Search Results for author: Karl Henrik Johansson

Found 50 papers, 13 papers with code

Differentially Private Dual Gradient Tracking for Distributed Resource Allocation

no code implementations27 Mar 2024 Wei Huo, Xiaomeng Chen, Lingying Huang, Karl Henrik Johansson, Ling Shi

This paper investigates privacy issues in distributed resource allocation over directed networks, where each agent holds a private cost function and optimizes its decision subject to a global coupling constraint through local interaction with other agents.

Motion Planning for Identification of Linear Classifiers

no code implementations23 Mar 2024 Aneesh Raghavan, Karl Henrik Johansson

A given region in 2-D Euclidean space is divided by a unknown linear classifier in to two sets each carrying a label.

Motion Planning

Distributed Estimation by Two Agents with Different Feature Spaces

no code implementations12 Mar 2024 Aneesh Raghavan, Karl Henrik Johansson

We consider the problem of estimation of a function by a system consisting of two agents and a fusion center.


Distributed Learning and Function Fusion in Reproducing Kernel Hilbert Space

no code implementations5 Jan 2024 Aneesh Raghavan, Karl Henrik Johansson

We consider the problem of function estimation by a multi-agent system comprising of two agents and a fusion center.

Data-Driven Kalman Filter using Maximum Likelihood Optimization

no code implementations29 Nov 2023 Peihu Duan, Tao Liu, Yu Xing, Karl Henrik Johansson

A novel data-driven Kalman filter (DDKF) that combines model identification with state estimation is developed using pre-collected input-output data and uncertain initial state information of the unknown system.

Distributed Charging Coordination of Electric Trucks with Limited Charging Resources

1 code implementation12 Nov 2023 Ting Bai, Yuchao Li, Karl Henrik Johansson, Jonas Mårtensson

Electric trucks usually need to charge their batteries during long-range delivery missions, and the charging times are often nontrivial.

Hub-Based Platoon Formation: Optimal Release Policies and Approximate Solutions

no code implementations11 Nov 2023 Alexander Johansson, Ehsan Nekouei, Xiaotong Sun, Karl Henrik Johansson, Jonas Mårtensson

We first show that the optimal release policy in the decentralized case, where the hubs do not exchange information, is to release all trucks at the hub when the number of trucks exceeds a threshold computed by dynamic programming.

Social interactions for a sustainable lifestyle: The design of an experimental case study

no code implementations20 Sep 2023 Angela Fontan, Mahsa Farjadnia, Joe Llewellyn, Cecilia Katzeff, Marco Molinari, Vladimir Cvetkovic, Karl Henrik Johansson

Every day we face numerous lifestyle decisions, some dictated by habits and some more conscious, which may or may not promote sustainable living.

Large-Scale Multi-Fleet Platoon Coordination: A Dynamic Programming Approach

no code implementations21 Jul 2023 Ting Bai, Alexander Johansson, Karl Henrik Johansson, Jonas Mårtensson

This paper presents a distributed framework for addressing multi-fleet platoon coordination in large transportation networks, where each truck has a fixed route and aims to maximize its own fleet's platooning profit by scheduling its waiting times at hubs.


What influences occupants' behavior in residential buildings: An experimental study on window operation in the KTH Live-In Lab

no code implementations16 Jul 2023 Mahsa Farjadnia, Angela Fontan, Alessio Russo, Karl Henrik Johansson, Marco Molinari

Window-opening and window-closing behaviors play an important role in indoor environmental conditions and therefore have an impact on building energy efficiency.

Distributed Nash Equilibrium Seeking with Stochastic Event-Triggered Mechanism

no code implementations20 Apr 2023 Wei Huo, Kam Fai Elvis Tsang, Yamin Yan, Karl Henrik Johansson, Ling Shi

In this paper, we study the problem of consensus-based distributed Nash equilibrium (NE) seeking where a network of players, abstracted as a directed graph, aim to minimize their own local cost functions non-cooperatively.

Concentration in Gossip Opinion Dynamics over Random Graphs

no code implementations13 Jan 2023 Yu Xing, Karl Henrik Johansson

Leveraging matrix perturbation results, we show how such concentration can help study the effect of network structure on the expected final opinions in two cases: (i) When the influence of stubborn agents is large, the expected final opinions polarize and are close to stubborn agents' opinions.

Stochastic Block Model

Towards Efficient Dynamic Uplink Scheduling over Multiple Unknown Channels

no code implementations13 Dec 2022 Shuang Wu, Xiaoqiang Ren, Qing-Shan Jia, Karl Henrik Johansson, Ling Shi

To alleviate the challenge, we reformulate the problem as a variant of the restless multi-armed bandit (RMAB) problem and leverage Whittle's index theory to design an index-based scheduling policy algorithm.

Decision Making Scheduling

Resilient Set-based State Estimation for Linear Time-Invariant Systems Using Zonotopes

1 code implementation15 Nov 2022 Muhammad Umar B. Niazi, Amr Alanwar, Michelle S. Chong, Karl Henrik Johansson

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks.

Computational Efficiency

Robust Data-Driven Predictive Control of Unknown Nonlinear Systems using Reachability Analysis

1 code implementation10 Nov 2022 Mahsa Farjadnia, Amr Alanwar, Muhammad Umar B. Niazi, Marco Molinari, Karl Henrik Johansson

By using the past noisy input-output data in the learning phase, we propose a novel method to over-approximate reachable sets of an unknown nonlinear system.

Contract Composition for Dynamical Control Systems: Definition and Verification using Linear Programming

no code implementations2 Nov 2022 Miel Sharf, Bart Besselink, Karl Henrik Johansson

Contract theory has been proposed as a modular alternative to formal methods in control, in which specifications are defined by assumptions on the input to a component and guarantees on its output.

A State Feedback Controller for Mitigation of Continuous-Time Networked SIS Epidemics

no code implementations9 Oct 2022 YuAn Wang, Sebin Gracy, César A. Uribe, Hideaki Ishii, Karl Henrik Johansson

The upshot of devising such a strategy is that it allows health administration officials to ensure that there is sufficient capacity in the healthcare system to treat the most severe cases.

Learning-based Design of Luenberger Observers for Autonomous Nonlinear Systems

1 code implementation4 Oct 2022 Muhammad Umar B. Niazi, John Cao, Xudong Sun, Amritam Das, Karl Henrik Johansson

Designing Luenberger observers for nonlinear systems involves the challenging task of transforming the state to an alternate coordinate system, possibly of higher dimensions, where the system is asymptotically stable and linear up to output injection.

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.

Model Predictive Control Scheduling

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.

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.

Model Predictive Control

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.

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

The set-based estimation has gained a lot of attention due to its ability to guarantee state enclosures for safety-critical systems.

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 Strategies

2 code implementations23 Mar 2020 Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff

Both algorithms utilize a set-based diffusion step, which 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.

Linear System Identification Under Multiplicative Noise from Multiple Trajectory Data

1 code implementation16 Feb 2020 Yu Xing, Ben Gravell, Xingkang He, Karl Henrik Johansson, Tyler Summers

The study of multiplicative noise models has a long history in control theory but is re-emerging in the context of complex networked systems and systems with learning-based control.

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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