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no code implementations • 29 Nov 2022 • Apostolos I. Rikos, Themistoklis Charalambous, Christoforos N. Hadjicostis, Karl H. Johansson

We present two distributed algorithms which rely on quantized operation (i. e., nodes process and transmit quantized messages), and are able to calculate the exact solutions in a finite number of steps.

no code implementations • 20 Nov 2022 • Apostolos I. Rikos, Wei Jiang, Themistoklis Charalambous, Karl H. Johansson

In this paper, we consider the unconstrained distributed optimization problem, in which the exchange of information in the network is captured by a directed graph topology, and thus nodes can send information to their out-neighbors only.

no code implementations • 20 Nov 2022 • Mahmoud Selim, Amr Alanwar, M. Watheq El-Kharashi, Hazem M. Abbas, Karl H. Johansson

If there is an intersection between the reachable set of the robot using the proposed action, we call the data-driven predictive controller to find the closest safe action to the proposed unsafe action.

no code implementations • 10 Nov 2022 • Zishuo Li, Muhammad Umar B. Niazi, Changxin Liu, Yilin Mo, Karl H. Johansson

At each time step, the local estimates of sensors are fused by solving an optimization problem to obtain a secure estimation, which is then followed by a local detection-and-resetting process of the decentralized observers.

1 code implementation • 16 Oct 2022 • Amr Alanwar, Frank J. Jiang, Samy Amin, Karl H. Johansson

In this paper, we propose a new set representation for binary vectors called logical zonotopes.

no code implementations • 6 Sep 2022 • Zifan Wang, Yi Shen, Zachary I. Bell, Scott Nivison, Michael M. Zavlanos, Karl H. Johansson

Specifically, the agents use the conditional value at risk (CVaR) as a risk measure and rely on bandit feedback in the form of the cost values of the selected actions at every episode to estimate their CVaR values and update their actions.

no code implementations • 30 Aug 2022 • Mohammadreza Doostmohammadian, Alireza Aghasi, Apostolos I. Rikos, Andreas Grammenos, Evangelia Kalyvianaki, Christoforos N. Hadjicostis, Karl H. Johansson, Themistoklis Charalambous

This paper considers a network of collaborating agents for local resource allocation subject to nonlinear model constraints.

no code implementations • 25 Jul 2022 • Yuhao Yi, YuAn Wang, Xingkang He, Stacy Patterson, Karl H. Johansson

In this paper, we propose a sample-based algorithm to approximately test $r$-robustness of a digraph with $n$ vertices and $m$ edges.

no code implementations • 17 Jul 2022 • Apostolos I. Rikos, Gabriele Oliva, Christoforos N. Hadjicostis, Karl H. Johansson

The goal of $k$-means is to partition the network's agents in mutually exclusive sets (groups) such that agents in the same set have (and possibly share) similar information and are able to calculate a representative value for their group. During the operation of our distributed algorithm, each node (i) transmits quantized values in an event-driven fashion, and (ii) exhibits distributed stopping capabilities.

no code implementations • 17 Jul 2022 • Apostolos I. Rikos, Christoforos N. Hadjicostis, Karl H. Johansson

In this paper, we focus on the problem of data sharing over a wireless computer network (i. e., a wireless grid).

no code implementations • 17 Jul 2022 • Apostolos I. Rikos, Christoforos N. Hadjicostis, Karl H. Johansson

Furthermore, we present topological conditions under which the proposed algorithm allows nodes to preserve their privacy.

1 code implementation • 15 Apr 2022 • Mahmoud Selim, Amr Alanwar, Shreyas Kousik, Grace Gao, Marco Pavone, Karl H. Johansson

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments.

no code implementations • 18 Feb 2022 • Alexander Johansson, Valerio Turri, Ehsan Nekouei, Karl H. Johansson, Jonas Mårtensson

The vehicles wait at the hub, and a platoon coordinator, at each time-step, decides whether to release the vehicles from the hub in the form of a platoon or wait for more vehicles to arrive.

no code implementations • 8 Nov 2021 • Amr Alanwar, Muhammad Umar B. Niazi, Karl H. Johansson

The offline phase utilizes past input-output data to estimate a set of possible coefficients of the polynomial system.

no code implementations • 1 Oct 2021 • Apostolos I. Rikos, Christoforos N. Hadjicostis, Karl H. Johansson

Motivated by these novel requirements, in this paper, we present and analyze a novel distributed average consensus algorithm, which (i) operates exclusively on quantized values (in order to guarantee efficient communication and data storage), and (ii) relies on event-driven updates (in order to reduce energy consumption, communication bandwidth, network congestion, and/or processor usage).

