An integrative perspective to LQ and ℓ∞ control for delayed and quantized systems

Deterministic and stochastic approaches to handle uncertainties may incur very different complexities in computation time and memory usage, in addition to different uncertainty models. For linear systems with delay and rate constrained communications between the observer and the controller, previous work shows that a deterministic approach, the ℓ ∞ control has low complexity but can only handle bounded disturbances. In this article, we take a stochastic approach and propose a linear-quadratic (LQ) controller that can handle arbitrarily large disturbance but has large complexity in time and space. The differences in robustness and complexity of the ℓ ∞ and LQ controllers motivate the design of a hybrid controller that interpolates between the two: The ℓ ∞ controller is applied when the disturbance is not too large (normal mode) and the LQ controller is resorted to otherwise (acute mode). We characterize the switching behavior between the normal and acute modes. Using our theoretical bounds which are supplemented by numerical experiments, we show that the hybrid controller can achieve a sweet spot in the robustness-complexity tradeoff, i.e., reject occasional large disturbance while operating with low complexity most of the time

LQ vs. ℓ_∞ in controller design for systems with delay and quantization

The normal operation of many cyberphysical, biological, and neural systems fit naturally with robust control, with key variables like lane positions, voltages, temperatures, blood pressures, etc maintained within tight bounds despite diverse uncertainties. However, two challenges in particularly need further theory that this paper addresses. One is that control is distributed with communication having limits on bandwidth and delay. Another is that normal operations can be disrupted and bounds violated, but it is desirable to make such acute situations rare and recoverable without crashing. We take the simplest model that has both normal and acute modes with bandwidth and delay constraints, and focus on two relatively extreme but familiar starting points: i) average case LQG (or ℋ_2) and ii) worst case ℓ_1 control with ℓ_∞ signal bounds. Both have strengths and weaknesses that we highlight, and this leads naturally to a win-win hybrid scheme that has better performance than either alone, with relatively modest computational costs

Connecting the Speed-Accuracy Trade-Offs in Sensorimotor Control and Neurophysiology Reveals Diversity Sweet Spots in Layered Control Architectures

Nervous systems sense, communicate, compute, and actuate movement using distributed components with trade-offs in speed, accuracy, sparsity, noise, and saturation. Nevertheless, the resulting control can achieve remarkably fast, accurate, and robust performance due to a highly effective layered control architecture. However, this architecture has received little attention from the existing research. This is in part because of the lack of theory that connects speed-accuracy trade-offs (SATs) in the components neurophysiology with system-level sensorimotor control and characterizes the overall system performance when different layers (planning vs. reflex layer) act work jointly. In thesis, we present a theoretical framework that provides a synthetic perspective of both levels and layers. We then use this framework to clarify the properties of effective layered architectures and explain why there exists extreme diversity across layers (planning vs. reflex layers) and within levels (sensorimotor versus neural/muscle hardware levels). The framework characterizes how the sensorimotor SATs are constrained by the component SATs of neurons communicating with spikes and their sensory and muscle endpoints, in both stochastic and deterministic models. The theoretical predictions are also verified using driving experiments. Our results lead to a novel concept, termed ``diversity sweet spots (DSSs)'': the appropriate diversity in the properties of neurons and muscles across layers and within levels help create systems that are both fast and accurate despite being built from components that are individually slow or inaccurate. At the component level, this concept explains why there are extreme heterogeneities in the neural or muscle composition. At the system level, DSSs explain the benefits of layering to allow extreme heterogeneities in speed and accuracy in different sensorimotor loops. Similar issues and properties also extend down to the cellular level in biology and outward to our most advanced network technologies from smart grid to the Internet of Things. We present our initial step in expanding our framework to that area and widely-open area of research for future direction

Generalized Exact Scheduling: a Minimal-Variance Distributed Deadline Scheduler

Many modern schedulers can dynamically adjust their service capacity to match the incoming workload. At the same time, however, unpredictability and instability in service capacity often incur operational and infrastructure costs. In this paper, we seek to characterize optimal distributed algorithms that maximize the predictability, stability, or both when scheduling jobs with deadlines. Specifically, we show that Exact Scheduling minimizes both the stationary mean and variance of the service capacity subject to strict demand and deadline requirements. For more general settings, we characterize the minimal-variance distributed policies with soft demand requirements, soft deadline requirements, or both. The performance of the optimal distributed policies is compared to that of the optimal centralized policy by deriving closed-form bounds and by testing centralized and distributed algorithms using real data from the Caltech electrical vehicle charging facility and many pieces of synthetic data from different arrival distribution. Moreover, we derive the Pareto-optimality condition for distributed policies that balance the variance and mean square of the service capacity. Finally, we discuss a scalable partially-centralized algorithm that uses centralized information to boost performance and a method to deal with missing information on service requirements

Minimal-variance distributed scheduling under strict demands and deadlines

Many modern schedulers can dynamically adjust their service capacity to match the incoming workload. At the same time, however, variability in service capacity often incurs operational and infrastructure costs. In this abstract, we characterize an optimal distributed algorithm that minimizes service capacity variability when scheduling jobs with deadlines. Specifically, we show that Exact Scheduling minimizes service capacity variance subject to strict demand and deadline requirements under stationary Poisson arrivals. Moreover, we show how close the performance of the optimal distributed algorithm is to that of the optimal centralized algorithm by deriving a competitive-ratio-like bound

Minimal-Variance Distributed Deadline Scheduling in a Stationary Environment

Many modern schedulers can dynamically adjust their service capacity to match the incoming workload. At the same time, however, variability in service capacity often incurs operational and infrastructure costs. In this paper, we propose distributed algorithms that minimize service capacity variability when scheduling jobs with deadlines. Specifically, we show that Exact Scheduling minimizes service capacity variance subject to strict demand and deadline requirements under stationary Poisson arrivals. We also characterize the optimal distributed policies for more general settings with soft demand requirements, soft deadline requirements, or both. Additionally, we show how close the performance of the optimal distributed policy is to that of the optimal centralized policy by deriving a competitive-ratio-like bound

Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction

We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios like collaborative manufacturing where prexisting data is sparse. Much prior work in human-robot collaboration uses observational models of humans (i.e. models that treat the robot purely as an observer) to choose the robot's behavior, but such models do not account for the influence the robot has on the human's actions, which may lead to inefficient interactions. We instead formulate the problem of optimally choosing a collaborative robot's behavior based on a conditional model of the human that depends on the robot's future behavior. First, we propose a novel model-based formulation of conditional behavior prediction that allows the robot to infer the human's intentions based on its future plan in data-sparse environments. We then show how to utilize a conditional model for proactive goal selection and path generation around human collaborators. Finally, we use our proposed proactive controller in a collaborative task with real users to show that it can improve users' interactions with a robot collaborator quantitatively and qualitatively