and is typically engaged only after the primary dynamics have largely settled. As a result, in the absence of an explicit global reference, disturbances can induce prolonged transients and large phase excursions. This work considers a setting in which the total active power balance is known and maintained at all times, and proposes a control architecture for virtual synchronous machine (VSM) based inverters in which all units track a broadcast global frequency reference. Under this assumption, synchronization is transformed from a mutual oscillator locking problem into a reference tracking problem. Using a second order swing network model, we show that embedding a simple proportional integral (PI) frequency controller can significantly improves transient behavior. A washout mechanism ensures that the additional control action vanishes in steady state, thereby preserving network determined power sharing. Simulations on a three oscillator network demonstrate reduced frequency overshoot, elimination of underdamped oscillations, and lower angular stress compared to conventional open loop synchronization, highlighting the effectiveness of a global frequency reference as a coordination mechanism for grid-forming inverter networks.

Paperid: 3627, https://arxiv.org/pdf/2512.22786.pdf

Abstract:
Predefined-time stability enables convergence within a user-specified time independent of initial conditions. Existing results are predominantly based on autonomous Lyapunov inequalities, where the predefined-time is realized through integral bounds on state-dependent decay and therefore acts as an upper bound rather than a structurally enforced deadline. This paper introduces a time-barrier predefined-time stability concept in which convergence is enforced through a nonautonomous Lyapunov mechanism that intrinsically restricts the remaining available time. A sufficient Lyapunov-based condition is established, guaranteeing convergence before the predefined deadline via divergence of a time-dependent barrier. It is further shown that this mechanism cannot be reproduced by classical autonomous predefined-time stability formulations, thereby constituting a distinct stability notion. The proposed approach provides a concise and transparent means of enforcing hard convergence deadlines in nonlinear systems.

Paperid: 3628, https://arxiv.org/pdf/2512.21721.pdf

Abstract:
We study a discrete-time consensus model in which agents iteratively update their states through interactions on a dynamic social network. At each step, a single agent is selected asynchronously and averages the values of its current neighbors. A distinctive feature of our model is that an agent's neighborhood may contract following an update, while non-selected agents may add or remove neighbors independently. This creates a time-varying communication structure with endogenous contraction. We show that under mild assumptions--specifically, that the evolving graph is connected infinitely often--the system reaches consensus almost surely. Our results extend classical consensus theory on time-varying graphs and asynchronous updates by introducing selective neighborhood contraction, offering new insights into agreement dynamics in evolving social systems.

Paperid: 3629, https://arxiv.org/pdf/2512.21266.pdf

Abstract:
Lorentzian and completely log-concave polynomials have recently emerged as a unifying framework for negative dependence, log-concavity, and convexity in combinatorics and probability. We extend this theory to variational analysis and cone-constrained dynamics by studying $K$-Lorentzian and $K$-completely log-concave polynomials over a proper convex cone $K\subset\mathbb{R}^n$. For a $K$-Lorentzian form $f$ and $v\in\operatorname{int}K$, we define an open cone $K^\circ(f,v)$ and a closed cone $K(f,v)$ via directional derivatives along $v$, recovering the usual hyperbolicity cone when $f$ is hyperbolic. We prove that $K^\circ(f,v)$ is a proper cone and equals $\operatorname{int}K(f,v)$. If $f$ is $K(f,v)$-Lorentzian, then $K(f,v)$ is convex and maximal among convex cones on which $f$ is Lorentzian. Using the Rayleigh matrix $M_f(x)=\nabla f(x)\nabla f(x)^T - f(x)\nabla^2 f(x)$, we obtain cone-restricted Rayleigh inequalities and show that two-direction Rayleigh inequalities on $K$ are equivalent to an acuteness condition for the bilinear form $v^T M_f(x) w$. This yields a cone-restricted negative-dependence interpretation linking the curvature of $\log f$ to covariance properties of associated Gibbs measures. For determinantal generating polynomials, we identify the intersection of the hyperbolicity cone with the nonnegative orthant as the classical semipositive cone, and we extend this construction to general proper cones via $K$-semipositive cones. Finally, for linear evolution variational inequality (LEVI) systems, we show that if $q(x)=x^T A x$ is (strictly) $K$-Lorentzian, then $A$ is (strictly) $K$-copositive and yields Lyapunov (semi-)stability on $K$, giving new Lyapunov criteria for cone-constrained dynamics.

Paperid: 3630, https://arxiv.org/pdf/2512.20873.pdf

Abstract:
Cyber-Physical Systems (CPS) now support critical infrastructure spanning transportation, energy, manufacturing, medical devices, and autonomous robotics. Their defining characteristic is the tight coupling between digital computation and continuous physical dynamics which enables sophisticated autonomy but also creates highly non-linear failure modes. Small disturbances at sensors, firmware, networks, or physical interfaces can propagate through estimation and control pipelines, producing cascading instabilities that defy traditional single-layer reasoning. This Systematization of Knowledge (SoK) unifies nearly two decades of CPS resilience research into a structured Origin-Layer-Effect (OLE) taxonomy. This taxonomy provides a cross-layer lens for understanding how faults arise, how they propagate, and why unrelated CPS failures often share deep structural similarities. By mapping representative systems including RockDrone, MAYDAY, M2MON, HACMS, Byzantine fault-tolerant control, and learning-based recovery mechanisms onto the taxonomy, we reveal patterns of coverage, persistent blind spots, and recurring pathways of fault amplification. Our analysis identifies four structural gaps that span multiple CPS domains: (1) physical-model manipulation, (2) ML-enabled control without stability guarantees, (3) semantic inconsistencies between formal models and firmware, and (4) inadequate forensic visibility across cyber and physical layers. These insights motivate new directions for resilient CPS design, integrating robust control, runtime monitoring, formal assurance, and system-level visibility.

Paperid: 3631, https://arxiv.org/pdf/2512.20427.pdf

Abstract:
A fast convergence in a fixed-time of solutions of nonlinear dynamical systems, for which special requirements are satisfied on the derivative of a quadratic function calculated along the solutions of the system, is proposed. The conditions for the system solutions to converge to zero and to a given region within a fixed-time are obtained. To achieve fast convergence, a negative power is applied to the derivative of a quadratic function within a specific time interval during the evolution of the system. The application of the proposed results to the design of control laws for arbitrary order linear plants using the backstepping method is considered. All the main results are accompanied by numerical modelling and a comparison of the proposed solutions with some existing ones.

Paperid: 3632, https://arxiv.org/pdf/2512.20391.pdf

Abstract:
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most existing approaches rely on a (wireless) communication network between (some of) the agents. In reality, however, communication is brittle. It may be affected by latency, further delays and packet losses, and transmission faults. Moreover, it is subject to adversarial attacks, such as jamming or spoofing. This paper proposes Contingency Model-based Control (CMC), a decentralized cooperative approach that does not rely on communication. Instead, the control algorithm is based on consensual rules that are designed for all agents offline, similar to traffic rules. For CMC, this includes the definition of a contingency trajectory for each robot, and perpendicular bisecting planes as collision avoidance constraints. The setup permits a full guarantee of recursive feasibility and collision avoidance between all swarm members in closed-loop operation. CMC naturally satisfies the plug & play paradigm, i.e., new robots may enter the swarm dynamically. The effectiveness of the CMC regime is demonstrated in two numerical examples, showing that the collision avoidance guarantee is intact and the robot swarm operates smoothly in a constrained environment.

Paperid: 3633, https://arxiv.org/pdf/2512.20053.pdf

Abstract:
Controllable Markov chains describe the dynamics of sequential decision making tasks and are the central component in optimal control and reinforcement learning. In this work, we give the general form of an optimal policy for learning controllable dynamics in an unknown environment by exploring over a limited time horizon. This policy is simple to implement and efficient to compute, and allows an agent to ``learn by exploring" as it maximizes its information gain in a greedy fashion by selecting controls from a constraint set that changes over time during exploration. We give a simple parameterization for the set of controls, and present an algorithm for finding an optimal policy. The reason for this policy is due to the existence of certain types of states that restrict control of the dynamics; such as transient states, absorbing states, and non-backtracking states. We show why the occurrence of these states makes a non-stationary policy essential for achieving optimal exploration. Six interesting examples of controllable dynamics are treated in detail. Policy optimality is demonstrated using counting arguments, comparing with suboptimal policies, and by making use of a sequential improvement property from dynamic programming.

Paperid: 3634, https://arxiv.org/pdf/2512.19434.pdf

Abstract:
Cockcroft-Walton (CW) voltage multipliers suffer from output ripple that classical analytical models underestimate due to neglected non-idealities like diode drops and capacitor ESR, particularly in high-stage, low-frequency and heavy-load regimes. This paper proposes a hybrid framework that generates a comprehensive 324-case MATLAB/Simulink dataset varying stages (2-8), input voltage (5-25 kV), capacitance (1-10 μF), frequency (50-500 Hz) and load (6-60 MΩ), then trains a Random Forest model to predict residuals between simulated and theoretical peak-to-peak ripple. The approach achieves 70.6% RMSE reduction (131 V vs. 448 V) globally and 66.7% in critical regimes, with near-zero bias, enabling physically interpretable design optimization while outperforming pure ML in extrapolation reliability.

Paperid: 3635, https://arxiv.org/pdf/2512.18508.pdf

Abstract:
Validation gating is a fundamental component of classical Kalman-based tracking systems. Only measurements whose normalized innovation squared (NIS) falls below a prescribed threshold are considered for state update. While this procedure is statistically motivated by the chi-square distribution, it implicitly replaces the unconditional innovation process with a conditionally observed one, restricted to the validation event. This paper shows that innovation statistics computed after gating converge to gate-conditioned rather than nominal quantities. Under classical linear--Gaussian assumptions, we derive exact expressions for the first- and second-order moments of the innovation conditioned on ellipsoidal gating, and show that gating induces a deterministic, dimension-dependent contraction of the innovation covariance. The analysis is extended to NN association, which is shown to act as an additional statistical selection operator. We prove that selecting the minimum-norm innovation among multiple in-gate measurements introduces an unavoidable energy contraction, implying that nominal innovation statistics cannot be preserved under nontrivial gating and association. Closed-form results in the two-dimensional case quantify the combined effects and illustrate their practical significance.

Paperid: 3636, https://arxiv.org/pdf/2512.18409.pdf

Abstract:
Several optimism-based stochastic bandit algorithms -- including UCB, UCB-V, linear UCB, and finite-arm GP-UCB -- achieve logarithmic regret using proofs that, despite superficial differences, follow essentially the same structure. This note isolates the minimal ingredients behind these analyses: a single high-probability concentration condition on the estimators, after which logarithmic regret follows from two short deterministic lemmas describing radius collapse and optimism-forced deviations. The framework yields unified, near-minimal proofs for these classical algorithms and extends naturally to many contemporary bandit variants.

Paperid: 3637, https://arxiv.org/pdf/2512.18389.pdf

Abstract:
This informal contribution presents an ongoing line of research that is pursuing a new approach to the construction of sound proofs for the formal verification and control of complex stochastic models of dynamical systems, of reactive programs and, more generally, of models of Cyber-Physical Systems. Neural proofs are made up of two key components: 1) proof rules encode requirements entailing the verification of general temporal specifications over the models of interest; and 2) certificates that discharge such rules, namely they are constructed from said proof rules with an inductive (that is, cyclic, repetitive) approach; this inductive approach involves: 2a) accessing samples from the model's dynamics and accordingly training neural networks, whilst 2b) generalising such networks via SAT-modulo-theory (SMT) queries that leverage the full knowledge of the models. In the context of sequential decision making problems over complex stochastic models, it is possible to additionally generate provably-correct policies/strategies/controllers, namely state-feedback functions that, in conjunction with neural certificates, formally attain the given specifications for the models of interest.

Paperid: 3638, https://arxiv.org/pdf/2512.18222.pdf

Abstract:
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that necessitates active mechanical steering of the airframe to maintain connectivity. We propose a decentralized Model Predictive Control (MPC) framework that jointly optimizes trajectory and heading to maximize network sum-capacity subject to safety constraints. Addressing the numerical instability caused by fast-fading channel nulls, we introduce a regularized surrogate cost function based on discrete spatial smoothing. We analytically prove that this approximation bounds the cost curvature, restoring the Lipschitz continuity of the gradient. Crucially, we derive a sufficient condition linking this Lipschitz constant to the controller gain, guaranteeing the contraction and linear convergence of the distributed best-response dynamics. Simulation results demonstrate that the proposed algorithm effectively navigates the trade-off between electronic beam tracking and kinematic safety, significantly systematically outperforming velocity-aligned baselines.

Paperid: 3639, https://arxiv.org/pdf/2512.16497.pdf

Abstract:
AI workloads are turning large data centers into highly dynamic power-electronic loads; fault-time behavior and workload pulsing can stress weak-grid points of interconnection. This paper proposes a centralized medium-voltage (MV) uninterruptible power supply (UPS) control architecture implemented as three operating modes: Mode 1 regulates a DC stiff bus and shapes normal-operation grid draw, Mode 2 enforces current-limited fault-mode P--Q priority with UPS battery energy storage system (UPS-BESS) buffering and a rate-limited post-fault "soft return," and Mode 3 optionally provides droop-based fast frequency response via grid-draw modulation. Fundamental-frequency averaged dq simulations (50 MW block, short-circuit ratio (SCR) = 1.5, 0.5 p.u. three-phase dip for 150~ms) show zero unserved information-technology (IT) energy (0.00000 MWh vs.0.00208 MWh for a momentary-cessation benchmark), a 0.57 p.u. peak inverter current (vs. 1.02 p.u. for a synchronous-reference-frame phase-locked loop (SRF-PLL) low-voltage ride-through (LVRT) baseline), a nonzero mean fault-window grid draw of 0.20~p.u. (vs.approx 0 for momentary cessation), and an improved settled point-of-common-coupling (PCC) voltage minimum of 0.79 p.u. after one cycle (vs. 0.66 p.u.). A forced-oscillation case study applies a 1 Hz pulsed load (+/- 0.25 p.u.) and shows that the normal-operation shaping filters the oscillation seen by the grid while the UPS-BESS buffers the pulsing component.

Paperid: 3640, https://arxiv.org/pdf/2512.15175.pdf

Abstract:
I study intertemporal hedging demand in a continuous-time multi-asset long-run risk (LRR) model under Epstein--Zin (EZ) recursive preferences. The investor trades a risk-free asset and several risky assets whose drifts and volatilities depend on an Ornstein--Uhlenbeck type LRR factor. Preferences are described by EZ utility with risk aversion $R$, elasticity of intertemporal substitution $ψ$, and discount rate $δ$, so that the standard time-additive CRRA case appears as a limiting benchmark. To handle the high-dimensional consumption--investment problem, I use a projected Pontryagin-guided deep policy optimization (P-PGDPO) scheme adapted to EZ preferences. The method starts from the continuous-time Hamiltonian implied by the Pontryagin maximum principle, represents the value and costate processes with neural networks, and updates the policy along the Hamiltonian gradient. Portfolio constraints and a lower bound on wealth are enforced by explicit projection operators rather than by adding ad hoc penalties. Three main findings emerge from numerical experiments in a five-asset LRR economy: \textbf{(1)} the P-PGDPO algorithm achieves stable convergence across multiple random seeds, validating its reliability for solving high-dimensional EZ problems; \textbf{(2)} wealth floors materially reduce hedging demand by limiting the investor's ability to exploit intertemporal risk-return tradeoffs; and \textbf{(3)} the learned hedging portfolios concentrate exposure in assets with high correlation to the LRR factor, confirming that EZ agents actively hedge long-run uncertainty rather than merely following myopic rules. Because EZ preferences nest time-additive CRRA in the limit $ψ\to 1/R$, I use CRRA as an explicit diagnostic benchmark and, when needed, a warm start to stabilize training in high dimensions.

Paperid: 3641, https://arxiv.org/pdf/2512.14971.pdf

Abstract:
The innovative agriculture system is revolutionizing how we farm, making it one of the most critical innovations of our time! Yet it faces significant connectivity challenges, particularly with the sensors that power this technology. An efficient sensor deployment solution is still required to maximize the network's detection capabilities and efficiency while minimizing resource consumption and operational costs. This paper introduces an innovative sensor allocation optimization method that employs a Gradient-Based Iteration with Lagrange. The proposed method enhances coverage by utilizing a hybrid approach while minimizing the number of sensor nodes required under grid-based allocation. The proposed sensor distribution outperformed the classic deterministic deployment across coverage, number of sensors, cost, and power consumption. Furthermore, scalability is enhanced by extending sensing coverage to the remaining area via Bluetooth, which has a shorter communication range. Moreover, the proposed algorithm achieved 98.5% wireless sensor coverage, compared with 95% for the particle swarm distribution.

Paperid: 3642, https://arxiv.org/pdf/2512.12474.pdf

Abstract:
Olympic Taekwondo has faced challenges in spectator engagement due to static, defensive gameplay and contentious scoring. Current Protector and Scoring Systems (PSS) rely on impact sensors and simplistic logic, encouraging safe strategies that diminish the sport's dynamism. This paper proposes an AI-powered scoring system that integrates existing PSS sensors with additional accelerometers, gyroscopes, magnetic/RFID, and impact force sensors in a sensor fusion framework. The system classifies kicks in real-time to identify technique type, contact location, impact force, and even the part of the foot used. A machine learning pipeline employing sensor fusion and Support Vector Machines (SVMs) is detailed, enabling automatic kick technique recognition for scoring. We present a novel kick scoring rubric that awards points based on specific kick techniques (e.g., turning and spinning kicks) to incentivize dynamic attacks. Drawing on a 2024 study achieving 96-98% accuracy, we validate the feasibility of real-time kick classification and further propose enhancements to this methodology, such as ensemble SVM classifiers and expanded datasets, to achieve the high-stakes accuracy required by the sport. We analyze how the proposed system can improve scoring fairness, reduce rule exploitation and illegitimate tactics, encourage more dynamic techniques, and enhance spectator understanding and excitement. The paper includes system design illustrations, a kick scoring table from an AI-augmented rule set, and discusses anticipated impacts on Olympic Taekwondo.

Paperid: 3643, https://arxiv.org/pdf/2512.12314.pdf

Abstract:
While distributed tracing and chaos engineering are becoming standard for microservices, resilience models remain largely manual and bespoke. We revisit a trace-discovered connectivity model that derives a service dependency graph from traces and uses Monte Carlo simulation to estimate endpoint availability under fail-stop service failures. Compared to earlier work, we (i) derive the graph directly from raw OpenTelemetry traces, (ii) attach endpoint-specific success predicates, and (iii) add a simple asynchronous semantics that treats Kafka edges as non-blocking for immediate HTTP success. We apply this model to the OpenTelemetry Demo ("Astronomy Shop") using a GitHub Actions workflow that discovers the graph, runs simulations, and executes chaos experiments that randomly kill microservices in a Docker Compose deployment. Across the studied failure fractions, the model reproduces the overall availability degradation curve, while asynchronous semantics for Kafka edges change predicted availabilities by at most about 10^(-5) (0.001 percentage points). This null result suggests that for immediate HTTP availability in this case study, explicitly modeling asynchronous dependencies is not warranted, and a simpler connectivity-only model is sufficient.

Paperid: 3644, https://arxiv.org/pdf/2512.12149.pdf

Abstract:
Digital twin (DT) offers significant opportunities for enhancing facility management (FM) in campus environments. However, existing research often focuses narrowly on isolated domains, such as point-cloud geometry or energy analytics, without providing a scalable and interoperable workflow that integrates building geometry, equipment metadata, and operational data into a unified FM platform. This study proposes a comprehensive framework for scalable digital-twin deployment in smart campus buildings by integrating 3D laser scanning, BIM modeling, and IoT-enabled data visualization to support facility operations and maintenance. The methodology includes: (1) reality capture using terrestrial laser scanning and structured point-cloud processing; (2) development of an enriched BIM model incorporating architectural, mechanical, electrical, plumbing, conveying, and sensor systems; and (3) creation of a digital-twin environment that links equipment metadata, maintenance policies, and simulated IoT data within a digital-twin management platform. A case study of the Price Gilbert Building at Georgia Tech demonstrates the implementation of this workflow. A total of 509 equipment items were modeled and embedded with OmniClass classifications into the digital twin. Ten interactive dashboards were developed to visualize system performance. Results show that the proposed framework enables centralized asset documentation, improved system visibility, and enhanced preventive and reactive maintenance workflows. Although most IoT data were simulated due to limited existing sensor infrastructure, the prototype validates the feasibility of a scalable digital twin for facility management and establishes a reference model for real-time monitoring, analytics integration, and future autonomous building operations.

Paperid: 3645, https://arxiv.org/pdf/2512.11876.pdf

Abstract:
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4 robot platform that uses learned terrain analysis to generate energy-efficient paths avoiding difficult terrain.Our approach uses FAST-LIO for real-time localization, generating 2.5D elevation maps from LiDAR point clouds. A CNN-based model processes these elevation maps to estimate traversability scores, which are converted into navigation costs for path planning. A custom A* planner incorporates these costs alongside geometric distance and energy consumption to find paths that trade modest distance increases for substantial terrain quality improvements. Before system development, a platform-agnostic study compared LiDAR-based and camera-based SLAM using OptiTrack ground truth. Point cloud comparison through ICP alignment and cloud-to-mesh distance analysis demonstrated that LiDAR-based mapping achieves centimeter-level precision essential for elevation mapping, while camera-based approaches exhibited significantly higher geometric error. These findings directly resulted in the selection of LiDAR as the primary sensor to generate elevation maps. The complete pipeline integrates FAST-LIO localization, GPU-accelerated elevation mapping, CNN-based traversability estimation, and Nav2 navigation with a custom traversability-aware planner. Experimental results demonstrate that the system successfully avoids low traversability regions and accepts a few longer paths to achieve a reduction in terrain cost. This work establishes a foundation for intelligent terrain-aware navigation applicable to multi-modal robotic platforms.

Paperid: 3646, https://arxiv.org/pdf/2512.11859.pdf

Abstract:
We introduce Guided Harmonic Path-Integral Diffusion (GH-PID), a linearly-solvable framework for guided Stochastic Optimal Transport (SOT) with a hard terminal distribution and soft, application-driven path costs. A low-dimensional guidance protocol shapes the trajectory ensemble while preserving analytic structure: the forward and backward Kolmogorov equations remain linear, the optimal score admits an explicit Green-function ratio, and Gaussian-Mixture Model (GMM) terminal laws yield closed-form expressions. This enables stable sampling and differentiable protocol learning under exact terminal matching. We develop guidance-centric diagnostics -- path cost, centerline adherence, variance flow, and drift effort -- that make GH-PID an interpretable variational ansatz for empirical SOT. Three navigation scenarios illustrated in 2D: (i) Case A: hand-crafted protocols revealing how geometry and stiffness shape lag, curvature effects, and mode evolution; (ii) Case B: single-task protocol learning, where a PWC centerline is optimized to minimize integrated cost; (iii) Case C: multi-expert fusion, in which a commander reconciles competing expert/teacher trajectories and terminal beliefs through an exact product-of-experts law and learns a consensus protocol. Across all settings, GH-PID generates geometry-aware, trust-aware trajectories that satisfy the prescribed terminal distribution while systematically reducing integrated cost.

Paperid: 3647, https://arxiv.org/pdf/2512.11734.pdf

Abstract:
This paper introduces a geometric theory of model error, treating true and model dynamics as geodesic flows generated by distinct affine connections on a smooth manifold. When these connections differ, the resulting trajectory discrepancy--termed the Latent Error Dynamic Response (LEDR)--acquires an intrinsic dynamical structure governed by curvature. We show that the LEDR satisfies a Jacobi-type equation, where curvature mismatch acts as an explicit forcing term. In the important case of a flat model connection, the LEDR reduces to a classical Jacobi field on the true manifold, causing Model Error Resonance (MER) to emerge under positive sectional curvature. The theory is extended to a discrete-time analogue, establishing that this geometric structure and its resonant behavior persist in sampled systems. A closed-form analysis of a sphere--plane example demonstrates that curvature can be inferred directly from the LEDR evolution. This framework provides a unified geometric interpretation of structured error dynamics and offers foundational tools for curvature-informed model validation.

Paperid: 3648, https://arxiv.org/pdf/2512.11384.pdf

Abstract:
This paper provides global attractivity results for the interior equilibrium point of a general Lotka-Volterra system with no restriction on the dimension of the system and with no special structure or properties of the interaction matrix. The main result contains as special cases all known general results, including the Volterra-Lyapunov theorem and the recently proposed eigenvector conditions. Moreover, global attractivity of the interior equilibrium point is shown for a three-dimensional example, where none of the existing general results can be applied.

Paperid: 3649, https://arxiv.org/pdf/2512.09976.pdf

Abstract:
A new fuzzy optimization framework that extends FCM causality is proposed. This model utilizes the dynamics to map data into metrics and create a framework that examines logical implication and hierarchy of concepts using a multiplex. Moreover, this is a white-theoretical paper introducing the framework and analyzing the logic and math behind it. Upon this extension the main objectives and the orientation of this framework is expounded and exemplified; this framework is meant for service optimization of information transmission in service process design. Lastly, a thorough analysis of the FHM is included which is done following the logical steps in a simple and elegant manner.

Paperid: 3650, https://arxiv.org/pdf/2512.08415.pdf

Abstract:
The integration of AI into CAD systems transforms how engineers plan and develop infrastructure projects involving water and power transportation across industrial and remote landscapes. This paper discusses how AI-driven CAD systems improve the efficient, effective, and sustainable design of infrastructure by embedding automation, predictive modeling, and real-time data analytics. This study examines how AI-supported toolsets can enhance design workflows, minimize human error, and optimize resource allocation for projects in underdeveloped environments. It also addresses technical and organizational challenges to AI adoption, including data silos, interoperability issues, and workforce adaptation. The findings demonstrate that AI-powered CAD enables faster project delivery, enhanced design precision, and increased resilience to environmental and logistical constraints. AI helps connect CAD, GIS, and IoT technologies to develop self-learning, adaptive design systems that are needed to meet the increasing global demand for sustainable infrastructure.

Paperid: 3651, https://arxiv.org/pdf/2512.08302.pdf

Abstract:
The Heyland circle diagram is a classical graphical method for representing the steady--state behavior of induction machines using no--load and blocked--rotor test data. Despite its long pedagogical history, the traditional geometric construction has not been formalized within a closed analytic framework. This note develops a complete Euclidean reconstruction of the diagram using only the two measured phasors and elementary geometric operations, yielding a unique circle, a torque chord, a slip scale, and a maximum--torque point. We prove that this constructed circle coincides precisely with the analytic steady--state current locus obtained from the per--phase equivalent circuit. A Möbius transformation interpretation reveals the complex--analytic origin of the diagram's circularity and offers a compact explanation of its geometric structure.

Paperid: 3652, https://arxiv.org/pdf/2512.08197.pdf

Abstract:
Accurately forecasting flight departure delays is essential for improving operational efficiency and mitigating the cascading disruptions that propagate through tightly coupled aircraft rotations. Traditional machine learning approaches often treat upstream delays as static variables, overlooking the dynamic recovery processes that determine whether a delay is absorbed or transmitted to subsequent legs. This study introduces a two-stage machine learning framework that explicitly models delay-absorption behavior and incorporates it into downstream delay prediction. In Stage I, a CatBoost classifier estimates the probability that a flight successfully absorbs an upstream delay based on operational, temporal, and meteorological features. This probability, termed AbsorbScore, quantifies airport- and flight-specific resilience to delay propagation. In Stage II, an XGBoost classifier integrates AbsorbScore with schedule, weather, and congestion indicators to predict whether a flight will depart more than 15 minutes late. Using U.S. domestic flight and NOAA weather data from Summer 2023, the proposed framework achieves substantial improvements over baseline models, increasing ROC-AUC from 0.865 to 0.898 and enhancing precision to 89.2% in identifying delayed flights. The results demonstrate that modeling delay absorption as an intermediate mechanism significantly improves predictive performance and yields interpretable insights into airport recovery dynamics, offering a practical foundation for data-driven delay management and proactive operational planning.

Paperid: 3653, https://arxiv.org/pdf/2512.07851.pdf

Abstract:
Real-world biosignal data is frequently corrupted by various types of noise, such as motion artifacts, and baseline wander. Although digital signal processing techniques exist to process such signals; however, heavily degraded signals cannot be recovered. In this study, we aim to classify two things: first, a binary classification of noisy and clean biosignals, and next, to categorize various kinds of noise such as motion artifacts, sensor failure, etc. We implemented K-means clustering, and our results indicate that the algorithm can most reliably group clean segments from noisy ones, particularly strong performance in identifying clean data compared to various categories of noise. This approach enables the selection of only high-quality bio-signal segments and provides accurate results for feature engineering that may enhance the precision of machine learning models trained on biosignals.

