Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems

Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks

Control with Probabilistic Signal Temporal Logic

Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such controllers is challenging due to computational complexity and the lack of expressivity of existing specification languages. In this paper, we propose a probabilistic extension to signal temporal logic (STL) that expresses tasks over continuous belief spaces. We present an efficient synthesis algorithm to find a control input that maximises the probability of satisfying a given task. We validate our algorithm through simulations of an unmanned aerial vehicle deployed for surveillance and search missions.Comment: 7 pages, submitted to the 2016 American Control Conference (ACC 2016) on September, 30, 2015 (under review

Distributed Control of Positive Systems

A system is called positive if the set of non-negative states is left invariant by the dynamics. Stability analysis and controller optimization are greatly simplified for such systems. For example, linear Lyapunov functions and storage functions can be used instead of quadratic ones. This paper shows how such methods can be used for synthesis of distributed controllers. It also shows that stability and performance of such control systems can be verified with a complexity that scales linearly with the number of interconnections. Several results regarding scalable synthesis and verfication are derived, including a new stronger version of the Kalman-Yakubovich-Popov lemma for positive systems. Some main results are stated for frequency domain models using the notion of positively dominated system. The analysis is illustrated with applications to transportation networks, vehicle formations and power systems

Control with probabilistic signal temporal logic

Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such controllers is challenging due to computational complexity and the lack of expressivity of existing specification languages. In this paper, we propose a probabilistic extension to signal temporal logic (STL) that expresses tasks over continuous belief spaces. We present an efficient synthesis algorithm to find a control input that maximises the probability of satisfying a given task. We validate our algorithm through simulations of an unmanned aerial vehicle deployed for surveillance and search missions

Optimized Surface Code Communication in Superconducting Quantum Computers

Quantum computing (QC) is at the cusp of a revolution. Machines with 100 quantum bits (qubits) are anticipated to be operational by 2020 [googlemachine,gambetta2015building], and several-hundred-qubit machines are around the corner. Machines of this scale have the capacity to demonstrate quantum supremacy, the tipping point where QC is faster than the fastest classical alternative for a particular problem. Because error correction techniques will be central to QC and will be the most expensive component of quantum computation, choosing the lowest-overhead error correction scheme is critical to overall QC success. This paper evaluates two established quantum error correction codes---planar and double-defect surface codes---using a set of compilation, scheduling and network simulation tools. In considering scalable methods for optimizing both codes, we do so in the context of a full microarchitectural and compiler analysis. Contrary to previous predictions, we find that the simpler planar codes are sometimes more favorable for implementation on superconducting quantum computers, especially under conditions of high communication congestion.Comment: 14 pages, 9 figures, The 50th Annual IEEE/ACM International Symposium on Microarchitectur