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George J. Pappas

Publications and source records attributed to George J. Pappas.

At least 199 records · Page 11Linked to original sources

Data-Driven Robust Taxi Dispatch under Demand Uncertainties

In modern taxi networks, large amounts of taxi occupancy status and location data are collected from networked in-vehicle sensors in real-time. They provide knowledge of system models on passenger demand and mobility patterns for efficient taxi dispatch and coordination strategies. Such approaches face new challenges: how to deal with uncertainties of predicted customer demand while fulfilling the system's performance requirements, including minimizing taxis' total idle mileage and maintaining service fairness across the whole city; how to formulate a computationally tractable problem. To address this problem, we develop a data-driven robust taxi dispatch framework to consider spatial-temporally correlated demand uncertainties. The robust vehicle dispatch problem we formulate is concave in the uncertain demand and convex in the decision variables. Uncertainty sets of random demand vectors are constructed from data based on theories in hypothesis testing, and provide a desired probabilistic guarantee level for the performance of robust taxi dispatch solutions. We prove equivalent computationally tractable forms of the robust dispatch problem using the minimax theorem and strong duality. Evaluations on four years of taxi trip data for New York City show that by selecting a probabilistic guarantee level at 75%, the average demand-supply ratio error is reduced by 31.7%, and the average total idle driving distance is reduced by 10.13% or about 20 million miles annually, compared with non-robust dispatch solutions.

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A Moving-Horizon Hybrid Stochastic Game for Secure Control of Cyber-Physical Systems

In this paper, we establish a zero-sum, hybrid state stochastic game model for designing defense policies for cyber-physical systems against different types of attacks. With the increasingly integrated properties of cyber-physical systems (CPS) today, security is a challenge for critical infrastructures. Though resilient control and detecting techniques for a specific model of attack have been proposed, to analyze and design detection and defense mechanisms against multiple types of attacks for CPSs requires new system frameworks. Besides security, other requirements such as optimal control cost also need to be considered. The hybrid game model we propose in this work contains physical states that are described by the system dynamics, and a cyber state that represents the detection mode of the system composed by a set of subsystems. A strategy means selecting a subsystem by combining one controller, one estimator and one detector among a finite set of candidate components at each state. Based on the game model, we propose a suboptimal value iteration algorithm for a finite horizon game, and prove that the algorithm results an upper bound for the value of the finite horizon game. A moving-horizon approach is also developed in order to provide a scalable and real-time computation of the switching strategies. Both algorithms aims at obtaining a saddle-point equilibrium policy for balancing the system's security overhead and control cost. The paper illustrates these concepts using numerical examples, and we compare the results with previously system designs that only equipped with one type of controller.

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State-Secrecy Codes for Networked Linear Systems

In this paper, we study the problem of remote state estimation, in the presence of a passive eavesdropper. An authorized user estimates the state of an unstable linear plant, based on the packets received from a sensor, while the packets may also be intercepted by the eavesdropper. Our goal is to design a coding scheme at the sensor, which encodes the state information, in order to impair the eavesdropper's estimation performance, while enabling the user to successfully decode the sent messages. We introduce a novel class of codes, termed State-Secrecy Codes, which use acknowledgment signals from the user and apply linear time-varying transformations to the current and previously received states. By exploiting the properties of the system's process noise, the channel physical model and the dynamics, these codes manage to be fast, efficient and, thus, suitable for real-time dynamical systems. We prove that under minimal conditions, State-Secrecy Codes achieve perfect secrecy, namely the eavesdropper's estimation error grows unbounded almost surely, while the user's estimation performance is optimal. These conditions only require that at least once, the user receives the corresponding packet while the eavesdropper fails to intercept it. Even one occurrence of this event renders the eavesdropper's error unbounded with asymptotically optimal rate of increase. State-Secrecy Codes are provided and studied for two cases, i) when direct state measurements are available, and ii) when we only have output measurements. The theoretical results are illustrated in simulations.

