Search Results for author: Karl Henrik Johansson

Found 29 papers, 8 papers with code

Approximate Dynamic Programming for Platoon Coordination under Hours-of-Service Regulations

no code implementations19 Aug 2022 Ting Bai, Alexander Johansson, Karl Henrik Johansson, Jonas Mårtensson

In our problem, trucks have fixed routes in a transportation network and can wait at hubs along their routes to form platoons with others while fulfilling the driving and rest time constraints.

Decision Making

Modeling and Analysis of a Coupled SIS Bi-Virus Model

no code implementations23 Jul 2022 Sebin Gracy, Philip E. Paré, Ji Liu, Henrik Sandberg, Carolyn L. Beck, Karl Henrik Johansson, Tamer Başar

We establish a sufficient condition and multiple necessary conditions for local exponential convergence to the boundary equilibrium (i. e., one virus persists, the other one dies out) of each virus.

Event-Triggered Distributed Model Predictive Control for Platoon Coordination at Hubs in a Transport System

no code implementations18 Feb 2022 Ting Bai, Alexander Johansson, Karl Henrik Johansson, Jonas Mårtensson

This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize.

Multi-Fleet Platoon Matching: A Game-Theoretic Approach

no code implementations17 Feb 2022 Alexander Johansson, Ehsan Nekouei, Karl Henrik Johansson, Jonas Mårtensson

At a Nash equilibrium, vehicles with the same departure time are matched to form a platoon.

Verifying Contracts for Perturbed Control Systems using Linear Programming

no code implementations1 Nov 2021 Miel Sharf, Bart Besselink, Karl Henrik Johansson

We present a comparison-based framework, verifying that a perturbed system satisfies a contract by checking that the corresponding unperturbed system satisfies a robustified (and $\epsilon$-approximated) contract.

Autonomous Driving

Variable-Speed Wind Turbine Control Designed for Coordinated Fast Frequency Reserves

1 code implementation5 Aug 2021 Joakim Björk, Daniel Vázquez Pombo, Karl Henrik Johansson

It is shown that the NMP model is useful for designing a controller that coordinates FFR from wind with slow FCR from hydro turbines.

Dynamic Virtual Power Plant Design for Fast Frequency Reserves: Coordinating Hydro and Wind

1 code implementation7 Jul 2021 Joakim Björk, Karl Henrik Johansson, Florian Dörfler

To ensure frequency stability in future low-inertia power grids, fast ancillary services such as fast frequency reserves (FFR) have been proposed.

Identification of Linear Systems with Multiplicative Noise from Multiple Trajectory Data

no code implementations30 Jun 2021 Yu Xing, Benjamin Gravell, Xingkang He, Karl Henrik Johansson, Tyler Summers

An algorithm based on the least-squares method and multiple-trajectory data is proposed for joint estimation of the nominal system matrices and the covariance matrix of the multiplicative noise.

Suppressing the endemic equilibrium in SIS epidemics: A state dependent approach

no code implementations31 May 2021 YuAn Wang, Sebin Gracy, Hideaki Ishii, Karl Henrik Johansson

This paper considers the susceptible-infected-susceptible (SIS) epidemic model with an underlying network structure among subpopulations and focuses on the effect of social distancing to regulate the epidemic level.

Data-Driven Reachability Analysis from Noisy Data

1 code implementation15 May 2021 Amr Alanwar, Anne Koch, Frank Allgöwer, Karl Henrik Johansson

We consider the problem of computing reachable sets directly from noisy data without a given system model.

Strategic Hub-Based Platoon Coordination under Uncertain Travel Times

no code implementations1 Apr 2021 Alexander Johansson, Ehsan Nekouei, Karl Henrik Johansson, Jonas Mårtensson

We show that the platoon coordination game is a potential game when the travel times are either deterministic or stochastic, and the vehicles decide on their waiting times at the beginning of their journeys.

Verifying Compositional Refinement of Assume/Guarantee Contracts using Linear Programming

no code implementations25 Mar 2021 Miel Sharf, Bart Besselink, Karl Henrik Johansson

Verifying specifications for large-scale modern engineering systems can be a time-consuming task, as most formal verification methods are limited to systems of modest size.

Robust Data-Driven Predictive Control using Reachability Analysis

1 code implementation25 Mar 2021 Amr Alanwar, Yvonne Stürz, Karl Henrik Johansson

Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven reachable regions is proposed.

Semantic Communications in Networked Systems: A Data Significance Perspective

no code implementations9 Mar 2021 Elif Uysal, Onur Kaya, Anthony Ephremides, James Gross, Marian Codreanu, Petar Popovski, Mohamad Assaad, Gianluigi Liva, Andrea Munari, Touraj Soleymani, Beatriz Soret, Karl Henrik Johansson

We present our vision for a departure from the established way of architecting and assessing communication networks, by incorporating the semantics of information for communications and control in networked systems.