Paperid: 3654, https://arxiv.org/pdf/2512.07353.pdf

Abstract:
Mountain huts are buildings located at high altitude, offering a place for hikers and providing shelter. Energy supply on mountain huts is still an open issue. Using renewable energies could be an appropriate solution. Jiujiu Cabins, a famous mountain hut in Shei-Pa National Park, Taiwan, has operated an off-grid solar energy storage system (ESS) with lead-acid batteries. In 2021, a serious system failures took place, leading to no electricity. After an detailed on-site survey, a reorganization and repair project implemented, the energy system came back to operate normally. Meanwhile, a eco-friendly lithium iron phosphate battery (LFP battery) ESS replaces part of the lead-acid battery ESS, forming a hybrid ESS, making a better and green off-grid solar ESS. In this case report, the energy architecture, detailed descriptions, and historical status of the system are provided. An on-site survey of the failed energy system, a system improvement project, and future plan are listed.

Paperid: 3655, https://arxiv.org/pdf/2512.06809.pdf

Abstract:
Battery safety is paramount for electric vehicles. Early fault diagnosis remains a challenge due to the subtle nature of anomalies and the interference of dynamic operating noise. Existing data-driven methods often suffer from "physical blindness" leading to missed detections or false alarms. To address this, we propose a Physics-Aware Attention LSTM Autoencoder (PA-ALSTM-AE). This novel framework explicitly integrates battery aging laws (mileage) into the deep learning pipeline through a multi-stage fusion mechanism. Specifically, an adaptive physical feature construction module selects mileage-sensitive features, and a physics-guided latent fusion module dynamically calibrates the memory cells of the LSTM based on the aging state. Extensive experiments on the large-scale Vloong real-world dataset demonstrate that the proposed method significantly outperforms state-of-the-art baselines. Notably, it improves the recall rate of early faults by over 3 times while maintaining high precision, offering a robust solution for industrial battery management systems.

Paperid: 3656, https://arxiv.org/pdf/2512.04480.pdf

Abstract:
In elite soccer, substitution decisions entail significant financial and sporting consequences yet remain heavily reliant on intuition or predictive models that merely mimic historical biases. This paper introduces a Fuzzy Logic based Decision Support System (DSS) designed for real time, prescriptive game management. Unlike traditional Machine Learning approaches that encounter a predictive ceiling by attempting to replicate human behavior, our system audits performance through an objective, rule based inference engine. We propose a methodological advancement by reformulating the PlayeRank metric into a Cumulative Mean with Role Aware Normalization, eliminating the play time exposure bias inherent in cumulative sum models to enable accurate intra match comparison. The system integrates this refined metric with physiological proxies (fatigue) and contextual variables (disciplinary risk modulated by tactical role) to calculate a dynamic Substitution Priority (P final). Validation via a case study of the 2018 FIFA World Cup match between Brazil and Belgium demonstrates the system's ecological validity: it not only aligned with expert consensus on executed substitutions (for example Gabriel Jesus) but, crucially, identified high risk scenarios ignored by human decision makers. Specifically, the model flagged the "FAGNER Paradox" - a maximum priority defensive risk - minutes before a critical yellow card, and detected the "Lukaku Paradox", where an isolated assist masked a severe drop in participation. These results confirm that Fuzzy Logic offers a transparent, explainable, and superior alternative to black box models for optimizing real time tactical decisions.

Paperid: 3657, https://arxiv.org/pdf/2512.03779.pdf

Abstract:
Parametric representations of various functions are fundamental tools in science and engineering. This paper introduces a fixed-initial-state constant-input dynamical system (FISCIDS) representation, which provides an exact and parametric model for a broad class of nonlinear functions. A FISCIDS representation of a given nonlinear function consists of an input-affine dynamical system with a fixed initial state and constant input. The argument of the function is applied as the constant input to the input-affine system, and the value of the function is the output of the input-affine system at a fixed terminal time. We show that any differentially algebraic function has a quadratic FISCIDS representation. We also show that there exists an analytic function that is not differentially algebraic but has a quadratic FISCIDS representation. Therefore, most functions in practical problems in science and engineering can be represented by a quadratic FISCIDS representation.

Paperid: 3658, https://arxiv.org/pdf/2512.03604.pdf

Abstract:
Event-Triggered Control (ETC) reduces communication overhead in networked systems by transmitting only when stability requires it. Conventional mechanisms use isotropic error thresholds ($\|e\| \le σ\|x\|$), treating all directions equally. This ignores stability geometry and triggers conservatively. We propose a static directional triggering mechanism that exploits this asymmetry. By weighting errors via the Lyapunov matrix $P$, we define an anisotropic half-space scaling with instantaneous energy margins: larger deviations tolerated along stable modes, strict bounds where instability threatens. We prove global asymptotic stability and exclusion of Zeno behavior. Monte Carlo simulations ($N=100$) show 43.6\% fewer events than optimally tuned isotropic methods while achieving $2.1\times$ better control performance than time-varying alternatives. The mechanism functions as a runtime safety gate for learning-based controllers operating under communication constraints.

Paperid: 3659, https://arxiv.org/pdf/2512.02679.pdf

Abstract:
Mountain huts are buildings located at high altitude, providing shelter and a place for hikers. Energy supply on mountain huts remains an open issue. Using renewable energies could be an appropriate solution. Tianchi Lodge, a famous mountain hut in Taiwan, has operated an off-grid solar energy storage system with lithium iron phosphate (LFP) batteries since 2020. In this case report, the energy architecture, detailed descriptions, and historical status of the system are provided.

Paperid: 3660, https://arxiv.org/pdf/2512.02262.pdf

Abstract:
We address the problem of verifying closed-loop contraction in nonlinear control systems whose controller and contraction metric are both parameterized by neural networks. By leveraging interval analysis and interval bound propagation, we derive a tractable and scalable sufficient condition for closed-loop contractivity that reduces to checking that the dominant eigenvalue of a symmetric Metzler matrix is nonpositive. We combine this sufficient condition with a domain partitioning strategy to integrate this sufficient condition into training. The proposed approach is validated on an inverted pendulum system, demonstrating the ability to learn neural network controllers and contraction metrics that provably satisfy the contraction condition.

Paperid: 3661, https://arxiv.org/pdf/2512.01608.pdf

Abstract:
This work presents a real-time autonomous track navigation framework for nonholonomic differential-drive mobile robots by jointly integrating multi-task visual perception and a provably stable tracking controller. The perception pipeline reconstructs lane centerlines using 2D-to-3D camera projection, arc-length based uniform point resampling, and cubic polynomial fitting solved via robust QR least-squares optimization. The controller regulates robot linear and angular velocities through a Lyapunov-stability grounded design, ensuring bounded error dynamics and asymptotic convergence of position and heading deviations even in dynamic and partially perceived lane scenarios, without relying on HD prior maps or global satellite localization. Real-world experiments on embedded platforms verify system fidelity, real-time execution, trajectory smoothness, and closed-loop stability for reliable autonomous navigation.

Paperid: 3662, https://arxiv.org/pdf/2512.01249.pdf

Abstract:
This paper introduces a new family of multi-parent recombination operators for Genetic Algorithms (GAs), based on normalized Pascal (binomial) coefficients. Unlike classical two-parent crossover operators, Pascal-Weighted Recombination (PWR) forms offsprings as structured convex combination of multiple parents, using binomially shaped weights that emphasize central inheritance while suppressing disruptive variance. We develop a mathematical framework for PWR, derive variance-transfer properties, and analyze its effect on schema survival. The operator is extended to real-valued, binary/logit, and permutation representations. We evaluate the proposed method on four representative benchmarks: (i) PID controller tuning evaluated using the ITAE metric, (ii) FIR low-pass filter design under magnitude-response constraints, (iii) wireless power-modulation optimization under SINR coupling, and (iv) the Traveling Salesman Problem (TSP). We demonstrate how, across these benchmarks, PWR consistently yields smoother convergence, reduced variance, and achieves 9-22% performance gains over standard recombination operators. The approach is simple, algorithm-agnostic, and readily integrable into diverse GA architectures.

Paperid: 3663, https://arxiv.org/pdf/2512.01207.pdf

Abstract:
Power flow analysis is a fundamental tool for power system analysis, planning, and operational control. Traditional Newton-Raphson methods suffer from limitations such as initial value sensitivity and low efficiency in batch computation, while existing deep learning-based power flow solvers mostly rely on supervised learning, requiring pre-solving of numerous cases and struggling to guarantee physical consistency. This paper proposes a neural physics power flow solving method based on manifold geometry and gradient flow, by describing the power flow equations as a constraint manifold, and constructing an energy function $V(\mathbf{x}) = \frac{1}{2}\|\mathbf{F}(\mathbf{x})\|^2$ and gradient flow $\frac{d\mathbf{x}}{dt} = -\nabla V(\mathbf{x})$, transforming power flow solving into an equilibrium point finding problem for dynamical systems. Neural networks are trained in an unsupervised manner by directly minimizing physical residuals, requiring no labeled data, achieving true "end-to-end" physics-constrained learning.

Paperid: 3664, https://arxiv.org/pdf/2512.00644.pdf

Abstract:
This work develops a constraint-aware grid-forming (GFM) control that explicitly accounts for current limits and modulation limits within the GFM oscillator dynamics generating the GFM voltage reference (i.e., phase angle and magnitude). Broadly speaking, the voltage reference generated by the constraint-aware GFM control minimizes the deviation from conventional unconstrained GFM droop control, while respecting current and modulation limits. The resulting GFM control achieves fast current limiting while preserving transient stability, e.g., exhibiting infinite critical clearing time. To develop the control, we first characterize and analyze the set of converter voltages that do not result in constraint violations. Next, an efficient algorithm for projecting voltages onto the feasible set is developed. Subsequently, these results are used to restrict the dynamics of GFM droop control to the set of feasible voltages. Finally, detailed simulation studies and hardware experiments are used to illustrate and validate the response to short-circuit faults and phase jumps.

Paperid: 3665, https://arxiv.org/pdf/2511.22893.pdf

Abstract:
Biotechnology can benefit from dynamic control to improve production efficiency. In this context, optogenetics enables modulation of gene expression using light as an external input, allowing fine-tuning of protein levels to unlock dynamic metabolic control and regulation of cell growth. Optogenetic systems can be actuated by light intensity. However, relying solely on intensity-driven control (i.e., signal amplitude) may fail to properly tune optogenetic bioprocesses when the dose-response relationship (i.e., light intensity versus gene-expression strength) is steep. In these cases, tunability is effectively constrained to either fully active or fully repressed gene expression, with little intermediate regulation. Pulse-width modulation, a concept widely used in electronics, can alleviate this issue by alternating between fully ON and OFF light intensity within forcing periods, thereby smoothing the average response and enhancing process controllability. Naturally, optimizing pulse-width-modulated optogenetics entails a switching-time optimal control problem with a binary input over many forcing periods. While this can be formulated as a mixed-integer program on a refined time grid, the number of decision variables can grow rapidly with increasing time-grid resolution and number of forcing periods, compromising tractability. Here, we propose an alternative solution based on reinforcement learning. We parametrize control actions via the duty cycle, a continuous variable that encodes the ON-to-OFF switching time within each forcing period, thereby respecting the intrinsic binary nature of the light intensity.

Paperid: 3666, https://arxiv.org/pdf/2511.22091.pdf

Abstract:
By introducing two polar coordinates transformations, the marine vessel's original two-input-three-output second-order tracking model can be reduced to a two-input-two-output feedback form. However, the resulting system does not confirm to the strict-feedback structure, leading to potential singularity when designing the stabilizing function for the virtual input in the recursive controller design. Moreover, the polar coordinate transformation itself inherently introduces singularities. To address these singularity issues, this paper employs a control barrier function (CBF) based approach and formulates the trajectory tracking problem as a quadratic program (QP) solved via a QP optimizer. Numerical simulations are carried out to demonstrate the effectiveness of the proposed method.

Paperid: 3667, https://arxiv.org/pdf/2511.21641.pdf

Abstract:
Practical design and tuning of feedback controllers has to do often without any model of the given dynamic process. Only some general assumptions about the process, in this work type-one stable behavior, can be available for engineers, in particular in motion control systems. This paper proposes a practical and simple in realization procedure for designing a robust PI-Lead control without modeling. The developed method derives from the ultimate sensitivity principles, known in the empirical Ziegler-Nichols tuning of PID control, and makes use of some general characteristics of loop shaping. A three-steps procedure is proposed to determine the integration time constant, control gain, and Lead-element in a way to guarantee a sufficient phase margin, while all steps are served by only experimental observations of the output value. The proposed method is also evaluated with experiments on a noise-perturbed electro-mechanical actuator system with translational motion.

Paperid: 3668, https://arxiv.org/pdf/2511.21041.pdf

Abstract:
This paper addresses data-driven control of continuous-time systems. We develop a framework based on synthesis operators associated with input and state trajectories. A key advantage of the proposed method is that it does not require the state derivative and uses continuous-time data directly without sampling or filtering. First, systems compatible with given data are described by the synthesis operators into which data trajectories are embedded. Next, we characterize data informativity properties for system identification and for stabilization. Finally, we establish a necessary and sufficient condition for informativity for quadratic stabilization in the presence of process noise. This condition is formulated as linear matrix inequalities by exploiting the finite-rank structure of the synthesis operators.

Paperid: 3669, https://arxiv.org/pdf/2511.20663.pdf

Abstract:
Ensuring cognitive stability in autonomous multi-agent systems (MAS) is a central challenge for large-scale, distributed AI. While existing observability tools monitor system outputs, they cannot quantify how rapidly agentic workflows recover once reasoning coherence has been lost. We adapt classical reliability metrics-Mean Time-to-Recovery (MTTR), Mean Time Between Failures (MTBF), and related ratios-into the cognitive domain, defining MTTR-A (Mean Time-to-Recovery for Agentic Systems) as a runtime measure of cognitive recovery latency. MTTR-A quantifies the time required for a MAS to detect reasoning drift and restore consistent operation, capturing the recovery of reasoning coherence rather than infrastructural repair. A benchmark simulation using the AG~News corpus and the LangGraph orchestration framework was conducted, modeling recovery latencies across multiple reflex modes. Automated reflexes restored stability within approximately 6s on average, while human-approval interventions required about 12s. Across 200 runs, the median simulated MTTR-A was 6.21+-2.14s, MTBF=6.7+-2.14s, and NRR=0.08, demonstrating measurable runtime resilience across reflex strategies. By formalizing recovery latency as a quantifiable property of distributed reasoning-and deriving reliability bounds linking recovery time and cognitive uptime-this work establishes a foundation for runtime dependability in agentic cognition, transforming cognitive recovery from an ad-hoc process into a standardized, interpretable performance

Paperid: 3670, https://arxiv.org/pdf/2511.20603.pdf

Abstract:
Urban Air mobility has gained momentum with recent advancements in the electric vertical take-off and landing (eVTOL) vehicles, offering faster point-to-point air taxi services that could help relieve traffic congestion in chronically overburdened cities. The research assesses the feasibility and systems-of-systems level adoption potential of UAM operations in the San Francisco Bay Area by comparing passenger departure, waiting, travel, and arrival times across key regional nodes, including San Francisco, Oakland, San Jose, and Palo Alto airports, with conventional ground transportation. A multi-agent simulation was developed in MATLAB to evaluate the fleet operations and to model demand arrival using a Poisson process under stochastic passenger flows and turnaround constraints. Results indicate that utilizing UAM during peak demand could reduce total travel times up to eighty percent across the region. The findings of this paper highlight the critical operational factors for fleet schedule optimization. Especially how the fleet size, passengers' request volumes, and turnaround time directly influence waiting time, operating cost, and overall user acceptance.

Paperid: 3671, https://arxiv.org/pdf/2511.19726.pdf

Abstract:
Multi-agent systems often operate under feedback, adaptation, and non-stationarity, yet many simulation studies retain static decision rules and fixed control parameters. This paper introduces a general adaptive multi-agent learning framework that integrates: (i) four dynamic regimes distinguishing static versus adaptive agents and fixed versus adaptive system parameters; (ii) information-theoretic diagnostics (entropy rate, statistical complexity, and predictive information) to assess predictability and structure; (iii) structural causal models for explicit intervention semantics; (iv) procedures for generating agent-level priors from aggregate or sample data; and (v) unsupervised methods for identifying emergent behavioral regimes. The framework offers a domain-neutral architecture for analyzing how learning agents and adaptive controls jointly shape system trajectories, enabling systematic comparison of stability, performance, and interpretability across non-equilibrium, oscillatory, or drifting dynamics. Mathematical definitions, computational operators, and an experimental design template are provided, yielding a structured methodology for developing explainable and contestable multi-agent decision processes.

Paperid: 3672, https://arxiv.org/pdf/2511.19683.pdf

Abstract:
In this paper, a state feedback control design with min/max operational limiting constraints is developed for multi-input-multi-output linear time invariant systems. Specifically, servo-tracking control problems with input and output constraints are considered. For static servo-controllers, the output design limits are imposed component-wise on the system selected output, which is of the same dimension as the control input. For dynamic servo-controllers, operational constraints are applied to the system inputs and outputs. The proposed control solution also includes an anti-windup protection logic for dynamic servo-controllers with integral action. The developed method is based on the Nagumo Theorem for forward invariance, the Comparison Lemma for inclusion of input/output inequality constraints, and on the min-norm optimal controllers for synthesis. The derived design is similar and directly related to the method of Control Barrier Functions. Simulation trade studies are presented to illustrate benefits of the proposed control methodology for aerial flight critical systems.

Paperid: 3673, https://arxiv.org/pdf/2511.19505.pdf

Abstract:
Spacecraft equipped with multiple propulsion modes or systems can offer enhanced performance and mission flexibility compared with traditional configurations. Despite these benefits, the trajectory optimization of spacecraft utilizing such configurations remains a complex challenge. This paper presents a sequential convex programming (SCP) approach for the optimal design of multi-mode and multi-propulsion spacecraft trajectories. The method extends the dynamical linearization within SCP using sparse automatic differentiation, enabling efficient inclusion of multiple propulsion modes or systems without complex manual reformulation while maintaining comparable computational efficiency. New constraint formulations are introduced to ensure selection of a single propulsion mode at each time step and limit the total number of modes used. The approach is demonstrated for (i) a low-thrust Earth-67P rendezvous using the SPT-140 thruster with 20 discrete modes, and (ii) an Earth-Mars transfer employing both a low-thrust engine and a solar sail. Results confirm that the proposed method can efficiently compute optimal trajectories for these scenarios.

Paperid: 3674, https://arxiv.org/pdf/2511.19454.pdf

Abstract:
The Multi-Traveling Salesman Problem (MTSP) is a commonly used mathematical model for multi-agent task allocation. However, as the number of agents and task targets increases, existing optimization-based methods often incur prohibitive computational costs, posing significant challenges to large-scale coordination in unmanned systems. To address this issue, this paper proposes a K-means-inspired task allocation framework that reformulates the MTSP as a spatially constrained classification process. By leveraging spatial coherence, the proposed method enables fast estimation of path costs and efficient task grouping, thereby fundamentally reducing overall computational complexity. Extensive simulation results demonstrate that the framework can maintain high solution quality even in extremely large-scale scenarios-for instance, in tasks involving 1000 agents and 5000 targets. The findings indicate that this "cluster-then-route" decomposition strategy offers an efficient and reliable solution for large-scale multi-agent task allocation.

Paperid: 3675, https://arxiv.org/pdf/2511.19449.pdf

Abstract:
Electrifying passenger cars will impact future power systems. To understand the challenges and opportunities that arise, it is necessary to reflect "sector coupling" in the modeling space. This paper focuses on a specific modeling approach that includes dozens of individual BEV profiles rather than one aggregated BEV profile. Although including additional BEV profiles increases model complexity and runtime, it avoids losing information in the aggregation process. We investigate how many profiles are needed to ensure the accuracy of the results and the extent to which fewer profiles can be traded for runtime efficiency gains. We also examine whether selecting specific profiles influences optimal results. We demonstrate that including too few profiles may result in distorted optimal solutions. However, beyond a certain threshold, adding more profiles does not significantly enhance the robustness of the results. More generally, for fleets of 5 to 20 million BEVs, we derive a rule of thumb consisting in including enough profiles such that each profile represents 200,000 to 250,000 vehicles, ensuring accurate results without excessive runtime.

Paperid: 3676, https://arxiv.org/pdf/2511.18593.pdf

Abstract:
Graph Diffusion Models (GDMs) optimize for statistical likelihood, implicitly acting as \textbf{frequency filters} that favor abundant substructures over spectrally critical ones. We term this phenomenon \textbf{Generative Myopia}. In combinatorial tasks like graph sparsification, this leads to the catastrophic removal of ``rare bridges,'' edges that are structurally mandatory ($R_{\text{eff}} \approx 1$) but statistically scarce. We prove theoretically and empirically that this failure is driven by \textbf{Gradient Starvation}: the optimization landscape itself suppresses rare structural signals, rendering them unlearnable regardless of model capacity. To resolve this, we introduce \textbf{Spectrally-Weighted Diffusion}, which re-aligns the variational objective using Effective Resistance. We demonstrate that spectral priors can be amortized into the training phase with zero inference overhead. Our method eliminates myopia, matching the performance of an optimal Spectral Oracle and achieving \textbf{100\% connectivity} on adversarial benchmarks where standard diffusion fails completely (0\%).

Paperid: 3677, https://arxiv.org/pdf/2511.18418.pdf

Abstract:
Reinforcement-based learning dynamics may exhibit several limitations when applied in a distributed setup. In (repeatedly-played) multi-player/action strategic-form games, and when each player applies an independent copy of the learning dynamics, convergence to (usually desirable) pure Nash equilibria cannot be guaranteed. Prior work has only focused on a small class of games, namely potential and coordination games. Furthermore, strong convergence guarantees (i.e., almost sure convergence or weak convergence) are mostly restricted to two-player games. To address this main limitation of reinforcement-based learning in repeatedly-played strategic-form games, this paper introduces a novel payoff-based learning scheme for distributed optimization in multi-player/action strategic-form games. We present an extension of perturbed learning automata (PLA), namely aspiration-based perturbed learning automata (APLA), in which each player's probability distribution for selecting actions is reinforced both by repeated selection and an aspiration factor that captures the player's satisfaction level. We provide a stochastic stability analysis of APLA in multi-player positive-utility games under the presence of noisy observations. This paper is the second part of this study that analyzes stochastic stability in multi-player/action weakly-acyclic games in the presence of noisy observations. We provide conditions under which convergence is attained (in weak sense) to the set of pure Nash equilibria and payoff-dominant equilibria. To the best of our knowledge, this is the first reinforcement-based learning scheme that addresses convergence in weakly-acyclic games. Lastly, we provide a specialization of the results to the classical Stag-Hunt game, supported by a simulation study.

Paperid: 3678, https://arxiv.org/pdf/2511.18374.pdf

Abstract:
This paper establishes the first explicit and closed-form upper bound on the Hausdorff distance between the truncated minimal robust positively invariant (mRPI) set and its infinite-horizon limit. While existing mRPI approximations guarantee asymptotic convergence through geometric or norm-based arguments, none provides a computable expression that quantifies the truncation error for a given horizon. We show that the error satisfies $ d_H(\mathcal{E}_N,\mathcal{E}_\infty) \le r_W\,γ^{N+1}/(1-γ), $ where $γ<1$ is the induced-norm contraction factor and $r_W$ depends only on the disturbance set. The bound is fully analytic, requires no iterative set computations, and directly characterizes the decay rate of the truncated Minkowski series. We further demonstrate that the choice of vector norm serves as a design parameter that accelerates convergence, enabling substantially tighter horizon selection for robust invariant-set computations and tube-based MPC. Numerical experiments validate the sharpness, scalability, and practical relevance of the proposed bound.

Paperid: 3679, https://arxiv.org/pdf/2511.18081.pdf

Abstract:
The Broad Learning System (BLS) has gained significant attention for its computational efficiency and less network parameters compared to deep learning structures. However, the standard BLS relies on the pseudoinverse solution, which minimizes the mean square error with $L_2$-norm but lacks robustness against sensor noise and outliers common in industrial environments. To address this limitation, this paper proposes a novel Sparse Broad Learning System (S-BLS) framework. Instead of the traditional ridge regression, we incorporate the Sequential Threshold Least-Squares (STLS) algorithm -- originally utilized in the sparse identification of nonlinear dynamics (SINDy) -- into the output weight learning process of BLS. By iteratively thresholding small coefficients, the proposed method promotes sparsity in the output weights, effectively filtering out noise components while maintaining modeling accuracy. This approach falls under the category of sparse regression and is particularly suitable for noisy environments. Experimental results on a numerical nonlinear system and a noisy Continuous Stirred Tank Reactor (CSTR) benchmark demonstrate that the proposed method is effective and achieves superior robustness compared to standard BLS.

Paperid: 3680, https://arxiv.org/pdf/2511.16399.pdf

Abstract:
Electric vehicles (EVs) have drastically changed the auto industry and developed a new era of technologies where power electronics play the leading role in traction management, energy conversion and vehicle control processes. Nevertheless, this is a digital transformation, and the cyber-attack surface area has increased considerably, to the point that EV traction power electronics are becoming vulnerable to various cybersecurity risks. This paper is able to provide its expertise on possible cyber-attack vectors which can attack important parts of the traction, powertrain, including things like inverters, motor controllers, and communicated systems within the embedded bits. Using the (STRIDE) threat modeling framework, the research outlines and groups the vulnerabilities of the architecture and runs some attack simulations, such as the Denial of Service (DoS), spoofing, firmware manipulation, and data injection. The experiments prove the fact that a slight interruption in the control signal, the sensed data may lead to the severe working implications, such as unstable sensor values of the torque, abnormal voltage shifts, and entire system freezes. These results highlight the high priority on the need of injective embedded intrusion preventive mechanisms and secure design of firmware in EV powertrain electronics. In this paper, the author makes his contribution to the general body of knowledge that underpins the links existing between cyber security practices and the peculiar needs of automotive power electronics.

Paperid: 3681, https://arxiv.org/pdf/2511.16253.pdf

Abstract:
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an optimal horizon at each sampling instant, selecting which sensor to read over the next several time steps to maximize inter-sample intervals while maintaining stability. Two implementations address computational complexity. The online version solves an optimization problem at each update for theoretical optimality. The offline version precomputes optimal horizons using conic partitioning, reducing online computation to a lookup. Both guarantee exponential stability for unperturbed systems and global uniform ultimate boundedness for systems with bounded disturbances. Simulations demonstrate 59-74\% reductions in sensor utilization compared to periodic sampling. The framework enables resource-efficient control in networked systems with communication constraints.

Paperid: 3682, https://arxiv.org/pdf/2511.15630.pdf

Abstract:
Asymptotic stability in economic receding horizon control can be obtained under a strict dissipativity assumption, related to positive-definiteness of a so-called rotated cost, and through the use of suitable terminal cost and constraints. In the linear-quadratic case, a common assumption is that the rotated cost is positive definite. The positive semi-definite case has received surprisingly little attention, and the connection to the standard dissipativity assumption has not been investigated. In this paper, we fill this gap by connecting existing results in economic model predictive control with the stability results for the semi-definite case, the properties of the constrained generalized discrete algebraic Riccati equation, and of two optimal control problems. Moreover, we extend recent results relating exponential stability to the choice of terminal cost in the absence of terminal constraints.

Paperid: 3683, https://arxiv.org/pdf/2511.14957.pdf

Abstract:
The method described in the first part for frequency-selectively measuring the transfer function and the noise power spectral density of the superimposed noise at the output of a disturbed, real system with nonlinearities using windowing was limited to time-invariant systems with stationary and zero-mean processes. Here, we investigate how this measurement method can be extended so that all correlations existing between the input and output signals can also be measured using windowing for a periodically time-varying system disturbed by a cyclostationary noise process. An extended version of the window construction algorithm presented in the first part is introduced, in which some degrees of freedom not used there can be used to appropriately influence the properties of the window sequence depending on the application. -- Das im ersten Teil beschriebene Verfahren die Uebertragungsfunktion und das Rauschleistungsdichtespektrum des ueberlagerten Rauschens am Ausgang eines gestoerten, realen Systems mit Nichtlinearitaeten mit Hilfe der Fensterung frequenzselektiv zu vermessen beschraenkte sich auf zeitinvariante Systeme mit stationaeren und mittelwertfreien Prozessen. Hier wird untersucht, wie dieses Messverfahren zu erweitern ist, so dass man damit auch alle Korrelationen, die zwischen Ein- und Ausgangssignal bestehen, bei einem periodisch zeitvarianten System, das von einem zyklostationaeren Rauschprozess gestoert wird, mit einer Fensterung messen kann. Es wird eine erweiterte Variante des im ersten Teil vorgestellten Algorithmus zur Konstruktion des Fensters angegeben, bei der einige dort nicht genutzte Freiheitsgrade dazu verwendet werden koennen, die Eigenschaften der Fensterfolge je nach Applikation geeignet zu beeinflussen.