no code implementations • 29 Sep 2021 • Jakob Nylöf, Apostolos I. Rikos, Sebin Gracy, Karl H. Johansson

It is shown that the proposed privacy-preserving resource allocation algorithm performs well with an appropriate convergence rate under privacy guarantees.

no code implementations • 21 Sep 2021 • Elis Stefansson, Karl H. Johansson

We present two algorithms obtaining low-complexity policies, where the first algorithm obtains a low-complexity optimal policy, and the second algorithm finds a policy maximising performance while maintaining local (stage-wise) complexity constraints.

no code implementations • 20 Sep 2021 • Philip E. Pare, Axel Janson, Sebin Gracy, Ji Liu, Henrik Sandberg, Karl H. Johansson

We develop a layered networked spread model for a susceptible-infected-susceptible (SIS) pathogen-borne disease spreading over a human contact network and an infrastructure network, and refer to it as a layered networked susceptible-infected-water-susceptible (SIWS) model.

no code implementations • 9 Jun 2021 • Xinlei Yi, Xiuxian Li, Tao Yang, Lihua Xie, Tianyou Chai, Karl H. Johansson

A novel algorithm is first proposed and it achieves an $\mathcal{O}(T^{\max\{c, 1-c\}})$ bound for static regret and an $\mathcal{O}(T^{(1-c)/2})$ bound for cumulative constraint violation, where $c\in(0, 1)$ is a user-defined trade-off parameter, and thus has improved performance compared with existing results.

no code implementations • 22 May 2021 • Ehsan Nekouei, Henrik Sandberg, Mikael Skoglund, Karl H. Johansson

To ensure parameter privacy, we propose a filter design framework which consists of two components: a randomizer and a nonlinear transformation.

no code implementations • 10 May 2021 • Jianqi Chen, Jieqiang Wei, Wei Chen, Henrik Sandberg, Karl H. Johansson, Jie Chen

Undetectable attacks are an important class of malicious attacks threatening the security of cyber-physical systems, which can modify a system's state but leave the system output measurements unaffected, and hence cannot be detected from the output.

no code implementations • 1 May 2021 • Xinlei Yi, Xiuxian Li, Tao Yang, Lihua Xie, Tianyou Chai, Karl H. Johansson

This is a sequential decision making problem with two sequences of arbitrarily varying convex loss and constraint functions.

no code implementations • 12 Apr 2021 • Matin Jafarian, Mohammad H. Mamduhi, Karl H. Johansson

We assume constant exogenous frequencies and derive sufficient conditions for achieving both stochastic phase-cohesive and phase-locked solutions, i. e., the stochastic phase-cohesiveness with respect to the origin.

no code implementations • 9 Apr 2021 • Wanchun Liu, Daniel E. Quevedo, Karl H. Johansson, Branka Vucetic, Yonghui Li

We investigate the stability conditions for remote state estimation of multiple linear time-invariant (LTI) systems over multiple wireless time-varying communication channels.

no code implementations • 10 Mar 2021 • Xingkang He, Yu Xing, Junfeng Wu, Karl H. Johansson

We show that given the step size, adjusting the decay speed of the triggering threshold can lead to a tradeoff between the convergence rate of the estimation error and the decay speed of the communication rate.

no code implementations • 19 Feb 2021 • Yu Xing, Xingkang He, Haitao Fang, Karl H. Johansson

It is assumed that each agent is assigned with one of two community labels, and the agents interact with probabilities depending on their labels.

1 code implementation • 6 Jun 2020 • Dominik Baumann, Friedrich Solowjow, Karl H. Johansson, Sebastian Trimpe

In this paper, we propose a method that identifies the causal structure of control systems.

no code implementations • 4 Jun 2020 • Xinlei Yi, Shengjun Zhang, Tao Yang, Tianyou Chai, Karl H. Johansson

The distributed nonconvex optimization problem of minimizing a global cost function formed by a sum of $n$ local cost functions by using local information exchange is considered.

Optimization and Control

no code implementations • 11 Apr 2020 • Xingkang He, Xiaoqiang Ren, Henrik Sandberg, Karl H. Johansson

The resilience of the secured filter with detection is verified by an explicit relationship between the upper bound of the estimation error and the number of detected attacked sensors.

no code implementations • 6 Mar 2019 • Xinlei Yi, Xiuxian Li, Lihua Xie, Karl H. Johansson

Assuming Slater's condition, we show that the algorithm achieves smaller bounds on the constraint violation.

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