Research
Research
Research
Research
317+ open-access research outputs.
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
In this paper, we present the Electric Mobility Dial-a-Ride Problem (EM-DARP), which extends the Electric Vehicle Dial-a-Ride Problem (EV-DARP) to better accommodate human-focused mobility services. T…
Modern world models are becoming too complex to admit explicit dynamical descriptions. We study safety-critical contextual control, where a Planner must optimize a task objective using only feasibilit…
Computing Fourier transforms of k-sparse signals, where only k of N frequencies are non-zero, is fundamental in compressed sensing, radar, and medical imaging. While the Fast Fourier Transform (FFT) e…
Optimization using network traffic models requires computing gradients of objective functions with respect to model parameters. However, derivation of such gradients has often been considered difficul…
A $G$-normal random variable $X\sim \mathcal{N}(0,[\underline{\sigma}^2,\overline{\sigma}^2])$ does not admit a unique probability law due to volatility uncertainty. For a given test function $\phi$, …
Deep stochastic state-space models enable Bayesian filtering in nonlinear, partially observed systems but typically assume a fixed latent structure. When this assumption is violated, parameter adaptat…
This paper addresses the decentralized coordinated charging problem for a large population of battery storage agents (e.g. residential batteries, electrical vehicles, charging station batteries) using…
We propose ScalarFedLQR, a communication-efficient federated algorithm for model-free learning of a common policy in linear quadratic regulator (LQR) control of heterogeneous agents. The method builds…
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncertainty, robustness of…
An unconstrained optimal control policy is completely decentralized if computing actuation for each subsystem only requires information directly available to its own subcontroller. Parameters that adm…
Generative artificial intelligence offers a new paradigm to design matter in high-dimensional spaces. However, its underlying mechanisms remain difficult to interpret and limit adoption in computation…
Reachability analysis evaluates system safety, by identifying the set of states a system may evolve within over a finite time horizon. In contrast to model-based reachability analysis, data-driven rea…
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of group invariance ena…
In real-world robotic manipulation, states typically admit a neighborhood of near-equivalent actions. That is, for each state, there exist a feasible action neighborhood (FAN) rather than a single cor…
In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtain…
Integrated Sensing and Communication (ISAC) is a key enabler of high speed, ultra low latency vehicular communication in 6G. ISAC leverages radar signal processing (RSP) to localize multiple unknown t…
This paper proposes a Koopman-based linear model predictive control (LMPC) framework for safety-critical control of nonlinear discrete-time systems. Existing MPC formulations based on discrete-time co…
Moment estimation for stochastic differential equations (SDEs) is fundamental to the formal reasoning and verification of stochastic dynamical systems, yet remains challenging and is rarely available …
Classical controllability and observability characterise reachability and reconstructibility of the full system state and admit equivalent geometric and eigenvalue-based Popov-Belevitch-Hautus (PBH) t…
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