Paperid: 3684, https://arxiv.org/pdf/2511.14890.pdf

Abstract:
There is already a method known from the literature with which it is possible to measure both the transfer function and the noise power spectral density of the superimposed noise at the output of a disturbed, time-invariant, real system with nonlinearities in one measurement. By using a suitable window, the frequency selectivity of the measurement of the power spectral density of the superimposed noise can be noticeably improved without significantly increasing the computational complexity of the method. The unbiasedness and consistency of the measurement method with a suitable window are proven. The measurement of the power spectral density of a zero-mean, stationary process without measuring the transfer function is investigated as a special case for both real-valued and complex-valued signals. It is derived which requirements a suitable window should meet and how it can be calculated with high numerical accuracy. -- Es gibt bereits eine aus der Literatur bekannte Methode mit der es moeglich ist in einer Messung sowohl die Uebertragungsfunktion als auch das Rauschleistungsdichtespektrum des ueberlagerten Rauschens am Ausgang eines gestoerten, zeitinvarianten, realen Systems mit Nichtlinearitaeten zu messen. Durch den Einsatz eines geeigneten Fensters kann die Frequenzselektivitaet der Messung des Leistungsdichtespektrums der Stoerung deutlich verbessert werden, ohne den Aufwand der Berechnungen des Verfahrens nennenswert zu erhoehen. Die Erwartungstreue und die Konsistenz des Messverfahren mit Fensterung wird gezeigt. Die Messung des Leistungsdichtespektrums eines mittelwertfreien, stationaeren Prozesses ohne Messung der Uebertragungsfunktion wird als Sonderfall sowohl fuer reellwertige, als auch fuer komplexwertige Signale untersucht. Es wird hergeleitet, welche Forderungen ein geeignetes Fenster erfuellen sollte und wie es sich numerisch hochgenau berechnen laesst.

Paperid: 3685, https://arxiv.org/pdf/2511.14158.pdf

Abstract:
This study examines the economic impact of post-hoc uncertainty discounting in predictive energy management, specifically in battery energy arbitrage. A 2.2 MWh, 1.1 MW Tesla battery, emulating operations at the University of Queensland's St. Lucia campus, is used as a test system. Traditionally, Model Predictive Control (MPC) frameworks rely on deterministic spot price forecasts from the Australian Energy Market Operator (AEMO) to optimize battery scheduling. However, these forecasts lack uncertainty awareness, making arbitrage strategies vulnerable to extreme price volatility. To address this, we propose simple heuristic uncertainty discounting methods, which require no access to the predictive model's architecture or inputs. By integrating these strategies into existing MPC frameworks, we demonstrate a more than 20% improvement in economic returns under identical operational constraints. This approach enhances decision-making in energy arbitrage while remaining practical, scalable, and independent of specific forecasting models

Paperid: 3686, https://arxiv.org/pdf/2511.12852.pdf

Abstract:
Deep neural networks achieve state of the art performance but remain difficult to interpret mechanistically. In this work, we propose a control theoretic framework that treats a trained neural network as a nonlinear state space system and uses local linearization, controllability and observability Gramians, and Hankel singular values to analyze its internal computation. For a given input, we linearize the network around the corresponding hidden activation pattern and construct a state space model whose state consists of hidden neuron activations. The input state and state output Jacobians define local controllability and observability Gramians, from which we compute Hankel singular values and associated modes. These quantities provide a principled notion of neuron and pathway importance: controllability measures how easily each neuron can be excited by input perturbations, observability measures how strongly each neuron influences the output, and Hankel singular values rank internal modes that carry input output energy. We illustrate the framework on simple feedforward networks, including a 1 2 2 1 SwiGLU network and a 2 3 3 2 GELU network. By comparing different operating points, we show how activation saturation reduces controllability, shrinks the dominant Hankel singular value, and shifts the dominant internal mode to a different subset of neurons. The proposed method turns a neural network into a collection of local white box dynamical models and suggests which internal directions are natural candidates for pruning or constraints to improve interpretability.

Paperid: 3687, https://arxiv.org/pdf/2511.12277.pdf

Abstract:
The proliferation of SQL for data processing has often occurred without the rigor of traditional software development, leading to siloed efforts, logic replication, and increased risk. This ad-hoc approach hampers data governance and makes validation nearly impossible. Organizations are adopting DataOps, a methodology combining Agile, Lean, and DevOps principles to address these challenges to treat analytics pipelines as production systems. However, a standardized framework for implementing DataOps is lacking. This perspective proposes a qualitative design for a DataOps-aligned validation framework. It introduces a DataOps Controls Scorecard, derived from a multivocal literature review, which distills key concepts into twelve testable controls. These controls are then mapped to a modular, extensible CI/CD pipeline framework designed to govern a single source of truth (SOT) SQL repository. The framework consists of five stages: Lint, Optimize, Parse, Validate, and Observe, each containing specific, automated checks. A Requirements Traceability Matrix (RTM) demonstrates how each high-level control is enforced by concrete pipeline checks, ensuring qualitative completeness. This approach provides a structured mechanism for enhancing data quality, governance, and collaboration, allowing teams to scale analytics development with transparency and control.

Paperid: 3688, https://arxiv.org/pdf/2511.12240.pdf

Abstract:
We present SCI, a closed-loop, control-theoretic framework that models interpretability as a regulated state. SCI formalizes the interpretive error Delta SP and actively drives SP(t) in [0, 1] ("Surgical Precision") toward a target via a projected update on the parameters Theta under a human-gain budget. The framework operates through three coordinated components: (1) reliability-weighted, multiscale features P(t, s); (2) a knowledge-guided interpreter psi_Theta that emits traceable markers and rationales; and (3) a Lyapunov-guided controller equipped with rollback, trust-region safeguards, and a descent condition. Across biomedical (EEG/ECG/ICU), industrial (bearings/tool wear), and environmental (climate/seismic) domains, SCI reduces interpretive error by 25-42% (mean 38%, 95% confidence interval 22-43%) relative to static explainers while maintaining AUC/F1 within approximately 1-2 percentage points of baseline. SCI also reduces SP variance from 0.030 to 0.011, indicating substantially more stable explanations. Modeling interpretability as a control objective yields steadier, faster-recovering, and more trustworthy interpretive behavior across diverse signal regimes.

Paperid: 3689, https://arxiv.org/pdf/2511.11553.pdf

Abstract:
In machine learning, a self-attention dynamics is a continuous-time multiagent-like model of the attention mechanisms of transformers. In this paper we show that such dynamics is related to a multiagent version of the Oja flow, a dynamical system that computes the principal eigenvector of a matrix corresponding for transformers to the value matrix. We classify the equilibria of the ``single-head'' self-attention system into four classes: consensus, bipartite consensus, clustering and polygonal equilibria. Multiple asymptotically stable equilibria from the first three classes often coexist in the self-attention dynamics. Interestingly, equilibria from the first two classes are always aligned with the eigenvectors of the value matrix, often but not exclusively with the principal eigenvector.

Paperid: 3690, https://arxiv.org/pdf/2511.10596.pdf

Abstract:
Current artificial intelligence systems excel at correlational pattern matching but fail to achieve genuine causal understanding, a limitation often described as the "Kepler versus Newton" problem. We argue that this limitation is inherent to deterministic digital architectures. We introduce the Resonance Principle, a theoretical framework proposing that causal understanding emerges only in stochastic, bounded agents with intrinsic cost functions. The agent's substrate is modeled as a network of weakly coupled oscillators, where action proposals arise as stable resonant modes excited by intrinsic noise. We hypothesize that the brain, a stochastic and resonant system, operates according to this principle. To test this, we analyzed high-density EEG data (25 recordings, 500 trials) from a P300 BCI task. We computed the Kuramoto Order Parameter (R) to measure global phase synchronization (resonance) and compared it to the Event-Related Potential (ERP) voltage. Global resonance and voltage were statistically uncorrelated (r = 0.048), yet trial-level analysis revealed a strong correlation (r = 0.590, p < 0.0001). This suggests that resonance is a hidden mechanism coordinating neural firing, giving rise to measurable ERPs. We conclude that phase synchronization is not a byproduct but a fundamental signature of emergent causal understanding.

Paperid: 3691, https://arxiv.org/pdf/2511.10510.pdf

Abstract:
We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier function (CBF) and a control Lyapunov function (CLF) on the exact safe set certified by the barrier. An explicit smooth control Lyapunov-barrier function (CLBF) is then constructed via a patching formula that is provably correct by design. Two examples illustrate the computational procedure, showing that the proposed approach is less conservative than sum-of-squares (SOS)-based compatible CBF-CLF designs.

Paperid: 3692, https://arxiv.org/pdf/2511.10429.pdf

Abstract:
The notion of an attractor has various definitions in the theory of dynamical systems. Under compactness assumptions, several of those definitions coincide and the theory is rather complete. However, without compactness, the picture becomes blurry. To improve our understanding, we characterize in this work when a closed, not necessarily compact, asymptotically stable attractor on a locally compact metric space is homotopy equivalent to its domain of attraction. This enables a further structural study of the corresponding feedback stabilization problem.

Paperid: 3693, https://arxiv.org/pdf/2511.10172.pdf

Abstract:
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g conditions, as encountered during launch, re-entry, and landing. In both cases, sloshing can significantly affect vehicle performance and stability, and must often be explicitly considered in the design of the guidance, navigation, and control (GNC) subsystem. For stability analysis and control design, the most common approach to modeling sloshing is through an equivalent mechanical representation, where the moving propellant is treated as a mechanical system interacting with the rigid (or flexible) spacecraft. Pendulum-based models and mass-spring-damper systems are widely used by control analysts to assess sloshing-induced perturbations on vehicles subjected to persistent non-gravitational acceleration along one of their body axes. In this work, we present a rigorous mathematical formulation of pendulum dynamics, starting from a single spherical pendulum attached to a rigid spacecraft. We derive the nonlinear equations of motion for this 8-degree-of-freedom multi-body system, and then extend the formulation to include multiple pendulums, representing multiple sloshing modes within a tank and/or multiple tanks on the same vehicle. Furthermore, we derive the corresponding linearized equations of motion, explicitly accounting for a nominal longitudinal force acting on the vehicle - consistent with the high-g sloshing regime - expressed in either the inertial or body frame. Finally, we demonstrate the mathematical equivalence between the pendulum and mass-spring-damper models and validate the proposed models through time-domain simulation and frequency-domain analysis.

Paperid: 3694, https://arxiv.org/pdf/2511.09767.pdf

Abstract:
This paper presents and discusses forms of estimation by regularized regression and model selection using the LASSO method - Least Absolute Shrinkage and Selection Operator. LASSO is recognized as one of the main supervised learning methods applied to high-dimensional econometrics, allowing work with large volumes of data and multiple correlated controls. Conceptual issues related to the consequences of high dimensionality in modern econometrics and the principle of sparsity, which underpins regularization procedures, are addressed. The study examines the main post-double selection and post-regularization models, including variations applied to instrumental variable models. A brief description of the lassopack routine package, its syntaxes, and examples of HD, HDS (High-Dimension Sparse), and IV-HDS models, with combinations involving fixed effects estimators, is also presented. Finally, the potential application of the approach in research focused on air transport is discussed, with emphasis on an empirical study on the operational efficiency of airlines and aircraft fuel consumption.

Paperid: 3695, https://arxiv.org/pdf/2511.08019.pdf

Abstract:
Model Predictive Control (MPC) is a fundamental framework for optimizing robot behavior over a finite future horizon. While conventional numerical optimization methods can efficiently handle simple dynamics and cost structures, they often become intractable for the nonlinear or non-differentiable systems commonly encountered in robotics. This article provides a tutorial on probabilistic inference-based MPC, presenting a unified theoretical foundation and a comprehensive overview of representative methods. Probabilistic inference-based MPC approaches, such as Model Predictive Path Integral (MPPI) control, have gained significant attention by reinterpreting optimal control as a problem of probabilistic inference. Rather than relying on gradient-based numerical optimization, these methods estimate optimal control distributions through sampling-based techniques, accommodating arbitrary cost functions and dynamics. We first derive the optimal control distribution from the standard optimal control problem, elucidating its probabilistic interpretation and key characteristics. The widely used MPPI algorithm is then derived as a practical example, followed by discussions on prior and variational distribution design, tuning principles, and theoretical aspects. This article aims to serve as a systematic guide for researchers and practitioners seeking to understand, implement, and extend these methods in robotics and beyond.

Paperid: 3696, https://arxiv.org/pdf/2511.07713.pdf

Abstract:
The introduction of Smart Electric Vehicles (SEVs) represents an increasingly disruption on automotive area, once integrates advanced computer and communication technologies to highly electrical cars, which come with high performances, environment friendly and user friendly characteristics . But the increasing complexity of SEVs prompted by greater dependence on interconnected systems, autonomous capabilities and electrification, presents new challenges in cybersecurity as well as functional safety. The safety and reliability of such vehicles is paramount, as unsafe or unreliable operation in either case represents an unacceptable risk in terms of the performance of the vehicle and safety of the passenger. This paper investigates the integrated development of cybersecurity and functional safety for SEVs, emphasizing the requirement for the parallel development of these domains as components that are not treated separately. In SEVs, cybersecurity is quite crucial in order to prevent the threats of hacking, data breaches and unauthorized access to vehicle systems. Functional safety ensures that important vehicle functions (braking, steering, battery control, etc.) keep working even if some part fails. This convergence of functional safety issues with cybersecurity issues is becoming more crucial, since a security incident can result in a failure of catastrophic consequences for a functional safety system and, conversely. This paper reports the current state of cybersecurity and functional safety standards for SEVs, highlighting challenges that include the weaknesses of communication networks, the potential security threats of over-the-air updates, and the demand for real-time responsive systems for failure.

Paperid: 3697, https://arxiv.org/pdf/2511.06409.pdf

Abstract:
Sensor selection is an often under-appreciated aspect of state estimator or Kalman filter design. The basic minimum requirement for the choice of a sensor set while designing Kalman filters is that all states are observable. In addition, the sensors should be chosen with a view towards estimating the states with a desired accuracy. Often observability is treated as true/false check during filter design. Beyond observability -- the observability degree -- which measures \emph{how observable} the states are, has been used as the metric of choice to for sensor selection or placement applications. The higher the degree of observability, the better the possibility of designing Kalman filters that achieve the desired state estimation accuracy and consistency requirements. When a wide variety of sensors are available, sometimes with cost and physical constraints involved, sensor selection plays a crucial role in filter design. In such situations it is important to know the expected contribution of each sensor towards observability degree. Shapley values, developed in cooperative game theory for fair allocation of the payout of a multi-player game to individual players, are widely used in machine learning to assess feature importance. This paper shows that Shapley values can indeed be leveraged to quantify the expected marginal contribution of each sensor in any given sensor set towards the observability degree. This quantification of the fair contribution of each sensor towards the observability degree can be leveraged by filter designers for sensor selection, placement and filter (state estimator) design.

Paperid: 3698, https://arxiv.org/pdf/2511.05804.pdf

Abstract:
Agentic language models compose multi step reasoning chains, yet intermediate steps can be corrupted by inconsistent context, retrieval errors, or adversarial inputs, which makes post hoc evaluation too late because errors propagate before detection. We introduce a diagnostic that requires no additional training and uses only the forward pass to emit a binary accept or reject signal during agent execution. The method analyzes token graphs induced by attention and computes two spectral statistics in early layers, namely the high frequency energy ratio and spectral entropy. We formalize these signals, establish invariances, and provide finite sample estimators with uncertainty quantification. Under a two regime mixture assumption with a monotone likelihood ratio property, we show that a single threshold on the high frequency energy ratio is optimal in the Bayes sense for detecting context inconsistency. Empirically, the high frequency energy ratio exhibits robust bimodality during context verification across multiple model families, which enables gating decisions with overhead below one millisecond on our hardware and configurations. We demonstrate integration into retrieval augmented agent pipelines and discuss deployment as an inline safety monitor. The approach detects contamination while the model is still processing the text, before errors commit to the reasoning chain.

Paperid: 3699, https://arxiv.org/pdf/2511.05049.pdf

Abstract:
At the rapid pace of technological evolution, the emerging cloud computing technology has promoted the digitalization and business innovation of the enterprise in all industries due to its advantages of data storage and service mode. Nevertheless, given the swift progress in cloud computing services, the security problems have gradually appeared. The data breach and cyber attack happen frequently, which cause huge losses to enterprises and individuals. These issues have gradually become important constraints for the popularization of cloud computingTo tackle the problems outlined above, this paper constructs a security evaluation framework for cloud computing services, integrating the Analytic Hierarchy Process (AHP) with the Fuzzy Comprehensive Evaluation method. By applying this scientific and systematic methodology, the framework enables enterprises and individuals to better apprehend the security posture of cloud services, thereby fostering the healthy evolution of the entire industry.

Paperid: 3700, https://arxiv.org/pdf/2511.03969.pdf

Abstract:
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink for quadrotor unmanned aerial vehicle (UAV) control system design and verification. First, a six-degree-of-freedom nonlinear dynamic model of the quadrotor is derived accurately that based on Newton-Euler equations. Second, within the proposed framework, a hierarchical control architecture was designed and implemented: LQR controller for attitude control to achieve optimal regulation performance, and PID controller for position control to ensure robustness and practical applicability. Third, elaborated the architecture of the framework, including the implementation details of the cross-platform data exchange mechanism. Simulation results demonstrate the effectiveness of the framework, highlighting its capability to provide an efficient and standardized solution for rapid prototyping and Software-in-the-Loop (SIL) validation of UAV control algorithms.

Paperid: 3701, https://arxiv.org/pdf/2511.03745.pdf

Abstract:
In this work, we start with a generic mathematical framework for the equations of motion (EOM) in flight mechanics with six degrees of freedom (6-DOF) for a general (not necessarily symmetric) fixed-wing aircraft. This mathematical framework incorporates (1) body axes (fixed in the airplane at its center of gravity), (2) inertial axes (fixed in the earth/ground at the take-off point), wind axes (aligned with the flight path/course), (3) spherical flight path angles (azimuth angle measured clockwise from the geographic north, and elevation angle measured above the horizon plane), and (4) spherical flight angles (angle of attack and sideslip angle). We then manipulate these equations of motion to derive a customized version suitable for inverse simulation flight mechanics, where a target flight trajectory is specified while a set of corresponding necessary flight controls to achieve that maneuver are predicted. We then present a numerical procedure for integrating the developed inverse simulation (InvSim) system in time; utilizing (1) symbolic mathematics, (2) explicit fourth-order Runge-Kutta (RK4) numerical integration technique, and (3) expressions based on the finite difference method (FDM); such that the four necessary control variables (engine thrust force, ailerons' deflection angle, elevators' deflection angle, and rudder's deflection angle) are computed as discrete values over the entire maneuver time, and these calculated control values enable the airplane to achieve the desired flight trajectory, which is specified by three inertial Cartesian coordinates of the airplane, in addition to the Euler's roll angle. We finally demonstrate the proposed numerical procedure of flight mechanics inverse simulation (InvSim).

Paperid: 3702, https://arxiv.org/pdf/2511.03743.pdf

Abstract:
The response-only model class selection capability of a novel deep convolutional neural network method is examined herein in a simple, yet effective, manner. Specifically, the responses from a unique degree of freedom along with their class information train and validate a one-dimensional convolutional neural network. In doing so, the network selects the model class of new and unlabeled signals without the need of the system input information, or full system identification. An optional physics-based algorithm enhancement is also examined using the Kalman filter to fuse the system response signals using the kinematics constraints of the acceleration and displacement data. Importantly, the method is shown to select the model class in slight signal variations attributed to the damping behavior or hysteresis behavior on both linear and nonlinear dynamic systems, as well as on a 3D building finite element model, providing a powerful tool for structural health monitoring applications.

Paperid: 3703, https://arxiv.org/pdf/2511.02663.pdf

Abstract:
We investigate feedback mechanisms in political communication by testing whether politicians adapt the sentiment of their messages in response to public engagement. Using over 1.5 million tweets from Members of Parliament in the United Kingdom, Spain, and Greece during 2021, we identify sentiment dynamics through a simple yet interpretable linear model. The analysis reveals a closed-loop behavior: engagement with positive and negative messages influences the sentiment of subsequent posts. Moreover, the learned coefficients highlight systematic differences across political roles: opposition members are more reactive to negative engagement, whereas government officials respond more to positive signals. These results provide a quantitative, control-oriented view of behavioral adaptation in online politics, showing how feedback principles can explain the self-reinforcing dynamics that emerge in social media discourse.

Paperid: 3704, https://arxiv.org/pdf/2511.02648.pdf

Abstract:
This paper presents a discrete-event stochastic model for the redistribution of indistinguishable personal items, exemplified by socks, among multiple cohabitants sharing a communal laundry system. Drawing on concepts from ecological population dynamics, diffusion processes, and stochastic exchange theory, the model captures the probabilistic mechanisms underlying item mixing, recovery, and loss. Each cohabitant is represented as an autonomous agent whose belongings interact through iterative cycles of collective washing, sorting, and partial correction. The system's evolution is characterized by random mixing events, selective recollection, and attrition over time. Implemented using the SimPy discrete-event simulation framework, the model demonstrates that even minimal exchange probabilities can generate emergent asymmetries, quasi-equilibrium distributions, and long-term disorder. The findings illustrate how stochastic processes inherent to shared domestic systems can produce persistent imbalances, offering a quantitative perspective on an everyday social phenomenon.

Paperid: 3705, https://arxiv.org/pdf/2511.02426.pdf

Abstract:
The capability of a novel Kullback-Leibler divergence method is examined herein within the Kalman filter framework to select the input-parameter-state estimation execution with the most plausible results. This identification suffers from the uncertainty related to obtaining different results from different initial parameter set guesses, and the examined approach uses the information gained from the data in going from the prior to the posterior distribution to address the issue. Firstly, the Kalman filter is performed for a number of different initial parameter sets providing the system input-parameter-state estimation. Secondly, the resulting posterior distributions are compared simultaneously to the initial prior distributions using the Kullback-Leibler divergence. Finally, the identification with the least Kullback-Leibler divergence is selected as the one with the most plausible results. Importantly, the method is shown to select the better performed identification in linear, nonlinear, and limited information applications, providing a powerful tool for system monitoring.

Paperid: 3706, https://arxiv.org/pdf/2511.02110.pdf

Abstract:
This paper proposes two projector-based Hopfield neural network (HNN) estimators for online, constrained parameter estimation under time-varying data, additive disturbances, and slowly drifting physical parameters. The first is a constraint-aware HNN that enforces linear equalities and inequalities (via slack neurons) and continuously tracks the constrained least-squares target. The second augments the state with compensation neurons and a concatenated regressor to absorb bias-like disturbance components within the same energy function. For both estimators we establish global uniform ultimate boundedness with explicit convergence rate and ultimate bound, and we derive practical tuning rules that link the three design gains to closed-loop bandwidth and steady-state accuracy. We also introduce an online identifiability monitor that adapts the constraint weight and time step, and, when needed, projects updates onto identifiable subspaces to prevent drift in poorly excited directions...

Paperid: 3707, https://arxiv.org/pdf/2511.01886.pdf

Abstract:
This work studies two types of computer networking models. The primary focus is to understand the different dynamical phenomena observed in practice due to the presence of severe nonlinearities, delays and widely varying operating conditions. The first models considered are of senders running TCP (Transmission Control Protocol) and traffic passing through RED (Random Early Detection) gateways. Building on earlier work, a first order nonlinear discrete-time model is developed for the interaction scenario between transport protocols like TCP and UDP (User Datagram Protocol) and Active Queuing Management schemes like RED. It is shown that the dynamics resulting from the interaction with TCP is consistent with various dynamical behaviors and parameter sensitivities observed in practice. Using bifurcation-theoretic ideas it is shown that TCP-RED type networks may lose their stability through a period doubling bifurcation followed by border collision bifurcations. The nonlinear dependence of the throughput function of TCP-type flows on drop probability is found to be responsible for the period doubling bifurcation, whereas limited buffer space and lack of sufficient damping results in border collision bifurcations. A second class of models studied in this work deals with optimal rate control in networks and are based on the rate-control framework proposed by Kelly. Using the results on delay-differential equation stability, the stability and its lack thereof is studied through an underlying map which arises naturally in time delay systems. An invariance property of this map is used to prove delay-independent stability and to compute bounds on periodic oscillations.

Paperid: 3708, https://arxiv.org/pdf/2511.01638.pdf

Abstract:
This paper investigates the idea of designing data-driven partial estimators for nonlinear systems showing parametric uncertainties using sparse multivariate polynomial relationships. A general framework is first presented and then validated on two illustrative examples with comparison to different possible Machine/Deep-Learning based alternatives. The results suggests the superiority of the proposed sparse identification scheme, at least when the learning data is small.

Paperid: 3709, https://arxiv.org/pdf/2511.01057.pdf

Abstract:
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared networks. This work investigates self-triggering implementations of linear controllers in sampled-data systems with synchronous measurements. Our approach precomputes the next sampling sequence over a finite horizon based on current state information. We introduce a novel optimal self-triggering scheme that guarantees exponential stability for unperturbed systems and global uniform ultimate boundedness for perturbed systems. This ensures robustness against external disturbances with explicit performance guarantees. Simulations demonstrate the benefits of our approach.

Paperid: 3710, https://arxiv.org/pdf/2511.00529.pdf

Abstract:
Improvisation-the art of spontaneous creation that unfolds moment-to-moment without a scripted outcome-requires practitioners to continuously sense, adapt, and create anew. It is a fundamental mode of human creativity spanning music, dance, and everyday life. The open-ended nature of improvisation produces a stream of novel, unrepeatable moments-an aspect highly valued in artistic creativity. In parallel, open-endedness (OE)-a system's capacity for unbounded novelty and endless "interestingness"-is exemplified in natural or cultural evolution and has been considered "the last grand challenge" in artificial life (ALife). The rise of generative AI now raises the question in computational creativity (CC) research: What makes a "good" improvisation for AI? Can AI learn to improvise in a genuinely open-ended way? In this work-in-progress paper, we report insights from in-depth interviews with 6 experts in improvisation across dance, music, and contact improvisation. We draw systemic connections between human improvisational arts and the design of future experiential AI agents that could improvise alone or alongside humans-or even with other AI agents-embodying qualities of improvisation drawn from practice: active listening (umwelt and awareness), being in the time (mindfulness and ephemerality), embracing the unknown (source of randomness and serendipity), non-judgmental flow (acceptance and dynamical stability, balancing structure and surprise (unpredictable criticality at edge of chaos), imaginative metaphor (synaesthesia and planning), empathy, trust, boundary, and care (mutual theory of mind), and playfulness and intrinsic motivation (maintaining interestingness).

Paperid: 3711, https://arxiv.org/pdf/2511.00100.pdf

Abstract:
The dynamic structural load identification capabilities of the gated recurrent unit, long short-term memory, and convolutional neural networks are examined herein. The examination is on realistic small dataset training conditions and on a comparative view to the physics-based residual Kalman filter (RKF). The dynamic load identification suffers from the uncertainty related to obtaining poor predictions when in civil engineering applications only a low number of tests are performed or are available, or when the structural model is unidentifiable. In considering the methods, first, a simulated structure is investigated under a shaker excitation at the top floor. Second, a building in California is investigated under seismic base excitation, which results in loading for all degrees of freedom. Finally, the International Association for Structural Control-American Society of Civil Engineers (IASC-ASCE) structural health monitoring benchmark problem is examined for impact and instant loading conditions. Importantly, the methods are shown to outperform each other on different loading scenarios, while the RKF is shown to outperform the networks in physically parametrized identifiable cases.

Paperid: 3712, https://arxiv.org/pdf/2510.27641.pdf

Abstract:
Large Language Models (LLMs) face significant computational bottlenecks during inference due to the quadratic complexity of self-attention mechanisms, particularly as context lengths increase. We introduce SpecAttn, a novel training-free approach that seamlessly integrates with existing speculative decoding techniques to enable efficient sparse attention in pre-trained transformers. Our key insight is to exploit the attention weights already computed by the draft model during speculative decoding to identify important tokens for the target model, eliminating redundant computation while maintaining output quality. SpecAttn employs three core techniques: KL divergence-based layer alignment between draft and target models, a GPU-optimized sorting-free algorithm for top-p token selection from draft attention patterns, and dynamic key-value cache pruning guided by these predictions. By leveraging the computational work already performed in standard speculative decoding pipelines, SpecAttn achieves over 75% reduction in key-value cache accesses with a mere 15.29% increase in perplexity on the PG-19 dataset, significantly outperforming existing sparse attention methods. Our approach demonstrates that speculative execution can be enhanced to provide approximate verification without significant performance degradation.

Paperid: 3713, https://arxiv.org/pdf/2510.26368.pdf

Abstract:
We propose a command-filter backstepping controller that integrates a disturbance observer and a high-gain observer (HGO) to handle unknown internal and external disturbances acting on a quadrotor. To build the controller, we first define tracking errors between the measured and desired quadrotor outputs, which allow the system to be rewritten in a new set of state variables. Using this transformed model, we apply Lyapunov theory to derive a backstepping control law. To avoid repeated differentiation of states and virtual controls, a first-order command filter is introduced, and a nonlinear disturbance observer is added to provide disturbance estimates. Each state in the controller and observer is replaced with its estimate from the HGO. The resulting control law enables the quadrotor to follow its path despite internal and external disturbances, with each subsystem allowed its own disturbance type for realism. A new state transformation and Lyapunov-based derivation prevent the usual explosion of complexity, while the HGO reconstructs unmeasured states and their rates for output feedback. The nonlinear disturbance observer attenuates constant and nonlinear disturbances as well as band-limited white noise. The method reduces dependence on high-precision sensors and mitigates wind, model error, and rotor noise effects during flight. Unlike previous studies that treat either disturbance rejection or partial sensing, this work combines the command filter, disturbance observer, and HGO to address both challenges simultaneously while avoiding the complexity growth typical of backstepping designs.