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Minimal Reachability Problems

In this paper, we address a collection of state space reachability problems, for linear time-invariant systems, using a minimal number of actuators. In particular, we design a zero-one diagonal input matrix B, with a minimal number of non-zero entries, so that a specified state vector is reachable from a given initial state. Moreover, we design a B so that a system can be steered either into a given subspace, or sufficiently close to a desired state. This work extends the recent results of Olshevsky and Pequito, where a zero-one diagonal or column matrix B is constructed so that the involved system is controllable. Specifically, we prove that the first two of our aforementioned problems are NP-hard; these results hold for a zero-one column matrix B as well. Then, we provide efficient polynomial time algorithms for their general solution, along with their worst case approximation guarantees. Finally, we illustrate their performance over large random networks.

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Parsing spatiotemporal dynamical stability in ECoG during seizure onset, propagation, and termination

Understanding brain dynamics in epilepsy is critical for establishing rigorous control objectives that enable new therapeutic methods to mitigate seizure occurrence. In multichannel electrocorticography (ECoG) recordings acquired in 21 subjects during a total of 94 seizures, we apply dynamical systems stability analysis to assess the balance versus imbalance of seizure dynamics across different timescales and brain regions. Specifically, we consider a sliding time window multivariate autoregressive linear approximation of the data captured by the ECoG channels, where eigendecomposition of the estimated matrix of coefficients describes the contribution of different regions to the spatiotemporal process (eigenvectors) associated with a particular timescale (eigenvalues). Interestingly, we observe a pattern of eigenvalue evolution and slowly changing (or approximately time-invariant) eigenvectors across both seizures and subjects. The seizure-onset is marked by an increase in high frequency spatial information to which a few regions contribute for a long period. By contrast, the seizure termination is characterized by a sudden, small time period change in dynamics to which many regions contribute. As the seizure terminates, the relatively stable ictal dynamics rapidly transition into the post-ictal regime, marked by relatively fast-damping oscillations. Our methodology offers a subject-specific characterization of the spatiotemporal behavior of the seizure, providing new insights into the dynamic patterns and functional interactions between brain regions that occur over different timescales. More generally, our approach informs the development of engineering objectives that can be used to deploy new control strategies to prevent seizure evolution or to hasten seizure termination.

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Privacy in Information-Rich Intelligent Infrastructure

Intelligent infrastructure will critically rely on the dense instrumentation of sensors and actuators that constantly transmit streaming data to cloud-based analytics for real-time monitoring. For example, driverless cars communicate real-time location and other data to companies like Google, which aggregate regional data in order to provide real-time traffic maps. Such traffic maps can be extremely useful to the driver (for optimal travel routing), as well as to city transportation administrators for real-time accident response that can have an impact on traffic capacity. Intelligent infrastructure monitoring compromises the privacy of drivers who continuously share their location to cloud aggregators, with unpredictable consequences. Without a framework for protecting the privacy of the driver's data, drivers may be very conservative about sharing their data with cloud-based analytics that will be responsible for adding the intelligence to intelligent infrastructure. In the energy sector, the Smart Grid revolution relies critically on real-time metering of energy supply and demand with very high granularity. This is turn enables real-time demand response and creates a new energy market that can incorporate unpredictable renewable energy sources while ensuring grid stability and reliability. However, real-time streaming data captured by smart meters contain a lot of private information, such as our home activities or lack of, which can be easily inferred by anyone that has access to the smart meter data, resulting not only in loss of privacy but potentially also putting us at risk.

