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arXiv:2503.09936v1 Announce Type: new Abstract: A significant movement from rigid use of the wireless spectrum toward adaptive and reconfigurable spectrum use has been prompted by increasing spectral crowding. Some bands have moved to an adaptive sharing model, and proposals are growing for this approach to be applied to additional bands. The process of moving from a fixed, rigid spectrum paradigm to adaptive and reconfigurable use involves maturation of policy and technology at multiple levels within the system of systems. Using the concept of Bloom's Taxonomy from the education discipline, this paper examines the development of a policy and technology progression toward a mature, adaptive and reconfigurable paradigm.

arXiv:2503.10004v1 Announce Type: new Abstract: In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller efficiently distributes traffic flows by utilizing a dynamic re-routing algorithm that leverages real-time density information and the fundamental diagrams of each network edge. This re-routing approach predicts when each edge will reach critical density and proactively adjusts the routing algorithm's weights to prevent congestion before it occurs. The low-level controller coordinates CAVs as they cross signal-free intersections, generating optimal, fuel-efficient trajectories while ensuring safe passage by satisfying all relevant constraints. We formulate the problem as an optimal control problem and derive an analytical solution. Using the SUMO micro-simulation platform, we conduct simulation experiments on a realistic network. The results show that our hierarchical framework significantly enhances network performance compared to a baseline static routing approach. By dynamically re-routing vehicles, our approach successfully reduces total travel time and mitigates congestion before it develops.

arXiv:2503.09865v1 Announce Type: new Abstract: Remote driving of vehicles is gaining in importance in the transportation sector, especially when Automated Driving Systems (ADSs) reach the limits of their system boundaries. This study investigates the challenges faced by human Remote Drivers (RDs) during remote driving, particularly focusing on the identification and classification of human performance-related challenges through a comprehensive analysis of real-world remote driving data Las Vegas. For this purpose, a total of 183 RD performance-related Safety Driver (SD) interventions were analyzed and classified using an introduced severity classification. As it is essential to prevent the need for SD interventions, this study identified and analyzed harsh driving events to detect an increased likelihood of interventions by the SD. In addition, the results of the subjective RD questionnaire are used to evaluate whether the objective metrics from SD interventions and harsh driving events can also be confirmed by the RDs and whether additional challenges can be uncovered. The analysis reveals learning curves, showing a significant decrease in SD interventions as RD experience increases. Early phases of remote driving experience, especially below 200 km of experience, showed the highest frequency of safety-related events, including braking too late for traffic signs and responding impatiently to other traffic participants. Over time, RDs follow defined rules for improving their control, with experience leading to less harsh braking, acceleration, and steering maneuvers. The study contributes to understanding the requirements of RDS, emphasizing the importance of targeted training to address human performance limitations. It further highlights the need for system improvements to address challenges like latency and the limited haptic feedback replaced by visual feedback, which affect the RDs' perception and vehicle control.

arXiv:2503.09829v1 Announce Type: new Abstract: Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However, conventional deep learning and Transformer models often struggle to process data with inherent symmetries and invariances, typically relying on large datasets or extensive data augmentation. Equivariant neural networks overcome these limitations by explicitly integrating symmetry and invariance into their architectures, leading to improved efficiency and generalization. This tutorial survey reviews a wide range of equivariant deep learning and control methods for robotics, from classic to state-of-the-art, with a focus on SE(3)-equivariant models that leverage the natural 3D rotational and translational symmetries in visual robotic manipulation and control design. Using unified mathematical notation, we begin by reviewing key concepts from group theory, along with matrix Lie groups and Lie algebras. We then introduce foundational group-equivariant neural network design and show how the group-equivariance can be obtained through their structure. Next, we discuss the applications of SE(3)-equivariant neural networks in robotics in terms of imitation learning and reinforcement learning. The SE(3)-equivariant control design is also reviewed from the perspective of geometric control. Finally, we highlight the challenges and future directions of equivariant methods in developing more robust, sample-efficient, and multi-modal real-world robotic systems.

arXiv:2503.09930v1 Announce Type: new Abstract: This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction facilitated by an admittance control. The proposed control framework integrates an adaptive Backstepping controller for the position subsystem and a Fast Nonsingular Terminal Sliding Mode Control (FNTSMC) for the attitude subsystem to ensure asymptotic stabilization. The admittance controller interprets the interaction forces from the human operator, generating reference trajectories for the position controller to ensure accurate tracking of the operator's guidance. The system aims to assist humans in payload transportation, providing both stability and responsiveness. The robustness and effectiveness of the proposed control scheme in maintaining system stability and performance under various conditions are presented.