Paperid: 3714, https://arxiv.org/pdf/2510.25131.pdf

Abstract:
In linear time-invariant systems, the sensitivity function to disturbances is designed under a sensitivity tradeoff known as the waterbed effect. To compensate for a quasiperiodic disturbance, a quasiperiodic disturbance observer using time delays was proposed. Its sensitivity function avoids the sensitivity tradeoff, achieving wideband harmonic suppression without amplifying aperiodic disturbances or shifting harmonic suppression frequencies. However, its open-loop transfer function is not rational and does not satisfy the assumptions of existing Bode sensitivity integrals due to its time delays. This paper provides Bode-like sensitivity integrals for the quasiperiodic disturbance observer in both continuous-time and discrete-time representations and clarifies the avoided sensitivity tradeoff with time delays.

Paperid: 3715, https://arxiv.org/pdf/2510.24753.pdf

Abstract:
Artificial transmission lines built with lumped-element inductors and capacitors form the backbone of broadband, nearly quantum-limited traveling-wave parametric amplifiers (TWPAs). However, systematic design methods for TWPAs, and more generally artificial transmission lines, are lacking. Here, I develop a general synthesis framework for lossless artificial transmission lines by borrowing from periodic structure theory and passive network synthesis. These complementary approaches divide the design space: periodic loading synthesis employs spatial modulation of frequency-independent components, while filter synthesis employs frequency-dependent responses in spatially-uniform components. When tailoring transmission lines for parametric processes, nonlinear elements are added, typically nonlinear inductances in superconducting circuits, while ensuring energy and momentum conservation between interacting tones. Applying this framework, I design a kinetic inductance TWPA with a novel phase-matching architecture, and a backward-pumped Josephson TWPA exploiting an ambidextrous i.e., right-left-handed transmission line.

Paperid: 3716, https://arxiv.org/pdf/2510.24730.pdf

Abstract:
We prove that ONN achieves order-optimal performance on convergence rate ($μ\propto λ_2$), edge efficiency ($E = N$ for minimal connectivity $k = 2$), and computational complexity ($O(N d^2)$). Empirical validation on 3M-node semantic networks demonstrates 99.75\% improvement over baseline methods, confirming exponential convergence ($μ= 3.2 \times 10^{-4}$) and topology preservation. ORTSF integration into transformers achieves 14.7\% perplexity reduction and 2.3 faster convergence on WikiText-103. We establish deep connections to optimal control (Hamilton-Jacobi-Bellman), information geometry (Fisher-efficient natural gradient), topological data analysis (persistent homology computation in $O(KN)$), discrete geometry (Ricci flow), and category theory (adjoint functors). This work transforms Massera's abstract existence theorem into a concrete, scalable algorithm with provable guarantees, opening pathways for constructive stability analysis in neural networks, robotics, and distributed systems.

Paperid: 3717, https://arxiv.org/pdf/2510.24370.pdf

Abstract:
Pneumatic drying processes in industries such as agriculture, chemicals,and pharmaceuticals are notoriously difficult to model and control due to multi-source disturbances,coupled stage dynamics, and significant measurement delays. Traditional modeling paradigms often fail to simultaneously deliver accuracy, interpretability, and closed-loop applicability. To address this challenge, this paper introduces a unified hybrid modeling framework, termed Physics-Guided Residual Lifting with Control-Consistent Correction,which integrates a transient mechanistic model with a stability-constrained data-driven component. The framework covers the complete process chain of drying, transport, and winnowing. On the mechanistic level, the model unifies mass transfer dynamics using the partial pressure difference of water vapor, incorporates water activity clamping and latent heat corrections for bound water, and ensures energy closure with moisture-dependent specific heat. On the data-driven level,we propose an orthogonal residual learning scheme. It leverages intermediate states from the mechanistic model as proxy variables to construct a physics-inspired dictionary, preventing parameter compensation and overfitting during ridge regression. Furthermore, to ensure suitability for predictive control, a Control-Consistent Extended Dynamic Mode Decomposition with stability constraints is employed to learn the residual dynamics, for which we provide boundedness proofs and stability guarantees. The framework was validated on 10 industrial batches, comprising 63,000 samples. On unseen test data, the hybrid model achieved a Mean Absolute Error of 0.016% for outlet moisture and 0.015 °C for outlet temperature, with values improving to 0.986 and 0.995, respectively. The resulting prediction residuals exhibit white-noise characteristics, with significantly reduced spectral energy at low frequencies.

Paperid: 3718, https://arxiv.org/pdf/2510.22570.pdf

Abstract:
The coordination of multiple autonomous agents in high-speed, competitive environments represents a significant engineering challenge. This paper presents CRUISE (Curriculum-Based Iterative Self-Play for Scalable Multi-Drone Racing), a reinforcement learning framework designed to solve this challenge in the demanding domain of multi-drone racing. CRUISE overcomes key scalability limitations by synergistically combining a progressive difficulty curriculum with an efficient self-play mechanism to foster robust competitive behaviors. Validated in high-fidelity simulation with realistic quadrotor dynamics, the resulting policies significantly outperform both a standard reinforcement learning baseline and a state-of-the-art game-theoretic planner. CRUISE achieves nearly double the planner's mean racing speed, maintains high success rates, and demonstrates robust scalability as agent density increases. Ablation studies confirm that the curriculum structure is the critical component for this performance leap. By providing a scalable and effective training methodology, CRUISE advances the development of autonomous systems for dynamic, competitive tasks and serves as a blueprint for future real-world deployment.

Paperid: 3719, https://arxiv.org/pdf/2510.22568.pdf

Abstract:
This paper introduces SPIRAL (Self-Play Incremental Racing Algorithm for Learning), a novel approach for training autonomous drones in multi-agent racing competitions. SPIRAL distinctively employs a self-play mechanism to incrementally cultivate complex racing behaviors within a challenging, dynamic environment. Through this self-play core, drones continuously compete against increasingly proficient versions of themselves, naturally escalating the difficulty of competitive interactions. This progressive learning journey guides agents from mastering fundamental flight control to executing sophisticated cooperative multi-drone racing strategies. Our method is designed for versatility, allowing integration with any state-of-the-art Deep Reinforcement Learning (DRL) algorithms within its self-play framework. Simulations demonstrate the significant advantages of SPIRAL and benchmark the performance of various DRL algorithms operating within it. Consequently, we contribute a versatile, scalable, and self-improving learning framework to the field of autonomous drone racing. SPIRAL's capacity to autonomously generate appropriate and escalating challenges through its self-play dynamic offers a promising direction for developing robust and adaptive racing strategies in multi-agent environments. This research opens new avenues for enhancing the performance and reliability of autonomous racing drones in increasingly complex and competitive scenarios.

Paperid: 3720, https://arxiv.org/pdf/2510.22020.pdf

Abstract:
Conventional AC Power Flow (ACPF) solvers like Newton-Raphson (NR) face significant computational and convergence challenges in modern, large-scale power systems. This paper proposes a novel, two-stage hybrid method that integrates a Physics-Informed Graph Neural Network (GNN) with a robust, iterative Linear State Estimation (LSE) refinement step to produce fast and physically-consistent solutions. The GNN, trained with a physics-informed loss function featuring an efficient dynamic weighting scheme, rapidly predicts a high-quality initial system state. This prediction is then refined using an iterative, direct linear solver inspired by state estimation techniques. This LSE refinement step solves a series of linear equations to enforce physical laws, effectively bypassing the non-linearities and convergence issues of traditional solvers. The proposed GNN-LSE framework is comprehensively validated on systems ranging from small radial distribution networks (IEEE 33-bus, 69-bus) to a large, meshed transmission system (IEEE 118-bus). Results show that our GNN variants are up to $8.4 \times 10^3$ times faster than NR. The LSE refinement provides a fast route to a physically-consistent solution, while heavy-loading stress tests (120%-150% of nominal) and N-1 contingencies demonstrate the method's reliability and generalization. This work presents a powerful and flexible framework for bridging fast, data-driven models with the rigorous constraints of power system physics, offering a practical tool for real-time operations and analysis.

Paperid: 3721, https://arxiv.org/pdf/2510.21165.pdf

Abstract:
Financial networks based on Pearson correlations have been intensively studied. However, previous studies may have led to misleading and catastrophic results because of several critical shortcomings of the Pearson correlation. The local Gaussian correlation coefficient, a new measurement of statistical dependence between variables, has unique advantages including capturing local nonlinear dependence and handling heavy-tailed distributions. This study constructs financial networks using the local Gaussian correlation coefficients between tail regions of stock returns in the Shanghai Stock Exchange. The work systematically analyzes fundamental network metrics including node centrality, average shortest path length, and entropy. Compared with the local Gaussian correlation network among positive tails and the conventional Pearson correlation network, the properties of the local Gaussian correlation network among negative tails are more sensitive to the stock market risks. This finding suggests researchers should prioritize the local Gaussian correlation network among negative tails. Future work should reevaluate existing findings using the local Gaussian correlation method.

Paperid: 3722, https://arxiv.org/pdf/2510.20394.pdf

Abstract:
The main goal of this contribution is to explain how to use interlacing techniques for LTI controllers implementation and analyze different struc- tures in this environment. These considerations lead to an important com- putation saving in constrained resource environments. It has been also intro- duced new procedures for obtaining the blocks related to different real and complex controllers poles. The resultant time-varying system is modeled using proper discrete lifting techniques and a new and efficient dual-rate fre- quency response computation allows to determine the characteristics of the control loop with interlaced controller. Examples illustrate the theoretical proposals.

Paperid: 3723, https://arxiv.org/pdf/2510.20152.pdf

Abstract:
This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies for physical systems, mitigating the reality gap remains a major challenge. To address the challenge, we propose a two-stage algorithm. In the first stage, multiple control policies are learned for systems with different parameters in a simulator. In the second stage, for a real system, the control policies learned in the first stage are smoothly switched using an online convex optimization algorithm based on observations. Our proposed algorithm is demonstrated through numerical experiments.

Paperid: 3724, https://arxiv.org/pdf/2510.20089.pdf

Abstract:
Transmission system operators face a variety of discrete operational decisions, such as switching of branches and/or devices. Incorporating these decisions into optimal power flow (OPF) results in mixed-integer non-linear programming problems (MINLPs), which can't presently be solved at scale in the required time. Various linearizations of the OPF exist, most famously the DC-OPF, which can be leveraged to find integer decisions. However, these linearizations can yield very poor integer solutions in some edge cases, making them challenging to incorporate into control rooms. This paper introduces the use of modeling to generate alternatives (MGA) to find alternative solutions to the linearized problems, reducing the chance of finding no AC feasible solutions. We test this approach using 13 networks where the DC linearization results in infeasible integer decisions, and MGA finds a solution in all cases. The MGA search criteria selected drastically affects the number and quality of solutions found, so network specific search functions may be necessary.

Paperid: 3725, https://arxiv.org/pdf/2510.19836.pdf

Abstract:
Artificial intelligence and machine learning are increasingly used for forecasting, optimization, and policy design in the energy sector, yet no standardized framework exists to evaluate whether these systems reason correctly. Current validation practices focus on predictive accuracy or computational efficiency, leaving the logical integrity of analytical conclusions untested. This study introduces the Analytical Reliability Benchmark (ARB), a reproducible framework that quantifies reasoning reliability in large language models applied to energy system analysis. The benchmark integrates five submetrics: accuracy, reasoning reliability, uncertainty discipline, policy consistency, and transparency, and evaluates model performance across deterministic, probabilistic, and epistemic scenarios using open technoeconomic datasets (NREL ATB 2024, DOE H2A/H2New, IEA WEO 2024). Four frontier models (GPT-4/5, Claude 4.5 Sonnet, Gemini 2.5 Pro, Llama 3 70B) were tested under identical factual and regulatory conditions. Results show that reasoning reliability can be objectively measured. GPT-4/5 and Claude 4.5 Sonnet achieved consistent and policy-compliant reasoning (Analytical Reliability Index greater than 90), Gemini 2.5 Pro demonstrated moderate stability, and Llama 3 70B remained below professional thresholds. Statistical validation confirmed that these differences are significant and reproducible. The ARB establishes the first quantitative method in the energy literature for verifying causal, probabilistic, and policy-driven reasoning in artificial intelligence systems, providing a reference framework for trustworthy and transparent analytical applications in the global energy transition.

Paperid: 3726, https://arxiv.org/pdf/2510.19415.pdf

Abstract:
The growing interest in ocean discovery imposes a need for inspection and intervention in confined and demanding environments. Eely's slender shape, in addition to its ability to change its body configurations, makes articulated underwater robots an adequate option for such environments. However, operation of Eely in such environments imposes demanding requirements on the system, as it must deal with uncertain and unstructured environments, extreme environmental conditions, and reduced navigational capabilities. This paper proposes a Bayesian approach to assess the risks of losing Eely during two mission scenarios. The goal of this work is to improve Eely's performance and the likelihood of mission success. Sensitivity analysis results are presented in order to demonstrate the causes having the highest impact on losing Eely.

Paperid: 3727, https://arxiv.org/pdf/2510.18050.pdf

Abstract:
This paper introduces Prompt-to-Primal (P2P) Teaching, an AI-integrated instructional approach that links prompt-driven exploration with first-principles reasoning, guided and moderated by the instructor within the classroom setting. In P2P teaching, student-generated AI prompts serve as entry points for inquiry and initial discussions in class, while the instructor guides learners to validate, challenge, and reconstruct AI responses through fundamental physical and mathematical laws. The approach encourages self-reflective development, critical evaluation of AI outputs, and conceptual foundational knowledge of the core engineering principles. A large language model (LLM) can be a highly effective tool for those who already possess foundational knowledge of a subject; however, it may also mislead students who lack sufficient background in the subject matter. Results from two student cohorts across different semesters suggest the pedagogical effectiveness of the P2P teaching framework in enhancing both AI literacy and engineering reasoning.

Paperid: 3728, https://arxiv.org/pdf/2510.17945.pdf

Abstract:
We prove an exact equality between the minimal quadratic control energy and the squared normal-quantile gap for terminal halfspaces in linear-Gaussian systems with additive control and quadratic effort $E(u) = \tfrac12\!\int u^\top M u\,dt$ where $M = B^\topΣ^{-1}B$. For terminal halfspace events, the minimal energy equals the squared normal-quantile gap divided by twice a controllability-to-noise ratio $R_T^2(w)=(w^\top W_c^M w)/(w^\top V_T w)$ and is attained by a matched-filter control. We provide an exact zero-order-hold discrete-time companion via block exponentials, relate the result to minimum-energy control, Gaussian isoperimetry, risk-sensitive/KL control, and Schrodinger bridges, and validate to high precision with Monte Carlo. We state assumptions, singular-$M$ handling, and edge cases. The statement is a compact synthesis and design-ready translator, not a universal principle. Novelty: while the ingredients (Gramians, Cauchy-Schwarz, Gaussian isoperimetry) are classical, to our knowledge the explicit quantile-energy equality with a constructive matched-filter achiever for terminal halfspaces, and its discrete-time companion, are not recorded together in the cited literature.

Paperid: 3729, https://arxiv.org/pdf/2510.17877.pdf

Abstract:
Intelligent reflecting surface (IRS) assisted unmanned aerial vehicle (UAV) systems provide a new paradigm for reconfigurable and flexible wireless communications. To enable more energy efficient and spectrum efficient IRS assisted UAV wireless communications, this paper introduces a novel IRS-assisted UAV enabled spectrum sharing system with orthogonal frequency division multiplexing (OFDM). The goal is to maximize the energy efficiency (EE) of the secondary network by jointly optimizing the beamforming, subcarrier allocation, IRS phase shifts, and the UAV trajectory subject to practical transmit power and passive reflection constraints as well as UAV physical limitations. A physically grounded propulsion-energy model is adopted, with its tight upper bound used to form a tractable EE lower bound for the spectrum sharing system. To handle highly non convex, time coupled optimization problems with a mixed continuous and discrete policy space, we develop a deep reinforcement learning (DRL) approach based on the actor critic framework. Extended experiments show the significant EE improvement of the proposed DRL-based approach compared to several benchmark schemes, thus demonstrating the effectiveness and robustness of the proposed approach with mobility.

Paperid: 3730, https://arxiv.org/pdf/2510.17465.pdf

Abstract:
Optimization problems with convex quadratic cost and polyhedral constraints are ubiquitous in signal processing, automatic control and decision-making. We consider here an enlarged problem class that allows to encode logical conditions and cardinality constraints, among others. In particular, we cover also situations where parts of the constraints are nonconvex and possibly complicated, but it is practical to compute projections onto this nonconvex set. Our approach combines the augmented Lagrangian framework with a solver-agnostic structure-exploiting subproblem reformulation. While convergence guarantees follow from the former, the proposed condensing technique leads to significant improvements in computational performance.

Paperid: 3731, https://arxiv.org/pdf/2510.17155.pdf

Abstract:
This paper introduces a novel two-stage framework for online mitigation of False Data Injection (FDI) signals to improve the resiliency of Networked Control Systems (NCSs) and ensure their safe operation in the presence of malicious activities. The first stage involves meta learning to select a base time series forecasting model within a stacked ensemble learning architecture. This is achieved by converting time series data into scalograms using continuous wavelet transform, which are then split into image frames to generate a scalo-temporal representation of the data and to distinguish between different complexity levels of time series data based on an entropy metric using a convolutional neural network. In the second stage, the selected model mitigates false data injection signals in real-time. The proposed framework's effectiveness is demonstrated through rigorous simulations involving the formation control of differential drive mobile robots. By addressing the security challenges in NCSs, this framework offers a promising approach to maintaining system integrity and ensuring operational safety.

Paperid: 3732, https://arxiv.org/pdf/2510.17087.pdf

Abstract:
Virtual power plants (VPPs) are becoming a cornerstone of future grids, aggregating distributed PV, wind, storage, and flexible loads for market participation and real-time balancing. As operations move to minute-- and second--level feedback, communication security shifts from a compliance item to an operational constraint: latency, reliability, and confidentiality jointly determine whether dispatch, protection, and settlement signals arrive on time. Conventional PKI and key-rotation schemes struggle with cross-domain, high-frequency messaging and face long-term quantum threats. Quantum key distribution (QKD) offers information-theoretic key freshness, but its key yield is scarce and stochastic, often misaligned with bursty VPP traffic. This paper proposes a key-aware priority and quota framework that treats quantum keys as first-class scheduling resources. The design combines (i) forecast-driven long-term quotas and short-term tokens, (ii) key-aware deficit-round-robin arbitration, (iii) a preemptive emergency key reserve, and (iv) graceful degradation via encryption-mode switching and controlled down-sampling for non-critical traffic. A drift-plus-penalty analysis establishes strong stability under average supply--demand balance with quantifiable bounds on backlog and tail latency, providing interpretable operating guarantees. We build a reproducible testbed on IEEE 33- and 123-bus VPP systems and evaluate normal, degraded, and outage regimes with industry-consistent message classes and TTLs. Against FIFO, fixed-priority, and static-quota baselines, the proposed scheme consistently reduces tail delay and passive timeouts for critical messages, improves per-bit key utility, and enhances power-tracking reliability during key scarcity and regime switches.

Paperid: 3733, https://arxiv.org/pdf/2510.15796.pdf

Abstract:
This paper presents machine learning method for tuning of cavity duplexer with a large amount of adjustment screws. After testing we declined conventional reinforcement learning approach and reformulated our task in the supervised learning setup. The suggested neural network architecture includes 1d ResNet-like backbone and processing of some additional information about S-parameters, like the shape of curve and peaks positions and amplitudes. This neural network with external control algorithm is capable to reach almost the tuned state of the duplexer within 4-5 rotations per screw.

Paperid: 3734, https://arxiv.org/pdf/2510.15598.pdf

Abstract:
We develop observer design over hypercomplex quaternions in a characteristic-polynomial-free framework. Using the standard right-module convention, we derive a right observable companion form and its companion polynomial that encodes error dynamics via right-eigenvalue similarity classes. The design mirrors the real/complex case - coefficient updates in companion coordinates, followed by a similarity back - yet avoids determinants, characteristic/minimal polynomials, and Cayley-Hamilton identities that do not transfer to quaternions. We also give an Ackermann-type construction for the important case of closed-loop companion polynomials with real coefficients, ensuring similarity-equivariant evaluation. The results yield simple recipes for full-order observers directly over quaternions, clarify the role of right spectra and their similarity classes, and pinpoint when classical one-shot formulas remain valid. Numerical examples illustrate the method and advantages over vectorized or complex-adjoint surrogates.

Paperid: 3735, https://arxiv.org/pdf/2510.15248.pdf

Abstract:
The accelerating digitalization and decentralization of modern power systems expose critical communication infrastructures to escalating cyber risks, particularly under emerging quantum computing threats. This paper presents an integrated techno-economic framework to evaluate the feasibility of Quantum Key Distribution (QKD) for secure power-system communications. A stochastic system model is developed to jointly capture time-varying key demand, QKD supply under optical-loss constraints, station-side buffering, and post-quantum cryptography (PQC) fallback mechanisms. Analytical conditions are derived for service-level assurance, including buffer stability, outage probability, and availability bounds. Building on this, two quantitative metrics, including the Levelized Cost of Security (LCoSec) and Cost of Incremental Security (CIS), are formulated to unify capital, operational, and risk-related expenditures within a discounted net-present-value framework. Using IEEE 118-bus, 123-node, and 39-bus test systems, we conduct discrete-event simulations comparing PQC-only, QKD-only, and Hybrid architectures across multiple topologies and service profiles. Results show that Hybrid architectures dominated by QKD significantly reduce key-outage probability and SLA shortfalls, achieving near-unit availability for real-time and confidentiality-critical services. Economic analyses reveal clear breakeven zones where QKD-enhanced deployments become cost-effective, primarily in metropolitan and distribution-level networks under moderate optical loss and buffer sizing. The proposed framework provides a reproducible, risk-aware decision tool for guiding large-scale, economically justified QKD adoption in future resilient power-system infrastructures.

Paperid: 3736, https://arxiv.org/pdf/2510.15239.pdf

Abstract:
The proliferation of distributed energy resources (DERs) and demand-side flexibility has made virtual power plants (VPPs) central to modern grid operation. Yet their end-to-end business pipeline, covering bidding, dispatch, metering, settlement, and archival, forms a tightly coupled cyber-physical-economic system where secure and timely communication is critical. Under the combined stress of sophisticated cyberattacks and extreme weather shocks, conventional cryptography offers limited long-term protection. Quantum key distribution (QKD), with information-theoretic guarantees, is viewed as a gold standard for securing critical infrastructures. However, limited key generation rates, routing capacity, and system overhead render key allocation a pressing challenge: scarce quantum keys must be scheduled across heterogeneous processes to minimize residual risk while maintaining latency guarantees. This paper introduces a quantum-authenticated aggregation and settlement framework for VPPs. We first develop a system-threat model that connects QKD key generation and routing with business-layer security strategies, authentication strength, refresh frequency, and delay constraints. Building on this, we formulate a key-budgeted risk minimization problem that jointly accounts for economic risk, service-level violations, and key-budget feasibility, and reveal a threshold property linking marginal security value to shadow prices. Case studies on a representative VPP system demonstrate that the proposed approach significantly reduces residual risk and SLA violations, enhances key efficiency and robustness, and aligns observed dynamics with the theoretical shadow price mechanism.

Paperid: 3737, https://arxiv.org/pdf/2510.15045.pdf

Abstract:
The rapid decentralization and digitalization of local electricity markets have introduced new cyber-physical vulnerabilities, including key leakage, data tampering, and identity spoofing. Existing blockchain-based solutions provide transparency and traceability but still depend on classical cryptographic primitives that are vulnerable to quantum attacks. To address these challenges, this paper proposes Q-EnergyDEX, a zero-trust distributed energy trading framework driven by quantum key distribution and blockchain. The framework integrates physical-layer quantum randomness with market-level operations, providing an end-to-end quantum-secured infrastructure. A cloud-based Quantum Key Management Service continuously generates verifiable entropy and regulates key generation through a rate-adaptive algorithm to sustain high-quality randomness. A symmetric authentication protocol (Q-SAH) establishes secure and low-latency sessions, while the quantum-aided consensus mechanism (PoR-Lite) achieves probabilistic ledger finality within a few seconds. Furthermore, a Stackelberg-constrained bilateral auction couples market clearing with entropy availability, ensuring both economic efficiency and cryptographic security. Simulation results show that Q-EnergyDEX maintains robust key stability and near-optimal social welfare, demonstrating its feasibility for large-scale decentralized energy markets.

Paperid: 3738, https://arxiv.org/pdf/2510.14838.pdf

Abstract:
To address growing cybersecurity challenges in modern power dispatch systems, this paper proposes a multi-layer modeling and optimization framework for SCADA systems enhanced with quantum key distribution (QKD). While most existing applications of QKD in the power sector focus on building secure point-to-point communication tunnels, they rarely consider the system-level coupling between key dynamics and control scheduling. In contrast, our approach integrates quantum key generation, consumption, inventory prediction, and control latency into a unified model, enabling key-aware reconfiguration of SCADA control chains based on task security demands and real-time resource constraints. To resolve conflicts in key resource allocation between transmission system operators (TSOs) and distribution system operators (DSOs), we formulate a bi-level Stackelberg game and transform it into a mathematical program with complementarity constraints (MPCC). We further develop an efficient Level Decomposition-Complementarity Pruning (LD-CP) algorithm to solve the problem. To support reproducible evaluation, we build an end-to-end co-simulation platform that integrates physical-layer disruptions via OpenQKD-Sim, Q3P/IEC-104 protocol stack binding, and real-time control-chain monitoring through Grafana. Experimental results on the IEEE 39- and 118-bus systems show that our method increases task success rate by 25%, reduces peak frequency deviation by 70%, and improves key utilization to 83%. This work lays the foundation for future quantum-secure control systems in power grid operations.

Paperid: 3739, https://arxiv.org/pdf/2510.12810.pdf

Abstract:
Control problems frequently arise in scientific and industrial applications, where the objective is to steer a dynamical system from an initial state to a desired target state. Recent advances in deep learning and automatic differentiation have made applying these methods to control problems increasingly practical. In this paper, we examine the use of neural networks and modern machine-learning libraries to parameterize control inputs across discrete-time and continuous-time systems, as well as deterministic and stochastic dynamics. We highlight applications in multiple domains, including biology, engineering, physics, and medicine. For continuous-time dynamical systems, neural ordinary differential equations (neural ODEs) offer a useful approach to parameterizing control inputs. For discrete-time systems, we show how custom control-input parameterizations can be implemented and optimized using automatic-differentiation methods. Overall, the methods presented provide practical solutions for control tasks that are computationally demanding or analytically intractable, making them valuable for complex real-world applications.

Paperid: 3740, https://arxiv.org/pdf/2510.10411.pdf

Abstract:
In this paper, we propose symbolic decision trees as surrogate models for approximating model predictive control laws. The proposed approach learns simultaneously the partition of the input domain (splitting logic) as well as local nonlinear expressions for predicting the control action leading to interpretable piecewise nonlinear control laws. The local nonlinear expressions are determined by the learning problem and are modeled using a set of basis functions. The learning task is posed as a mixed integer optimization, which is solved to global optimality with state-of-the-art global optimization solvers. We apply the proposed approach to a case study regarding the control of an isothermal reactor. The results show that the proposed approach can learn the control law accurately, leading to closed-loop performance comparable to that of a standard model predictive controller. Finally, comparison with existing interpretable models shows that the symbolic trees achieve both lower prediction error and superior closed-loop performance.

Paperid: 3741, https://arxiv.org/pdf/2510.10300.pdf

Abstract:
The regulator theorem states that, under certain conditions, any optimal controller must embody a model of the system it regulates, grounding the idea that controllers embed, explicitly or implicitly, internal models of the controlled. This principle underpins neuroscience and predictive brain theories like the Free-Energy Principle or Kolmogorov/Algorithmic Agent theory. However, the theorem is only proven in limited settings. Here, we treat the deterministic, closed, coupled world-regulator system $(W,R)$ as a single self-delimiting program $p$ via a constant-size wrapper that produces the world output string~$x$ fed to the regulator. We analyze regulation from the viewpoint of the algorithmic complexity of the output, $K(x)$. We define $R$ to be a \emph{good algorithmic regulator} if it \emph{reduces} the algorithmic complexity of the readout relative to a null (unregulated) baseline $\varnothing$, i.e., \[ Δ= K\big(O_{W,\varnothing}\big) - K\big(O_{W,R}\big) > 0. \] We then prove that the larger $Δ$ is, the more world-regulator pairs with high mutual algorithmic information are favored. More precisely, a complexity gap $Δ> 0$ yields \[ \Pr\big((W,R)\mid x\big) \le C\,2^{\,M(W{:}R)}\,2^{-Δ}, \] making low $M(W{:}R)$ exponentially unlikely as $Δ$ grows. This is an AIT version of the idea that ``the regulator contains a model of the world.'' The framework is distribution-free, applies to individual sequences, and complements the Internal Model Principle. Beyond this necessity claim, the same coding-theorem calculus singles out a \emph{canonical scalar objective} and implicates a \emph{planner}. On the realized episode, a regulator behaves \emph{as if} it minimized the conditional description length of the readout.

