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IEEE Conference on decision and control

作者： Yibei Li Xiaoming Hu Bo Wahlberg Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Mathematics Division of Optimization and Systems Theory KTH Royal Institute of Technology Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Sciencem KTH Royal Institute of Technology Sweden

This paper focuses on two inverse problems of the Kalman filter in which the process and measurement noises are correlated. The unknown covariance matrix in a stochastic system is reconstructed from observations of its posterior beliefs. For the standard inverse Kalman filtering problem, a novel duality-based formulation is proposed, where a well-defined inverse optimal control (IOC) problem is solved instead. Identifiability of the underlying model is proved, and a least squares estimator is designed that is statistically consistent. The time-invariant case using the steady-state Kalman gain is further studied. Since this inverse problem is ill-posed, a canonical class of covariance matrices is constructed, which can be uniquely identified from the dataset with asymptotic convergence. Finally, the performances of the proposed methods are illustrated by numerical examples.

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Comprehensive Overview of Multi-agent systems for controlling Smart Grids

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CSEE Journal of Power and Energy systems 2022年第1期8卷 115-131页

作者： Om Prakash Mahela Mahdi Khosravy Neeraj Gupta Baseem Khan Hassan Haes Alhelou Rajendra Mahla Nilesh Patel Pierluigi Siano Power System Planning Division Rajasthan Rajya Vidyut Prasaran Nigam Ltd.Jaipur-302005India Media Integrated Communication Laboratory Graduate School of EngineeringOsaka UniversityOsakaJapan Computer Science and Engineering Department Oakland UniversityRochesterUSA Department of Electrical and Computer Engineering Hawassa UniversityHawassa 1530Ethiopia Faculty of Mechanical and Electrical Engineering Tishreen UniversityLattakiaSyria Department of Electrical Engineering National Institute of Technology Kurukshetra Department of Management&Innovation Systems University of Salerno84084 SalernoItaly

Agents are intelligent entities that act flexibly and autonomously and make wise decisions based on their intelligence and experience.A multi-agent system(MAS)contains multiple,intelligent,and interconnected collaborating agents for solving a problem beyond the ability of a single agent.A smart grid(SG)combines advanced intelligent systems,control techniques,and sensing methods with an existing utility power *** controlling smart grids,various control systems with different architectures have already been ***-based control of power system operations has been shown to overcome the limitations of time required for analysis,relaying,and protection;transmission switching;communication protocols;and management of plant *** systems provide an alternative for fast and accurate power network *** paper provides a comprehensive overview of MASs used for the control of smart *** paper provides a wide-spectrum view of the status of smart grids,MAS-based control techniques and their implementation for the control of smart *** of MASs in the control of various aspects of smart grids-including the management of energy,marketing energy,pricing,scheduling energy,reliability,network security,fault handling capability,communication between agents,SG-electrical vehicles,SG-building energy systems,and soft grids—have been critically *** than a hundred publications on the topic of MAS-based control of smart grids have been critically examined,classified,and arranged for fast reference.

关键词： Coordinated control multi-agent systems renewable energy sources smart energy infrastructure smart grid

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Reciprocal Safety Velocity Cones for Decentralized Collision Avoidance in Multi-Agent systems

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IFAC-PapersOnLine 2023年第2期56卷 8024-8029页

作者： Soulaimane Berkane Dimos V. Dimarogonas Department of Computer Science and Engineering University of Quebec in Outaouais 101 St-Jean Bosco Gatineau QC J8X 3X7 Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology SE-100 44 Stockholm Sweden

In this paper, we solve the inter-agent collision avoidance problem in an arbitrary n-dimensional Euclidean space using reciprocal safety velocity cones (RSVCs). We propose a decentralized feedback control strategy that guarantees simultaneously asymptotic stabilization to a reference and collision avoidance. Our algorithm is purely decentralized in the sense that each agent uses only local information about its neighbouring agents. Moreover, the proposed solution can be implemented using only inter-agent bearing measurements. Therefore, the algorithm is a sensor-based control strategy which is practically implementable using a wide range of sensors such as vision systems and range scanners. Simulation results in a two dimensional environment cluttered with agents shows that the number of possible deadlocks is marginal and decrease with the decrease in the clutteredness of the workspace.

