Iman Shames

Tuning of model predictive engine controllers over transient drive cycles

Alejandro Maass, Chris Manzie, Iman Shames, Robert Chin, Dragan Nesic, Nalika Ulapane, Hayato Nakada

Conference Proceedings  |  2021  |  IFAC PAPERSONLINE

A framework for tuning the parameters of model predictive controllers (MPCs) based on gradient-free optimisation (GFO) is proposed..

An Expressiveness Hierarchy of Behavior Trees and Related Architectures

Oliver Biggar, Mohammad Zamani, Iman Shames

Journal article  |  2021  |  IEEE ROBOTICS AND AUTOMATION LETTERS

In this letter, we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection..

Path Planning under Risk and Uncertainty of the Environment

L Cuevas, M Ramirez, I Shames, C Manzic

Conference Proceedings  |  2021  |  Proceedings of the American Control Conference

This manuscript addresses the path planning problem under risk and uncertainty to reduce the chances of undesirable damage or even..

Complexity minimisation of suboptimal MPC without terminal constraints

Andrei Pavlov, Matthias Mueller, Chris Manzie, Iman Shames

Conference Proceedings  |  2021  |  IFAC PAPERSONLINE

This paper generalises stability analysis of Nonlinear Model Predictive Control without terminal constraints to incorporate possib..

Asynchronous Distributed Optimization via Dual Decomposition and Block Coordinate Subgradient Methods

Y Lin, I Shames, D Nesic

Journal article  |  2021  |  IEEE Transactions on Control of Network Systems

We study the problem of minimizing the sum of potentially non-differentiable convex cost functions with partially overlapping depe..

Secure Networked Control Systems Design Using Semi-homomorphic Encryption

Y Lin, F Farokhi, I Shames, D Nešić

Book Chapter  |  2021  |  Lecture Notes in Control and Information Sciences

A secure and private nonlinear networked control systems (NCSs) design using semi-homomorphic encryption is studied. Static feedba..

On Privacy of Dynamical Systems: An Optimal Probabilistic Mapping Approach

Carlos Murguia, Iman Shames, Farhad Farokhi, Dragan Nesic, H Vincent Poor

Journal article  |  2021  |  IEEE TRANSACTIONS ON INFORMATION FORENSICS AND SECURITY

We address the problem of maximizing privacy of stochastic dynamical systems whose state information is released through quantized..

Interior Point Differential Dynamic Programming

A Pavlov, I Shames, C Manzie

Journal article  |  2021  |  IEEE Transactions on Control Systems Technology

This brief introduces a novel differential dynamic programming (DDP) algorithm for solving discrete-time finite-horizon optimal co..

Optimisation with Zeroth-Order Oracles in Formation

E Michael, D Zelazo, TA Wood, C Manzie, I Shames

Conference Proceedings  |  2020  |  Proceedings of the IEEE Conference on Decision and Control

In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. We prop..

Undetectable Cyber Attacks on Communication Links in Multi-Agent Cyber-Physical Systems

M Taheri, K Khorasani, I Shames, N Meskin

Conference Proceedings  |  2020  |  Proceedings of the IEEE Conference on Decision and Control

The objective in this paper is to study and develop conditions for a network of multi-agent cyber-physical systems (MAS) where a m..