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Publications (10 of 629) Show all publications
Pirani, M., Nekouei, E., Sandberg, H. & Johansson, K. H. (2019). A game-theoretic framework for security-aware sensor placement problem in networked control systems. In: Proceedings of the American Control Conference: . Paper presented at 2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019 (pp. 114-119). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8814443.
Open this publication in new window or tab >>A game-theoretic framework for security-aware sensor placement problem in networked control systems
2019 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 114-119, article id 8814443Conference paper, Published paper (Refereed)
Abstract [en]

This paper studies the sensor placement problem in a networked control system for improving its security against cyber-physical attacks. The problem is formulated as a zero-sum game between an attacker and a detector. The attacker's decision is to select f nodes of the network to attack whereas the detector's decision is to place f sensors to detect the presence of the attack signals. In our formulation, the attacker minimizes its visibility, defined as the system L2 gain from the attack signals to the deployed sensors' outputs, and the detector maximizes the visibility of the attack signals. The equilibrium strategy of the game determines the optimal locations of the sensors. The existence of Nash equilibrium for the attacker-detector game is studied when the underlying connectivity graph is a directed or an undirected tree. When the game does not admit a Nash equilibrium, it is shown that the Stackelberg equilibrium of the game, with the detector as the game leader, can be computed efficiently. Our results show that, under the optimal sensor placement strategy, an undirected topology provides a higher security level for a networked control system compared with its corresponding directed topology.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
Series
Proceedings of the American Control Conference, ISSN 07431619
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-262596 (URN)2-s2.0-85072277874 (Scopus ID)9781538679265 (ISBN)
Conference
2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019
Note

QC 20191016

Available from: 2019-10-16 Created: 2019-10-16 Last updated: 2019-10-16Bibliographically approved
Li, Y., Johansson, K. H. & Mårtensson, J. (2019). A hierarchical control system for smart parking lots with automated vehicles: Improve efficiency by leveraging prediction of human drivers. In: Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC): . Paper presented at 18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019 (pp. 2675-2681). IEEE
Open this publication in new window or tab >>A hierarchical control system for smart parking lots with automated vehicles: Improve efficiency by leveraging prediction of human drivers
2019 (English)In: Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), IEEE , 2019, p. 2675-2681Conference paper, Published paper (Refereed)
Abstract [en]

In this work, we introduce a hierarchical architecture for management of multiple automated vehicles in a parking lot provided the existence of human-driven vehicles. The proposed architecture consists of three layers: behavior prediction, vehicle coordination and maneuver control, with the first two sitting in the infrastructure and the third one equipped on individual vehicles. We assume all three layers share a consistent view of the environment by considering it as a grid world. The grid occupancy is modeled by the prediction layer via collecting information from automated vehicles and predicting human-driven vehicles. The coordination layer assigns parking spots and grants permissions for vehicles to move. The vehicle control embraces the distributed model predictive control (MPC) technique to resolve local conflicts occurred due to the simplified vehicle models used in the design of the prediction and coordination layers. Numerical evaluation shows the effectiveness of the proposed control system.

Place, publisher, year, edition, pages
IEEE, 2019
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-263395 (URN)10.23919/ECC.2019.8796055 (DOI)000490488302111 ()2-s2.0-85071574054 (Scopus ID)
Conference
18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019
Note

QC 20191113

Available from: 2019-11-13 Created: 2019-11-13 Last updated: 2019-11-13Bibliographically approved
Bagloee, S. A., Johansson, K. H. & Asadi, M. (2019). A hybrid machine-learning and optimization method for contraflow design in post-disaster cases and traffic management scenarios. Expert systems with applications, 124, 67-81
Open this publication in new window or tab >>A hybrid machine-learning and optimization method for contraflow design in post-disaster cases and traffic management scenarios
2019 (English)In: Expert systems with applications, ISSN 0957-4174, E-ISSN 1873-6793, Vol. 124, p. 67-81Article in journal (Refereed) Published
Abstract [en]