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Coordination of multi-agent systems via asynchronous cloud communication

In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered algorithm that allows agents to communicate with the cloud only when necessary rather than at some fixed period. Unlike the vast majority of similar works that propose distributed event- and/or self-triggered control laws, this work doesn't assume agents can be "listening" continuously. In other words, when an event is triggered by one agent, neighboring agents will not be aware of this until the next time they establish communication with the cloud themselves. Using a notion of "promises" about future control inputs, agents are able to keep track of higher quality estimates about their neighbors allowing them to stay disconnected from the cloud for longer periods of time while still guaranteeing a positive contribution to the global task. We prove that our self-triggered coordination algorithm guarantees that the system asymptotically reaches the set of desired states. Simulations illustrate our results.

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Inference, Prediction, and Control of Networked Epidemics

We develop a feedback control method for networked epidemic spreading processes. In contrast to most prior works which consider mean field, open-loop control schemes, the present work develops a novel framework for feedback control of epidemic processes which leverages incomplete observations of the stochastic epidemic process in order to control the exact dynamics of the epidemic outbreak. We develop an observation model for the epidemic process, and demonstrate that if the set of observed nodes is sufficiently well structured, then the random variables which denote the process' infections are conditionally independent given the observations. We then leverage the attained conditional independence property to construct tractable mechanisms for the inference and prediction of the process state, avoiding the need to use mean field approximations or combinatorial representations. We conclude by formulating a one-step lookahead controller for the discrete-time Susceptible-Infected-Susceptible (SIS) epidemic process which leverages the developed Bayesian inference and prediction mechanisms, and causes the epidemic to die out at a chosen rate.

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Decentralized Observability with Limited Communication between Sensors

In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of performing simple operations, such as retaining the current state and model of the system in its memory. We assume the system to be observable (given all the measurements of the sensors), and we ask whether each sub-collection of sensors can retrieve the state of the underlying physical system, as well as the state of the remaining sensors. To this end, we consider communication between neighboring sensors, whose adjacency is captured by a communication graph. We then propose a linear update strategy that encodes the sensor measurements as states in an augmented state space, with which we provide the solution to the problem of retrieving the system and sensor states. The present paper contains three main contributions. First, we provide necessary and sufficient conditions to ensure observability of the system and sensor states from any sensor. Second, we address the problem of adding communication between sensors when the necessary and sufficient conditions are not satisfied, and devise a strategy to this end. Third, we extend the former case to include different costs of communication between sensors. Finally, the concepts defined and the method proposed are used to assess the state of an example of approximate structural brain dynamics through linearized measurements.

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Analysis and Design of Actuation-Sensing-Communication Interconnection Structures towards Secured/Resilient Closed-loop Systems

This paper considers the analysis and design of resilient/robust decentralized control systems. Specifically, we aim to assess how the pairing of sensors and actuators lead to architectures that are resilient to attacks/hacks for industrial control systems and other complex cyber-physical systems. We consider inherent structural properties such as internal fixed modes of a dynamical system depending on actuation, sensing, and interconnection/communication structure for linear discrete time-invariant dynamical systems. We introduce the notion of resilient fixed-modes free system that ensures the non-existence of fixed modes when the actuation-sensing-communication structure is compromised due to attacks by a malicious agent on actuators, sensors, or communication components and natural failures. Also, we provide a graph-theoretical characterization for the resilient structurally fixed modes that enables to capture the non-existence of resilient fixed modes for almost all possible systems' realizations. Additionally, we address the minimum actuation-sensing-communication co-design ensuring the non-existence of resiliently structurally fixed modes, which we show to be NP-hard. Notwithstanding, we identify conditions that are often satisfied in engineering settings and under which the co-design problem is solvable in polynomial-time complexity. Furthermore, we leverage the structural insights and properties to provide a convex optimization method to design the gain for a parametrized system and satisfying the sparsity of a given information pattern. Thus, exploring the interplay between structural and non-structural systems to ensure their resilience. Finally, the efficacy of the proposed approach is demonstrated on a power grid example.