关键词： Collision avoidance multi-agent systems sensor-based methods motion planning feedback control

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Asynchronous Distributed Optimization via ADMM with Efficient Communication

Asynchronous Distributed Optimization via ADMM with Efficien...

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IEEE Conference on decision and control

作者： Apostolos I. Rikos Wei Jiang Themistoklis Charalambous Karl H. Johansson Department of Electrical and Computer Engineering Division of Systems Engineering Boston University Boston MA US Hong Kong China Department of Electrical and Computer Engineering School of Engineering University of Cyprus Nicosia Cyprus Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

In this paper, we focus on an asynchronous distributed optimization problem. In our problem, each node is endowed with a convex local cost function, and is able to communicate with its neighbors over a directed communication network. Furthermore, we assume that the communication channels between nodes have limited bandwidth, and each node suffers from processing delays. We present a distributed algorithm which combines the Alternating Direction Method of Multipliers (ADMM) strategy with a finite time quantized averaging algorithm. In our proposed algorithm, nodes exchange quantized valued messages and operate in an asynchronous fashion. More specifically, during every iteration of our algorithm each node (i) solves a local convex optimization problem (for the one of its primal variables), and (ii) utilizes a finite-time quantized averaging algorithm to obtain the value of the second primal variable (since the cost function for the second primal variable is not decomposable). We show that our algorithm converges to the optimal solution at a rate of O (1/ k) (where $k$ is the number of time steps) for the case where the local cost function of every node is convex and not-necessarily differentiable. Finally, we demonstrate the operational advantages of our algorithm against other algorithms from the literature.

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface 1

Optical Evanescent Field for Direct Observation of Sub-100nm...

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1st International Conference on Robotics, engineering, science, and Technology, RESTCON 2024

作者： Khajornrungruang, Panart Permpatdechakul, Thitipat Suzuki, Keisuke Blattler, Aran Terayama, Yutaka Goto, Daiki Phaisalpanumas, Pipat Bun-Athuek, Natthaphon Phunopas, Amornphun Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Division Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Fukuoka Japan Kyushu Institute of Technology Iizuka-Shi Mechanical Information Science and Technology Division Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Production and Robotics Engineering Bangkok Thailand Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Course Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Industiral Engineering Bangkok Thailand King Mongkut's University of Technology North Bangkok Bangsue College of Industrial Technology Dept. of Mechanical Engineering Technology Bangkok Thailand

ISBN: (纸本)9798350348842

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes. © 2024 IEEE.

关键词： Visualization

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Enhancing Precision Agriculture Through Human-in-the-Loop Planning and control

Enhancing Precision Agriculture Through Human-in-the-Loop Pl...

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IEEE International Conference on Automation science and engineering (CASE)

作者： Shankar A. Deka Sujet Phodapol Andreu Matoses Gimenez Victor Nan Fernandez-Ayala Rufus Wong Pian Yu Xiao Tan Dimos V. Dimarogonas Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems School of EECS Royal Institute of Technology (KTH) Stockholm Sweden Department of Cognitive Robotics Faculty of Mechanical Engineering TU Delft Delft Netherlands Department of Computer Science University of Oxford Oxford UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we introduce a ROS based framework designed for the planning and control of robotic systems within the context of precision agriculture, with an emphasis on human-in-the-loop capabilities. Utilizing Linear Temporal Logic to articulate complex task specifications, our algorithm creates high-level robotic plans that are not only correct by design but also adaptable in real time by human operators. This dual-focus approach ensures that while humans have the flexibility to modify the high-level plan on-the-fly or even take over low-level control of the robots, the system inherently safeguards against any human actions that could potentially breach the predefined task specifications. We demonstrate our algorithm within the dynamic and challenging environment of a real vineyard, where the collaboration between human workers and robots is critical for tasks such as harvesting and pruning, and show the practical applicability and robustness of our software. This work marks a pioneering application of formal methods to complex, real-world agricultural environments.