Paperid: 3742, https://arxiv.org/pdf/2510.05834.pdf

Abstract:
When to apply wavelet analysis to real-time temporal signals, where the future cannot be accessed, it is essential to base all the steps in the signal processing pipeline on computational mechanisms that are truly time-causal. This paper describes how a time-causal wavelet analysis can be performed based on concepts developed in the area of temporal scale-space theory, originating from a complete classification of temporal smoothing kernels that guarantee non-creation of new structures from finer to coarser temporal scale levels. By necessity, convolution with truncated exponential kernels in cascade constitutes the only permissable class of kernels, as well as their temporal derivatives as a natural complement to fulfil the admissibility conditions of wavelet representations. For a particular way of choosing the time constants in the resulting infinite convolution of truncated exponential kernels, to ensure temporal scale covariance and thus self-similarity over temporal scales, we describe how mother wavelets can be chosen as temporal derivatives of the resulting time-causal limit kernel. By developing connections between wavelet theory and scale-space theory, we characterize and quantify how the continuous scaling properties transfer to the discrete implementation, demonstrating how the proposed time-causal wavelet representation can reflect the duration of locally dominant temporal structures in the input signals. We propose that this notion of time-causal wavelet analysis could be a valuable tool for signal processing tasks, where streams of signals are to be processed in real time, specifically for signals that may contain local variations over a rich span of temporal scales, or more generally for analysing physical or biophysical temporal phenomena, where a fully time-causal analysis is called for to be physically realistic.

Paperid: 3743, https://arxiv.org/pdf/2510.05063.pdf

Abstract:
Data visualization is important for developing an understanding of a complex system. PowerPlots.jl is a data visualization tool for power grids, one of the most complex systems in the world. The design of PowerPlots.jl is intended to facilitate exploration of power grid data while performing research and to facilitate communication of research findings to an audience. Several tools created to support this software also facilitate analysis of power grid data by transforming the data into graph topology or data-frame data formats that are more compatible for some applications. The high level of flexibility in PowerPlots.jl enables researchers who are developing and analyzing methods for solving novel power grid problems to better understand and communicate the complexities of their research.

Paperid: 3744, https://arxiv.org/pdf/2510.04942.pdf

Abstract:
This paper develops a robust estimation framework for cislunar navigation that embeds the Circular Restricted Three-Body Problem (CR3BP) dynamics and bearing-only optical measurements within a Linear Fractional Transformation (LFT) representation. A full-order $\mathcal{H}_\infty$ observer is synthesized with explicit $\mathcal{L}_2$ performance bounds. The formulation yields a nonlinear estimator that operates directly on the governing equations and avoids reliance on local linearizations. Dominant nonlinearities are expressed as structured real uncertainties, while measurement fidelity is represented through range-dependent weighting with Earth-Moon distances reconstructed from line-of-sight geometry. The sensing architecture assumes passive star-tracker-class optical instruments, eliminating the need for time-of-flight ranging or precision clocks. Simulations demonstrate bounded estimation errors and smooth position tracking over multiple orbital periods, with the largest deviations observed in the out-of-plane states, consistent with the stiffness of the vertical dynamics and the limitations of angle-only observability. Application to a Near Rectilinear Halo Orbit (NRHO) illustrates that the framework can achieve robust onboard navigation with bounded estimation errors with flight-representative sensors.

Paperid: 3745, https://arxiv.org/pdf/2510.04924.pdf

Abstract:
We study how far a diffusion process on a graph can drift from a designed starting pattern when that pattern is produced using Laplacian regularisation. Under standard stability conditions for undirected, entrywise nonnegative graphs, we give a closed-form, instance-specific upper bound on the steady-state spread, measured as the relative change between the final and initial profiles. The bound separates two effects: (i) an irreducible term determined by the graph's maximum node degree, and (ii) a design-controlled term that shrinks as the regularisation strength increases (following an inverse square-root law). This leads to a simple design rule: given any target limit on spread, one can choose a sufficient regularisation strength in closed form. Although one motivating application is array beamforming, where the initial pattern is the squared magnitude of the beamformer weights, the result applies to any scenario that first enforces Laplacian smoothness and then evolves by linear diffusion on a graph. Overall, the guarantee is non-asymptotic, easy to compute, and certifies how much steady-state deviation can occur.

Paperid: 3746, https://arxiv.org/pdf/2510.04915.pdf

Abstract:
We consider the problem of the existence of an envy-free allocation up to any good (EFX) for linear valuations and establish new results by connecting this problem to a fixed point framework. Specifically, we first use randomized rounding to extend the discrete EFX constraints into a continuous space and show that an EFX allocation exists if and only if the optimal value of the continuously extended objective function is nonpositive. In particular, we demonstrate that this optimization problem can be formulated as an unconstrained difference of convex (DC) program, which can be further simplified to the minimization of a piecewise linear concave function over a polytope. Leveraging this connection, we show that the proposed DC program has a nonpositive optimal objective value if and only if a well-defined continuous vector map admits a fixed point. Crucially, we prove that the reformulated fixed point problem satisfies all the conditions of Brouwer's fixed point theorem, except that self-containedness is violated by an arbitrarily small positive constant. To address this, we propose a slightly perturbed continuous map that always admits a fixed point. This fixed point serves as a proxy for the fixed point (if it exists) of the original map, and hence for an EFX allocation through an appropriate transformation. Our results offer a new approach to establishing the existence of EFX allocations through fixed point theorems. Moreover, the equivalence with DC programming enables a more efficient and systematic method for computing such allocations (if one exists) using tools from nonlinear optimization. Our findings bridge the discrete problem of finding an EFX allocation with two continuous frameworks: solving an unconstrained DC program and identifying a fixed point of a continuous vector map.

Paperid: 3747, https://arxiv.org/pdf/2510.04264.pdf

Abstract:
The Alternating Current Power Flow (ACPF) problem forces a trade-off between the speed of data-driven models and the reliability of analytical solvers. This paper introduces a hybrid framework that synergizes a Graph Neural Network (GNN) with the Implicit Z-Bus Recursive (IZR) method, a robust, non-iterative solver for radial distribution networks. The framework employs a physics-informed GNN for rapid initial predictions and invokes the IZR solver as a failsafe for stressed cases identified by a two-stage trigger. A failure is defined as any solution with a maximum power mismatch exceeding 0.1 p.u., a significant operational deviation. On a challenging test set of 7,500 stressed scenarios for the IEEE 33-bus system, the GNN-only model failed on 13.11 % of cases. In contrast, the hybrid framework identified all potential failures, delegating them to the IZR solver to achieve a 0.00 % failure rate, empirically matching the 100 % success rate of the analytical solver on this specific test set. An expanded ablation study confirms that both physics-informed training and Z-bus sensitivity features are critical, collaboratively reducing the GNN's failure rate from 98.72 % (data-only) to 13.11 %. The hybrid approach demonstrates a pragmatic path to achieving the empirical reliability of an analytical solver while leveraging GNN speed, enabling a significant increase in the number of scenarios analyzable in near real-time.

Paperid: 3748, https://arxiv.org/pdf/2510.03918.pdf

Abstract:
We design a model-predictive controller for managing the actuators in sewer networks. It minimizes flooding and combined-sewer overflow during rain and pollution at other times. To make the problem tractable, we use a convex relaxation of the microbial growth kinetics and a physically motivated linearization of the mass flow bilinearities. With these approximations, the trajectory optimization in each control period is a second-order cone program. In simulation, the controller releases roughly 15% less pollutant mass than a conventional controller while treating nearly the same volume of flow. It does so by better balancing the flow over the treatment plants and over time.

Paperid: 3749, https://arxiv.org/pdf/2510.03815.pdf

Abstract:
There are limitations of traditional methods and deep learning methods in terms of interpretability, generalization, and quantification of uncertainty in industrial fault diagnosis, and there are core problems of insufficient credibility in industrial fault diagnosis. The architecture performs preliminary analysis through a Bayesian network-based diagnostic engine and features an LLM-driven cognitive quorum module with multimodal input capabilities. The module conducts expert-level arbitration of initial diagnoses by analyzing structured features and diagnostic charts, prioritizing final decisions after conflicts are identified. To ensure the reliability of the system output, the architecture integrates a confidence calibration module based on temperature calibration and a risk assessment module, which objectively quantifies the reliability of the system using metrics such as expected calibration error (ECE). Experimental results on a dataset containing multiple fault types showed that the proposed framework improved diagnostic accuracy by more than 28 percentage points compared to the baseline model, while the calibrated ECE was reduced by more than 75%. Case studies have confirmed that HCAA effectively corrects misjudgments caused by complex feature patterns or knowledge gaps in traditional models, providing novel and practical engineering solutions for building high-trust, explainable AI diagnostic systems for industrial applications.

Paperid: 3750, https://arxiv.org/pdf/2510.03657.pdf

Abstract:
In electricity markets around the world, the ability to anticipate price movements with precision can be the difference between profit and loss, especially for fast-acting assets like battery energy storage systems (BESS). As grid volatility increases due to renewables and market decentralisation, operators and forecasters alike face growing pressure to transform prediction into strategy. Yet while forecast data is abundant, especially in advanced markets like Australia's National Electricity Market (NEM), its practical value in driving real-world BESS trading decisions remains largely unexplored. This thesis dives into that gap. This work addresses a key research question: Can the accuracy of the Australian Energy Market Operator (AEMO) energy price forecasts be systematically leveraged to develop a reliable and profitable battery energy storage system trading algorithm? Despite the availability of AEMO price forecasts, no existing framework evaluates their reliability or incorporates them into practical BESS trading strategies. By analysing patterns in forecast accuracy based on time of day, forecast horizon, and regional variations, this project creates a novel, forecast-informed BESS trading model to optimise arbitrage financial returns. The performance of this forecast-driven algorithm is benchmarked against a basic trading algorithm with no knowledge of forecast data. The study further explores the potential of machine learning techniques to predict future energy prices by enhancing AEMO forecasts to govern a more advanced trading strategy. The research outcomes will inform future improvements in energy market trading models and promote more efficient BESS integration into market operations.

Paperid: 3751, https://arxiv.org/pdf/2510.03100.pdf

Abstract:
Quadrotor stability under complex dynamic disturbances and model uncertainties poses significant challenges. One of them remains the underfitting problem in high-dimensional features, which limits the identification capability of current learning-based methods. To address this, we introduce a new perspective: Dimension-Decomposed Learning (DiD-L), from which we develop the Sliced Adaptive-Neuro Mapping (SANM) approach for geometric control. Specifically, the high-dimensional mapping for identification is axially ``sliced" into multiple low-dimensional submappings (``slices"). In this way, the complex high-dimensional problem is decomposed into a set of simple low-dimensional tasks addressed by shallow neural networks and adaptive laws. These neural networks and adaptive laws are updated online via Lyapunov-based adaptation without any pre-training or persistent excitation (PE) condition. To enhance the interpretability of the proposed approach, we prove that the full-state closed-loop system exhibits arbitrarily close to exponential stability despite multi-dimensional time-varying disturbances and model uncertainties. This result is novel as it demonstrates exponential convergence without requiring pre-training for unknown disturbances and specific knowledge of the model.

Paperid: 3752, https://arxiv.org/pdf/2510.01984.pdf

Abstract:
We present SPARC, a compact, open-source 3-DoF sagittal-plane spine module that combines revolute (pitch) and prismatic (axial) motion with programmable task-space impedance for quadruped robots. The system integrates three torque-controlled actuators, a custom 1 kHz control board, and a protected power unit in a 1.26 kg package, enabling closed-loop stiffness and damping shaping along x, z, and theta. We develop an RNEA-based computed-acceleration controller with smooth Stribeck friction compensation to render spring-damper behavior without explicit inertia shaping. Bench experiments validate the approach. Quasi-static push-pull tests show linear force-displacement characteristics with commanded horizontal stiffness spanning 300-700 N/m and <= 1.5% relative error (R^2 >= 0.992, narrow 95% CIs). Dynamic displace-and-release trials confirm mass-spring-damper responses over multiple damping settings, with small, interpretable phase deviations due to configuration-dependent inertia and low-speed friction effects. A task-space PD controller produces roughly linear stiffness but with greater variability and coupling sensitivity. SPARC provides a portable platform for systematic studies of spine compliance in legged locomotion and will be released with complete hardware and firmware resources.

Paperid: 3753, https://arxiv.org/pdf/2510.01794.pdf

Abstract:
State-of-the-art approaches of Robust Model Predictive Control (MPC) are restricted to linear systems of relatively small scale, i.e., with no more than about 5 states. The main reason is the computational burden of determining a robust positively invariant (RPI) set, whose complexity suffers from the curse of dimensionality. The recently proposed approach of Deadbeat Robust Model Predictive Control (DRMPC) is the first that does not rely on an RPI set. Yet it comes with the full set of essential system theoretic guarantees. DRMPC is hence a viable option, in particular, for large-scale systems. This paper introduces a detailed design procedure for DRMPC. It is shown that the optimal control problem generated for DRMPC has exactly the same computational complexity as Nominal MPC. A numerical study validates its applicability to randomly generated large-scale linear systems of various dimensions.

Paperid: 3754, https://arxiv.org/pdf/2509.25786.pdf

Abstract:
Protecting the security of the train control system is a critical issue to ensure the safe and reliable operation of high-speed trains. Scientific modeling and analysis for the security risk is a promising way to guarantee system security. However, the representation and assessment of the multi-staged, causally related, and temporal-dynamic changed attack dependencies are difficult in the train control system. To solve the above challenges, a security assessment framework based on the Dynamical Causality Attack Graph (DCAG) model is introduced in this paper. Firstly, the DCAG model is generated based on the attack graph with consideration of temporal attack propagation and multi-stage attack event causality propagation. Then, the DCAG model is analyzed based on Bayesian inference and logic gateway-based inference. Through the case analysis of the CTCS-3 system, the security assessment framework is validated. With the DCAG-based security assessment framework, we can not only perform appropriate security risk quantification calculations, but also explore the importance of different attacks on system security risks, which is helpful in adjusting the cyber security defense policy.

Paperid: 3755, https://arxiv.org/pdf/2509.25046.pdf

Abstract:
Output capacitors are among the most critical components in power electronic converters, as their degradation directly affects system stability and reliability. A key indicator of capacitor health is the Equivalent Series Resistance (ESR), whose progressive increase is strongly correlated with aging and imminent failure. This paper presents a real-time technique for estimating the ESR of output capacitors in boost converters, with the aim of enabling early fault prediction and condition-based maintenance. The proposed method leverages online parameter estimation to extract ESR values without interrupting converter operation. The estimation algorithm has been implemented on a low-cost STM32 Nucleo platform, demonstrating both computational efficiency and suitability for embedded applications. Experimental validation confirms that the approach provides accurate ESR tracking under varying load and operating conditions, allowing timely detection of abnormal capacitor behavior and preventing unexpected system failures.

Paperid: 3756, https://arxiv.org/pdf/2509.24208.pdf

Abstract:
Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in environments requiring robust obstacle avoidance. This paper proposes a novel SDC-Based Model Predictive Control (MPC) framework, which preserves the high-precision performance of NMPC while substantially reducing computational complexity by over 30%. By reformulating the nonlinear quadrotor dynamics through the State-Dependent Coefficient (SDC) method, the original nonlinear program problem is transformed into a sequential quadratic optimization problem. The controller integrates an integral action to eliminate steady-state tracking errors and imposes constraints for safety-critical obstacle avoidance. Additionally, a disturbance estimator is incorporated to enhance robustness against external perturbations. Simulation results demonstrate that the SDC-Based MPC achieves comparable tracking accuracy to NMPC, with greater efficiency in terms of computation times, thereby improving its suitability for real-time applications. Theoretical analysis further establishes the stability and recursive feasibility of the proposed approach.

Paperid: 3757, https://arxiv.org/pdf/2509.23217.pdf

Abstract:
In this letter, we propose an analytical model and conduct simulation experiments to study listen-before-talk-based unlicensed band allocation with the buffering mechanism for the License-Assisted Access (LAA) packets in the heterogeneous networks. In such a network, unlicensed band allocation for LAA and Wi-Fi is an important issue, which may affect the quality of service for both systems significantly. We evaluate the performance of these unlicensed band allocations in terms of the acceptance rate of both LAA and Wi-Fi packets. This letter provides the guidelines for designing the channel occupation phase and buffer threshold of the LAA systems.

Paperid: 3758, https://arxiv.org/pdf/2509.23216.pdf

Abstract:
Based on the License-Assisted Access (LAA) small cell architecture, the LAA coexisting with Wi-Fi heterogeneous networks provides LTE mobile users with high bandwidth efficiency as the unlicensed channels are shared among LAA and Wi-Fi. However, LAA and Wi-Fi interfere with each other when both systems use the same unlicensed channel in heterogeneous networks. In such a network, unlicensed band allocation for LAA and Wi-Fi is an important issue that may affect the quality of service (QoS) of both systems significantly. In this paper, we propose an analytical model and conduct simulation experiments to study four allocations for the unlicensed band: unlicensed full allocation (UFA), unlicensed time-division allocation (UTA), and UFA/UTA with buffering mechanism (UFAB and UTAB) for the LAA data packets. We evaluate the performance of these unlicensed band allocation schemes in terms of the acceptance rate of both LAA and Wi-Fi packet data in the LAA buffer queue. Our study provides guidelines for designing the channel occupation phase and the buffer size of the LAA small cell.

Paperid: 3759, https://arxiv.org/pdf/2509.23143.pdf

Abstract:
This paper presents MathBode, a dynamic diagnostic for mathematical reasoning in large language models (LLMs). Instead of one-shot accuracy, MathBode treats each parametric problem as a system: we drive a single parameter sinusoidally and fit first-harmonic responses of model outputs and exact solutions. This yields interpretable, frequency-resolved metrics -- gain (amplitude tracking) and phase (lag) -- that form Bode-style fingerprints. Across five closed-form families (linear solve, ratio/saturation, compound interest, 2x2 linear systems, similar triangles), the diagnostic surfaces systematic low-pass behavior and growing phase lag that accuracy alone obscures. We compare several models against a symbolic baseline that calibrates the instrument ($G \approx 1$, $Ï\approx 0$). Results separate frontier from mid-tier models on dynamics, providing a compact, reproducible protocol that complements standard benchmarks with actionable measurements of reasoning fidelity and consistency. We open-source the dataset and code to enable further research and adoption.

Paperid: 3760, https://arxiv.org/pdf/2509.22955.pdf

Abstract:
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes.

Paperid: 3761, https://arxiv.org/pdf/2509.22757.pdf

Abstract:
This study presents a structured approach to evaluating vulnerabilities within quantum cryptographic protocols, focusing on the BB84 quantum key distribution method and National Institute of Standards and Technology (NIST) approved quantum-resistant algorithms. By integrating AI-driven red teaming, automated penetration testing, and real-time anomaly detection, the research develops a framework for assessing and mitigating security risks in quantum networks. The findings demonstrate that AI can be effectively used to simulate adversarial attacks, probe weaknesses in cryptographic implementations, and refine security mechanisms through iterative feedback. The use of automated exploit simulations and protocol fuzzing provides a scalable means of identifying latent vulnerabilities, while adversarial machine learning techniques highlight novel attack surfaces within AI-enhanced cryptographic processes. This study offers a comprehensive methodology for strengthening quantum security and provides a foundation for integrating AI-driven cybersecurity practices into the evolving quantum landscape.

Paperid: 3762, https://arxiv.org/pdf/2509.21425.pdf

Abstract:
We present an extension of state-feedback pole placement for quaternionic systems, based on companion forms and the Ackermann formula. For controllable single-input quaternionic LTI models, we define a companion polynomial that right-annihilates its companion matrix, characterize spectra via right-eigenvalue similarity classes, and prove coefficient-matching design in controllable coordinates. We then derive a coordinate-free Ackermann gain expression valid for real target polynomials, and state its scope and limitations. Short examples demonstrate correctness, practical use, and numerical simplicity.

Paperid: 3763, https://arxiv.org/pdf/2509.21337.pdf

Abstract:
The provision of renewable electricity is the foundation for a sustainable future. To achieve the goal of sustainable renewable energy, Battery Energy Storage Systems (BESS) could play a key role to counteract the intermittency of solar and wind generation power. In order to aid the system, the BESS can simply charge at low wholesale prices and discharge during high prices, which is also called energy arbitrage. However, the real-time execution of energy arbitrage is not straightforward for many companies due to the fundamentally different behavior of storages compared to conventional power plants. In this work, the optimized operation of standalone BESS in the cross-market energy arbitrage business is addressed by describing a generic framework for trading integrated BESS operation, the development of a suitable backtest engine and a specific optimization-based strategy formulation for cross-market optimized BESS operation. In addition, this strategy is tested in a case study with a sensitivity analysis to investigate the influence of forecast uncertainty. The results show that the proposed strategy allows an increment in revenues by taking advantage of the increasing market volatility. Furthermore, the sensitivity analysis shows the robustness of the proposed strategy, as only a moderate portion of revenues will be lost if real forecasts are adopted.

Paperid: 3764, https://arxiv.org/pdf/2509.20596.pdf

Abstract:
The increasing use of data-driven control strategies gives rise to the problem of learning-based state observation. Motivated by this need, the present work proposes a data-driven approach for the synthesis of state observers for discrete-time nonlinear systems with measure-preserving dynamics. To this end, Kazantzis-Kravaris/Luenburger (KKL) observers are shown to be well-defined, where the observer design boils down to determining a nonlinear injective mapping of states and its pseudo-inverse. For its learning-based construction, the KKL observer is related to the Koopman and Perron-Frobenius operators, defined on a Sobolev-type reproducing kernel Hilbert space (RKHS) on which they are shown to be normal operators and thus have a spectral resolution. Hence, observer synthesis algorithms, based on kernel interpolation/regression routines for the desired injective mapping in the observer and its pseudo-inverse, have been proposed in various settings of available dataset -- (i) many orbits, (ii) single long orbit, and (iii) snapshots. Theoretical error analyses are provided, and numerical studies on a chaotic Lorenz system are demonstrated.

Paperid: 3765, https://arxiv.org/pdf/2509.20355.pdf

Abstract:
Congestion pricing policies have emerged as promising traffic management tools to alleviate traffic congestion caused by travelers' selfish routing behaviors. The core principle behind deploying tolls is to impose monetary costs on frequently overcrowded routes, to incentivize self-interested travelers to select less easily congested routes. Recent literature has focused on toll design based on arc-based traffic assignment models (TAMs), which characterize commuters as traveling through a traffic network by successively selecting an outgoing arc from every intermediate node along their journey. However, existing tolling mechanisms predicated on arc-based TAMs often target the design of a single congestion-minimizing toll, ignoring crucial fairness considerations, such as the financial impact of high congestion fees on low-income travelers. To address these shortcomings, in this paper, we pose the dual considerations of efficiency and equity in traffic routing as bilevel optimization problems. Since such problems are in general computationally intractable to solve precisely, we construct a linear program approximation by introducing a polytope approximation for the set of all tolls that induce congestion-minimizing traffic flow patterns. Finally, we provide numerical results that validate our theoretical conclusions.

Paperid: 3766, https://arxiv.org/pdf/2509.20082.pdf

Abstract:
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse linearization framework to explicitly incorporate time-desynchronization dynamics. To stabilize the resulting extended transverse dynamics, we employ a combination of time-varying LQR and sliding-mode control. The theoretical results are validated experimentally through the implementation of both centralized and decentralized control strategies on a group of six Butterfly robots.

Paperid: 3767, https://arxiv.org/pdf/2509.17635.pdf

Abstract:
This paper leverages recent advances in high derivatives reconstruction from noisy-time series and sparse multivariate polynomial identification in order to improve the process of parsimoniously identifying, from a small amount of data, unknown Single-Input/Single-Output nonlinear dynamics of relative degree up to 4. The methodology is illustrated on the Electronic Throttle Controlled automotive system.

Paperid: 3768, https://arxiv.org/pdf/2509.17413.pdf

Abstract:
Ensuring the safety of neural networks under input uncertainty is a fundamental challenge in safety-critical applications. This paper builds on and expands Fazlyab's quadratic-constraint (QC) and semidefinite-programming (SDP) framework for neural network verification to a distributionally robust and tail-risk-aware setting by integrating worst-case Conditional Value-at-Risk (WC-CVaR) over a moment-based ambiguity set with fixed mean and covariance. The resulting conditions remain SDP-checkable and explicitly account for tail risk. This integration broadens input-uncertainty geometry-covering ellipsoids, polytopes, and hyperplanes-and extends applicability to safety-critical domains where tail-event severity matters. Applications to closed-loop reachability of control systems and classification are demonstrated through numerical experiments, illustrating how the risk level $\varepsilon$ trades conservatism for tolerance to tail events-while preserving the computational structure of prior QC/SDP methods for neural network verification and robustness analysis.

Paperid: 3769, https://arxiv.org/pdf/2509.17266.pdf

Abstract:
Privacy-preserving state estimation for linear time-invariant dynamical systems with crowd sensors is considered. At any time step, the estimator has access to measurements from a randomly selected sensor from a pool of sensors with pre-specified models and noise profiles. A Luenberger-like observer is used to fuse the measurements with the underlying model of the system to recursively generate the state estimates. An additive privacy-preserving noise is used to constrain information leakage. Information leakage is measured via mutual information between the identity of the sensors and the state estimate conditioned on the actual state of the system. This captures an omnipotent adversary that not only can access state estimates but can also gather direct high-quality state measurements. Any prescribed level of information leakage is shown to be achievable by appropriately selecting the variance of the privacy-preserving noise. Therefore, privacy-utility trade-off can be fine-tuned.

Paperid: 3770, https://arxiv.org/pdf/2509.16593.pdf

Abstract:
Security risk assessment is essential in establishing the trustworthiness and reliability of modern systems. While various security risk assessment approaches exist, prevalent applications are "pen and paper" implementations that -- even if performed digitally using computers -- remain prone to authoring mistakes and inconsistencies. Computer-aided design approaches can transform security risk assessments into more rigorous and sustainable efforts. This is of value to both industrial practitioners and researchers, who practice security risk assessments to reflect on systems' designs and to contribute to the discipline's state-of-the-art. In this article, we report the application of a model-based security design tool to reproduce a previously reported security assessment. The main contributions are: 1) an independent attempt to reproduce a refereed article describing a real security risk assessment of a system; 2) comparison of a new computer-aided application with a previous non-computer-aided application, based on a published, real-world case study; 3) a showcase for the potential advantages -- for both practitioners and researchers -- of using computer-aided design approaches to analyze reports and to assess systems.

Paperid: 3771, https://arxiv.org/pdf/2509.16272.pdf

Abstract:
We present a quantum compiler framework that bridges the gap between physics modeling and quantum software development. At the core of this framework is a versatile quantum circuit synthesizer capable of decomposing arbitrary Hamiltonians into quantum circuits, represented using a platform-independent B-Tree-based intermediate representation. The B-Tree structure encodes information for gate lineage, enabling detailed tracing information of quantum circuit gates and facilitating circuit verification. The intermediate representation serves as a universal, hardware-agnostic carrier of compiled code, allowing it to be readily rendered on most quantum hardware backends and transpiled into other quantum circuit languages. We demonstrate rendering the intermediate representation into executable quantum circuits in Qiskit and Cirq. We can also transpile the intermediate representation into OpenQASM for broader compatibility.

Paperid: 3772, https://arxiv.org/pdf/2509.14251.pdf

Abstract:
Metro crew planning is a key component of smart city development as it directly impacts the operational efficiency and service reliability of public transportation. With the rapid expansion of metro networks, effective multi-line scheduling and emergency management have become essential for large-scale seamless operations. However, current research focuses primarily on individual metro lines,with insufficient attention on cross-line coordination and rapid replanning during disruptions. Here, a unified optimization framework is presented for multi-line metro crew planning and replanning with heterogeneous workforce. Specifically, a hierarchical time-space network model is proposed to represent the unified crew action space, and computationally efficient constraints and formulations are derived for the crew's heterogeneous qualifications and preferences. Solution algorithms based on column generation and shortest path adjustment are further developed, utilizing the proposed network model. Experiments with real data from Shanghai and Beijing Metro demonstrate that the proposed methods outperform benchmark heuristics in both cost reduction and task completion,and achieve notable efficiency gains by incorporating cross-line operations, particularly for urgent tasks during disruptions. This work highlights the role of global optimization and cross-line coordination in multi-line metro system operations, providing insights into the efficient and reliable functioning of public transportation in smart cities.