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State Estimation with Secrecy against Eavesdroppers

We study the problem of remote state estimation, in the presence of an eavesdropper. An authorized user estimates the state of a linear plant, based on the data received from a sensor, while the data may also be intercepted by the eavesdropper. To maintain confidentiality with respect to state, we introduce a novel control-theoretic definition of perfect secrecy requiring that the user's expected error remains bounded while the eavesdropper's expected error grows unbounded. We propose a secrecy mechanism which guarantees perfect secrecy by randomly withholding sensor information, under the condition that the user's packet reception rate is larger than the eavesdropper's interception rate. Given this mechanism, we also explore the tradeoff between user's utility and confidentiality with respect to the eavesdropper, via an optimization problem. Finally, some examples are studied to provide insights about this tradeoff.

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Scheduling Nonlinear Sensors for Stochastic Process Estimation

In this paper, we focus on activating only a few sensors, among many available, to estimate the state of a stochastic process of interest. This problem is important in applications such as target tracking and simultaneous localization and mapping (SLAM). It is challenging since it involves stochastic systems whose evolution is largely unknown, sensors with nonlinear measurements, and limited operational resources that constrain the number of active sensors at each measurement step. We provide an algorithm applicable to general stochastic processes and nonlinear measurements whose time complexity is linear in the planning horizon and whose performance is a multiplicative factor 1/2 away from the optimal performance. This is notable because the algorithm offers a significant computational advantage over the polynomial-time algorithm that achieves the best approximation factor 1/e. In addition, for important classes of Gaussian processes and nonlinear measurements corrupted with Gaussian noise, our algorithm enjoys the same time complexity as even the state-of-the-art algorithms for linear systems and measurements. We achieve our results by proving two properties for the entropy of the batch state vector conditioned on the measurements: a) it is supermodular in the choice of the sensors; b) it has a sparsity pattern (involves block tri-diagonal matrices) that facilitates its evaluation at each sensor set.

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Near-Optimal Sensor Scheduling for Batch State Estimation: Complexity, Algorithms, and Limits

In this paper, we focus on batch state estimation for linear systems. This problem is important in applications such as environmental field estimation, robotic navigation, and target tracking. Its difficulty lies on that limited operational resources among the sensors, e.g., shared communication bandwidth or battery power, constrain the number of sensors that can be active at each measurement step. As a result, sensor scheduling algorithms must be employed. Notwithstanding, current sensor scheduling algorithms for batch state estimation scale poorly with the system size and the time horizon. In addition, current sensor scheduling algorithms for Kalman filtering, although they scale better, provide no performance guarantees or approximation bounds for the minimization of the batch state estimation error. In this paper, one of our main contributions is to provide an algorithm that enjoys both the estimation accuracy of the batch state scheduling algorithms and the low time complexity of the Kalman filtering scheduling algorithms. In particular: 1) our algorithm is near-optimal: it achieves a solution up to a multiplicative factor 1/2 from the optimal solution, and this factor is close to the best approximation factor 1/e one can achieve in polynomial time for this problem; 2) our algorithm has (polynomial) time complexity that is not only lower than that of the current algorithms for batch state estimation; it is also lower than, or similar to, that of the current algorithms for Kalman filtering. We achieve these results by proving two properties for our batch state estimation error metric, which quantifies the square error of the minimum variance linear estimator of the batch state vector: a) it is supermodular in the choice of the sensors; b) it has a sparsity pattern (it involves matrices that are block tri-diagonal) that facilitates its evaluation at each sensor set.

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Event-Triggered Communication and Control for Multi-Agent Average Consensus

In this chapter we look at one of the canonical driving examples for multi-agent systems: average consensus. In this scenario, a group of agents seek to agree on the average of their initial states. Depending on the particular application, such states might correspond to sensor measurements, estimates about the position of a target, or some other data that needs to be fused. Due to its numerous applications in networked systems, many algorithmic solutions exist to the multi-agent average consensus problem; however, a majority of them rely on agents having continuous or periodic availability of information from other agents. Unfortunately, this assumption leads to inefficient implementations in terms of energy consumption, communication bandwidth, network congestion, and processor usage. Motivated by these observations, our main goal here is the design of provably correct distributed event-triggered strategies that autonomously decide when communication and control updates should occur so that the resulting asynchronous network executions still achieve average consensus.

