Y. Wardi
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Integrating macroeconomic and public health impacts in social planning policies for pandemic response Open
Infectious disease outbreaks with pandemic potential present challenges for mitigation and control. Policymakers must reduce disease-associated morbidity and mortality while also minimizing socioeconomic costs of interventions. At present,…
Lightweight Tracking Control for Computationally Constrained Aerial Systems with the Newton-Raphson Method Open
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. This tracking technique has been shown to enjoy theoretical g…
Stability Analysis of the Newton-Raphson Controller for a Class of Differentially Flat Systems Open
The Newton-Raphson Controller, established on the output prediction and the Newton-Raphson algorithm, is shown to be effective in a variety of control applications. Although the stability condition of the controller for linear systems has …
Integrating Macroeconomic and Public Health Impacts in Social Planning Policies for Pandemic Response Open
Infectious disease outbreaks with pandemic potential present challenges for mitigation and control. Policymakers make decisions to reduce disease-associated morbidity and mortality while also minimizing socioeconomic costs of control. Desp…
Newton-Raphson Flow for Aggressive Quadrotor Tracking Control Open
We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectories, beating the native trajectory tracking controller in the…
Vaccine stockpile sharing for selfish objectives Open
The COVAX program aims to provide global equitable access to life-saving vaccines. Despite calls for increased sharing, vaccine protectionism has limited progress towards vaccine sharing goals. For example, as of April 2022 only ~20% of th…
Vaccine Stockpile Sharing For Selfish Objectives Open
The COVAX program aims to provide global equitable access to life-saving vaccines. However, vaccine protectionism by wealthy nations has limited progress towards vaccine sharing goals. For example, as of April 2022 only ∼ 20% of the popula…
Disease-dependent interaction policies to support health and economic outcomes during the COVID-19 epidemic Open
Lockdowns and stay-at-home orders have partially mitigated the spread of Covid-19. However, the indiscriminate nature of mitigation — applying to all individuals irrespective of disease status — has come with substantial socioeconomic cost…
View article: Integral Control Barrier Functions for Dynamically Defined Control Laws
Integral Control Barrier Functions for Dynamically Defined Control Laws Open
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bound…
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson\n Flows and Barrier Functions Open
This paper concerns an application of a recently-developed nonlinear tracking\ntechnique to trajectory control of autonomous vehicles at traffic\nintersections. The technique uses a flow version of the Newton-Raphson method\nfor controllin…
A Predictive Deep Learning Approach to Output Regulation: The Case of Collaborative Pursuit Evasion Open
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law i…
Optimizing the Timing and Composition of Therapeutic Phage Cocktails: A Control-theoretic Approach Open
Viruses that infect bacteria, i.e., bacteriophage or ‘phage’, are increasingly considered as treatment options for the control and clearance of bacterial infections, particularly as compassionate use therapy for multi-drug resistant infect…
Tracking Control by the Newton-Raphson Method with Output Prediction and Controller Speedup Open
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference signa…
A Predictive Deep Learning Approach to Output Regulation: The Case of\n Collaborative Pursuit Evasion Open
In this paper, we consider the problem of controlling an underactuated system\nin unknown, and potentially adversarial environments. The emphasis will be on\nautonomous aerial vehicles, modelled by Dubins dynamics. The proposed control\nla…
Tracking Control by the Newton-Raphson Flow: Applications to Autonomous Vehicles Open
This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-Raphson flow for solving algebraic equations,output predict…
Optimal control policies for evolutionary dynamics with environmental feedback Open
We study a dynamical model of a population of cooperators and defectors whose actions have long-term consequences on environmental "commons" - what we term the "resource". Cooperators contribute to restoring the resource whereas defectors …
Tracking Control by the Newton-Raphson Flow: Applications to Autonomous\n Vehicles Open
This paper concerns applications of a recently-developed output-tracking\ntechnique to trajectory control of autonomous vehicles. The technique is based\non three principles: Newton-Raphson flow for solving algebraic equations,output\npred…
TRINITY: Coordinated Performance, Energy and Temperature Management in 3D Processor-Memory Stacks Open
The consistent demand for better performance has lead to innovations at hardware and microarchitectural levels. 3D stacking of memory and logic dies delivers an order of magnitude improvement in available memory bandwidth. The price paid h…
Tracking Control via Variable-gain Integrator and Lookahead Simulation: Application to Leader-follower Multiagent Networks Open
This paper concerns an output-tracking technique based on a standalone integrator with variable gain. The control algorithm, recently proposed by the authors, appears to have a wide scope in linear and nonlinear systems while aiming at sim…
On-line Optimization of Power Efficiency in 3D Multicore Processors Open
This paper considers the problem of maximizing power efficiency in multi-core processors by dynamic voltage frequency scaling. We formulate the problem in an on-line setting and apply to it a gradient-based stochastic approximation algorit…
Power Regulation in High Performance Multicore Processors Open
This paper presents, implements, and evaluates a power-regulation technique for multicore processors, based on an integral controller with adjustable gain. The gain is designed for wide stability margins, and computed in real time as part …
Performance Regulation and Tracking via Lookahead Simulation: Preliminary Results and Validation Open
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of…
Perturbation Analysis: A Framework for Data-Driven Control and Optimization of Discrete Event and Hybrid Systems Open
The history of Perturbation Analysis (PA) is intimately related to that of Discrete Event Dynamic Systems (DEDS), starting with a solution of a long-standing problem in the late 1970s and continuing today with the control and optimization …
Hamiltonian-based algorithm for relaxed optimal control Open
This paper concerns a first-order algorithmic technique for a class of optimal control problems defined on switched-mode hybrid systems. The salient feature of the algorithm is that it avoids the computation of Fréchet or Gâteaux derivativ…