Paperid: 3773, https://arxiv.org/pdf/2509.14168.pdf

Abstract:
We consider H2 output feedback controller synthesis with pre-specified constraints on spatial communication distance (locality) for spatially-invariant systems using two factored controller frameworks: the system-level parameterization and the input-output parameterization. In our main result, we show that in both frameworks, output feedback controller synthesis with locality constraints can be formulated as a convex problem in finitely many transfer function variables, admitting the use of standard numerical solution techniques. The number of decision variables in the optimal controller design problem scales linearly with the distance of allowed communication. We also show that the optimal controller design problems for the system-level and input-ouptput parameterizations are equivalent for the chosen system of interest. We present numerical examples to illustrate the tradeoff between communication sparsity and performance.

Paperid: 3774, https://arxiv.org/pdf/2509.13793.pdf

Abstract:
It is shown that the port behavior of a resistor-diode network corresponds to the solution of a ReLU monotone operator equilibrium network (a neural network in the limit of infinite depth), giving a parsimonious construction of a neural network in analog hardware. We furthermore show that the gradient of such a circuit can be computed directly in hardware, using a procedure we call hardware linearization. This allows the network to be trained in hardware, which we demonstrate with a device-level circuit simulation. We extend the results to cascades of resistor-diode networks, which can be used to implement feedforward and other asymmetric networks. We finally show that different nonlinear elements give rise to different activation functions, and introduce the novel diode ReLU which is induced by a non-ideal diode model.

Paperid: 3775, https://arxiv.org/pdf/2509.13380.pdf

Abstract:
This paper presents ASTREA, the first agentic system deployed on flight-heritage hardware (TRL 9) for autonomous spacecraft operations. Using thermal control as a representative use case, we integrate a resource-constrained Large Language Model (LLM) agent with a reinforcement learning controller in an asynchronous architecture tailored for space-qualified platforms. Ground experiments show that LLM-guided supervision improves thermal stability and reduces violations, confirming the feasibility of combining semantic reasoning with adaptive control under hardware constraints. However, on-orbit validation aboard the International Space Station (ISS) reveals performance degradation caused by inference latency mismatched with the rapid thermal cycles characteristic of Low Earth Orbit (LEO) satellites. These results highlight both the opportunities and current limitations of agentic LLM-based systems in real flight environments, providing practical design guidelines for future space autonomy.

Paperid: 3776, https://arxiv.org/pdf/2509.13369.pdf

Abstract:
Automation now steers building HVAC, distribution grids, and traffic signals, yet residents rarely have authority to pause or redirect these systems when they harm inclusivity, safety, or accessibility. We formalize a Right-to-Override (R2O) - defining override authorities, evidentiary thresholds, and domain-validated safe fallback states - and introduce a Deliberative Audit Method (DAM) with playbooks for pre-deployment walkthroughs, shadow-mode trials, and post-incident review. We instantiate R2O/DAM in simulations of smart-grid load shedding, building HVAC under occupancy uncertainty, and multi-agent traffic signals. R2O reduces distributional harm with limited efficiency loss: load-shedding disparity in unserved energy drops from 5.61x to 0.69x with constant curtailment; an override eliminates two discomfort-hours for seniors at an energy cost of 77 kWh; and median pedestrian wait falls from 90.4 s to 55.9 s with a 6.0 s increase in mean vehicle delay. We also contribute a policy standard, audit worksheets, and a ModelOps integration pattern to make urban automation contestable and reviewable.

Paperid: 3777, https://arxiv.org/pdf/2509.13331.pdf

Abstract:
We use artificial intelligence (AI) and supervisory adaptive control systems to plan and optimize the mission of precise spacecraft formation. Machine learning and robust control enhance the efficiency of spacecraft precision formation of the Virtual Telescope for X-ray Observation (VTXO) space mission. VTXO is a precise formation of two separate spacecraft making a virtual telescope with a one-kilometer focal length. One spacecraft carries the lens and the other spacecraft holds the camera to observe high-energy space objects in the X-ray domain with 55 milli-arcsecond angular resolution accuracy. Timed automata for supervisory control, Monte Carlo simulations for stability and robustness evaluation, and integration of deep neural networks for optimal estimation of mission parameters, satisfy the high precision mission criteria. We integrate deep neural networks with a constrained, non-convex dynamic optimization pipeline to predict optimal mission parameters, ensuring precision mission criteria are met. AI framework provides explainability by predicting the resulting energy consumption and mission error for a given set of mission parameters. It allows for transparent, justifiable, and real-time trade-offs, a capability not present in traditional adaptive controllers. The results show reductions in energy consumption and improved mission accuracy, demonstrating the capability of the system to address dynamic uncertainties and disturbances.

Paperid: 3778, https://arxiv.org/pdf/2509.12740.pdf

Abstract:
Robots are unrelentingly used to achieve operational efficiency in Industry 4.0 along with symbiotic and sustainable assistance for the work-force in Industry 5.0. As resilience, robustness, and well-being are required in anti-fragile manufacturing and human-centric societal tasks, an autonomous anticipation and adaption to thermal saturation and burns due to motors overheating become instrumental for human safety and robot availability. Robots are thereby expected to self-sustain their performance and deliver user experience, in addition to communicating their capability to other agents in advance to ensure fully automated thermally feasible tasks, and prolong their lifetime without human intervention. However, the traditional robot shutdown, when facing an imminent thermal saturation, inhibits productivity in factories and comfort in the society, while cooling strategies are hard to implement after the robot acquisition. In this work, smart digital twins endowed with generative AI, i.e., variational autoencoders, are leveraged to manage thermally anomalous and generate uncritical robot states. The notion of thermal difficulty is derived from the reconstruction error of variational autoencoders. A robot can use this score to predict, anticipate, and share the thermal feasibility of desired motion profiles to meet requirements from emerging applications in Industry 6.0 and Society 6.0.

Paperid: 3779, https://arxiv.org/pdf/2509.10586.pdf

Abstract:
Estimating lifetime probabilities of default (PDs) under IFRS~9 and CECL requires projecting point--in--time transition matrices over multiple years. A persistent weakness is that macroeconomic forecast errors compound across horizons, producing unstable and volatile PD term structures. This paper reformulates the problem in a state--space framework and shows that a direct Kalman filter leaves non--vanishing variability. We then introduce an anchored observation model, which incorporates a neutral long--run economic state into the filter. The resulting error dynamics exhibit asymptotic stochastic stability, ensuring convergence in probability of the lifetime PD term structure. Simulation on a synthetic corporate portfolio confirms that anchoring reduces forecast noise and delivers smoother, more interpretable projections.

Paperid: 3780, https://arxiv.org/pdf/2509.09044.pdf

Abstract:
To achieve net-zero emissions by 2050, all-electric transportation is a promising option. In the U.S., the transportation sector contributes the largest share (29 percent) of greenhouse gas emissions. While electric vehicles are approaching maturity, aviation is only beginning to develop electrified aircraft for commercial flights. More than 75 percent of aviation emissions come from large aircraft, and this impact will worsen with 4-5 percent annual air travel growth. Aircraft electrification has led to two types: more electric aircraft (MEA) and all-electric aircraft (AEA). A MEA replaces subsystems such as hydraulics with electric alternatives, whereas an AEA uses electrically driven subsystems and provides thrust fully from electrochemical energy units (EEUs). For wide-body AEA, thrust demand is about 25 MW plus 1 MW for non-thrust loads, creating major challenges for electric power system (EPS) design. Achieving maximum power density requires minimizing mass and volume. Increasing voltage into the kilovolt range using medium-voltage direct current (MVDC) is a feasible option to enhance power transfer. Consequently, designing an MVDC EPS for wide-body AEA is critical. Because EPS failures could jeopardize passenger safety, reliability and resilience are essential. This chapter presents a load-flow model for DC systems to determine power flows in both normal and single-contingency conditions, followed by analysis of optimal MVDC EPS architectures. A complete EPS for wide-body AEA is introduced, with EEUs and non-propulsion loads located, distances estimated, and flow studies performed. Multiple architectures are evaluated for reliability, power density, power loss, and cost to identify optimal solutions.

Paperid: 3781, https://arxiv.org/pdf/2509.08521.pdf

Abstract:
Path planning in dynamic environments remains a core challenge in robotics, especially as autonomous systems are deployed in unpredictable spaces such as warehouses and public roads. While algorithms like Fast Marching Tree (FMT$^{*}$) offer asymptotically optimal solutions in static settings, their single-pass design prevents path revisions which are essential for real-time adaptation. On the other hand, full replanning is often too computationally expensive. This paper introduces FMT$^{x}$, an extension of the Fast Marching Tree algorithm that enables efficient and consistent replanning in dynamic environments. We revisit the neighbor selection rule of FMT$^{*}$ and demonstrate that a minimal change overcomes its single-pass limitation, enabling the algorithm to update cost-to-come values upon discovering better connections without sacrificing asymptotic optimality or computational efficiency. By maintaining a cost-ordered priority queue and applying a selective update condition that uses an expanding neighbor to identify and trigger the re-evaluation of any node with a potentially suboptimal path, FMT$^{x}$ ensures that suboptimal routes are efficiently repaired as the environment evolves. This targeted strategy preserves the inherent efficiency of FMT$^{*}$ while enabling robust adaptation to changes in obstacle configuration. FMT$^{x}$ is proven to recover an asymptotically optimal solution after environmental changes. Experimental results demonstrate that FMT$^{x}$ outperforms the influential replanner RRT$^{x}$, reacting more swiftly to dynamic events with lower computational overhead and thus offering a more effective solution for real-time robotic navigation in unpredictable worlds.

Paperid: 3782, https://arxiv.org/pdf/2509.08135.pdf

Abstract:
Consider a (logical) link between two distributed data centers with available bandwidth designated for both deadline-driven elastic traffic, such as for scheduled synchronization services, and profitable inelastic traffic, such as for real-time streaming services. Admission control in this setting is cast as a stochastic shortest path problem, with state space derived from (discretization of) the elastic flow's size/deadline and action space corresponding to alternative subsets of admitted inelastic flows: the probabilistic model expresses uncertainty in both the link's available bandwidth and the inelastic flows' offered loads, while the objective function captures both congestion avoidance and the option to specify a desired minimum elastic rate. Its solution is shown to (i) balance the accumulation of instantaneous inelastic reward with the risk of missing the elastic deadline and (ii) exhibit a degree of robustness to link & flow modeling errors that is tunable via choice of the desired minimum elastic rate. Also discussed are state augmentations that befit urgent or non-interruptible inelastic traffic.

Paperid: 3783, https://arxiv.org/pdf/2509.08124.pdf

Abstract:
Proliferation of new classes of airspace participants, including uncrewed and advanced aerial mobility vehicles, necessitates the development and deployment of novel airspace management solutions, such as the Unmanned Traffic Management (UTM) system and the Provider of Services to UAM (PSU) Network. The efficacy of such systems has been demonstrated on multiple occasions via real-world deployments in limited test environments, however exploration of system behavior under stressing conditions requires the development of appropriate modeling and simulation (M&S) environments. Autonomy Networks for Advanced Mobility at Lincoln Laboratory (ANAMLL) is a virtual Systems Integration Laboratory (SIL) designed to host federated autonomy networks, such as a UTM or PSU Network, and to enable test and validation at scales not available in real-world deployments. As an example of ANAMLL's utility, we explore the performance of a representative UTM network during a stressing demand scenario. In a close examination of the demand scenario, ANAMLL demonstrates a UTM system demand point at which in-flight replanning can no longer be accomplished within an allowable time window. In a second analysis of the same scenario, ANAMLL demonstrates the impact of network connectivity performance on end-user airspace access.

Paperid: 3784, https://arxiv.org/pdf/2509.07919.pdf

Abstract:
We formulate and analyze a simplest Markov decision process model for intrusion tolerance problems, assuming that (i) each attack proceeds through one or more steps before the system's security fails, (ii) defensive responses that target these intermediate steps may only sometimes thwart the attack and (iii) reset responses that are sensible upon discovering an attack's completion may not always recover from the security failure. The analysis shows that, even in the ideal case of perfect detectors, it can be sub-optimal in the long run to employ defensive responses while under attack; that is, depending on attack dynamics and response effectiveness, the total overhead of ongoing defensive countermeasures can exceed the total risk of intermittent security failures. The analysis similarly examines the availability loss versus the risk reduction of employing preemptive resets, isolating key factors that determine whether system recovery is best initiated reactively or proactively. We also discuss model extensions and related work looking towards intrusion tolerance applications with (i) imperfect or controllable detectors, (ii) multiple types of attacks, (iii) continuous-time dynamics or (iv) strategic attackers.

Paperid: 3785, https://arxiv.org/pdf/2509.07840.pdf

Abstract:
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall decision-making objectives. We propose modeling the opportunity for sensor management within multi-stage stochastic control problems with imperfect state information. Such formulations inherently assume the state of the modeled environment cannot be accessed directly but instead the controller can observe only noisy measurements of the state and, therefore, at each decision stage some form of state estimation is required before a control is actuated. The notion of sensor management arises when the modeled controls not only affect the subsequent evolution of the state but can also affect the nature of future measurements and, hence, the quality of state estimates that drive future control decisions. In principle, the optimal strategy for any appropriately modeled multi-stage stochastic control problem with imperfect state information (with or without opportunity for sensor management) is the solution to a dynamic program; in practice, the computational requirements are typically prohibitive yet dynamic programming methods are still useful to guide the development of effective suboptimal strategies. In this spirit, we model the opportunity for sensor management within small-scale examples of two well-studied dynamic programming formulations, namely (1) the finite-state/finite-action Partially-Observable Markov Decision Process (PO-MDP) and (2) the Linear-Quadratic-Gaussian Regulator (LQGR). These examples admit solvable dynamic programs and confirm how the interplay between sensing and acting is a natural by-product of a dynamic programming solution.

Paperid: 3786, https://arxiv.org/pdf/2509.06758.pdf

Abstract:
This paper employs the Friedkin-Johnsen (FJ) model to describe the dynamics of opinion evolution within a social network. Under the FJ framework, the society is divided into two subgroups that include stubborn agents and regular agents. The opinions of stubborn agents are not influenced by regular agents, whereas the opinions of regular agents evolve based on the opinions of their neighboring agents. By defining the origin as the desired collective opinion of the society, the objective of the paper is to minimize deviations from this desired opinion. To achieve this, a Stackelberg game is established between the stubborn and regular subgroups, where the opinion adjustments of the stubborn agents and the openness variables of regular agents serve as the decision variables. The proposed solution approach integrates quadratic programming and dynamic programming to optimize these decision variables at each discrete time step using forward and backward propagation.

Paperid: 3787, https://arxiv.org/pdf/2509.06534.pdf

Abstract:
We study the robustness of system estimation to parametric perturbations in system dynamics and initial conditions. We define the problem of sensitivity-based parametric uncertainty quantification in dynamical system estimation. The main contribution of this paper is the development of a novel robustness metric for estimation of parametrized linear dynamical systems with and without control actions. For the computation of this metric, we delineate the uncertainty contributions arising from control actions, system dynamics, and initial conditions. Furthermore, to validate our theoretical findings, we establish connections between these new results and the existing literature on the robustness of model reduction. This work provides guidance for selecting estimation methods based on tolerable levels of parametric uncertainty and paves the way for new cost functions in data-driven estimation that reward sensitivity to a desired subset of parameters while penalizing others.

Paperid: 3788, https://arxiv.org/pdf/2509.06133.pdf

Abstract:
Modern vehicles accumulate fragmented lifecycle records across OEMs, owners, and service centers that are difficult to verify and prone to fraud. We propose VehiclePassport, a GAIA-X-aligned digital passport anchored on blockchain with zero-knowledge proofs (ZKPs) for privacy-preserving verification. VehiclePassport immutably commits to manufacturing, telemetry, and service events while enabling selective disclosure via short-lived JWTs and Groth16 proofs. Our open-source reference stack anchors hashes on Polygon zkEVM at <$0.02 per event, validates proofs in <10 ms, and scales to millions of vehicles. This architecture eliminates paper-based KYC, ensures GDPR-compliant traceability, and establishes a trustless foundation for insurance, resale, and regulatory applications in global mobility data markets.

Paperid: 3789, https://arxiv.org/pdf/2509.03685.pdf

Abstract:
Digital transformation in the built environment offers new opportunities to improve building maintenance through data-driven approaches. Smart monitoring, predictive modeling, and artificial intelligence can enhance decision-making and enable proactive strategies. The preservation of historic buildings is an important scenario where preventive maintenance is essential to ensure long-term sustainability while protecting heritage values. This thesis presents a comprehensive solution for data-driven smart maintenance of historic buildings, integrating Internet of Things (IoT), cloud computing, edge computing, ontology-based data modeling, and machine learning to improve indoor climate management, energy efficiency, and conservation practices. This thesis advances data-driven conservation of historic buildings by combining smart monitoring, digital twins, and artificial intelligence. The proposed methods enable preventive maintenance and pave the way for the next generation of heritage conservation strategies.

Paperid: 3790, https://arxiv.org/pdf/2509.03399.pdf

Abstract:
Living systems balance energetic efficiency with the capacity for path-dependent effects. We introduce Tangential Action Spaces (TAS), a geometric framework that models embodied agents as hierarchies of manifolds linked by projections from physical states to cognitive representations and onward to intentions. Lifts from intentions back to actions may follow multiple routes that differ in energy cost and in whether they leave memory-like traces. Under explicit assumptions, we prove: (i) if the physical-to-cognitive map is locally invertible, there is a unique lift that minimises instantaneous energy and yields no path-dependent memory; any memory requires strictly positive excess energy. (ii) If multiple physical states map to a cognitive state (a fibration), the energy-minimising lift is the metric-weighted pseudoinverse of the projection. (iii) In systems with holonomy, excess energy grows quadratically with the size of the induced memory for sufficiently small loops, establishing a local cost-memory law. These results motivate a classification of embodied systems by the origin of path dependence: intrinsically conservative, conditionally conservative, geometrically nonconservative, and dynamically nonconservative. Numerical examples illustrate each case. We also present a reflective extension (rTAS) in which perception depends on a learnable model state; a block metric formalises an effort-learning trade-off, and cross-curvature terms couple physical and model holonomy. Simulations of single- and two-agent settings show role asymmetries and sensitivity to coupling. TAS provides a geometric language linking embodiment, memory, and energetic cost, yielding testable predictions and design guidelines for biological and robotic systems.

Paperid: 3791, https://arxiv.org/pdf/2509.02596.pdf

Abstract:
As artificial intelligence (AI) becomes foundational to enterprise infrastructure, organizations face growing challenges in accurately assessing the full economic implications of AI deployment. Existing metrics such as API token costs, GPU-hour billing, or Total Cost of Ownership (TCO) fail to capture the complete lifecycle costs of AI systems and provide limited comparability across deployment models. This paper introduces the Levelized Cost of Artificial Intelligence (LCOAI), a standardized economic metric designed to quantify the total capital (CAPEX) and operational (OPEX) expenditures per unit of productive AI output, normalized by valid inference volume. Analogous to established metrics like LCOE (levelized cost of electricity) and LCOH (levelized cost of hydrogen) in the energy sector, LCOAI offers a rigorous, transparent framework to evaluate and compare the cost-efficiency of vendor API deployments versus self-hosted, fine-tuned models. We define the LCOAI methodology in detail and apply it to three representative scenarios, OpenAI GPT-4.1 API, Anthropic Claude Haiku API, and a self-hosted LLaMA-2-13B deployment demonstrating how LCOAI captures critical trade-offs in scalability, investment planning, and cost optimization. Extensive sensitivity analyses further explore the impact of inference volume, CAPEX, and OPEX variability on lifecycle economics. The results illustrate the practical utility of LCOAI in procurement, infrastructure planning, and automation strategy, and establish it as a foundational benchmark for AI economic analysis. Policy implications and areas for future refinement, including environmental and performance-adjusted cost metrics, are also discussed.

Paperid: 3792, https://arxiv.org/pdf/2509.01975.pdf

Abstract:
Compared to conventional converters, a three-level buck-boost (3L-BB) converter offers higher efficiency, reduced switching losses, and increased power density. We design a 3L-BB converter given certain voltage and current specifications in PSIM. We simulate the circuit in PSIM and analyze the power, voltage, and current waveforms by comparing the observed simulated values in PSIM with their mathematically driven theoretical values. We examine its power efficiencies and determine if the circuit meets given DC distribution specifications. We show that the proposed three-phase design, which uses two DC-DC single-ended primary-conductor converters (SEPICs), is power efficient and is a compelling solution for high-power and high-voltage applications.

Paperid: 3793, https://arxiv.org/pdf/2509.00571.pdf

Abstract:
This study presents a learning-based nonlinear algorithm for tracking control of differential-drive mobile robots. The Computed Torque Method (CTM) suffers from inaccurate knowledge of system parameters, while Deep Reinforcement Learning (DRL) algorithms are known for sample inefficiency and weak stability guarantees. The proposed method replaces the black-box policy network of a DRL agent with a gray-box Computed Torque Controller (CTC) to improve sample efficiency and ensure closed-loop stability. This approach enables finding an optimal set of controller parameters for an arbitrary reward function using only a few short learning episodes. The Twin-Delayed Deep Deterministic Policy Gradient (TD3) algorithm is used for this purpose. Additionally, some controller parameters are constrained to lie within known value ranges, ensuring the RL agent learns physically plausible values. A technique is also applied to enforce a critically damped closed-loop time response. The controller's performance is evaluated on a differential-drive mobile robot simulated in the MuJoCo physics engine and compared against the raw CTC and a conventional kinematic controller.

Paperid: 3794, https://arxiv.org/pdf/2509.00182.pdf

Abstract:
We propose a recursive particle filter for high-dimensional problems that inherently never degenerates. The state estimate is represented by deterministic low-discrepancy particle sets. We focus on the measurement update step, where a likelihood function is used for representing the measurement and its uncertainty. This likelihood is progressively introduced into the filtering procedure by homotopy continuation over an artificial time. A generalized CramÃ©r distance between particle sets is derived in closed form that is differentiable and invariant to particle order. A Newton flow then continually minimizes this distance over artificial time and thus smoothly moves particles from prior to posterior density. The new filter is surprisingly simple to implement and very efficient. It just requires a prior particle set and a likelihood function, never estimates densities from samples, and can be used as a plugin replacement for classic approaches.

Paperid: 3795, https://arxiv.org/pdf/2509.00061.pdf

Abstract:
Thrust vector control (TVC) is a key mechanism for stabilizing rockets during flight, yet conventional implementations remain costly and technically inaccessible to students and hobbyists. This paper presents the design, fabrication, and testing of a low-cost, 3D-printed, servo-driven two-dimensional gimbal developed for model rocket applications. The gimbal underwent more than 60 CAD iterations, with servo selection guided by torque, response time, and stability requirements. A high-speed camera and Fusion 360 parameter simulations were used to emulate dynamic instability, enabling evaluation of angular deflection, servo responsiveness, and structural durability. The results demonstrated stable actuation within plus or minus 5 degrees, with response times on the average order of 44.5 ms, while limitations included servo fatigue and pin-joint stress under extended loading. The project highlights the feasibility of student-accessible thrust vector control systems and their potential as a reproducible platform for STEM education and experimental aerospace research.

Paperid: 3796, https://arxiv.org/pdf/2508.19994.pdf

Abstract:
The Coherent Multiplex is formalized and validated as a scalable, real-time system for identifying, analyzing, and visualizing coherence among multiple time series. Its architecture comprises a fast spectral similarity layer based on cosine similarity metrics of Fourier-transformed signals, and a sparse time-frequency layer for wavelet coherence. The system constructs and evolves a multilayer graph representing inter-signal relationships, enabling low-latency inference and monitoring. A simulation prototype demonstrates functionality across 8 synthetic channels with a high similarity threshold for further computation, with additional opportunities for scaling the architecture up to support thousands of input signals with constrained hardware. Applications discussed include neuroscience, finance, and biomedical signal analysis.

Paperid: 3797, https://arxiv.org/pdf/2508.19285.pdf

Abstract:
This project focuses on a method to extract a frequency comb in mechanical means, for general interest and numerous practical applications in MEMS. The method of execution is the implementation of a beam that is exhibiting non-linear dynamics that is perturbed and analyzed for its transverse vibrations. The perturbation is an external harmonic driver with a chosen small amplitude and frequency (which is slightly detuned from the beam eigenfrequency), that when engaged with the unperturbed beam oscillations, causes it reach a state of "injection pulling" - an effect that occurs when one harmonic oscillator is coupled with a second one and causes it to oscillate in a frequency near its own. This causes the beam to reach SNIC bifurcation, rendering a frequency comb as desired. Theoretical analysis showed that the problem can be modelled using a non-linear equation of the beam, that translates to a form of the non-linear Duffing equation. While a solution to the dynamics function of the beam is hard to obtain in practice due to mathematical difficulties, a slow evolution model is suggested that is composed of functions of a amplitude and phase. Using several additional mathematical assumptions, the amplitude is seen to be related to the phase, while the phase equation solution is seen to be of the form of Adler's equation. These assumptions ultimately reduce the entire behaviour of the beam to a relatively simple solution to the Adler equation, which has a known analytical solution. Computerized numerical simulations are run on it to check the results and compare them to the theory and desired outcome. The results agreed with the theory and produce the expected frequency comb, showing the assumptions to be valid in extracting the comb.

Paperid: 3798, https://arxiv.org/pdf/2508.19100.pdf

Abstract:
The problem of designing adaptive stepsize sequences for the gradient descent method applied to convex and locally smooth functions is studied. We take an adaptive control perspective and design update rules for the stepsize that make use of both past (measured) and future (predicted) information. We show that Lyapunov analysis can guide in the systematic design of adaptive parameters striking a balance between convergence rates and robustness to computational errors or inexact gradient information. Theoretical and numerical results indicate that closed-loop adaptation guided by system theory is a promising approach for designing new classes of adaptive optimization algorithms with improved convergence properties.

Paperid: 3799, https://arxiv.org/pdf/2508.18214.pdf

Abstract:
The scalable computing revolution of the late '80s through mid- '00s forged a new technical and economic model for computing that delivered massive societal impact, but its economic benefit has driven scalability to sizes that are now exhausting the energy grid's capacity. Our time demands a new revolution in scalable energy, mirroring in key ways the scalable computing revolution; e.g., compelling economic forces, use of mass-market components, overcoming foibles of those components, judicious use of physical locality, and the the difficult integration into an effective system. The offgrid AI approach closely fits this mold, combining local mostly renewable generation and storage to power an AI data center, starting offgrid. Obstacles to delivering this approach are social, technical, and project, but the potential is massive. I argue that the offgrid-AI approach needs pioneers among both system developers and AI-data-center operators to move it quickly from concept to large-scale deployment.

Paperid: 3800, https://arxiv.org/pdf/2508.17805.pdf

Abstract:
This paper presents a predictive framework for adversarial energy-depletion defense against a maneuverable inbound threat (IT). The IT solves a receding-horizon problem to minimize its own energy while reaching a high-value asset (HVA) and avoiding interceptors and static lethal zones modeled by Gaussian barriers. Expendable interceptors (EIs), coordinated by a central node (CN), maintain proximity to the HVA and patrol centers via radius-based tether costs, deny attack corridors by harassing and containing the IT, and commit to intercept only when a geometric feasibility test is confirmed. No explicit opponent-energy term is used, and the formulation is optimization-implementable. No simulations are included.

Paperid: 3801, https://arxiv.org/pdf/2508.17577.pdf

Abstract:
This paper presents a centralized predictive cost adaptive control (PCAC) strategy for the position and attitude control of quadrotors. PCAC is an optimal, prediction-based control method that uses recursive least squares (RLS) to identify model parameters online, enabling adaptability in dynamic environments. Addressing challenges with black-box approaches in systems with complex couplings and fast dynamics, this study leverages the unique sparsity of quadrotor models linearized around hover points. By identifying only essential parameters related to nonlinear couplings and dynamics, this approach reduces the number of parameters to estimate, accelerates identification, and enhances stability during transients. Furthermore, the proposed control scheme removes the need for an attitude setpoint, typically required in conventional cascaded control designs.

Paperid: 3802, https://arxiv.org/pdf/2508.15787.pdf

Abstract:
In this paper, we introduce an observer-free sliding mode control (SMC) method based on explicit structural compensation via the decomposition $ s = Î±- Î²$. The proposed formulation eliminates the need for state observers and higher-order derivatives, reduces chattering, and yields smooth, bounded control signal. Simulation results confirms its robustness and stability on benchmark nonlinear systems (pendulum, Van der Pol, Duffing, and networked systems) under noise, disturbances, and parameter variations. A Lyapunov-based stability proof confirms convergence. This method provides a scalable and practical alternative to traditional SMC, well suited for embedded and distributed environments.

