Ensuring Security and Resilience in Critical Cyber-Physical Systems

On reconstructability of quadratic utility functions from the iterations in gradient methods

F Farokhi, I Shames, MG Rabbat, M Johansson

2016-04-01

In this paper, we consider a scenario where an eavesdropper can read the content of messages transmitted over a network. The nodes..

The ADMM algorithm for distributed quadratic problems: Parameter selection and constraint preconditioning

A Teixeira, E Ghadimi, I Shames, H Sandberg, M Johansson

2016-01-15

This paper presents optimal parameter selection and preconditioning of the alternating direction method of multipliers (ADMM) algo..

The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping

DD Selvaratnam, I Shames, B Ristic, J MANTON

2016-01-01

This paper applies Posterior Cramer-Rao Bound theory to the SLAM problem to measure the information supplied by different sensor m..

A computationally advantageous reparameterisation of a robust model predictive control scheme

AR Neshastehriz, M Cantoni, I Shames

2015-12-16

In this paper, a two step reparameterisation is proposed to reduce the computational cost of an online constraint tightening model..

Topology design for optimal network coherence

T Summers, I Shames, J Lygeros, F Dorfler

2015-11-16

We consider a network topology design problem in which an initial undirected graph underlying the network is given and the objecti..

An Information-Based Learning Approach to Dual Control

T Alpcan, I Shames

2015-11-01

Dual control aims to concurrently learn and control an unknown system. However, actively learning the system conflicts directly wi..

Promoting Truthful Behavior in Participatory-Sensing Mechanisms

F Farokhi, I Shames, M Cantoni

2015-10-01

In this letter, the interplay between a class of nonlinear estimators and strategic sensors is studied in several participatory-se..

Safe autonomous agent formation operations via obstacle collision avoidance

M Deghat, I Shames, BDO Anderson

2015-09-01

In this paper, we consider the problem of flocking and shape-orientation control of multi-agent systems with inter-agent and obsta..

Rigid Network Design Via Submodular Set Function Optimization

I Shames, TH Summers

2015-07-01

We consider the problem of constructing networks that exhibit desirable algebraic rigidity properties, which can provide significa..

Optimal parameter selection for the Alternating Direction Method of Multipliers (ADMM): Quadratic problems

E Ghadimi, A Teixeira, I Shames, M Johansson

2015-03-01

The alternating direction method of multipliers (ADMM) has emerged as a powerful technique for large-scale structured optimization..

A secure control framework for resource-limited adversaries

A Teixeira, I Shames, H Sandberg, KH Johansson

2015-01-01

Cyber-secure networked control is modeled, analyzed, and experimentally illustrated in this paper. An attack space defined by the ..

Conditions and strategies for uniqueness of the solutions to cooperative localization and mapping problems using rigidity theory

I Shames, TH Summers, F FAROKHI, RC Shekhar

2015-01-01

In this paper, we use the rigidity theory to address two problems encountered in cooperative localization and mapping. First, we c..

Quadratic Gaussian Privacy Game

F FAROKHI, H Sandberg, I Shames, M Cantoni

2015-01-01

A game-theoretic model for analysing the effects of privacy on strategic communication between agents is devised. In the model, a ..

Robust model predictive control of unmanned aerial vehicles using waysets

RC Shekhar, M Kearney, I Shames

2015-01-01

This paper introduces a new formulation of model predictive control for robust trajectory guidance of unmanned aerial vehicles. It..

Scheduling Rigid Demands on Continuous-Time Linear Shift-Invariant Systems

F FAROKHI, M Cantoni, I Shames

2015-01-01

We consider load scheduling on constrained continuous-time linear dynamical systems, such as automated irrigation and other distri..

Trajectory planning and execution using robust funnels

RC Shekhar, MP Kearney, I Shames, C Manzie

2015-01-01

This paper presents a new robust path planning and execution methodology for constrained linear systems, using reachable sequences..

Collective Circumnavigation

JO Swartling, I Shames, KH Johansson, DV Dimarogonas

2014-07-01

This paper considers the problem of localization and circumnavigation of a slowly drifting target with an unknown speed by a group..

Circumnavigation using distance measurements

I Shames, S Dasgupta, B Fidan, BDO Anderson

2014-03-26

Consider a stationary agent A at an unknown location and a mobile agent B that must move to the vicinity of and then circumnavigat..

Network synchronizability enhancement using convex optimization

I Shames, BDO Anderson, X Wang, B Fidan

2014-03-26

In this paper we propose a method for enhancing synchronizability using convex optimization. This method is based on adding new ed..

Obstacle avoidance of non-holonomic unicycle robots based on fluid mechanical modeling

R Soukieh, I Shames, B Fidan

2014-03-26

This paper is concerned with obstacle avoidance of robots moving on a plane, based on a fluid mechanical principle known as the Ci..

Obstacle avoidance of robotic formations based on fluid mechanical modeling

R Soukieh, I Shames, B Fidan

2014-03-26

This paper is on obstacle avoidance of swarms of robots moving in certain geometric planar formations. Focus is given to a particu..

Constrained linear quadratic control in networks with limited model-information sharing

I Shames, M CANTONI

2014-01-01

Distributed fault detection and isolation resilient to network model uncertainties

A Teixeira, I Shames, H Sandberg, KH Johansson

2014-01-01

The ability to maintain state awareness in the face of unexpected and unmodeled errors and threats is a defining feature of a resi..

Localization and circumnavigation of a slowly moving target using bearing measurements

M Deghat, I Shames, BDO Anderson, C Yu

2014-01-01

The problem of localization and circumnavigation of a slowly moving target with unknown speed has been considered. The agent only ..

Manipulating factions evolved in signed networks

I Shames, TH Summers, M CANTONI

2014-01-01

Minimum-energy distributed consensus of uncertain agents

M Zamani, I Shames, V Ugrinovskii

2014-01-01

This paper presents a consensus algorithm for a multi-agent system where each agent has access to its imperfect own state and neig..

Network design via modular set function optimization in localization problems

I Shames, T Summers

2014-01-01

We consider the problem of selecting anchors for sensor network localization to optimize a metric of the error covariance of the p..

Water-level reference planning for automated irrigation channels via robust MPC

A NESHASTEHRIZ, M Cantoni, I Shames

2014-01-01

In a water-level reference planning problem for automated irrigation channels, the object is to steer the system along trajectorie..

Multi-step gradient methods for networked optimization

E Ghadimi, I Shames, M Johansson

2013-10-14

We develop multi-step gradient methods for network-constrained optimization of strongly convex functions with Lipschitz-continuous..