arXiv:2503.09904v1 Announce Type: new Abstract: In studies on complex network systems using graph theory, eigen-analysis is typically performed on an undirected graph model of the network. However, when analyzing cascading failures in a power system, the interactions among failures suggest the need for a directed graph beyond the topology of the power system to model directions of failure propagation. To accurately quantify failure interactions for effective mitigation strategies, this paper proposes a stochastic interaction graph model and associated eigen-analysis. Different types of modes on failure propagations are defined and characterized by the eigenvalues of a stochastic interaction matrix, whose absolute values are unity, zero, or in between. Finding and interpreting these modes helps identify the probable patterns of failure propagation, either local or widespread, and the participating components based on eigenvectors. Then, by lowering the failure probabilities of critical components highly participating in a mode of widespread failures, cascading can be mitigated. The validity of the proposed stochastic interaction graph model, eigen-analysis and the resulting mitigation strategies is demonstrated using simulated cascading failure data on an NPCC 140-bus system.

arXiv:2503.09722v1 Announce Type: new Abstract: We study the problem of imitating an expert demonstrator in a discrete-time, continuous state-and-action control system. We show that, even if the dynamics are stable (i.e. contracting exponentially quickly), and the expert is smooth and deterministic, any smooth, deterministic imitator policy necessarily suffers error on execution that is exponentially larger, as a function of problem horizon, than the error under the distribution of expert training data. Our negative result applies to both behavior cloning and offline-RL algorithms, unless they produce highly "improper" imitator policies--those which are non-smooth, non-Markovian, or which exhibit highly state-dependent stochasticity--or unless the expert trajectory distribution is sufficiently "spread." We provide experimental evidence of the benefits of these more complex policy parameterizations, explicating the benefits of today's popular policy parameterizations in robot learning (e.g. action-chunking and Diffusion Policies). We also establish a host of complementary negative and positive results for imitation in control systems.

arXiv:2403.09473v2 Announce Type: cross Abstract: We consider a set of consumers in a city or town (who thus generate pollution) whose opinion is governed by a continuous opinion and discrete action (CODA) dynamics model. This dynamics is coupled with an observation signal dynamics, which defines the information the consumers have access to regarding the common pollution. We show that the external observation signal has a significant impact on the asymptotic behavior of the CODA model. When the coupling is strong, it induces either a chaotic behavior or convergence towards a limit cycle. When the coupling is weak, a more classical behavior characterized by local agreements in polarized clusters is observed. In both cases, conditions under which clusters of consumers don't change their actions are provided.Numerical examples are provided to illustrate the derived analytical results.

arXiv:2503.09775v1 Announce Type: new Abstract: This paper introduces a data-driven graphical framework for the real-time search of risky cascading fault chains (FCs) in power-grids, crucial for enhancing grid resiliency in the face of climate change. As extreme weather events driven by climate change increase, identifying risky FCs becomes crucial for mitigating cascading failures and ensuring grid stability. However, the complexity of the spatio-temporal dependencies among grid components and the exponential growth of the search space with system size pose significant challenges to modeling and risky FC search. To tackle this, we model the search process as a partially observable Markov decision process (POMDP), which is subsequently solved via a time-varying graph recurrent neural network (GRNN). This approach captures the spatial and temporal structure induced by the system's topology and dynamics, while efficiently summarizing the system's history in the GRNN's latent space, enabling scalable and effective identification of risky FCs.

arXiv:2503.09816v1 Announce Type: new Abstract: In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints expressed by signal temporal logic (STL). We formulate the control synthesis as a chance-constrained program (CCP) with STL specifications that must be satisfied with high probability under all uncertainty tubes induced by the other agents. To tackle the CCP, we propose two methods based on concentration of measure (CoM) theory and conditional value at risk (CVaR) and compare the required assumptions and resulting optimizations. These approaches convert the CCP into an expectation-constrained program (ECP), which is simpler to solve than the original CCP. To estimate the expectation using a finite set of observed data, we adopt a distributionally robust optimization (DRO) approach. The underlying DRO can be approximated as a robust data-driven optimization that provides a probabilistic under-approximation to the original ECP, where the probability depends on the number of samples. Therefore, under feasibility, the original STL constraints are satisfied with two layers of designed confidence: the confidence of the chance constraint and the confidence of the approximated data-driven optimization, which depends on the number of samples. We then provide details on solving the resulting robust data-driven optimization numerically. Finally, we compare the two proposed approaches through case studies.