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Structural Minimum Controllability Problem for Linear Continuous-Time Switching Systems

This paper addresses a structural design problem in control systems, and explicitly takes into consideration the possible application to large-scale systems. More precisely, we aim to determine and characterize the minimum number of manipulated state variables ensuring structural controllability of switched linear continuous-time systems. Towards this goal, we provide a new necessary and sufficient condition that leverages both graph-theoretic and algebraic properties required to ensure feasibility of the solutions. With this new condition, we show that a solution can be determined by an efficient procedure, i.e., polynomial in the number of state variables. In addition, we also discuss the switching signal properties that ensure structural controllability and the computational complexity of determining these sequences. In particular, we show that determining the minimum number of modes that a switching signal requires to ensure structural controllability is NP-hard.

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Coding Schemes for Securing Cyber-Physical Systems Against Stealthy Data Injection Attacks

This paper considers a method of coding the sensor outputs in order to detect stealthy false data injection attacks. An intelligent attacker can design a sequence of data injection to sensors and actuators that pass the state estimator and statistical fault detector, based on knowledge of the system parameters. To stay undetected, the injected data should increase the state estimation errors while keep the estimation residues small. We employ a coding matrix to change the original sensor outputs to increase the estimation residues under intelligent data injection attacks. This is a low cost method compared with encryption schemes over all sensor measurements in communication networks. We show the conditions of a feasible coding matrix under the assumption that the attacker does not have knowledge of the exact coding matrix. An algorithm is developed to compute a feasible coding matrix, and, we show that in general, multiple feasible coding matrices exist. To defend against attackers who estimates the coding matrix via sensor and actuator measurements, time-varying coding matrices are designed according to the detection requirements. A heuristic algorithm to decide the time length of updating a coding matrix is then proposed.

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Random Access Design for Wireless Control Systems

Interferences arising between wireless sensor-actuator systems communicating over shared wireless channels adversely affect closed loop control performance. To mitigate this problem we design appropriate channel access policies for wireless control systems subject to channel fading. The design is posed as an optimization problem where the total transmit power of the sensors is minimized while desired control performance is guaranteed for each involved control loop. Control performance is abstracted as a desired expected decrease rate of a given Lyapunov function for each loop. We prove that the optimal channel access policies are decoupled and, intuitively, each sensor balances the gains from transmitting to its actuator with the negative interference effect on all other control loops. Moreover the optimal policies are of a threshold nature, that is, a sensor transmits only under favorable local fading conditions. Finally, we show that the optimal policies can be computed by a distributed iterative procedure which does not require coordination between the sensors.

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Accurately Predicting Functional Connectivity from Diffusion Imaging

Understanding the relationship between the dynamics of neural processes and the anatomical substrate of the brain is a central question in neuroscience. On the one hand, modern neuroimaging technologies, such as diffusion tensor imaging, can be used to construct structural graphs representing the architecture of white matter streamlines linking cortical and subcortical structures. On the other hand, temporal patterns of neural activity can be used to construct functional graphs representing temporal correlations between brain regions. Although some studies provide evidence that whole-brain functional connectivity is shaped by the underlying anatomy, the observed relationship between function and structure is weak, and the rules by which anatomy constrains brain dynamics remain elusive. In this article, we introduce a methodology to predict with high accuracy the functional connectivity of a subject at rest from his or her structural graph. Using our methodology, we are able to systematically unveil the role of structural paths in the formation of functional correlations. Furthermore, in our empirical evaluations, we observe that the eigen-modes of the predicted functional connectivity are aligned with activity patterns associated with different cognitive systems. Our work offers the potential to infer properties of brain dynamics in clinical or developmental populations with low tolerance for functional neuroimaging.

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