Decision Making

Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios

no code implementations2 Mar 2021 Vandana Narri, Amr Alanwar, Jonas Mårtensson, Christoffer Norén, Laura Dal Col, Karl Henrik Johansson

Depending on the ego-vehicle's ability to fuse information from sensors in other vehicles or in the infrastructure, shared situational awareness is developed using a set-based estimation technique that provides robust guarantees for the location of the pedestrian.

Data-Driven Set-Based Estimation using Matrix Zonotopes with Set Containment Guarantees

1 code implementation26 Jan 2021 Amr Alanwar, Alexander Berndt, Karl Henrik Johansson, Henrik Sandberg

We propose a method to perform set-based state estimation of an unknown dynamical linear system using a data-driven set propagation function.

Causality Graph of Vehicular Traffic Flow

no code implementations23 Nov 2020 Sina Molavipour, Germán Bassi, Mladen Čičić, Mikael Skoglund, Karl Henrik Johansson

In an intelligent transportation system, the effects and relations of traffic flow at different points in a network are valuable features which can be exploited for control system design and traffic forecasting.

Data-Driven Reachability Analysis Using Matrix Zonotopes

1 code implementation17 Nov 2020 Amr Alanwar, Anne Koch, Frank Allgöwer, Karl Henrik Johansson

In this paper, we propose a data-driven reachability analysis approach for unknown system dynamics.

Power Injection Attacks in Smart Distribution Grids with Photovoltaics

no code implementations11 Nov 2020 Martin Lindström, Hampei Sasahara, Xingkang He, Henrik Sandberg, Karl Henrik Johansson

We study the worst-case attack strategy of a power injection attack against the physical layer of a smart distribution grid with a high penetration of photovoltaic resources.

Privacy Preserving Set-Based Estimation Using Partially Homomorphic Encryption

1 code implementation19 Oct 2020 Amr Alanwar, Victor Gassmann, Xingkang He, Hazem Said, Henrik Sandberg, Karl Henrik Johansson, Matthias Althoff

This paper presents the first privacy-preserving set-based estimation protocols using partially homomorphic encryption in which we preserve the privacy of the set of all possible estimates and the measurements.

Cryptography and Security Robotics

A Scalable Nyquist Stability Criterion with Application to Power System Small-Signal Stability

no code implementations19 Oct 2020 Joakim Björk, Karl Henrik Johansson

A decentralized stability criterion is derived for a power system with heterogeneous subsystems.

Numerical Investigation of Traffic State Reconstruction and Control Using Connected Automated Vehicles

no code implementations6 Oct 2020 Mladen Cicic, Matthieu Barreau, Karl Henrik Johansson

The aim is to show the effect of the state reconstruction on the efficiency of the control, compared to the case using full information about the traffic.

Optimization and Control

Lambda-Policy Iteration with Randomization for Contractive Models with Infinite Policies: Well-Posedness and Convergence

no code implementations L4DC 2020 Yuchao Li, Karl Henrik Johansson, Jonas Mårtensson

The operator is known to be well-posed for problems with finite states, but our analysis shows that it is also well-defined for the contractive models with infinite states studied.

Remote State Estimation with Smart Sensors over Markov Fading Channels

no code implementations16 May 2020 Wanchun Liu, Daniel E. Quevedo, Yonghui Li, Karl Henrik Johansson, Branka Vucetic

A smart sensor forwards its local state estimate to a remote estimator over a time-correlated $M$-state Markov fading channel, where the packet drop probability is time-varying and depends on the current fading channel state.

Distributed Set-Based Observers Using Diffusion Strategy

1 code implementation23 Mar 2020 Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff

Our set-based diffusion step decreases the estimation errors and the size of estimated sets and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets.

Influence of Sensor Feedback Limitations on Power Oscillation Damping and Transient Stability

no code implementations8 Nov 2019 Joakim Björk, Danilo Obradović, Lennart Harnefors, Karl Henrik Johansson

Using a two-machine power system model, it is shown that improved damping of inter-area oscillations must come at the cost of reduced transient stability margins, regardless of the control design method.

Distributed Design of Robust Kalman Filters over Corrupted Channels

no code implementations29 Jun 2019 Xingkang He, Karl Henrik Johansson, Haitao Fang

We study distributed filtering for a class of uncertain systems over corrupted communication channels.

Generic Variance Bounds on Estimation and Prediction Errors in Time Series Analysis: An Entropy Perspective

no code implementations9 Apr 2019 Song Fang, Mikael Skoglund, Karl Henrik Johansson, Hideaki Ishii, Quanyan Zhu

In this paper, we obtain generic bounds on the variances of estimation and prediction errors in time series analysis via an information-theoretic approach.

Gaussian Processes Time Series +1

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