arXiv:2503.09892v1 Announce Type: new Abstract: As inverter-based resources (IBRs) penetrate power systems, the dynamics become more complex, exhibiting multiple timescales, including electromagnetic transient (EMT) dynamics of power electronic controllers and electromechanical dynamics of synchronous generators. Consequently, the power system model becomes highly stiff, posing a challenge for efficient simulation using existing methods that focus on dynamics within a single timescale. This paper proposes a Heterogeneous Multiscale Method for highly efficient multi-timescale simulation of a power system represented by its EMT model. The new method alternates between the microscopic EMT model of the system and an automatically reduced macroscopic model, varying the step size accordingly to achieve significant acceleration while maintaining accuracy in both fast and slow dynamics of interests. It also incorporates a semi-analytical solution method to enable a more adaptive variable-step mechanism. The new simulation method is illustrated using a two-area system and is then tested on a detailed EMT model of the IEEE 39-bus system.

arXiv:2503.10475v1 Announce Type: new Abstract: Achieving unified multi-robot coordination and motion planning in complex environments is a challenging problem. In this paper, we present a hierarchical approach to long-range coordination, which we call Stratified Topological Autonomy for Long-Range Coordination (STALC). In particular, we look at the problem of minimizing visibility to observers and maximizing safety with a multi-robot team navigating through a hazardous environment. At its core, our approach relies on the notion of a dynamic topological graph, where the edge weights vary dynamically based on the locations of the robots in the graph. To create this dynamic topological graph, we evaluate the visibility of the robot team from a discrete set of observer locations (both adversarial and friendly), and construct a topological graph whose edge weights depend on both adversary position and robot team configuration. We then impose temporal constraints on the evolution of those edge weights based on robot team state and use Mixed-Integer Programming (MIP) to generate optimal multirobot plans through the graph. The visibility information also informs the lower layers of the autonomy stack to plan minimal visibility paths through the environment for the team of robots. Our approach presents methods to reduce the computational complexity for a team of robots that interact and coordinate across the team to accomplish a common goal. We demonstrate our approach in simulated and hardware experiments in forested and urban environments.

arXiv:2503.10401v1 Announce Type: new Abstract: This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during payload transport. The acceleration is controlled using a combination of admittance control and Control Barrier Function (CBF) based quadratic program (QP). The proposed controller rejects disturbances and maintains consistent performance under varying load conditions. Additionally, the built-in CBF guarantees collision avoidance with the collaborative agent in front of the robot. The efficacy of the overall controller is shown by its implementation on the physical hardware as well as numerical simulations. The proposed control framework aims to enhance the quadruped robot's ability to perform assistive tasks in various scenarios, from industrial applications to search and rescue operations.

arXiv:2503.09898v1 Announce Type: new Abstract: Dynamic simulation plays a crucial role in power system transient stability analysis, but traditional numerical integration-based methods are time-consuming due to the small time step sizes. Other semi-analytical solution methods, such as the Differential Transformation method, often struggle to select proper orders and steps, leading to slow performance and numerical instability. To address these challenges, this paper proposes a novel adaptive dynamic simulation approach for power system transient stability analysis. The approach adds feedback control and optimization to selecting the step and order, utilizing the Differential Transformation method and a proportional-integral control strategy to control truncation errors. Order selection is formulated as an optimization problem resulting in a variable-step-optimal-order method that achieves significantly larger time step sizes without violating numerical stability. It is applied to three systems: the IEEE 9-bus, 3-generator system, IEEE 39-bus, 10-generator system, and a Polish 2383-bus, 327-generator system, promising computational efficiency and numerical robustness for large-scale power system is demonstrated in comprehensive case studies.

arXiv:2503.09666v1 Announce Type: new Abstract: In a globalized and interconnected world, interoperability has become a key concept for advancing tactical scenarios. Federated Coalition Networks (FCN) enable cooperation between entities from multiple nations while allowing each to maintain control over their systems. However, this interoperability necessitates the sharing of increasing amounts of information between different tactical assets, raising the need for higher security measures. Emerging technologies like blockchain drive a revolution in secure communications, paving the way for new tactical scenarios. In this work, we propose a blockchain-based framework to enhance the resilience and security of the management of these networks. We offer a guide to FCN design to help a broad audience understand the military networks in international missions by a use case and key functions applied to a proposed architecture. We evaluate its effectiveness and performance in information encryption to validate this framework.

