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Temporal logics have proven effective for correct-by-construction synthesis of controllers for a wide range of robotic applications. Receding horizon frameworks mitigate the computational intractability of reactive synthesis for temporal logic, but have thus far been limited by pursuing a single sequence of short horizon problems to the goal. We propose a receding horizon algorithm for reactive sy
Correct-by-construction synthesis of high-level reactive control relies on the use of formal methods to generate controllers with provable guarantees on their behavior. While this approach has been successfully applied to a wide range of systems and environments, it scales poorly. A receding horizon framework mitigates this computational blowup, by decomposing the global control problem into sever
We study the use of the System Optimum (SO) Dynamic Traffic Assignment (DTA) problem to design optimal traffic flow controls for freeway networks as modeled by the Cell Transmission Model, using variable speed limit, ramp metering, and routing. We consider two optimal control problems: the DTA problem, where turning ratios are part of the control inputs, and the Freeway Network Control (FNC), wher
Distributed averaging is one of the simplest and most widely studied network dynamics. Its applications range from cooperative inference in sensor networks, to robot formation, to opinion dynamics. A number of fundamental results and examples scattered through the literature are gathered here and some original approaches and generalizations are presented, emphasizing the deep interplay between the
We study System Optimum Dynamic Traffic Assignment (SO-DTA) for realistic traffic dynamics controlled by variable speed limits, ramp metering, and routing controls. We consider continuous-time cell-based Dynamic Network Loading models that include as special cases the Cell Transmission Model (CTM) with FIFO rule at the diverge junctions as well as non-FIFO diverge rules. While a straightforward co
Many notions of network centrality can be formulated in terms of invariant probability vectors of suitably defined stochastic matrices encoding the network structure. Analogously, invariant probability vectors of stochastic matrices allow one to characterize the asymptotic behavior of many linear network dynamics, e.g., arising in opinion dynamics in social networks as well as in distributed avera
Several strategic interactions over social networks display both negative and positive externalities at the same time. E.g., participation to a social media website with limited resources is more appealing the more of your friends participate, while a large total number of participants may slow down the website (because of congestion effects) thus making it less appealing. Similarly, while there a
Many linear dynamics over networks can be related by duality to the evolution of a Markov chain with state space coinciding with the node set of the network. Examples include opinion dynamics over social networks as well as distributed averaging algorithms for estimation or control. When the transition probability matrix P associated to the Markov chain is irreducible, a key quantity is its invari
This paper designs distributed dynamic traffic signal control policies for urban traffic networks. Vehicles at the end of an approach to an intersection queue up in separate lanes corresponding to different possible turn maneuvers at the upcoming intersection, according to fixed turn ratios. The departure rate of vehicles from the queue is governed by traffic signal control at the intersections. W
We propose a dynamical model for cascading failures in single-commodity network flows. In the proposed model, the network state consists of flows and activation status of the links. Network dynamics is determined by a, possibly state-dependent and adversarial, disturbance process that reduces flow capacity on the links, and routing policies at the nodes that have access to the network state, but a
We study System Optimum Dynamic Traffic Assignment (SO-DTA) for realistic traffic dynamics controlled by variable speed limits, ramp metering, and routing controls. We consider continuous-time cell-based Dynamic Network Loading models that include the Cell Transmission Model with FIFO rule at the diverge junctions as well as non-FIFO diverge rules. We consider SO-DTA formulations in which the tota
Massive multiple input multiple output (MIMO) is a revolutionary communication technique, where large numbers of antennas are employed at the base stations to increase the spectral efficiency, reliability and data rate of the system. Moreover, in multi-user MIMO (MU-MIMO) multiple users can be served by the base stations on the same time-frequency resource. Distributed antenna system (DAS) is a fo
The second generation (2G) cellular networks are the current workhorse for machine-to-machine (M2M) communications. Diversity in 2G devices can be present both in form of multiple receive branches and blind repetitions. In presence of diversity, intersymbol interference (ISI) equalization and co-channel interference (CCI) suppression are usually very complex. In this paper, we consider the improve
Harmonic task scheduling has many attractive properties, including a utilization bound of 100% under rate-monotonic scheduling and reduced jitter. At the same time, it places a severe constraint on the task period assignment for any application. In this paper, we explore the use of harmonic task scheduling for applications with multiple feedback control tasks. We investigate the properties of harm
The choice of channel propagation model used for the simulation-based study of Vehicular Ad hoc NETworks (VANETs) plays a key role in the accuracy of conclusions drawn about the performance of applications proposed for these networks. Relying on simplistic channel models, as frequently practised in previous works, leads either to pessimistic or optimistic conclusions. In the view of this, in this
Urban intersections constitute an important safety-critical scenario for vehicle-to-vehicle communication. Based on measurements, this paper presents detailed investigations of the radio wave propagation processes in a typical urban intersection. We focus on one time instance of the propagation process and set up hypothesis for locations of the scattering objects. Multipath components (MPCs) are i
We consider the problem of designing demodulators for channels with memory that use reduced-size trellis descriptions for the received signal. We assume an overall iterative receiver, and for the parts of the signal not covered by the trellis description, we use interference cancellation based on the soft information provided by the outer decoder. In order to reach a trellis description, a linear
Event-based sensing and communication holds the promise of lower resource utilization and/or better performance for remote state estimation applicationsin e.g networked control systems (NCS). However, the problem of designing an optimal event-based state estimator often becomes untractable due to nonlinear measurements. This complexity is avoided with stochastic event-triggering. In this work, we
We consider the problem of localizing a novel image in a large 3D model, given that the gravitational vector is known. In principle, this is just an instance of camera pose estimation, but the scale of the problem introduces some interesting challenges. Most importantly, it makes the correspondence problem very difficult so there will often be a significant number of outliers to handle. To tackle
The McEliece public key cryptosystem is an attractive general construction that has received extensive attention over the years. Recently, a very promising version called QC-MDPC, was proposed. By using binary quasi-cyclic codes, the size of the public key can be decreased significantly. The decryption step involves iterative decoding of moderate density parity check codes (MDPC). In this paper we
