Iman Shames

Collision Avoidance Based on Robust Lexicographic Task Assignment

Tony A Wood, Mitchell Khoo, Elad Michael, Chris Manzie, Iman Shames

Journal article  |  2020  |  IEEE Robotics and Automation Letters

Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This..

Error-Bounded Reference Tracking MPC for Machines with Structural Flexibility

Meng Yuan, Chris Manzie, Malcolm Good, Iman Shames, Lu Gan, Farzad Keynejad, Troy Robinette

Journal article  |  2020  |  IEEE Transactions on Industrial Electronics

For industrial contouring and machining applications such as laser cutting, it is desirable to be able to bound errors without und..

Control Design for Risk-Based Signal Temporal Logic Specifications

Sleiman Safaoui, Lars Lindemann, Dimos Dimarogonas, Iman Shames, Tyler H Summers

Journal article  |  2020  |  IEEE Control Systems Letters

We present a general framework for risk semantics on Signal Temporal Logic (STL) specifications for stochastic dynamical systems u..

Secure and Private Implementation of Dynamic Controllers Using Semihomomorphic Encryption

Carlos Murguia, Farhad Farokhi, Iman Shames

Journal article  |  2020  |  IEEE Transactions on Automatic Control

This article presents a secure and private implementation of linear time-invariant dynamic controllers using Paillier's encryption..

A review of industrial tracking control algorithms

M Yuan, C Manzie, M Good, I Shames, L Gan, F Keynejad, T Robinette

Journal article  |  2020  |  Control Engineering Practice

Advanced manufacturing is characterised by machines that move an end effector through a given trajectory to perform operations suc..

Global Sensitivity Analysis for the Linear Assignment Problem

E Michael, TA Wood, C Manzie, I Shames

Conference Proceedings  |  2020  |  2020 American Control Conference (ACC)

In this paper, the following question is addressed: given a linear assignment problem, how much can the all of the individual assi..

Rigid Network Design Via Submodular Set Function Optimization (vol 3, pg 84, 2015)

Iman Shames, Tyler H Summers

Journal article  |  2020  |  IEEE Transactions on Network Science and Engineering

Security metrics and synthesis of secure control systems

C Murguia, I Shames, J Ruths, D Nešić

Journal article  |  2020  |  Automatica

The term stealthy has come to encompass a variety of techniques that attackers can employ to avoid being detected. In this manuscr..

Implementing homomorphic encryption based secure feedback control

Julian Tran, Farhad Farokhi, Michael Cantoni, Iman Shames

Journal article  |  2020  |  Control Engineering Practice

This paper is about an encryption based approach to the secure implementation of feedback controllers for physical systems. Specif..

Asynchronous Distributed Optimization via Dual Decomposition and Block Coordinate Ascent

Y Lin, I Shames, D Nesic

Conference Proceedings  |  2020  |  2019 IEEE 58th Conference on Decision and Control (CDC)

We study a class of distributed optimization problems of minimizing the sum of potentially non-differentiable convex objective fun..