arXiv:2503.09622v1 Announce Type: new Abstract: Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement learning (DRL) framework that achieves physical dynamics invariance by directly optimizing force/torque inputs, eliminating the need for traditional intermediate control layers. Our architecture integrates a temporal trajectory encoder, which processes finite-horizon reference positions/velocities, with a latent dynamics encoder trained on historical state-action pairs to model platform-specific characteristics. Additionally, we introduce scale-aware dynamics randomization parameterized by the quadrotor's arm length, enabling our approach to maintain stability across drones spanning from 30g to 2.1kg and outperform other DRL baselines by 85% in tracking accuracy. Extensive real-world validation of our approach on the Crazyflie 2.1 quadrotor, encompassing over 200 flights, demonstrates robust adaptation to wind, ground effects, and swinging payloads while achieving less than 0.05m RMSE at speeds up to 2.0 m/s. This work introduces a universal quadrotor control paradigm that compensates for dynamic discrepancies across varied conditions and scales, paving the way for more resilient aerial systems.

arXiv:2503.09628v1 Announce Type: new Abstract: Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multivariable nonlinear dynamics and face various constraints, including state limitations, input constraints, and constraints on the increment input, making controller design challenging and requiring significant effort and time. This paper addresses these challenges by employing a data-driven Koopman operator theory combined with Model Predictive Control (MPC), which takes into account the aforementioned constraints. The proposed approach not only ensures the performance of the AUV under state and input limitations but also considers the variation in incremental input to prevent rapid and potentially damaging changes to the vehicle's operation. Additionally, we develop a platform based on ROS2 and Gazebo to validate the effectiveness of the proposed algorithms, providing new control strategies for underwater vehicles against the complex and dynamic nature of underwater environments.

arXiv:2503.09621v1 Announce Type: new Abstract: Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit global coordinator, the decentralized control methods are often prone to deadlock -- a state where the system reaches equilibrium, causing the robots to stall. In this paper, we propose a generalized decentralized framework that unifies the Control Lyapunov Function (CLF) and Control Barrier Function (CBF) to facilitate efficient task execution and ensure deadlock-free trajectories for the multi-agent systems. As the agents approach the deadlock-related undesirable equilibrium, the framework can detect the equilibrium and drive agents away before that happens. This is achieved by a secondary deadlock resolution design with an auxiliary CBF to prevent the multi-agent systems from converging to the undesirable equilibrium. To avoid dominating effects due to the deadlock resolution over the original task-related controllers, a deadlock indicator function using CBF-inspired risk measurement is proposed and encoded in the unified framework for the agents to adaptively determine when to activate the deadlock resolution. This allows the agents to follow their original control tasks and seamlessly unlock or deactivate deadlock resolution as necessary, effectively improving task efficiency. We demonstrate the effectiveness of the proposed method through theoretical analysis, numerical simulations, and real-world experiments.

arXiv:2503.09624v1 Announce Type: new Abstract: This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for enacting Lipschitz and sector bounds on the resulting controller is derived to ensure desirable control properties. An analysis of worst-case loss functions and the optimal loss function weighting is made to implement an effective training scheme. Finally, simulations are carried out to demonstrate the effectiveness of the proposed architecture. This architecture resulted in a 4.5% performance increase compared to the human operator and 9% to an unconstrained feedforward neural network trained in the same way.

arXiv:2503.10062v1 Announce Type: new Abstract: This paper addresses the one-bit consensus of controllable linear multi-agent systems (MASs) with communication noises. A consensus algorithm consisting of a communication protocol and a consensus controller is designed. The communication protocol introduces a linear compression encoding function to achieve a one-bit data rate, thereby saving communication costs. The consensus controller with a stabilization term and a consensus term is proposed to ensure the consensus of a potentially unstable but controllable MAS. Specifically, in the consensus term, we adopt an estimation method to overcome the information loss caused by one-bit communications and a decay step to attenuate the effect of communication noise. Two combined Lyapunov functions are constructed to overcome the difficulty arising from the coupling of the control and estimation. By establishing similar iterative structures of these two functions, this paper shows that the MAS can achieve consensus in the mean square sense at the rate of the reciprocal of the iteration number under the case with a connected fixed topology. Moreover, the theoretical results are generalized to the case with jointly connected Markovian switching topologies by establishing a certain equivalence relationship between the Markovian switching topologies and a fixed topology. Two simulation examples are given to validate the algorithm.