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Energy-Aware Task Allocation for Teams of Multi-Mode Robots 多模式机器人团队的能量感知任务分配
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-18 DOI: 10.1109/LCSYS.2025.3590426
Takumi Ito;Riku Funada;Mitsuji Sampei;Gennaro Notomista
{"title":"Energy-Aware Task Allocation for Teams of Multi-Mode Robots","authors":"Takumi Ito;Riku Funada;Mitsuji Sampei;Gennaro Notomista","doi":"10.1109/LCSYS.2025.3590426","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3590426","url":null,"abstract":"This letter proposes a multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. First, we present a method for encoding multi-mode properties as a graph, where the mode of each robot is represented by a node. Next, we formulate a constrained optimization problem to determine both the task to be allocated to each robot as well as the mode in which the latter should execute the task. The robot modes are optimized based on the state of the robot and environment as well as the energy required to execute the allocated task. Moreover, the proposed framework can encompass the kinematic and dynamic models of robots. We then provide sufficient conditions for the convergence of task execution and allocation in both robot models.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1964-1969"},"PeriodicalIF":2.0,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11084869","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144758431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Supervisory Control of Weighted Automata With Control Delays 具有控制时滞的加权自动机的监督控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-18 DOI: 10.1109/LCSYS.2025.3590427
Yonghong Luo;Shaowen Miao;Xiao Yu;Aiwen Lai
{"title":"Supervisory Control of Weighted Automata With Control Delays","authors":"Yonghong Luo;Shaowen Miao;Xiao Yu;Aiwen Lai","doi":"10.1109/LCSYS.2025.3590427","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3590427","url":null,"abstract":"This letter investigates supervisor synthesis for weighted automata under control delay. Unlike tick-based models, weighted automata efficiently capture timing without state-space explosion. The supervisor observes weighted strings that integrate event and timing information. We propose an algorithm to determine the possible control commands based on generated weighted strings, and an algorithm to compute the system states where the supervisor’s commands may be applied upon observing a weighted string. We derive the minimal control policy <inline-formula> <tex-math>$S_{mathrm { min}}$ </tex-math></inline-formula> and verify whether it satisfies the given specifications. If satisfied, <inline-formula> <tex-math>$S_{mathrm { min}}$ </tex-math></inline-formula> serves as the solution.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1952-1957"},"PeriodicalIF":2.0,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144750888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Two Strings With a Dynamic Interior Mass: A Feedback Control Design With Guaranteed Exponential Decay 具有动态内质量的两弦：一种保证指数衰减的反馈控制设计
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-16 DOI: 10.1109/LCSYS.2025.3589625
Zoe Brown;Ahmet Özkan Özer
{"title":"Two Strings With a Dynamic Interior Mass: A Feedback Control Design With Guaranteed Exponential Decay","authors":"Zoe Brown;Ahmet Özkan Özer","doi":"10.1109/LCSYS.2025.3589625","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3589625","url":null,"abstract":"This letter investigates the exponential stabilization of a coupled two-string system joined by a dynamic interior mass. The combined effect of three feedback mechanisms, boundary damping from tip velocity, higher-order nodal damping from angular velocity, and lower-order nodal damping from mass velocity, is analyzed using a Lyapunov framework. Exponential stability is established unconditionally, without constraints on wave speeds or mass location, improving upon earlier results that lower-order nodal damping, as in Hansen-Zuazua’95, or boundary damping alone, as in Lee-You’89, does not ensure exponential decay without additional structural conditions. Moreover, the lower-order feedback can be removed without loss of exponential decay when combined with the other two mechanisms, via a compact perturbation argument. These results apply to hybrid systems with interior or tip mass interfaces, including overhead cranes, deep-sea cables, and fluid structure interaction. Theoretical findings are validated through numerical simulations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1970-1975"},"PeriodicalIF":2.0,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144758430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Erratum to “On Regular Regressors in Adaptive Control” “关于自适应控制中的正则回归量”的勘误
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-07-15 DOI: 10.1109/LCSYS.2025.3579901
Erick Mejia Uzeda;Mireille E. Broucke
{"title":"Erratum to “On Regular Regressors in Adaptive Control”","authors":"Erick Mejia Uzeda;Mireille E. Broucke","doi":"10.1109/LCSYS.2025.3579901","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3579901","url":null,"abstract":"Presents corrections to the paper, (Erratum to “On Regular Regressors in Adaptive Control”).","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1459-1459"},"PeriodicalIF":2.4,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11080393","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144634779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed Aggregative Optimization on Nonholonomic Multirobot Systems With Predefined-Time Estimation 具有预定义时间估计的非完整多机器人系统的分布式聚合优化
