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Publications (10 of 596) Show all publications
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)2-s2.0-85060331157 (Scopus ID)
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved
Yi, X., Yang, T., Wu, J. & Johansson, K. H. (2019). Distributed event-triggered control for global consensus of multi-agent systems with input saturation. Automatica, 100, 1-9
Open this publication in new window or tab >>Distributed event-triggered control for global consensus of multi-agent systems with input saturation
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 100, p. 1-9Article in journal (Refereed) Published
Abstract [en]

The global consensus problem for first-order continuous-time multi-agent systems with input saturation is considered. In order to reduce the overall need of communication and system updates, we propose an event-triggered consensus protocol and a triggering law, which do not require any a priori knowledge of global network parameters. It is shown that Zeno behavior is excluded for these systems and that the underlying directed graph having a directed spanning tree is a necessary and sufficient condition for global consensus. We use a new Lyapunov function to show the sufficient condition and it inspires the triggering law. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Event-triggered control, Global consensus, Input saturation, Multi-agent systems
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-244103 (URN)10.1016/j.automatica.2018.10.032 (DOI)000456902200001 ()2-s2.0-85056671408 (Scopus ID)
Funder
Knut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research Swedish Research Council
Note

QC 20190219

Available from: 2019-02-19 Created: 2019-02-19 Last updated: 2019-02-19Bibliographically approved
Fang, S., Ishii, H., Chen, J. & Johansson, K. H. (2018). A Frequency-Domain Characterization of Optimal Error Covariance for the Kalman-Bucy Filter. In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC): . Paper presented at 57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL (pp. 6366-6371). IEEE
Open this publication in new window or tab >>A Frequency-Domain Characterization of Optimal Error Covariance for the Kalman-Bucy Filter
2018 (English)In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 6366-6371Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we discover that the trace of the division of the optimal output estimation error covariance over the noise covariance attained by the Kalman-Bucy filter can be explicitly expressed in terms of the plant dynamics and noise statistics in a frequency-domain integral characterization. Towards this end, we examine the algebraic Riccati equation associated with Kalman-Bucy filtering using analytic function theory and relate it to the Bode integral. Our approach features an alternative, frequency-domain framework for analyzing algebraic Riccati equations and reduces to various existing related results.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-245013 (URN)000458114805140 ()978-1-5386-1395-5 (ISBN)
Conference
57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-03-05Bibliographically approved
Liu, H., Yan, J., Mo, Y. & Johansson, K. H. (2018). An On-line Design of Physical Watermarks. In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC): . Paper presented at 57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL (pp. 440-445). IEEE
Open this publication in new window or tab >>An On-line Design of Physical Watermarks
2018 (English)In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 440-445Conference paper, Published paper (Refereed)
Abstract [en]

This paper considers the problem of designing physical watermark signals to protect a control system against replay attacks. We first introduce the replay attack model, where an adversary replays the previous sensory data in order to fool the controller to believe the system is still operating normally. The physical watermarking scheme, which leverages a random control input as a watermark to detect the replay attack is introduced. The optimal watermark signal design problem is then proposed as an optimization problem, which achieves the optimal trade-off between the control performance and attack detection performance. For the system with unknown parameters, we provide a procedure to asymptotically derive the optimal watermarking signal. Numerical examples are provided to illustrate the effectiveness of the proposed strategy.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-245018 (URN)000458114800062 ()978-1-5386-1395-5 (ISBN)
Conference
57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-03-05Bibliographically approved
Stankovic, M. S., Stankovic, S. S. & Johansson, K. H. (2018). Asynchronous Distributed Blind Calibration of Sensor Networks Under Noisy Measurements. IEEE Transactions on Big Data, 5(1), 571-582
Open this publication in new window or tab >>Asynchronous Distributed Blind Calibration of Sensor Networks Under Noisy Measurements
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 1, p. 571-582Article in journal (Refereed) Published
Abstract [en]

In this paper, a novel distributed algorithm for asynchronous blind macro-calibration in sensor networks with noisy measurements is proposed. The algorithm is formulated as a set of instrumental variable type recursions for estimating parameters of sensor calibration functions. It is proved using asynchronous stochastic approximation arguments and properties of block-diagonally dominant matrices that the algorithm achieves asymptotic consensus for sensor gains and offsets in the mean square sense and with probability one. Recommendations for system design in terms of the choice of a priori tunable weights are provided. Special attention is paid to the situation when a subset of sensors in the network (reference sensors) remains with fixed characteristics. In the case of only one reference sensor, convergence of the remaining sensors to its characteristics is proved. In the case of more than one reference sensor, it is proved that the calibration parameters converge to points that depend only on the characteristics of the reference sensors and the network properties.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-225732 (URN)10.1109/TCNS.2016.2633788 (DOI)000427871900050 ()2-s2.0-85044502030 (Scopus ID)
Funder
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20180410

Available from: 2018-04-10 Created: 2018-04-10 Last updated: 2018-04-10Bibliographically approved
Adaldo, A., Liuzza, D., Dimarogonas, D. V. & Johansson, K. H. (2018). Cloud-Supported Formation Control of Second-Order Multiagent Systems. IEEE Transactions on Big Data, 5(4), 1563-1574
Open this publication in new window or tab >>Cloud-Supported Formation Control of Second-Order Multiagent Systems
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 4, p. 1563-1574Article in journal (Refereed) Published
Abstract [en]

This paper addresses a formation problem for a network of autonomous agents with second-order dynamics and bounded disturbances. Coordination is achieved by having the agents asynchronously upload (download) data to (from) a shared repository, rather than directly exchanging data with other agents. Well-posedness of the closed-loop system is demonstrated by showing that there exists a lower bound for the time interval between two consecutive agent accesses to the repository. Numerical simulations corroborate the theoretical results.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
Keywords
Cloud-supported control, second-order consensus, self-triggered control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241229 (URN)10.1109/TCNS.2017.2732819 (DOI)000454245200006 ()2-s2.0-85028930826 (Scopus ID)
Note