Paperid: 3803, https://arxiv.org/pdf/2508.15143.pdf

Abstract:
Chaotic dynamical systems are increasingly considered for use in coding and transmission systems. This stems from their parameter sensitivity and spectral characteristics. The latter are relevant for channel estimation methods. In particular the logistic map $f_Î»=Î»x\left( 1-x\right) $ has been employed in chaotic coding and spread spectrum transmission systems. For $Î»=4$ the statistical properties of sequences generated by $f_4$ are considered as ideal drive signals for channel estimation schemes. This assumption is proven in the present paper. To this end the higher order statistical moments and the autocorrelation of time series generated by $f_4$ are derived. It is shown that for $Î»=4$ the zero mean time series is uncorrelated. The adaptation performance of finite impulse response (FIR) digital adaptive filters (DAF) used for channel estimation is analyzed. It is shown that using zero mean sequences of $f_4$ leads to the maximal possible FIR DAF performance. An optimal value for the damping parameter in the LMS scheme is derived that leads to the maximal performance and ensures stability. The analytic considerations are confirmed by simulation results.

Paperid: 3804, https://arxiv.org/pdf/2508.14677.pdf

Abstract:
Real power systems exhibit dynamics that evolve across a wide range of time scales, from very fast to very slow phenomena. Historically, incorporating these wide-ranging dynamics into a single model has been impractical. As a result, power engineers rely on time-scale decomposition to simplify models. When fast phenomena are evaluated, slow dynamics are neglected (assumed stable), and vice versa. This paper challenges this paradigm by showing the importance of assessing power system stability while considering multiple time scales simultaneously. Using the concept of Hopf bifurcations, it exemplifies instability issues that would be missed if multi-time-scale dynamics are not considered. Although this work employs both grid-following and grid-forming inverter-based resource models, it is not a direct comparison. Instead, it presents a case study demonstrating how one technology can complement the other from a multi time-scale dynamics perspective.

Paperid: 3805, https://arxiv.org/pdf/2508.14102.pdf

Abstract:
Trust region-based optimization methods have become foundational reinforcement learning algorithms that offer stability and strong empirical performance in continuous control tasks. Growing interest in scalable and reusable control policies translate also in a demand for morphological generalization, the ability of control policies to cope with different kinematic structures. Graph-based policy architectures provide a natural and effective mechanism to encode such structural differences. However, while these architectures accommodate variable morphologies, the behavior of trust region methods under varying action space dimensionality remains poorly understood. To this end, we conduct a theoretical analysis of trust region-based policy optimization methods, focusing on both Trust Region Policy Optimization (TRPO) and its widely used first-order approximation, Proximal Policy Optimization (PPO). The goal is to demonstrate how varying action space dimensionality influence the optimization landscape, particularly under the constraints imposed by KL-divergence or policy clipping penalties. Complementing the theoretical insights, an empirical evaluation under morphological variation is carried out using the Gymnasium Swimmer environment. This benchmark offers a systematically controlled setting for varying the kinematic structure without altering the underlying task, making it particularly well-suited to study morphological generalization.

Paperid: 3806, https://arxiv.org/pdf/2508.13726.pdf

Abstract:
This paper addresses the prescribed performance control (PPC) challenge for high-order nonlinear systems affected by mismatched disturbances. The research aims to prevent singularity issues arising from error boundary violations during abrupt changes in reference trajectories. We introduce a novel transformation function with infinite-order differentiability at connection points, advancing beyond mere continuous differentiability. Utilizing this transformation function, we develop a comprehensive transformation strategy that ensures: (1) errors remain within prescribed boundaries when reference trajectories are smooth, and (2) errors return to prescribed boundaries within a specified timeframe following abrupt changes in reference trajectories. Additionally, the complexity explosion issue inherent in backstepping design is effectively resolved. Simulation results corroborate the validity of the proposed theoretical advancements.

Paperid: 3807, https://arxiv.org/pdf/2508.12814.pdf

Abstract:
SIL (Safety Integrity Level) allocation plays a crucial role in defining the design requirements for Safety Functions (SFs) within high-risk industries. SIL is typically determined based on the estimated Probability of Failure on Demand (PFD), which must remain within permissible limits to manage risk effectively. Extensive research has been conducted on determining target PFD and SIL, with a stronger emphasis on preventive SFs than on mitigation SFs. In this paper, we address a rather conceptual issue: we argue that PFD is not an appropriate reliability measure for mitigation SFs to begin with, and we propose an alternative approach that leverages the Probability Density Function (PDF) and the expected degree of failure as key metrics. The principles underlying this approach are explained and supported by detailed mathematical formulations. Furthermore, the practical application of this new methodology is illustrated through case studies.

Paperid: 3808, https://arxiv.org/pdf/2508.12791.pdf

Abstract:
The notion of homeostasis typically conceptualises biological and artificial systems as maintaining stability by resisting deviations caused by environmental and social perturbations. In contrast, (social) allostasis proposes that these systems can proactively leverage these very perturbations to reconfigure their regulatory parameters in anticipation of environmental demands, aligning with von Foerster's ``order through noise'' principle. This paper formulates a computational model of allostatic and social allostatic regulation that employs biophysiologically inspired signal transducers, analogous to hormones like cortisol and oxytocin, to encode information from both the environment and social interactions, which mediate this dynamic reconfiguration. The models are tested in a small society of ``animats'' across several dynamic environments, using an agent-based model. The results show that allostatic and social allostatic regulation enable agents to leverage environmental and social ``noise'' for adaptive reconfiguration, leading to improved viability compared to purely reactive homeostatic agents. This work offers a novel computational perspective on the principles of social allostasis and their potential for designing more robust, bio-inspired, adaptive systems

Paperid: 3809, https://arxiv.org/pdf/2508.12583.pdf

Abstract:
We present a graphon mean-field logit dynamic, a stationary mean-field game based on logit interactions. This dynamic emerges from a stochastic control problem involving a continuum of nonexchangeable and interacting agents and reduces to solving a continuum of Hamilton-Jacobi-Bellman (HJB) equations connected through a graphon that models the connections among agents. Using a fixed-point argument, we prove that this HJB system admits a unique solution in the space of bounded functions when the discount rate is high (i.e., agents are myopic). Under certain assumptions, we also establish regularity properties of the system, such as equi-continuity. We propose a finite difference scheme for computing the HJB system and prove the uniqueness and existence of its numerical solutions. The mean-field logit dynamic is applied to a case study on inland fisheries resource management in the upper Tedori River of Japan. A series of computational cases are then conducted to investigate the dependence of the dynamic on both the discount rate and graphon.

Paperid: 3811, https://arxiv.org/pdf/2508.12395.pdf

Abstract:
This study presents the design and control of a Plasma-propelled Ultra-silence Blimp (PUB), a novel aerial robot employing plasma vector propulsion for ultra-quiet flight without mechanical propellers. The system utilizes a helium-lift platform for extended endurance and a four-layer ring asymmetric capacitor to generate ionic wind thrust. The modular propulsion units allow flexible configuration to meet mission-specific requirements, while a two-degree-of-freedom (DOF) head enables thrust vector control. A closed-loop slip control scheme is implemented for stable maneuvering. Flight experiments demonstrate full-envelope capability, including take-off, climb, hover, descent, and smooth landing, confirming the feasibility of plasma vector propulsion, the effectiveness of DOF vector control, and the stability of the control system. Owing to its low acoustic signature, structural simplicity, and high maneuverability, PUB is well suited for noise-sensitive, enclosed, and near-space applications.

Paperid: 3812, https://arxiv.org/pdf/2508.12225.pdf

Abstract:
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and a pole-placement-based control law is employed. We prove that this adaptive controller provides desirable linear-like closed-loop behavior which guarantees a bound consisting of: exponential decay with respect to the initial condition, a linear-like convolution bound with respect to the exogenous inputs, and a constant scaled by the square root of the constant in the denominator of the parameter estimator update law. This implies that the system has a bounded gain. Moreover, asymptotic tracking is also proven when the disturbance is constant.

Paperid: 3813, https://arxiv.org/pdf/2508.11573.pdf

Abstract:
Automatic Section Control (ASC) is a long-standing trend for spraying in agriculture. It promises to minimise spray overlap areas. The core idea is to (i) switch off spray nozzles on areas that have already been sprayed, and (ii) to dynamically adjust nozzle flow rates along the boom bar that holds the spray nozzles when velocities of boom sections vary during turn maneuvers. ASC is not possible without sensors for accurate positioning data. Spraying and the movement of modern wide boom bars are highly dynamic processes. In addition, many uncertainty factors have an effect such as cross wind drift, nozzle clogging in open-field conditions, etc. In view of this complexity, the natural question arises if a simpler alternative exist. Therefore, ASC is compared to a proposed simpler one- or two-sections alternative that uses predictive spray switching. The comparison is provided under nominal conditions. Agricultural spraying is intrinsically linked to area coverage path planning and spray switching logic. Combinations of two area coverage path planning and switching logics as well as 3 sections-setups are compared. The three sections-setups differ by controlling 48 sections, 2 sections or controlling all nozzles uniformly with the same control signal as one single section. Methods are evaluated on 10 diverse real-world field examples, including non-convex field contours, freeform mainfield lanes and multiple obstacle areas. An economic cost analysis is provided to compare the methods. A preferred method is suggested that (i) minimises area coverage pathlength, (ii) offers intermediate overlap, (iii) is suitable for manual driving by following a pre-planned predictive spray switching logic for an area coverage path plan, and (iv) and in contrast to ASC can be implemented sensor-free and at low cost. Surprisingly strong economic arguments are found to not recommend ASC for small farms.

Paperid: 3814, https://arxiv.org/pdf/2508.11031.pdf

Abstract:
It is often the case that risk assessment and prognostics are viewed as related but separate tasks. This chapter describes a risk-based approach to prognostics that seeks to provide a tighter coupling between risk assessment and fault prediction. We show how this can be achieved using the continuous-time Bayesian network as the underlying modeling framework. Furthermore, we provide an overview of the techniques that are available to derive these models from data and show how they might be used in practice to achieve tasks like decision support and performance-based logistics. This work is intended to provide an overview of the recent developments related to risk-based prognostics, and we hope that it will serve as a tutorial of sorts that will assist others in adopting these techniques.

Paperid: 3815, https://arxiv.org/pdf/2508.11026.pdf

Abstract:
This chapter serves as an introduction to systems engineering focused on the broad issues surrounding realizing complex integrated systems. What is a system? We pose a number of possible definitions and perspectives, but leave open the opportunity to consider the system from the target context where it will be used. Once we have a system in mind, we acknowledge the fact that this system needs to integrate a variety of pieces, components, subsystems, in order for it to accomplish its task. Therefore, we concern ourselves at the boundaries and interfaces of different technologies and disciplines to determine how best to achieve that integration. Next we raise the specter that this integrated system is complex. Complexity can be defined in a number of ways. For one, the sheer number of subsystems or components can be a measure of complexity. We could also consider the functions being performed by the system and how those functions interact with one another. Further, we could consider computational aspects such as the time or memory that may be needed to accomplish one or more tasks. The extent to which new behaviors might emerge from the system can also be regarded as an element of complexity. In the end, complexity is that characteristic of a system that defines the associated challenges along the life of the system, so we are concerned with how to manage that complexity. Finally, realization refers to the process by which our complex integrated system moves from concept to deployment and subsequent support. It refers to the entire design, development, manufacture, deployment, operation, and support life cycle. Of particular note here, however, is that we focus on systems that, by their very nature, are complex. In other words, we are interested in large, complicated, interacting beasts that are intended to perform difficult tasks and meet a wide variety of end-user needs.

Paperid: 3816, https://arxiv.org/pdf/2508.10724.pdf

Abstract:
We study soft budget constraints in multi-tier public finance when an upper-tier government uses two instruments: an ex-ante grant schedule and an ex-post rescue. Under convex rescue costs and standard primitives, the three-stage leader-follower problem collapses to one dimensional screening with a single allocation index: the cap on realized rescue. A hazard-based characterization delivers a unified rule that nests (i) no rescue, (ii) a threshold-cap with commitment, and (iii) a threshold--linear--cap without commitment. The knife-edge for eliminating bailouts compares the marginal cost at the origin to the supremum of a virtual weight, and the comparative statics show how greater curvature tightens caps while discretion shifts transfers toward front loading by lowering the effective grant weight. The framework provides a portable benchmark for mechanism design and yields testable implications for policy and empirical work on intergovernmental finance.

Paperid: 3817, https://arxiv.org/pdf/2508.10446.pdf

Abstract:
Systems Theoretic Process Analysis (STPA) is a widely recommended method for analysing complex system safety. STPA can identify numerous Unsafe Control Actions (UCAs) and requirements depending on the level of granularity of the analysis and the complexity of the system being analysed. Managing numerous results is challenging, especially during a fast-paced development lifecycle. Extensive research has been done to optimize the efficiency of managing and prioritising the STPA results. However, maintaining the objectivity of prioritisation and communicating the prioritised results have become common challenges. In this paper, the authors present a complementary approach that incorporates inputs from both the safety analysts and domain experts to more objectively prioritise UCAs. This is done by evaluating the severity of each UCA, the impact factor of each controller or decision maker that issues the UCA, and the ranking provided by the subject matter experts who assess the UCA criticalities based on different factors. In addition, a Monte Carlo simulation is introduced to reduce subjectivity and relativity, thus enabling more objective prioritisation of the UCAs. As part of the approach to better communicate the prioritisation results and plan the next steps of system development, a dynamic-scaling prioritisation matrix was developed to capture different sets of prioritised UCAs. The approach was applied to a real project to improve the safe operations of Electric Vertical Take-off and Landing (eVTOL). The results highlighted critical UCAs that need to be prioritised for safer eVTOL operation. 318 UCAs were identified in total. Based on the application of the prioritisation methodology, 110 were recognized as high-priority UCAs to strengthen the system design.

Paperid: 3818, https://arxiv.org/pdf/2508.09420.pdf

Abstract:
We propose 3-axis solar tracker water pumping system. The solar tracker can rotate and tilt using stepper/DC motors and can rise and lower on a tripod using a linear actuator. The charge generated from solar energy absorbed by photovoltaic (PV) cells in the solar panel is stored in a 12V battery that in turn powers two water diaphragm pumps using a solar charge controller. The PV uses four light photocell resistors/sensors to measure light intensity. A solar tracking algorithm determines the optimal angle for PV positioning. Using an ultrasonic sensor to measure the water level in a reservoir water tank, water is pumped from one water tank to the reservoir. Based on soil moisture sensor levels, a second water pump supplies water from the reservoir to the plant. The system is analyzed from a control systems perspective. The transfer functions, root loci, and Bode plots are generated and simulated and experimental results are provided as well as stability and steady-state error analysis.

Paperid: 3819, https://arxiv.org/pdf/2508.09419.pdf

Abstract:
Conventional 6T SRAM is used in microprocessors in the cache memory design. The basic 6T SRAM cell and a 6 bit memory array layout are designed in LEdit. The design and analysis of key SRAM components, sense amplifiers, decoders, write drivers and precharge circuits are also provided. The pulse voltage waveforms generated for read and write operations as well as Q and Qbar nodes are simulated in LTSpice. Parasitic capacitances are extracted and their impact on the waveforms analyzed. Static noise margin, propagation delays, and power dissipation are calculated. Comparison of SRAM read and write operational performance using CMOS transistors is made with edge-triggered D flip flops. If certain size area and ratio constraints are satisfied, the 6T cell with CMOS transistors will possess stability, speed, and power efficiency. Both theoretical and simulated results are given.

Paperid: 3820, https://arxiv.org/pdf/2508.08844.pdf

Abstract:
We consider the monotonic tracking control problem for continuous-time single-input single-output linear systems using output-feedback linear controllers in this paper. We provide the necessary and sufficient conditions for this problem to be solvable and expose its fundamental limitations: the exact feasible locations of the plant zeros, the minimum controller order possible, and the maximum decay rate achievable for the closed-loop system. The relationship between these bounds is explained by a simple geometric shape for plants with a pair of complex-conjugate zeros.

Paperid: 3821, https://arxiv.org/pdf/2508.08330.pdf

Abstract:
We attempt to characterize irreversibility of a dynamical system from the existence of different forward and backward mathematical representations depending on the direction of the time arrow. Such different representations have been studied intensively and are shown to exist for stochastic diffusion models. In this setting one has however to face the preliminary justification of stochastic description for physical systems which are described by classical mechanics as inherently deterministic and conservative. In part one of this paper we first address this modeling problem for linear systems in a deterministic context. We show that forward-backward representations can also describe conservative finite dimensional deterministic systems when they are coupled to an infinite-dimensional conservative heat bath. A novel key observation is that the heat bath acts on the finite-dimensional conservative system by {\em state-feedback} and can shift its eigenvalues to make the system dissipative but may also generate another totally unstable model which naturally evolves backward in time. In the second part, we address the stochastic description of these two representations. Under a natural family of invariant measures the heat bath can be shown to induce a white noise input acting on the system making it look like a true dissipative diffusion.

Paperid: 3822, https://arxiv.org/pdf/2508.07693.pdf

Abstract:
This paper proposes a deep reinforcement learning (DRL)-based approach for directly controlling the gate signals of switching devices to achieve voltage regulation in a buck converter. Unlike conventional control methods, the proposed method directly generates gate signals using a neural network trained through DRL, with the objective of achieving high control speed and flexibility while maintaining stability. Simulation results demonstrate that the proposed direct gate control (DGC) method achieves a faster transient response and stable output voltage regulation, outperforming traditional PWM-based control schemes. The DGC method also exhibits strong robustness against parameter variations and sensor noise, indicating its suitability for practical power electronics applications. The effectiveness of the proposed approach is validated via simulation.

Paperid: 3823, https://arxiv.org/pdf/2508.07627.pdf

Abstract:
As a novel pattern of energization, the wireless power transfer (WPT) offers a brand-new way to the energy acquisition for electric-driven devices, thus alleviating the over-dependence on the battery. This report presents three types of WPT systems that use nonlinear control methods, in order to acquire an in-depth understanding of the course of Nonlinear Systems.

Paperid: 3824, https://arxiv.org/pdf/2508.07029.pdf

Abstract:
Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach to imitation learning, policies trained with BC are notoriously brittle and suffer from compounding errors in closed-loop execution. This work presents a comprehensive pipeline and a comparative study to address this limitation. We first develop a series of increasingly sophisticated BC baselines, culminating in a Transformer-based model that operates on a structured, entity-centric state representation. While this model achieves low imitation loss, we show that it still fails in long-horizon simulations. We then demonstrate that by applying a state-of-the-art Offline Reinforcement Learning algorithm, Conservative Q-Learning (CQL), to the same data and architecture, we can learn a significantly more robust policy. Using a carefully engineered reward function, the CQL agent learns a conservative value function that enables it to recover from minor errors and avoid out-of-distribution states. In a large-scale evaluation on 1,000 unseen scenarios from the Waymo Open Motion Dataset, our final CQL agent achieves a 3.2x higher success rate and a 7.4x lower collision rate than the strongest BC baseline, proving that an offline RL approach is critical for learning robust, long-horizon driving policies from static expert data.

Paperid: 3825, https://arxiv.org/pdf/2508.06708.pdf

Abstract:
We introduce a novel 3-axis solar tracker water pumping system. The charge generated from solar energy converted by the photovolatic panel (PV) cells is stored in a 12V battery that in turn powers two water diaphragm pumps using a solar charge controller that includes an MPPT algorithm that serves as a DC-DC converter. The system is analyzed from an embedded microcontroller and embedded software perspective using Arduino. The photovoltaic panel uses four light photocell resistors (LPRs) which measure solar light intensity. An ultrasonic sensor measures the water level in a reservoir water tank. If the water level is too low, water is pumped from one water tank to the reservoir tank. Using a soil moisture sensor, another water pump pumps water from the reservoir tank to the plant if water is needed. Circuit designs for the system are provided as well as the embedded software used. Simulation and experimental results are given.

Paperid: 3826, https://arxiv.org/pdf/2508.05766.pdf

Abstract:
This paper proposes a novel framework for developing safe Artificial General Intelligence (AGI) by combining Active Inference principles with Large Language Models (LLMs). We argue that traditional approaches to AI safety, focused on post-hoc interpretability and reward engineering, have fundamental limitations. We present an architecture where safety guarantees are integrated into the system's core design through transparent belief representations and hierarchical value alignment. Our framework leverages natural language as a medium for representing and manipulating beliefs, enabling direct human oversight while maintaining computational tractability. The architecture implements a multi-agent system where agents self-organize according to Active Inference principles, with preferences and safety constraints flowing through hierarchical Markov blankets. We outline specific mechanisms for ensuring safety, including: (1) explicit separation of beliefs and preferences in natural language, (2) bounded rationality through resource-aware free energy minimization, and (3) compositional safety through modular agent structures. The paper concludes with a research agenda centered on the Abstraction and Reasoning Corpus (ARC) benchmark, proposing experiments to validate our framework's safety properties. Our approach offers a path toward AGI development that is inherently safer, rather than retrofitted with safety measures.

Paperid: 3827, https://arxiv.org/pdf/2508.05210.pdf

Abstract:
Accurate prediction of the Rate of Penetration (ROP) is pivotal for drilling optimization, yet it remains a persistent challenge due to the nonlinear, dynamic, and heterogeneous nature of drilling data. This study introduces a novel hybrid deep learning architecture in which input data are first processed through a customized Long Short-Term Memory (LSTM) network to capture multi-scale temporal dependencies aligned with drilling operational cycles, and the resulting features are subsequently refined by an Enhanced Transformer encoder with drilling-specific positional encodings and real-time optimization. Concurrently, the same input is directed to a Time-Series Mixer (TS-Mixer) block that enables efficient cross-feature modeling of static and categorical attributes such as lithology indices and mud properties. The outputs from the enhanced Transformer and TS-Mixer are concatenated, after which an adaptive attention selectively emphasizes the most informative feature representations for accurate ROP prediction. The proposed framework fuses sequential memory, static feature interactions, global contextual learning, and dynamic feature weighting, providing a comprehensive solution to the heterogeneous and event-driven nature of drilling dynamics. Evaluation on a real-world drilling dataset demonstrates benchmark-leading performance, achieving an Rsqaure of 0.9988 and a MAPE of 1.447%, significantly surpassing standalone and hybrid baselines. Model interpretability is achieved through SHAP and LIME, and comparisons between actual and predicted curves, along with bias checks, confirm the accuracy and fairness of the model across various scenarios. This advanced hybrid approach enables dependable real-time ROP prediction, supporting the development of intelligent, cost-effective drilling optimization systems with significant operational benefits.

Paperid: 3828, https://arxiv.org/pdf/2508.03135.pdf

Abstract:
This paper is concerned with the numerical integration of stochastic differential equations (SDEs) which govern diffusion processes driven by a standard Wiener process. With the latter being replaced by a sequence of increments at discrete moments of time, we revisit a filtering point of view on the approximate strong solution of the SDE as an estimate of the hidden system state whose conditional probability distribution is updated using a Bayesian approach and Brownian bridges over the intermediate time intervals. For a class of multivariable linear SDEs, where the numerical solution is organised as a Kalman filter, we investigate the fine-grid asymptotic behaviour of terminal and integral mean-square error functionals when the time discretisation is specified by a sufficiently smooth monotonic transformation of a uniform grid. This leads to constrained optimisation problems over the time discretisation profile, and their solutions reveal a 1/3 power law for the asymptotically optimal grid density functions. As a one-dimensional example, the results are illustrated for the Ornstein-Uhlenbeck process.

Paperid: 3829, https://arxiv.org/pdf/2508.02906.pdf

Abstract:
Vehicle suspension is important for passengers to travel comfortably and to be less exposed to effects such as vibration and shock. A good suspension system increases the road holding of vehicles, allows them to take turns safely, and reduces the risk of traffic accidents. A passive suspension system is the most widely used suspension system in vehicles due to its simple structure and low cost. Passive suspension systems do not have an actuator and therefore do not have a controller. Active suspension systems have an actuator and a controller. Although their structures are more complex and costly, they are safer. PID controller is widely used in active suspension systems due to its simple structure, reasonable cost, and easy adjustment of coefficients. In this study, a more robust LQR-controlled active suspension was designed than a passive suspension and a PID-controlled active suspension. Robustness analyses were performed for passive suspension, PID-controlled active suspension, and LQR-controlled active suspension. Suspension travel, sprung mass acceleration, and sprung mass motion simulations were performed for all three suspensions under road disturbance, under simultaneous road disturbance and parameter uncertainty and under road disturbance with white noise. A comparative analysis was performed by obtaining the rise time, overshoot, and settling time data of the suspensions under different conditions. It was observed that the LQR-controlled active suspension showed the fastest rise time, the least overshoot and had the shortest settling time. In this case, it was proven that the LQRcontrolled active suspension provided a more comfortable and safe ride compared to the other two suspension systems.

Paperid: 3830, https://arxiv.org/pdf/2508.02843.pdf

Abstract:
Recurrent equilibrium networks (RENs) are effective for learning the dynamics of complex dynamical systems with certified contraction and robustness properties through unconstrained learning. While this opens the door to learning large-scale RENs, deploying such large-scale RENs in real-time applications on resource-limited devices remains challenging. Since a REN consists of a feedback interconnection of linear time-invariant (LTI) dynamics and static activation functions, this article proposes a projection-based approach to reduce the state dimension of the LTI component of a trained REN. One of the two projection matrices is dedicated to preserving contraction and robustness by leveraging the already-learned REN contraction certificate. The other projection matrix is iteratively updated to improve the accuracy of the reduced-order REN based on necessary $h_2$-optimality conditions for LTI model reduction. Numerical examples validate the approach, demonstrating significant state dimension reduction with limited accuracy loss while preserving contraction and robustness.

Paperid: 3831, https://arxiv.org/pdf/2508.01660.pdf

Abstract:
Global Positioning System (GPS) satellites are essential for providing accurate navigation and timing information worldwide. Operating in medium Earth orbit (MEO), these satellites must maintain precise Earth-pointing attitudes to transmit signals effectively. This paper presents a comprehensive review of the operational dynamics, attitude determination and control systems (ADCS), and orbital insertion techniques for GPS satellites. We explore the integration of sensors and actuators, control algorithms, stabilization strategies, and the launch procedures required to deploy these satellites. Key equations related to orbital mechanics and attitude control are discussed, and references to recent technical literature are included.

Paperid: 3832, https://arxiv.org/pdf/2507.23445.pdf

Abstract:
Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we reinterpret its gains as surrogates for complex, unmodeled plant dynamics. We then introduce a physics-guided gain regularization scheme that measures a robot's effective proportional gains via simple real-world experiments. Then, we penalize any deviation of a neural controller's local input-output sensitivities from these values during training. To avoid the overly conservative bias of naive domain randomization, we also condition the controller on the current plant parameters. On an off-the-shelf two-wheeled balancing robot with a 110:1 gearbox, our gain-regularized, parameter-conditioned RNN achieves angular settling times in hardware that closely match simulation. At the same time, a purely domain-randomized policy exhibits persistent oscillations and a substantial sim-to-real gap. These results demonstrate a lightweight, reproducible framework for closing sim-to-real gaps on affordable robotic hardware.

Paperid: 3833, https://arxiv.org/pdf/2507.23280.pdf

Abstract:
This work establishes a crucial step toward advancing data-driven trajectory-based methods for stochastic systems with unknown mathematical dynamics. In contrast to scenario-based approaches that rely on independent and identically distributed (i.i.d.) trajectories, this work develops a data-driven framework where each trajectory is gathered over a finite horizon and exhibits temporal dependence-referred to as a non-i.i.d. trajectory. To ensure safety of dynamical systems using such trajectories, the current body of literature primarily considers dynamics subject to unknown-but-bounded disturbances, which facilitates robust analysis. While promising, such bounds may be violated in practice and the resulting worst-case robust analysis tends to be overly conservative. To overcome these fundamental challenges, this paper considers stochastic systems with unknown mathematical dynamics, influenced by process noise with unknown distributions. In the proposed framework, data is collected from stochastic systems under multiple realizations within a finite-horizon experiment, where each realization generates a non-i.i.d. trajectory. Leveraging the concept of stochastic control barrier certificates constructed from data, this work quantifies probabilistic safety guarantees with a certified confidence level. To achieve this, the proposed conditions are formulated as sum-of-squares (SOS) optimization problems, relying solely on empirical average of the collected trajectories and statistical features of the process noise. The efficacy of the approach has been validated on three stochastic benchmarks with both unknown models and noise distributions. In one case study, it is shown that while no safety controller exists for the robust analysis of the system under bounded disturbances, the proposed stochastic framework offers a safety controller with guaranteed probabilistic satisfaction.

Paperid: 3834, https://arxiv.org/pdf/2507.21702.pdf

Abstract:
Stray flux tubes around cylindrical poles are commonly modelled starting from the results for planar flux tubes using the circumference of the cylinder as depth. While this is a tried and tested approach, we here discuss analytical expressions using the actual axisymmetric geometry of a fraction of a hollow torus and compare their results to those of the accepted approach.