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-14 DOI: 10.1109/LCSYS.2025.3589177
Jingyi Huang;Chuanhai Yang;Qingshan Liu
{"title":"Distributed Aggregative Optimization on Nonholonomic Multirobot Systems With Predefined-Time Estimation","authors":"Jingyi Huang;Chuanhai Yang;Qingshan Liu","doi":"10.1109/LCSYS.2025.3589177","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3589177","url":null,"abstract":"This letter investigates the distributed aggregative optimization problem in nonholonomic multirobot systems. The local objective function of each robot depends not only on its own state but also on aggregative information that incorporates the states of all robots in the system. In nonholonomic multirobot systems, the motion of robot is subject to nonholonomic constraints, where the movement direction is determined by robot’s current orientation. A fully distributed control protocol is proposed to solve distributed aggregative optimization on nonholonomic multirobot systems by leveraging predefined-time estimation and projection techniques. The protocol integrates a predefined-time estimator and a posture controller. The estimator enables each robot to obtain global information within a predefined-time, facilitating accurate gradient computation and system simplification. The posture controller generates control inputs by projecting the gradient onto the robot’s heading. Convergence properties are analyzed using Lyapunov method, and numerical simulations verify the effectiveness of the proposed approach.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1994-1999"},"PeriodicalIF":2.0,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144773303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Securing Trust-Based Resilient Algorithms Against Smart Malicious Agents 保护基于信任的弹性算法对抗智能恶意代理
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-11 DOI: 10.1109/LCSYS.2025.3588309
Chan-Yuan Kuo;Bin Du;Dengfeng Sun
{"title":"Securing Trust-Based Resilient Algorithms Against Smart Malicious Agents","authors":"Chan-Yuan Kuo;Bin Du;Dengfeng Sun","doi":"10.1109/LCSYS.2025.3588309","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3588309","url":null,"abstract":"In this letter, we study the problem of legitimate in-neighborhood learning in multi-agent systems, where stochastic observations of trust between agents are available. Unlike previous works, we consider two types of malicious agents: naive and smart. Naive malicious agents always behave maliciously, while smart malicious agents can intermittently disguise themselves as legitimate agents. We identify a security vulnerability of the standard threshold design <inline-formula> <tex-math>$epsilon = 1/2$ </tex-math></inline-formula>, which is commonly used in trust aggregation approaches. This design fails to account for the deceptive behavior of smart malicious agents, making the approach vulnerable to their attacks. To address this, we propose a threshold design that explicitly accounts for such agents. Specifically, we provide a sufficient condition for the existence of a constant threshold that enables legitimate agents to identify their legitimate in-neighbors over time, despite the presence of smart malicious agents. In addition, we show that the proposed threshold design ensures geometrically decaying misclassification probabilities. Finally, we present numerical examples to validate our theoretical results and demonstrate how the design enhances the security of existing trust-based resilient algorithms against smart malicious agents.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1922-1927"},"PeriodicalIF":2.0,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144751085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
DR-PETS: Learning-Based Control With Planning in Adversarial Environments DR-PETS：对抗环境中基于学习的计划控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-10 DOI: 10.1109/LCSYS.2025.3587053
Hozefa Jesawada;Antonio Acernese;Davide Del Vecchio;Giovanni Russo;Carmen Del Vecchio
{"title":"DR-PETS: Learning-Based Control With Planning in Adversarial Environments","authors":"Hozefa Jesawada;Antonio Acernese;Davide Del Vecchio;Giovanni Russo;Carmen Del Vecchio","doi":"10.1109/LCSYS.2025.3587053","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3587053","url":null,"abstract":"The probabilistic ensembles with trajectory sampling (PETS) algorithm is a recognized baseline among model-based reinforcement learning (MBRL) methods. PETS incorporates planning and handles uncertainty using ensemble-based probabilistic models. However, no formal robustness guarantees against epistemic uncertainty exist for PETS. Providing such guarantees is a key enabler for reliable real-world deployment. To address this gap, we propose a distributionally robust extension of PETS, called DR-PETS. We formalize model uncertainty using a distributional ambiguity set and optimize the worst-case expected return. We derive a tractable convex approximation of the resulting min-max planning problem, which integrates seamlessly into PETS’s planning loop as a regularized objective. Experiments on pendulum and cart-pole environments show that DR-PETS certifies robustness against adversarial parameter perturbations, achieving consistent performance in worst-case scenarios where PETS deteriorates.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2006-2011"},"PeriodicalIF":2.0,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144773259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Chance-Constrained Linear Quadratic Gaussian Games for Multi-Robot Interaction Under Uncertainty 不确定条件下多机器人交互的机会约束线性二次高斯对策
