no code implementations • 28 Apr 2024 • Mohammad Javad Najafirad, Shirantha Welikala
First, we describe the closed-loop DC MG as a networked system where the sets of DGs and lines (i. e., subsystems) are interconnected via a static interconnection matrix.
no code implementations • 20 Mar 2024 • Shirantha Welikala, Christos G. Cassandras
We consider a class of multi-agent optimal coverage problems in which the goal is to determine the optimal placement of a group of agents in a given mission space so that they maximize a coverage objective that represents a blend of individual and collaborative event detection capabilities.
1 code implementation • 11 Dec 2023 • Shirantha Welikala, Zihao Song, Panos J. Antsaklis, Hai Lin
However, it is beneficial to design both the platooning controller and the communication topology simultaneously, i. e., controller and topology co-design, especially in the cases of platoon splitting and merging.
no code implementations • 16 May 2023 • Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Moreover, the degree of satisfaction of STL specifications can be evaluated using ``STL robust semantics'' as a scalar robustness measure.
no code implementations • 4 May 2023 • Shirantha Welikala, Hai Lin, Panos J. Antsaklis
In this paper, we consider networked systems comprised of interconnected sets of linear subsystems and propose a decentralized and compositional approach to stabilize or dissipativate such linear networked systems via optimally modifying some existing interconnections and/or creating entirely new interconnections.
no code implementations • 29 Sep 2022 • Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Second, we show that the centralized interconnection topology \emph{synthesis} techniques for these NSCs can also be developed as LMI problems.
no code implementations • 5 Jul 2022 • Zihao Song, Shirantha Welikala, Panos J. Antsaklis, Hai Lin
Using this notion, we propose an adaptive backstepping controller for the platoon such that the compositionality and the distributed nature of the controller can be ensured while the internal stability and string stability of the closed-loop system are formally guaranteed.
no code implementations • 20 Apr 2022 • Shirantha Welikala, Hai Lin, Panos Antsaklis
Subsequently, we also specialize all the derived results for discrete-time networked systems.
no code implementations • 31 Mar 2022 • Shirantha Welikala, Hai Lin, Panos J. Antsaklis
We consider the problem of on-line evaluation of critical characteristic parameters such as the L_2-gain (L2G), input feedforward passivity index (IFP) and output feedback passivity index (OFP) of non-linear systems using their input-output data.
no code implementations • 4 Mar 2022 • Zihao Song, Vince Kurtz, Shirantha Welikala, Panos J. Antsaklis, Hai Lin
First, a lower-dimensional linear system (abstraction) and an associated interface are designed to enable the output of the PWA system (concrete system) to track the output of the abstraction.
no code implementations • 17 Jan 2022 • Samuel C. Pinto, Shirantha Welikala, Sean B. Andersson, Julien M. Hendrickx, Christos G. Cassandras
For a given visiting sequence, we prove that in an optimal dwelling time allocation the peak uncertainty is the same among all the targets.
no code implementations • 25 Feb 2021 • Shirantha Welikala, Christos G. Cassandras
This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents.
no code implementations • 24 Sep 2020 • Shirantha Welikala, Christos G. Cassandras
We consider the problem of estimating the states of a distributed network of nodes (targets) through a team of cooperating agents (sensors) persistently visiting the nodes so that an overall measure of estimation error covariance evaluated over a finite period is minimized.