The growing number of man-made and natural disasters in recent years has made the disaster management a focal point of interest and research. To assist and streamline emergency evacuation, changing the directions of the roads (called contraflow, a traffic control measure) is proven to be an effective, quick and affordable scheme in the action list of the disaster management. The contraflow is computationally a challenging problem (known as NP-hard), hence developing an efficient method applicable to real-world and large-sized cases is a significant challenge in the literature. To cope with its complexities and to tailor to practical applications, a hybrid heuristic method based on a machine-learning model and bilevel optimization is developed. The idea is to try and test several contraflow scenarios providing a training dataset for a supervised learning (regression) model which is then used in an optimization framework to find a better scenario in an iterative process. This method is coded as a single computer program synchronized with GAMS (for optimization), MATLAB (for machine learning), EMME3 (for traffic simulation), MS-Access (for data storage) and MS-Excel (as an interface), and it is tested using a real dataset from Winnipeg, and Sioux-Falls as benchmarks. The algorithm managed to find globally optimal solutions for the Sioux-Falls example and improved accessibility to the dense and congested central areas of Winnipeg just by changing the direction of some roads.

Place, publisher, year, edition, pages
Elsevier, 2019
Keywords
Contraflow, Disaster management, Emergency evacuation, Machine-learning, Post-disaster
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-246405 (URN)10.1016/j.eswa.2019.01.042 (DOI)000461529600006 ()2-s2.0-85060331157 (Scopus ID)
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-04-09Bibliographically approved
Wei, J., Fridman, E. & Johansson, K. H. (2019). A PDE approach to deployment of mobile agents under leader relative position measurements. Automatica, 106, 47-53
Open this publication in new window or tab >>A PDE approach to deployment of mobile agents under leader relative position measurements
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 106, p. 47-53Article in journal (Refereed) Published
Abstract [en]

We study the deployment of a first-order multi-agent system over a desired smooth curve in 2D or 3D space. We assume that the agents have access to the local information of the desired curve and their relative positions with respect to their closest neighbors, whereas in addition a leader is able to measure his relative position with respect to the desired curve. For the case of an open C-2 curve, we consider two boundary leaders that use boundary instantaneous static output-feedback controllers. For the case of a closed C-2 curve we assume that the leader transmits his measurement to other agents through a communication network. The resulting closed-loop system is modeled as a heat equation with a delayed (due to the communication) boundary state, where the state is the relative position of the agents with respect to the desired curve. By choosing appropriate controller gains (the diffusion coefficient and the gain multiplying the leader state), we can achieve any desired decay rate provided the delay is small enough. The advantage of our approach is in the simplicity of the control law and the conditions. Numerical example illustrates the efficiency of the method.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Distributed parameters systems, Multi-agent systems, Time delays, Deployment
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-255403 (URN)10.1016/j.automatica.2019.04.040 (DOI)000473380000006 ()2-s2.0-85065528878 (Scopus ID)
Note

QC 20190814

Available from: 2019-08-14 Created: 2019-08-14 Last updated: 2019-08-14Bibliographically approved
Milosevic, J., Sandberg, H. & Johansson, K. H. (2019). A Security Index for Actuators Based on Perfect Undetectability: Properties and Approximation. In: 2018 56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018: . Paper presented at 56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018, 2 October 2018 through 5 October 2018 (pp. 235-241). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>A Security Index for Actuators Based on Perfect Undetectability: Properties and Approximation
2019 (English)In: 2018 56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 235-241Conference paper, Published paper (Refereed)
Abstract [en]

A novel security index based on the definition of perfect undetectability is proposed. The index is a tool that can help a control system operator to localize the most vulnerable actuators in the network. In particular, the security index of actuator i represents the minimal number of sensors and actuators that needs to be compromised in addition to i, such that a perfectly undetectable attack is possible. A method for computing this index for small scale systems is derived, and difficulties with the index once the system is of large scale are outlined. An upper bound for the index that overcomes these difficulties is then proposed. The theoretical developments are illustrated on a numerical example. 

