Papers by Gerardo Lafferriere
Mitigating Automobile Congestion Through Urban Traffic Signal Control
Towards a complete characterization of vulnerability of networked synchronization processes
2016 IEEE 55th Conference on Decision and Control (CDC), 2016
We extend our previous study of vulnerability of a linear network synchronization process to exte... more We extend our previous study of vulnerability of a linear network synchronization process to external intrusion at a single network component. Our previous efforts on the topic were limited to undirected graphs. The principal limitation in generalizing to all graph classes is the complexity introduced by the possibility of a non-diagonalizable graph Laplacian. Here, we take a step towards overcoming this hurdle by developing closed-form expressions for the inverse reachability Gramian in cases where the Laplacian has a single nontrivial Jordan block. Our approach for handling a single Jordan block represents a path forward for the more general case of multiple Jordan blocks of varying sizes, and hence towards a complete graphical characterization of vulnerability of networked synchronization processes.
Introduction to Mathematical Analysis I
Reachability Computation For Linear
Linear hybrid systems are finite state machines with linear vector fields of the form x = Ax in e... more Linear hybrid systems are finite state machines with linear vector fields of the form x = Ax in each discrete location. Very recently, the reachability problem for classes of linear hybrid systems was shown to be decidable. In this paper, the decidability result is extended to capture classes of linear hybrid systems where in each location the dynamics are of the form x = Ax +Bu, for various types of inputs.
G. Lafferriere
We propose a general strategy for solving the motion planning problem for real analytic, controll... more We propose a general strategy for solving the motion planning problem for real analytic, controllable systems without drift. The procedure starts by computing a control that steers the given initial point to the desired target point for an extended system, in which a number of Lie brackets of the system vector fields are added to the right-hand side. The main point then is to use formal calculations based on the product expansion relative to a P. Hall basis, to produce another control that achieves the desired result on the formal level. It then turns out that this control provides an exact solution of the original problem if the given system is nilpotent. When the system is not nilpotent, one can still produce an iterative algorithm that converges very fast to a solution. Using the theory of feedback nilpotentization, one can find classes of non-nilpotent systems for which the algorithm, in cascade with a precompensator, produces an exact solution in a finite number of steps. We al...
Motion planning for controllable systems without drift
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1991
Wall Following Experiments Using the Four Finger Manipulator
A Differential Geometric Approach to Motion Planning
Nonholonomic Motion Planning, 1993
Lipschitz properties of nonsmooth functions and set-valued mappings via generalized differentiation
Nonlinear Analysis: Theory, Methods & Applications, 2013
O-Minimal Hybrid Systems
Mathematics of Control, Signals, and Systems, 2000
Flocks and Formations
Journal of Statistical Physics, 2005
An implementation of reinforcement learning based on spike timing dependent plasticity
Biological Cybernetics, 2008
Reach set computation for linear vector fields using quantifier elimination
Parameter synthesis in robot motion planning using symbolic reachability computations
O-Minimal Hybrid Systems
Mathematics of Control, Signals, and Systems, 2000
Discontinuous stabilizing feedback using partially de ned Lyapunov functions
ABSTRACT We generalize earlier results on the construction of discontinuous feedback laws from sm... more ABSTRACT We generalize earlier results on the construction of discontinuous feedback laws from smooth but partially defined control Lyapunov functions. The resulting feedback law is continuous at the origin and smooth except on a hypersurface of codimension 1. We provide a formula for the feedback law which is in a sense “universal”. The new results presented cover situations where trajectories of the closed loop system switch an infinite number of times between regions where smooth control Lyapunov functions exist. The conditions on the system vector fields can be verified without solving the differential equations and are therefore in the spirit of the “direct” methods of Lyapunov. Using a recently developed formula we are also able to guarantee certain bounds on the feedback controls provided that the Lyapunov property can be satisfied using controls values in the unit ball
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Papers by Gerardo Lafferriere