arXiv subjects

Antonio Loría

Publications and source records attributed to Antonio Loría.

7 recordsLinked to original sources

arXiv2026

On the Control of Mobile Ad-Hoc Agent Deployments in Partially Observed Space

We study the online deployment of mobile ad hoc networks in unknown orthogonal environments, formalized as the Partially Observable Cooperative Guard Art Gallery Problem. We give a full proof that CADENCE algorithms achieve full coverage while maintaining a connected visibility graph using at most $n/2 + h - 2$ agents in orthogonal worlds with $n$ corners and $h$ holes. We further evaluate deployment-order heuristics that reduce agent count and deployment time in practice.

cs.RO↗

arXiv2026

On Composite Adaptive Continuous Finite-Time Control of a class of Euler-Lagrange systems

In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on composite adaptive control approaches. Each control scheme consists of two main components: a Proportional--Derivative (PD)-based nonlinear feedback term and a finite-time parameter estimation law. The estimation laws rely on the Dynamic Regressor Extension and Mixing (DREM) technique, which can be designed using either the Kreisselmeier or the least-squares dynamic regressor extensions. These results extend recent advances in finite-time adaptive control for Euler-Lagrange systems. To the best of the authors' knowledge, the composite adaptive control formulation proposed here, which does not employ well-known Slotine and Li adaptive control structure, has not been studied in detail yet. The properties of the proposed controllers are rigorously analyzed using Lyapunov methods. The performance of the controllers is thoroughly evaluated through extensive simulation studies.

math.OC↗

arXiv2025

On Mobile Ad Hoc Networks for Coverage of Partially Observable Worlds

This paper addresses the movement and placement of mobile agents to establish a communication network in initially unknown environments. We cast the problem in a computational-geometric framework by relating the coverage problem and line-of-sight constraints to the Cooperative Guard Art Gallery Problem, and introduce its partially observable variant, the Partially Observable Cooperative Guard Art Gallery Problem (POCGAGP). We then present two algorithms that solve POCGAGP: CADENCE, a centralized planner that incrementally selects 270 degree corners at which to deploy agents, and DADENCE, a decentralized scheme that coordinates agents using local information and lightweight messaging. Both approaches operate under partial observability and target simultaneous coverage and connectivity. We evaluate the methods in simulation across 1,500 test cases of varied size and structure, demonstrating consistent success in forming connected networks while covering and exploring unknown space. These results highlight the value of geometric abstractions for communication-driven exploration and show that decentralized policies are competitive with centralized performance while retaining scalability.

cs.RO↗

arXiv2023

On Observer-based Asymptotic Stabilization of Non-uniformly Observable Systems via Hybrid and Smooth Control: a Case Study

For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system that is bilinear and affine, both in the input and the output, but it is unobservable at the target equilibrium. The case-study is representative of a well-studied class of non-uniformly observable systems and stems from automotive control. Our main contribution is a novel certainty-equivalence hybrid controller that achieves asymptotic stabilization semiglobally. The controller relies on a switched observer that estimates the state, provided that the latter is 'kept away' from the singular equilibrium. To achieve both competing tasks, stabilization and estimation, the controller also relies on the keen construction of a piecewise-constant, converging, reference. Our main results are illustrated via numerical simulations on a meaningful example.

math.OC↗

arXiv2023

Hybrid Persistency of Excitation in Adaptive Estimation for Hybrid Systems

We propose a framework to analyze stability for a class of linear non-autonomous hybrid systems, where the continuous evolution of solutions is governed by an ordinary differential equation and the instantaneous changes are governed by a difference equation. Furthermore, the jumps are triggered by the influence of an external hybrid signal. The proposed framework builds upon a generalization of the well-known persistency of excitation (PE) and uniform observability (UO) notions to the realm of hybrid systems. That is, we establish conditions, under which, hybrid PE implies hybrid UO and, in turn, uniform exponential stability (UES) and input-to-state stability (ISS). Our proofs rely on an original statement for hybrid systems, expressed in terms of Lp bounds on the solutions. We demonstrate the utility of our results on generic adaptive estimation problems. The first one concerns the so-called gradient systems, reminiscent of the popular gradient-descent algorithm. The second one pertains to designing adaptive observers/identifiers for a class of hybrid systems that are nonlinear in the input and the output, and linear in the unknown parameters. In both cases, we illustrate through examples that the proposed hybrid framework succeeds when the classic purely continuous- or discrete-time counterparts fail.

math.OC↗

arXiv2019

Climate-driven statistical models as effective predictors of local dengue incidence in Costa Rica: A Generalized Additive Model and Random Forest approach

Climate has been an important factor in shaping the distribution and incidence of dengue cases in tropical and subtropical countries. In Costa Rica, a tropical country with distinctive micro-climates, dengue has been endemic since its introduction in 1993, inflicting substantial economic, social, and public health repercussions. Using the number of dengue reported cases and climate data from 2007-2017, we fitted a prediction model applying a Generalized Additive Model (GAM) and Random Forest (RF) approach, which allowed us to retrospectively predict the relative risk of dengue in five climatological diverse municipalities around the country.

stat.ML↗

arXiv2007

Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases

Consider the controlled system $dx/dt = Ax + α(t)Bu$ where the pair $(A,B)$ is stabilizable and $α(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive constants $μ,T$ such that, for every $t\geq 0$, $\int_t^{t+T}α(s)ds\geq μ$. In particular, when $α(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback $u=Kx$, with $K$ only depending on $(A,B)$ and possibly on $μ,T$, which globally asymptotically stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

math.OC↗