关键词： Precision agriculture Heuristic algorithms Software algorithms Robustness Human in the loop Software Real-time systems Planning Robots Multi-agent systems

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A Differential Dynamic Programming Framework for Inverse Reinforcement Learning

arXiv

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arXiv 2024年

作者： Cao, Kun Xu, Xinhang Jin, Wanxin Johansson, Karl H. Xie, Lihua School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore School for Engineering of Matter Transport and Energy Arizona State University United States Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden

A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and constraints from demonstrations. Different from existing work, where DDP was used for the inner forward problem with inequality constraints, our proposed framework uses it for efficient computation of the gradient required in the outer inverse problem with equality and inequality constraints. The equivalence between the proposed method and existing methods based on Pontryagin’s Maximum Principle (PMP) is established. More importantly, using this DDP-based IRL with an open-loop loss function, a closed-loop IRL framework is presented. In this framework, a loss function is proposed to capture the closed-loop nature of demonstrations. It is shown to be better than the commonly used open-loop loss function. We show that the closed-loop IRL framework reduces to a constrained inverse optimal control problem under certain assumptions. Under these assumptions and a rank condition, it is proven that the learning parameters can be recovered from the demonstration data. The proposed framework is extensively evaluated through four numerical robot examples and one real-world quadrotor system. The experiments validate the theoretical results and illustrate the practical relevance of the approach. © 2024, CC BY.

关键词： Cost functions

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control of Nonlinear systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach

Control of Nonlinear Systems Under Multiple Time-Varying Out...

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IEEE Conference on decision and control

作者： Farhad Mehdifar Lars Lindemann Charalampos P. Bechlioulis Dimos V. Dimarogonas Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science University of Southern California Los Angeles CA USA Department of Electrical and Computer Engineering Division of Systems and Control University of Patras Patra Greece

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set's boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed em-ploying the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach.

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

Optimal Linear Deception Attacks on Remote State Estimation ...

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63rd IEEE Conference on decision and control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

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Cache Allocation in Multi-tenant Edge Computing: an Online Model-based Reinforcement Learning Approach

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IEEE Transactions on Cloud Computing 2025年第02期13卷 459-472页

作者： Ben-Ameur, Ayoub Araldo, Andrea Chahed, Tijani Dan, Gyorgy SAMOVAR Telecom SudParis Institut Polytechnique de Paris France KTH Royal Institute of Technology Division of Network and Systems Engineering School of Electrical Engineering and Computer Science Sweden

We consider a Network Operator (NO) that owns Edge Computing (EC) resources, virtualizes them and lets third party Service Providers (SPs) run their services, using the allocated slice of resources. We focus on one specific resource, i.e., cache space, and on the problem of how to allocate it among several SPs in order to minimize the backhaul traffic. Due to confidentiality guarantees, the NO cannot observe the nature of the traffic of SPs, which is encrypted. Allocation decisions are thus challenging, since they must be taken solely based on observed monitoring information. Another challenge is that not all the traffic is cacheable. We propose a data-driven cache allocation strategy, based on Reinforcement Learning (RL). Unlike most RL applications, in which the decision policy is learned offline on a simulator, we assume no previous knowledge is available to build such a simulator. We thus apply RL in an online fashion, i.e., the model and the policy are learned by directly perturbing and monitoring the actual system. Since perturbations generate spurious traffic, we thus need to limit perturbations. This requires learning to be extremely efficient. To this aim, we devise a strategy that learns an approximation of the cost function, while interacting with the system. We then use such an approximation in a Model-Based RL (MB-RL) to speed up convergence. We prove analytically that our strategy brings cache allocation boundedly close to the optimum and stably remains in such an allocation. We show in simulations that such convergence is obtained within few minutes. We also study its fairness, its sensitivity to several scenario characteristics and compare it with a method from the state-of-the-art. © 2013 IEEE.

关键词： Contrastive Learning

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