Paperid: 3835, https://arxiv.org/pdf/2507.21154.pdf

Abstract:
The integration of electric vehicles (EVs) into power grids via Vehicle-to-Grid (V2G) system technology is increasing day by day, but these phenomena present both advantages and disadvantages. V2G can increase grid reliability by providing distributed energy storage and ancillary services. However, on the other hand, it has a scope that encompasses the cyber-physical attack surface of the national power grid, introducing new vulnerabilities in monitoring and supervisory control and data acquisition (SCADA) systems. This paper investigates the maliciousness caused by Autonomous Vehicle to Grid (AV2G) communication infrastructures and assesses their impacts on SCADA system reliability. This paper presents a quantitative reliability assessment using Bayesian attack graph combined with probabilistic capacity outage modeling based on IEEE RTS-79 system data. This work presents how AV2G-based attacks degrade system performance by using Monte Carlo simulations method, highlighting the need for cybersecurity-hardening strategies in smart grid design.

Paperid: 3836, https://arxiv.org/pdf/2507.20921.pdf

Abstract:
Series-parallel (SP) compensated wireless power transfer (WPT) systems are widely used in some specific scenarios, such as bioelectronics and portable electronics. However, most studies are based on the phasor method and focused on the steady-state analysis, which may overlook the transient process of systems. Accordingly, inspired by the notion of coordinate transformation in the field of motor drive, this work develops a dq modeling method for SP compensated WPT systems. The proposed model effectively characterizes first-order system dynamics, facilitating enhanced measurement precision and control system development. One measurement application, dq model-based mutual inductance identification, is presented to reflect the value of the dq model. Simulation results are shown to validate the model's effectiveness, indicating that the developed model can be a good tool for the design of SP compensated WPT systems.

Paperid: 3837, https://arxiv.org/pdf/2507.20669.pdf

Abstract:
In this paper we investigate the effects of the thermal noise of the base resistance of common emitter amplifier (CEA) on the output SNR, and we show that a first order Butterworth filter at the output of the CEA significantly improves output SNR significantly and supress the performances of higher order Butterworth, Chebyshev I, II and elliptic filters. We propose a formula for the selection of cut-off frequency of analog filters for given orders to achieve significant SNR improvement at CEA output. Considering the filter complexity and output SNR improvement, we can conclude that the first order Butterworth filter outperforms Chebyshev I, II and elliptic filters.

Paperid: 3838, https://arxiv.org/pdf/2507.20563.pdf

Abstract:
We develop the symplectic elimnation algorithm. This algorithm using simple row operations reduce a symplectic matrix to a diagonal matrix. This algorithm gives rise to a decomposition of an arbitrary matrix into a product of a symplectic matrix and a reduced matrix. This decomposition is similar to the SR decomposition studied for a long time, which is analogous to the QR decomposition.

Paperid: 3839, https://arxiv.org/pdf/2507.19558.pdf

Abstract:
Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision positioning. However, they also present significant control challenges: their large, lightweight structures are highly sensitive to environmental disturbances, and conventional aerodynamic control surfaces lose effectiveness during low-speed or hover flight. The objective of this thesis is to develop a robust control strategy tailored to a vectored-thrust airship equipped with tiltable propellers. The proposed approach is based on an Extended Incremental Nonlinear Dynamic Inversion inner loop in combination with a high level outer loop, controlling the attitude and velocity of the airship. The proposed method is able to effectively control the airship over the whole envelope, including hover and high speed flight. For this, effective use of available actuators is key. This includes especially the tilt rotors, for which a control allocation method is presented. The controller's performance is validated through a series of simulation-based test scenarios, including aggressive maneuvering, gust rejection, atmospheric turbulence, and significant parameter mismatches. The controller is compared against an alternative controller developed at the institute, offering insight into the trade-offs between direct inversion and incremental control approaches. Results demonstrate that the proposed E-INDI controller achieves very good tracking performance and high high robustness against parameter uncertainties.

Paperid: 3840, https://arxiv.org/pdf/2507.17214.pdf

Abstract:
Bringing AI to vehicles and enabling them as sensing platforms is key to transforming maintenance from reactive to proactive. Now is the time to integrate AI copilots that speak both languages: machine and driver. This article offers a conceptual and technical perspective intended to spark interdisciplinary dialogue and guide future research and development in intelligent vehicle systems, predictive maintenance, and AI-powered user interaction.

Paperid: 3841, https://arxiv.org/pdf/2507.16281.pdf

Abstract:
This paper develops a unified frequency-domain framework for the analysis of sliding-mode control systems, encompassing both discontinuous and Lipschitz-continuous implementations. Using describing function (DF) theory, closed-form expressions are derived for the amplitude and frequency of chattering oscillations, as well as equivalent gain (EG) models that enable closed-loop sensitivity analysis. The proposed methodology captures the influence of actuator dynamics, control parameters, and disturbance profiles on steady-state performance. Theoretical predictions for bias and oscillatory components are validated through simulations under both constant and sinusoidal perturbations. In the low-frequency regime, the EG-based sensitivity functions accurately predict the amplitude and phase of the system response, with tracking errors remaining within a 15\% margin, provided that the DF assumptions hold. The framework also incorporates orbital stability considerations via Loebs criterion, ensuring that chattering remains bounded. Overall, the results offer practical insight into the robust design of sliding-mode controllers, enabling systematic gain tuning that balances disturbance rejection and chattering attenuation, while accounting for actuator and sensor constraints.

Paperid: 3842, https://arxiv.org/pdf/2507.16221.pdf

Abstract:
Imitation sometimes achieves success in multi-agent situations even though it is very simple. In game theory, success of imitation has been characterized by unbeatability against other agents. Previous studies specified conditions under which imitation is unbeatable in repeated games, and clarified that the existence of unbeatable imitation is strongly related to the existence of payoff-controlling strategies, called zero-determinant strategies. However, the previous studies mainly focused on ``imitation of opponents''. It was pointed out that imitation of other players in the same group and imitation of other players in the same role in other groups generally result in different outcomes. Here, we investigate the existence condition of unbeatable imitation in the latter ``imitation of friends'' situations. We find that it is stronger than the existence condition of unbeatable zero-determinant strategies, whereas both are very limited. Our findings suggest a strong relation between them even in the `imitation of friends'' situations.

Paperid: 3843, https://arxiv.org/pdf/2507.14863.pdf

Abstract:
This study investigates the vulnerability of direct data-driven control methods, specifically for the linear quadratic regulator problem, to adversarial perturbations in collected data used for controller synthesis. We consider stealthy attacks that subtly manipulate offline-collected data to destabilize the resulting closed-loop system while evading detection. To generate such perturbations, we propose the Directed Gradient Sign Method (DGSM) and its iterative variant (I-DGSM), adaptations of the fast gradient sign method originally developed for neural networks, which align perturbations with the gradient of the spectral radius of the closed-loop matrix to reduce stability. A key contribution is an efficient gradient computation technique based on implicit differentiation through the Karush-Kuhn-Tucker conditions of the underlying semidefinite program, enabling scalable and exact gradient evaluation without repeated optimization computations. To defend against these attacks, we propose two defense strategies: a regularization-based approach that enhances robustness by suppressing controller sensitivity to data perturbations and a robust data-driven control approach that guarantees closed-loop stability within bounded perturbation sets. Extensive numerical experiments on benchmark systems show that adversarial perturbations with magnitudes up to ten times smaller than random noise can destabilize controllers trained on corrupted data and that the proposed defense strategies effectively mitigate attack success rates while maintaining control performance. Additionally, we evaluate attack transferability under partial knowledge scenarios, highlighting the practical importance of protecting training data confidentiality.

Paperid: 3844, https://arxiv.org/pdf/2507.14857.pdf

Abstract:
This paper examines the impact of solar farm fluctuations on grid stability, focusing on maintaining an optimal power factor. ETAP-based simulations and case studies are used to analyze real-time grid performance under solar variability. Reactive power control strategies and advanced inverter functions are proposed for stabilization. Theoretical analysis and simulation results highlight effective integration techniques. Artificial intelligence is trailed for controlling the SVC in adaptive reactive power compensation. The study provides practical solutions for improving reliability in renewable-integrated power systems.

Paperid: 3845, https://arxiv.org/pdf/2507.14595.pdf

Abstract:
We introduce Learning-Augmented Control (LAC), an approach that integrates untrusted machine learning predictions into the control of constrained, nonlinear dynamical systems. LAC is designed to achieve the "best-of-both-worlds" guarantees, i.e, near-optimal performance when predictions are accurate, and robust, safe performance when they are not. The core of our approach is a delayed confidence learning procedure that optimizes a confidence parameter online, adaptively balancing between ML and nominal predictions. We establish formal competitive ratio bounds for general nonlinear systems under standard MPC regularity assumptions. For the linear quadratic case, we derive a competitive ratio bound that is provably tight, thereby characterizing the fundamental limits of this learning-augmented approach. The effectiveness of LAC is demonstrated in numerical studies, where it maintains stability and outperforms standard methods under adversarial prediction errors.

Paperid: 3846, https://arxiv.org/pdf/2507.14194.pdf

Abstract:
This paper presents a novel framework for pattern prediction and system prognostics centered on Spatiotemporal Permutation Entropy analysis integrated with Boosted Enhanced Quantile Regression Neural Networks (BEQRNNs). We address the challenge of understanding complex dynamical patterns in multidimensional systems through an approach that combines entropy-based complexity measures with advanced neural architectures. The system leverages dual computational stages: first implementing spatiotemporal entropy extraction optimized for multiscale temporal and spatial data streams, followed by an integrated BEQRNN layer that enables probabilistic pattern prediction with uncertainty quantification. This architecture achieves 81.17% accuracy in spatiotemporal pattern classification with prediction horizons up to 200 time steps and maintains robust performance across diverse regimes. Field testing across chaotic attractors, reaction-diffusion systems, and industrial datasets shows a 79% increase in critical transition detection accuracy and 81.22% improvement in long-term prediction reliability. The framework's effectiveness in processing complex, multimodal entropy features demonstrates significant potential for real-time prognostic applications.

Paperid: 3847, https://arxiv.org/pdf/2507.13938.pdf

Abstract:
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does not require dedicated radar equipment is compatible with existing anchor infrastructure and can be reused to reduce hardware deployment costs. However, it is difficult to estimate the target's position accurately in real-world scenarios due to the low signal-to-noise ratio (SNR) and the cluttered environment. In this paper, we propose a deep learning (DL)-assisted particle filter to overcome these challenges. First, the channel impulse response (CIR) variance is analyzed to capture the variability induced by the target's movement. Then, a DL-based one-dimensional attention U-Net is used to extract only the reflection components caused by the target and suppress the noise components within the CIR variance profile. Finally, multiple preprocessed CIR variance profiles are used as input to a particle filter to estimate the target's position. Experimental results demonstrate that the proposed system is a practical and cost-effective solution for IoT and automotive applications with a root mean square error (RMSE) of about 15 cm and an average processing time of 4 ms. Furthermore, comparisons with existing state-of-the-art methods show that the proposed method provides the best performance with reasonable computational costs.

Paperid: 3848, https://arxiv.org/pdf/2507.13623.pdf

Abstract:
Orthogonal Frequency Division Multiplexing (OFDM) combined with Multiple-Input Multiple-Output (MIMO) techniques forms the backbone of modern wireless communication systems. While offering high spectral efficiency and robustness, conventional MIMO-OFDM, especially with complex equalizers like Minimum Mean Square Error (MMSE), suffers from high Peak-to-Average Power Ratio (PAPR) and significant power consumption due to multiple active Radio Frequency (RF) chains. This paper proposes and mathematically models an alternative system, termed Multi-Dimensional OFDM (MD-OFDM), which employs a per-subcarrier transmit antenna selection strategy. By activating only one transmit antenna for each subcarrier, MD-OFDM aims to reduce PAPR, lower power consumption, and improve Bit Error Rate (BER) performance. We provide detailed mathematical formulations for BER, Energy Efficiency (EE), and PAPR, and discuss the suitability of MD-OFDM for various applications, particularly in energy-constrained and cost-sensitive scenarios such as the Internet of Things (IoT) and Low-Power Wide Area Networks (LPWAN). Simulation results demonstrate that MD-OFDM achieves superior BER and significantly lower PAPR compared to MMSE MIMO, albeit with a trade-off in peak overall energy efficiency due to reduced spectral multiplexing.

Paperid: 3849, https://arxiv.org/pdf/2507.11849.pdf

Abstract:
This paper presents an analysis of GaN high-electron-mobility transistors (HEMTs) using both TCAD simulation and experimental characterization. The energy band structure was studied using Nextnano simulation software to observe two-dimensional electron gas (2DEG) formation and carrier confinement under equilibrium conditions. Additionally, I-V and C-V data from fabricated research-grade GaN HEMTs were analyzed to extract key electrical parameters. The device demonstrated an ON current of 1.9 mA and an OFF current of 0.01 mA, indicating a strong ON/OFF current ratio. A subthreshold swing of 80 mV/decade and a DIBL of 5 mV/V were observed, confirming good gate control and short-channel suppression. The ON-resistance was 22.72 ohm per micron, with a saturation voltage of 1 V . The peak transconductance was extracted as 0.18 mS in the linear region and 0.5 mS in saturation. Field-effect mobility was calculated using the transconductance method, with a maximum value of approximately 1200 cm2/V.s at low drain bias. The combined simulation and experimental approach provided comprehensive insight into GaN HEMT behavior, enabling a deeper understanding of structure-performance relationships critical to advanced transistor design.

Paperid: 3850, https://arxiv.org/pdf/2507.11420.pdf

Abstract:
Solving chance-constrained optimal control problems for systems subject to non-stationary uncertainties is a significant challenge.Conventional robust model predictive control (MPC) often yields excessive conservatism by relying on static worst-case assumptions, while standard stochastic MPC methods struggle when underlying uncertainty distributions are unknown a priori.This article presents a Risk-Aware Adaptive Robust MPC (RAAR-MPC) framework,a hierarchical architecture that systematically orchestrates a novel synthesis of proactive, learning-based risk assessment and reactive risk regulation. The framework employs a medium-frequency risk assessment engine, which leverages Gaussian process regression and active learning, to construct a tight, data-driven characterization of the prediction error set from operational data.Concurrently, a low-timescale outer loop implements a self-correcting update law for an adaptive safety margin to precisely regulate the empirical risk and compensate for unmodeled dynamics.This dual-timescale adaptation enables the system to rigorously satisfy chance constraints with a user-defined probability, while minimizing the conservatism inherent in traditional approaches.We formally establish that the interplay between these adaptive components guarantees recursive feasibility and ensures the closed-loop system satisfies the chance constraints up to a user-defined risk level with high probability.Numerical experiments on a benchmark DC-DC converter under non-stationary parametric uncertainties demonstrate that our framework precisely achieves the target risk level, resulting in a significantly lower average cost compared to state-of-the-art robust and stochastic MPC strategies.

Paperid: 3851, https://arxiv.org/pdf/2507.10205.pdf

Abstract:
We show how a recently published 2d model for traffic flow can be further improved. Besides other improvements and simplifications, we present not only a method to compute the necessary time step restrictions, but also a subcycling for the inflow and outflow. This drastically reduces computational cost on large domains with coarse grids, i.\,e.\ for simulations of a whole region instead of a small part of a city or town.

Paperid: 3852, https://arxiv.org/pdf/2507.10010.pdf

Abstract:
Uncertainties influencing the dynamical systems pose a significant challenge in estimating the achievable performance of a controller aiming to control such uncertain systems. When the uncertainties are of stochastic nature, obtaining hard guarantees for the robustness of a controller aiming to hedge against the uncertainty is not possible. This issue set the platform for the development of probabilistic robust control approaches. In this work, we utilise the gap metric between the known nominal model and the unknown perturbed model of the uncertain system as a tool to gauge the robustness of a controller and formulate the gap as a random variable in the setting with stochastic uncertainties. The main results of this paper include giving a probabilistic bound on the gap exceeding a known threshold, followed by bounds on the expected gap value and probabilistic robust stability and performance guarantees in terms of the gap metric. We also provide a probabilistic controller performance certification under gap uncertainty and probabilistic guarantee on the achievable $\mathcal{H}_{\infty}$ robustness. Numerical simulations are provided to demonstrate the proposed approach.

Paperid: 3853, https://arxiv.org/pdf/2507.09938.pdf

Abstract:
Multiple advantages had been identified with the integration of data acquisition into any existing system configuration and implementation. Using data acquisition as a support into a monitoring system has not only improved its overall performance and reliability but also lowered its operational and maintenance cost because of its real-time data collection from node sensors. As renewable energy needs to be sustainable for it to fully support the energy demand of communities, its management and control still needs to be improved and enhanced. Smart systems are considered the next generation technological improvement of any system that exists. It is the prelude to autonomous systems from industrial applications to home automation. Data acquisition is only a part of these smart systems that help in the remote management and control of these devices. Remote monitoring functionality enhances the operation and reliability which help in making proactive decisions during critical situations and circumstances. Even with data acquisition enhancements, there is still room for improving its implementation regarding data security and privacy and accuracy of information being exchanged between nodes. Current technological advancements have already shown promising results and have widen its utilization spectrum by covering almost any field of specialization. With increasing implementation and design complexity that comes with its enhancements, challenges and issues are also faced that needs to be addressed and considered to mitigate the effects of such.

Paperid: 3854, https://arxiv.org/pdf/2507.09115.pdf

Abstract:
This study presents the modeling, control design, and performance analysis of a DC-DC buck converter using state-space averaging techniques. Buck converters are essential in modern power electronics for regulating DC voltages in renewable energy and electric vehicle systems. The paper first introduces the basic operation of buck converters and emphasizes the need for voltage regulation through closed-loop control systems. A state-space averaged model is derived to simplify the nonlinear switched dynamics, enabling a more effective analysis and controller design. The small-signal transfer function from the duty cycle to the output voltage is obtained to support control development. In addition, the Proportional-Integral (PI) control based on the frequency-domain method was explored. The PI controller was tuned to achieve various phase margins and is evaluated through Bode plots, step responses, and performance metrics, revealing trade-offs between overshoot, settling time, and steady-state error. A complete simulation of the controlled buck converter verifies its ability to maintain a stable output voltage across wide input voltage variations. The results validate the effectiveness of state-space averaging in control design and highlight the robustness of feedback systems in power electronic converters.

Paperid: 3855, https://arxiv.org/pdf/2507.08383.pdf

Abstract:
Representation of inductive coupling lines with conventional static phasors is the main reason of inadequacy of the existing phasors based simplified stability analysis methods for microgrids with inductive coupling lines. In the literature, dynamic phasors have been proposed for the dynamic modelling of inductive lines to conserve the simplified structure of the analysis method. In this study a generalized stability analysis method for LV AC microgrids, composed of droop controlled inverters, is presented. The proposed analysis method is based on the inclusion of dynamic phasors for inductive coupling lines into the existing phasors based stability analysis method. The results show that the stability analysis method with dynamic phasors successfully predicts the instability boundaries of LV AC microgrids.

Paperid: 3856, https://arxiv.org/pdf/2507.07588.pdf

Abstract:
This article explores the estimation of parameters and states for linear stochastic systems with deterministic control inputs. It introduces a novel Kalman filtering approach called Kalman Filtering with Correlated Noises Recursive Generalized Extended Least Squares (KF-CN-RGELS) algorithm, which leverages the cross-correlation between process noise and measurement noise in Kalman filtering cycles to jointly estimate both parameters and system states. The study also investigates the theoretical implications of the correlation coefficient on estimation accuracy through performance analysis involving various correlation coefficients between process and measurement noises. The research establishes a clear relationship: the accuracy of identified parameters and states is directly proportional to positive correlation coefficients. To validate the efficacy of this algorithm, a comprehensive comparison is conducted among different algorithms, including the standard Kalman filter algorithm and the augmented-state Kalman filter with correlated noises algorithm. Theoretical findings are not only presented but also exemplified through a numerical case study to provide valuable insights into practical implications. This work contributes to enhancing estimation accuracy in linear stochastic systems with deterministic control inputs, offering valuable insights for control system design and state-space modeling.

Paperid: 3857, https://arxiv.org/pdf/2507.06890.pdf

Abstract:
Cyber-attacks jeopardize the safe operation of smart microgrids. At the same time, existing diagnostic methods either depend on expensive multi-point instrumentation or stringent modelling assumptions that are untenable under single-sensor constraints. This paper proposes a Fractional-Order Memory-Enhanced Attack-Diagnosis Scheme (FO-MADS) that achieves low-latency fault localisation and cyber-attack detection using only one VPQ (Voltage-Power-Reactive-power) sensor. FO-MADS first constructs a dual fractional-order feature library by jointly applying Caputo and GrÃ¼nwald-Letnikov derivatives, thereby amplifying micro-perturbations and slow drifts in the VPQ signal. A two-stage hierarchical classifier then pinpoints the affected inverter and isolates the faulty IGBT switch, effectively alleviating class imbalance. Robustness is further strengthened through Progressive Memory-Replay Adversarial Training (PMR-AT), whose attack-aware loss is dynamically re-weighted via Online Hard Example Mining (OHEM) to prioritise the most challenging samples. Experiments on a four-inverter microgrid testbed comprising 1 normal and 24 fault classes under four attack scenarios demonstrate diagnostic accuracies of 96.6 % (bias), 94.0 % (noise), 92.8 % (data replacement), and 95.7 % (replay), while sustaining 96.7 % under attack-free conditions. These results establish FO-MADS as a cost-effective and readily deployable solution that markedly enhances the cyber-physical resilience of smart microgrids.

Paperid: 3858, https://arxiv.org/pdf/2507.06702.pdf

Abstract:
This paper presents a rigorous analytical model of traffic dynamics on a circular track, demonstrating the emergence of standing oscillations resulting from microscopic driver behaviour, delay responses, and proximity pressure. Without relying on simulation, we derive a series of coupled delay differential equations to model vehicular interactions. By introducing a mnemonic-based symbolic system, we establish a mathematical framework incorporating stochastic initial conditions, non-uniform reaction times, and cognitive lag. A full linear stability analysis is conducted using Fourier decomposition and modal perturbation techniques. Our results identify critical thresholds for harmonic induction, delineate the bounds of safe following distances, and reveal hysteresis in driver overcorrection. The analysis concludes with implications for autonomous vehicle control and potential suppression strategies for oscillatory instability. All derivations are purely symbolic and analytically proven.

Paperid: 3859, https://arxiv.org/pdf/2507.06352.pdf

Abstract:
This study presents an analytical method for tuning PI controllers in First-Order with Time Delay (FOTD) systems, leveraging the Lambert W function. The Lambert W function enables exact pole placement, yielding analytical expressions for PI gains. The proposed approach identifies a critical condition that achieves a step response without overshoot with minimum settling time, while also providing explicit tuning rules for systems where controlled overshoot is specified. The method demonstrates strong agreement with established empirical Chien-Hrones-Reswick tuning rules for both non-overshooting and overshooting cases, bridging the gap between theoretical analysis and empirical results.

Paperid: 3860, https://arxiv.org/pdf/2507.05509.pdf

Abstract:
Fault Tree Analysis (FTA) is a well-established method in failure analysis and is widely used in safety and reliability assessments. While FTA tools enable users to manage complex analyses effectively, they can sometimes obscure the underlying calculation processes. As a result, the soundness of FTA results often hinges on the user's expertise and familiarity with the methodology and the tool. This paper aims to explore the fundamental principles underlying both qualitative and quantitative FTA analyses, while addressing broader conceptual considerations such as coherence and consensus. By developing a deeper understanding of these concepts, engineers can improve their ability to interpret, verify, and make informed use of the outputs generated by FTA tools. This paper does not propose a novel concept in FTA but aims to compile and present a concise overview of the fundamental computations in FTA.

Paperid: 3861, https://arxiv.org/pdf/2507.05297.pdf

Abstract:
Deep neural policies have unlocked agile flight for quadcopters, adaptive grasping for manipulators, and reliable navigation for ground robots, yet their millions of weights conflict with the tight memory and real-time constraints of embedded microcontrollers. Second-order pruning methods, such as Optimal Brain Damage (OBD) and its variants, including Optimal Brain Surgeon (OBS) and the recent SparseGPT, compress networks in a single pass by leveraging the local Hessian, achieving far higher sparsity than magnitude thresholding. Despite their success in vision and language, the consequences of such weight removal on closed-loop stability, tracking accuracy, and safety have remained unclear. We present the first mathematically rigorous robustness analysis of second-order pruning in nonlinear discrete-time control. The system evolves under a continuous transition map, while the controller is an $L$-layer multilayer perceptron with ReLU-type activations that are globally 1-Lipschitz. Pruning the weight matrix of layer $k$ replaces $W_k$ with $W_k+Î´W_k$, producing the perturbed parameter vector $\widehatÎ=Î+Î´Î$ and the pruned policy $Ï(\cdot;\widehatÎ)$. For every input state $s\in X$ we derive the closed-form inequality $ \|Ï(s;Î)-Ï(s;\widehatÎ)\|_2 \le C_k(s)\,\|Î´W_k\|_2, $ where the constant $C_k(s)$ depends only on unpruned spectral norms and biases, and can be evaluated in closed form from a single forward pass. The derived bounds specify, prior to field deployment, the maximal admissible pruning magnitude compatible with a prescribed control-error threshold. By linking second-order network compression with closed-loop performance guarantees, our work narrows a crucial gap between modern deep-learning tooling and the robustness demands of safety-critical autonomous systems.

Paperid: 3863, https://arxiv.org/pdf/2507.02934.pdf

Abstract:
The increasing proliferation of vending machines in public and commercial environments has placed a growing emphasis on operational efficiency and customer satisfaction. Traditional maintenance approaches either reactive or time-based preventive are limited in their ability to preempt machine failures, leading to unplanned downtimes and elevated service costs. This research presents a novel predictive maintenance framework tailored for vending machines by leveraging Internet of Things (IoT) sensors and machine learning (ML) algorithms. The proposed system continuously monitors machine components and operating conditions in real time and applies predictive models to forecast failures before they occur. This enables timely maintenance scheduling, minimizing downtime and extending machine lifespan. The framework was validated through simulated fault data and performance evaluation using classification algorithms. Results show a significant improvement in early fault detection and a reduction in redundant service interventions. The findings indicate that predictive maintenance systems, when integrated into vending infrastructure, can transform operational efficiency and service reliability.

Paperid: 3864, https://arxiv.org/pdf/2507.02549.pdf

Abstract:
Achieving rapid and time-deterministic stabilization for complex systems characterized by strong nonlinearities and parametric uncertainties presents a significant challenge. Traditional model-based control relies on precise system models, whereas purely data-driven methods often lack formal stability guarantees, limiting their applicability in safety-critical systems. This paper proposes a novel control framework that synergistically integrates data-driven modeling with model-based control. The framework first employs the Extended Dynamic Mode Decomposition with Control (EDMDc) to identify a high-dimensional Koopman linear model and quantify its bounded uncertainty from data. Subsequently, a novel Prescribed-Time Adaptive Backstepping (PTAB) controller is synthesized based on this data-driven model. The design leverages the structural advantages of Koopman linearization to systematically handle model errors and circumvent the "explosion of complexity" issue inherent in traditional backstepping. The proposed controller is validated through simulations on the classic Van der Pol oscillator. The results demonstrate that the controller can precisely stabilize the system states to a small neighborhood of the origin within a user-prescribed time, regardless of the initial conditions, while ensuring the boundedness of all closed-loop signals. This research successfully combines the flexibility of data-driven approaches with the rigor of Lyapunov-based analysis. It provides a high-performance control strategy with quantifiable performance and pre-assignable settling time for nonlinear systems, showcasing its great potential for controlling complex dynamics.

Paperid: 3865, https://arxiv.org/pdf/2507.01556.pdf

Abstract:
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay for both reference tracking and disturbance rejection by minimizing the spectral abscissa of the closed-loop system. A second-order semi-discrete model accurately captures the integrator and delay dynamics while enabling efficient dominant pole extraction. These discrete-time poles are mapped to continuous time and refined using Newton-Raphson iterations on the exact transcendental characteristic equation. The method produces a unique PI gain set without requiring heuristic trade-offs or weighting parameters. Comparative simulations demonstrate that the proposed tuning achieves faster convergence and improved robustness margins compared to classical rules (Ziegler-Nichols, SIMC) and integral performance criteria (IAE, ITAE). The approach provides a transparent and computationally efficient framework for PI control in delay-dominant systems.

Paperid: 3867, https://arxiv.org/pdf/2507.01067.pdf

Abstract:
Time series forecasting models have diverse real world applications (e.g., from electricity metrics to software workload). Latest foundational models trained for time series forecasting show strengths (e.g., for long sequences and in zero-shot settings). However, foundational model was not yet used for forecasting rare, spiky events, i.e., a challenging target because those are a corner case of extreme events. In this paper, we optimize a state-of-the-art foundational model to forecast sporadic or spiky production outages of high-performance machine learning services powering billions of client devices. We evaluate the forecasting errors of the foundational model compared with classical stochastic forecasting models (e.g., moving average and autoregressive). The analysis helps us understand how each of the evaluated models performs for the sporadic or spiky events. For example, it identifies the key patterns in the target data that are well tracked by the foundational model vs. each of the stochastic models. We use the models with optimal parameters to estimate a year-long outage statistics of a particular root cause with less than 6% value errors.

Paperid: 3868, https://arxiv.org/pdf/2507.00624.pdf