QC 20190117

Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-01-17Bibliographically approved
Cavaliere, C., Mariniello, D., Adaldo, A., Lo Iudice, F., Dimarogonas, D. V., Johansson, K. H. & di Bernardo, M. (2018). Cloud-supported self-triggered control for multi-agent circumnavigation. In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC): . Paper presented at 57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL (pp. 5090-5095). IEEE
Open this publication in new window or tab >>Cloud-supported self-triggered control for multi-agent circumnavigation
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2018 (English)In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 5090-5095Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose a cloud-supported control framework for multi-agent circumnavigation missions. We consider a network of planar autonomous agents. Our objective is for the agents to circumnavigate a target with a desired angular speed, while forming a regular polygon around the target. We propose self-triggered rules to schedule the bearing measurements and the cloud accesses for each agent.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-245012 (URN)000458114804108 ()978-1-5386-1395-5 (ISBN)
Conference
57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-03-05Bibliographically approved
Pu, Y., Zhu, J., Johansson, K. H., Ramchandran, K. & Tomlin, C. J. (2018). Coded Control over Lossy Networks. In: Proceedings of the American Control Conference: . Paper presented at 2018 Annual American Control Conference, ACC 2018, 27 June 2018 through 29 June 2018 (pp. 3602-3608). Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>Coded Control over Lossy Networks
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2018 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 3602-3608Conference paper, Published paper (Refereed)
Abstract [en]

We consider a networked control system with an unreliable feedback link from the sensor to the controller. Specifically, a discrete-time linear system is to be controlled via a packet-drop channel where multiple packets are transmitted at each time instance. We propose a coded control scheme that jointly designs the coding strategy, which mitigates the channel unreliability, and the control strategy, which stabilizes the unstable system. This scheme is based on the idea of successive refinement, that more important system states (or linear combinations thereof) should be better protected against the unreliable channel. The proposed scheme is simple to implement as it uses a static encoder and decoder/controller, in the sense that all encoding and decoding procedures do not require information from previous time steps. Furthermore, we compare it with two other static schemes and show that our approach strikes a good balance between optimality and complexity.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-238031 (URN)10.23919/ACC.2018.8431277 (DOI)2-s2.0-85052565729 (Scopus ID)9781538654286 (ISBN)
Conference
2018 Annual American Control Conference, ACC 2018, 27 June 2018 through 29 June 2018
Note

Conference code: 138710; Export Date: 30 October 2018; Conference Paper; CODEN: PRACE; Funding details: UC Berkeley, University of California Berkeley; Funding details: P2ELP2_165137; Funding details: P2ELP2_165155; Funding text: Ye Pu, Jingge Zhu, Kannan Ramchandran and Claire J. Tomlin are with the EECS Department, University of California, Berkeley, CA, USA, e-mail: {yepu, jingge.zhu, kannanr, tomlin}@eecs.berkeley.edu. Y. Pu and J. Zhu are supported by the Swiss NSF under Projects P2ELP2_165137 and P2ELP2_165155.

QC 20190115

Available from: 2019-01-15 Created: 2019-01-15 Last updated: 2019-01-15Bibliographically approved
De Campos, G. R., Dimarogonas, D. V., Seuret, A. & Johansson, K. H. (2018). Distributed control of compact formations for multi-robot swarms. IMA Journal of Mathematical Control and Information, 35(3), 805-835
Open this publication in new window or tab >>Distributed control of compact formations for multi-robot swarms
2018 (English)In: IMA Journal of Mathematical Control and Information, ISSN 0265-0754, E-ISSN 1471-6887, Vol. 35, no 3, p. 805-835Article in journal (Refereed) Published
Abstract [en]

This article proposes a distributed algorithm for the compact deployment of robots, using both distance-and angular-based arguments in the controllers' design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph's connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.

Place, publisher, year, edition, pages
Oxford University Press, 2018
Keywords
multi-agent systems (MAS), dispersion, compact formations, formation shape control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-239502 (URN)10.1093/imamci/dnw073 (DOI)000449361300006 ()2-s2.0-85057184373 (Scopus ID)
Note

QC 201811128

Available from: 2018-11-28 Created: 2018-11-28 Last updated: 2019-03-18Bibliographically approved
Yi, X., Yao, L., Yang, T., George, J. & Johansson, K. H. (2018). Distributed Optimization for Second-Order Multi-Agent Systems with Dynamic Event-Triggered Communication. In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC): . Paper presented at 57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL (pp. 3397-3402). IEEE
Open this publication in new window or tab >>Distributed Optimization for Second-Order Multi-Agent Systems with Dynamic Event-Triggered Communication
Show others...
2018 (English)In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 3397-3402Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose a fully distributed algorithm for second-order continuous-time multi-agent systems to solve the distributed optimization problem. The global objective function is a sum of private cost functions associated with the individual agents and the interaction between agents is described by a weighted undirected graph. We show the exponential convergence of the proposed algorithm if the underlying graph is connected, each private cost function is locally gradient-Lipschitz- continuous, and the global objective function is restricted strongly convex with respect to the global minimizer. Moreover, to reduce the overall need of communication, we then propose a dynamic event-triggered communication mechanism that is free of Zeno behavior. It is shown that the exponential convergence is achieved if the private cost functions are also globally gradient-Lipschitz- continuous. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-245008 (URN)000458114803031 ()978-1-5386-1395-5 (ISBN)
Conference
57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-03-05Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-9940-5929

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