2018

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Visible to the public Traffic Signal Control with Connected and Autonomous Vehicles

The accelerating pace of advances in sensing, communications, and computation provides significant opportunities for enhancing mobility and safety in the transportation system. Many challenges, however, must be tackled for a smooth transition in the deployment of such technologies. This research develops an Intelligent Intersection Control System (IICS) for both Connected/Automated Vehicles (CAVs) and conventional vehicles in the traffic stream.

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Visible to the public Towards Secure, Privacy-Preserving, Verifiable Cyberphysical Systems

For this project, we are building tools and verification techniques that check modern cyberphysical systems (CPSs) and Internet of Things (IoT) systems for correctness in order to decrease the likelihood of behavior that may lead to various vulnerabilities, including those related to security. In particular, we intend to create a suite of verification tools for design-time, compile-time, and run-time checking of these systems. Some of these tools will be software-oriented, but others will explore hardware-support for checking correct execution of deployed systems.

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Visible to the public Tracking Fish Movement with a School of Gliding Robotic Fish

The goal of this project is to create an integrative framework for the design of coupled biological and robotic systems that accommodates system uncertainties and competing objectives in a rigorous, holistic, and effective manner. The design principles are developed using a concrete, end-to-end application of tracking and modeling fish movement with a network of gliding robotic fish. The proposed robotic platform is an energy-efficient underwater gliding robotic fish that travels by changing its buoyancy and mass distribution (gliding) or by flapping tail fin (swimming).

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Visible to the public Towards Effective and Efficient Sensing-Motion Co-Design of Swarming Cyber Physical Systems

The overall research objective of the project is to establish and demonstrate a generic motion-sensing co-design procedure that significantly reduces the complexity of mission design for swarm-ing CPS, and greatly facilitates the development of effective and efficient control and sensing strategies.

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Visible to the public Towards Optimal Information Gathering in Unknown Stochastic Environments

A method for achieving lane-level localization in global navigation satellite system (GNSS)-challenged environments is presented. The proposed method uses the pseudoranges drawn from unknown ambient cellular towers as an exclusive aiding source for a vehicle-mounted light detection and ranging (lidar) sensor. The following scenario is considered. A vehicle aiding its lidar with GNSS signals enters an environment where these signals become unusable. The vehicle is equipped with a receiver capable of producing pseudoranges to unknown cellular towers in its environment.

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Visible to the public Towards Secure Large-Scale Networked Systems- Resilient Distributed Algorithms for Coordination in Networks under Cyber Attacks

Large-scale networked systems (such as the power grid, the internet, multi-robot systems, and smart cities) consist of a large number of interconnected components. To allow the entire system to function efficiently, these components must communicate with each other and use the exchanged information in order to estimate the state of the entire system and take optimal actions.

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Visible to the public Towards an Intermittent Learning Framework for Smart and Efficient Cyber-Physical Autonomy

Current learning algorithms cannot be easily applied in CPS due to their need for continuous and expensive updates, with the current triggered frameworks having fundamental limitations. Such limitations lead to the following questions. How can we incorporate and fully adapt to totally unknown, dynamic, and uncertain environments? How do we co-design the action and the intermittent schemes? How can we provide quantifiable real-time performance, stability and robustness guarantees by design? And how do we solve congestion and guarantee security?