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-10 DOI: 10.1109/LCSYS.2025.3588090
Kai Ren;Giulio Salizzoni;Mustafa Emre Gürsoy;Maryam Kamgarpour
{"title":"Chance-Constrained Linear Quadratic Gaussian Games for Multi-Robot Interaction Under Uncertainty","authors":"Kai Ren;Giulio Salizzoni;Mustafa Emre Gürsoy;Maryam Kamgarpour","doi":"10.1109/LCSYS.2025.3588090","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3588090","url":null,"abstract":"We address safe multi-robot interaction under uncertainty. In particular, we formulate a chance-constrained linear quadratic Gaussian game with coupling constraints and system uncertainties. We find a tractable reformulation of the game and propose a dual ascent algorithm. We prove that the algorithm converges to a feedback generalized Nash equilibrium of the reformulated game, ensuring the satisfaction of the chance constraints. We test our method in driving simulations and real-world robot experiments. Our method ensures safety under uncertainty and generates less conservative trajectories than single-agent model predictive control.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2061-2066"},"PeriodicalIF":2.0,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144831779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed Scalable Control for Large-Scale Networked Systems Using Chordal Decomposition 基于弦分解的大规模网络系统分布式可扩展控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-07-10 DOI: 10.1109/LCSYS.2025.3586918
An Lin;Chen Peng;Jun Cheng
{"title":"Distributed Scalable Control for Large-Scale Networked Systems Using Chordal Decomposition","authors":"An Lin;Chen Peng;Jun Cheng","doi":"10.1109/LCSYS.2025.3586918","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3586918","url":null,"abstract":"This letter proposes a distributed scalable control scheme for large-scale networked systems using chordal decomposition. To overcome the limitations caused by coupled subsystem structures, we develop a modeling framework for large-scale networked systems with arbitrary topological connections over directed graphs. Subsequently, leveraging the chordal decomposition theorem, we derive a sufficient condition for distributed scalable stabilization of such systems. Unlike traditional centralized or distributed control methods, the proposed approach inherently supports plug-and-play operations. Specifically, it eliminates the need to redesign all controller gains when the system undergoes partial modifications. Furthermore, the method improves computational efficiency while maintaining data confidentiality. Finally, the effectiveness of the proposed approach is validated through a coupled microgrid test system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1898-1903"},"PeriodicalIF":2.0,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144725267","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
On the Uniqueness of Solution to the Inverse Optimal Control Problem for the Hard-Constrained Minimum Principle-Based Method 基于硬约束最小原则的逆最优控制问题解的唯一性
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-07-10 DOI: 10.1109/LCSYS.2025.3586916
Afreen Islam;Guido Herrmann;Joaquin Carrasco
{"title":"On the Uniqueness of Solution to the Inverse Optimal Control Problem for the Hard-Constrained Minimum Principle-Based Method","authors":"Afreen Islam;Guido Herrmann;Joaquin Carrasco","doi":"10.1109/LCSYS.2025.3586916","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3586916","url":null,"abstract":"In this letter, the hard-constrained minimum principle based method for solving the inverse optimal control (IOC) problem has been considered. Specifically, this letter investigates the kinds of closed-loop system trajectories, initial conditions and system dynamics for which a unique solution to the IOC problem can be obtained for this method. For this purpose, a matrix associated with the optimization problem involved in this IOC approach is tested for full rankness. It was found that for this method, in addition to initial conditions and types of closed-loop system trajectories, the open-loop system dynamics has an important role in determining if a unique solution to the IOC problem can be obtained. Rigorous mathematical and numerical analysis for different types of trajectories, initial conditions and system dynamics have been presented.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1856-1861"},"PeriodicalIF":2.4,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144687657","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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