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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

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

Reliable connectivity between vehicles is a requirement for efficient overtaking warning systems. We investigate the 6 GHz propagation channel between oncoming vehicles with five different types of large obstructing vehicles in a poor scattering environment. The presented channel gains emphasize the advantages of different antenna positions and the difference between a straight road and curved roa

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

Algorithms for secure encryption in a post-quantum world are currently receiving a lot of attention in the research community, including several larger projects and a standardization effort from NIST. One of the most promising algorithms is the code-based scheme called QC-MDPC, which has excellent performance and a small public key size. In this work we present a very efficient key recovery attack

In computer vision, many problems can be formulated as finding a low rank approximation of a given matrix. Ideally, if all elements of the measurement matrix are available, this is easily solved in the L2-norm using factorization. However, in practice this is rarely the case. Lately, this problem has been addressed using different approaches, one is to replace the rank term by the convex nuclear no

Many modern software applications have performance requirements, like mobile and embedded systems that must keep up with sensor data, or web services that must return results to users within an acceptable latency bound. For such applications, the goal is not to run as fast as possible, but to meet their performance requirements with minimal resource usage, the key resource in most systems being en

This work presents an analysis of the physical properties of sub-micrometer aerosol particles measured at the high Arctic site Villum Research Station, Station Nord (VRS), northeast Greenland, between July 2010 and February 2013. The study focuses on particle number concentrations, particle number size distributions and the occurrence of new particle formation (NPF) events and their seasonality in