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
Series
Annual Allerton Conference on Communication Control and Computing, ISSN 2474-0195
Keywords
Computer programming, Computer science, Control engineering, Security indices, Sensors and actuators, Small-scale systems, System operator, Theoretical development, Upper Bound, Actuators
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-252077 (URN)10.1109/ALLERTON.2018.8635906 (DOI)000461021200034 ()2-s2.0-85062843906 (Scopus ID)978-1-5386-6596-1 (ISBN)
Conference
56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018, 2 October 2018 through 5 October 2018
Projects
CERCES
Note

QC 20190801

Available from: 2019-08-01 Created: 2019-08-01 Last updated: 2019-12-09Bibliographically approved
Yang, T., Yi, X., Wu, J., Yuan, Y., Wu, D., Meng, Z., . . . Johansson, K. H. (2019). A survey of distributed optimization. Annual Reviews in Control, 47, 278-305
Open this publication in new window or tab >>A survey of distributed optimization
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2019 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 47, p. 278-305Article, review/survey (Refereed) Published
Abstract [en]

In distributed optimization of multi-agent systems, agents cooperate to minimize a global function which is a sum of local objective functions. Motivated by applications including power systems, sensor networks, smart buildings, and smart manufacturing, various distributed optimization algorithms have been developed. In these algorithms, each agent performs local computation based on its own information and information received from its neighboring agents through the underlying communication network, so that the optimization problem can be solved in a distributed manner. This survey paper aims to offer a detailed overview of existing distributed optimization algorithms and their applications in power systems. More specifically, we first review discrete-time and continuous-time distributed optimization algorithms for undirected graphs. We then discuss how to extend these algorithms in various directions to handle more realistic scenarios. Finally, we focus on the application of distributed optimization in the optimal coordination of distributed energy resources. 

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Distributed optimization, Coordination of distributed energy resources
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-255519 (URN)10.1016/j.arcontrol.2019.05.006 (DOI)000474680200022 ()2-s2.0-85065858312 (Scopus ID)
Note

QC 20191022

Available from: 2019-10-22 Created: 2019-10-22 Last updated: 2019-10-22Bibliographically approved
Dibaji, S. M., Pirani, M., Flamholz, D. B., Annaswamy, A. M., Johansson, K. H. & Chakrabortty, A. (2019). A systems and control perspective of CPS security. Annual Reviews in Control, 47, 394-411
Open this publication in new window or tab >>A systems and control perspective of CPS security
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2019 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 47, p. 394-411Article, review/survey (Refereed) Published
Abstract [en]

The comprehensive integration of instrumentation, communication, and control into physical systems has led to the study of Cyber-Physical Systems (CPSs), a field that has recently garnered increased attention. A key concern that is ubiquitous in CPS is a need to ensure security in the face of cyber attacks. In this paper, we carry out a survey of systems and control methods that have been proposed for the security of CPS. We classify these methods into three categories based on the type of defense proposed against the cyberattacks: prevention, resilience, and detection & isolation. A unified threat assessment metric is proposed in order to evaluate how CPS security is achieved in each of these three cases. Also surveyed are the risk assessment tools and the effect of network topology on CPS security. Furthermore, an emphasis has been placed on power and transportation applications in the overall survey.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Cyber-physical systems, Cyber-security, Cyber-physical security, Secure control, Resilient control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-255516 (URN)10.1016/j.arcontrol.2019.04.011 (DOI)000474680200027 ()2-s2.0-85065925819 (Scopus ID)
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-10-17Bibliographically approved
McCann, J. A., Picco, G. P., Gluhak, A., Johansson, K. H., Törngren, M. & Gide, L. (2019). Connected Things Connecting Europe. Communications of the ACM, 62(4), 46-51
Open this publication in new window or tab >>Connected Things Connecting Europe
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2019 (English)In: Communications of the ACM, ISSN 0001-0782, E-ISSN 1557-7317, Vol. 62, no 4, p. 46-51Article in journal, Editorial material (Refereed) Published
Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2019
National Category
Computer Sciences
Identifiers
urn:nbn:se:kth:diva-249869 (URN)10.1145/3312563 (DOI)000462529000019 ()2-s2.0-85063420959 (Scopus ID)
Note

QC 20190424

Available from: 2019-04-24 Created: 2019-04-24 Last updated: 2019-10-09Bibliographically approved
Besselink, B., Johansson, K. H. & van der Schaft, A. (2019). Contracts as specifications for dynamical systems in driving variable form. In: 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC): . Paper presented at 18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019 (pp. 263-268). IEEE
Open this publication in new window or tab >>Contracts as specifications for dynamical systems in driving variable form
2019 (English)In: 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), IEEE , 2019, p. 263-268Conference paper, Published paper (Refereed)
Abstract [en]

This paper introduces assume/guarantee contracts on continuous-time control systems, hereby extending contract theories for discrete systems to certain new model classes and specifications. Contracts are regarded as formal characterizations of control specifications, providing an alternative to specifications in terms of dissipativity properties or set-invariance. The framework has the potential to capture a richer class of specifications more suitable for complex engineering systems. The proposed contracts are supported by results that enable the verification of contract implementation and the comparison of contracts. These results are illustrated by an example of a vehicle following system.

Place, publisher, year, edition, pages
IEEE, 2019
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-263404 (URN)10.23919/ECC.2019.8795736 (DOI)000490488300043 ()2-s2.0-85071553108 (Scopus ID)
Conference
18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019
Note

QC 20191107

Available from: 2019-11-07 Created: 2019-11-07 Last updated: 2019-11-07Bibliographically approved
Pirani, M., Nekouei, E., Dibaji, S. M., Sandberg, H. & Johansson, K. H. (2019). Design of Attack-Resilient Consensus Dynamics: A Game-Theoretic Approach. In: Proceedings 2019 18th European Control Conference (ECC): . Paper presented at 18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019 (pp. 2227-2232). IEEE
Open this publication in new window or tab >>Design of Attack-Resilient Consensus Dynamics: A Game-Theoretic Approach
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2019 (English)In: Proceedings 2019 18th European Control Conference (ECC), IEEE , 2019, p. 2227-2232Conference paper, Published paper (Refereed)
Abstract [en]

We propose a game-theoretic framework for improving the resilience of multi-agent consensus dynamics in the presence of a strategic attacker. In this game, the attacker selects a set of network nodes to inject the attack signals. The attacker's objective is to minimize the required energy for steering the consensus towards its desired direction. This energy is captured by the trace of controllability Gramian of the system when the input is the attack signal. The defender improves the resilience of dynamics by adding self-feedback loops to certain nodes of the system and its objective is to maximize the trace of controllability Gramian. The Stackelberg equilibrium of the game is studied with the defender as the game leader. When the underlying network topology is a tree and the defender can select only one node, we show that the optimal strategy of the defender is determined by a specific distance-based network centrality measure, called network's f-center. In addition, we show that the degree-based centralities solutions may lead to undesirable payoffs for the defender. At the end, we discuss the case of multiple attack and defense nodes on general graphs.

Place, publisher, year, edition, pages
IEEE, 2019
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-263390 (URN)10.23919/ECC.2019.8796291 (DOI)000490488302041 ()2-s2.0-85071562919 (Scopus ID)9783907144008 (ISBN)
Conference
18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019
Note

QC 20191114

Available from: 2019-11-14 Created: 2019-11-14 Last updated: 2019-11-14Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-9940-5929

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