subject

cs.SY

cs.SY: explore 409 source-linked works published from 2017 to 2026, with original documents and citations.

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Includes records with this source-supplied label or an explicit phrase match in their metadata. Matches indicate a mention, not proof that a paper uses a method or tests a material. Source versions are consolidated by DOI.

Sources: arxiv. Collection updated 2026-09-16. Counts describe this index, not the complete source archives.

arXiv2026

Data-Driven Learning of Unknown Nonlinear Differential Equations Using Functional Analysis

In this paper, the problem of data-driven discovery of nonlinear ordinary differential equations (ODEs) is recast, and a new interpretable machine learning (ML) method is proposed. The proposed method aims to learn the unknown vector field of nonlinear dynamics without prior knowledge of the system's physics from only one single state trajectory's data. The proposed method has two fundamental differences with existing methods: 1) the formulation presented in this method is derived based on Functional Analysis and Operator Theory, and 2) the cost function is constructed in the function space as a distance between two functions as an integral, instead of the discrete-sum of errors used in existing ML approaches. An incremental learning algorithm is proposed to learn the unknown vector field to handle new training samples in an online manner. The proposed method can discover the unknown vector field from both forced and unforced autonomous and non-autonomous (or time-varying) dynamical systems. The proposed method is able to simultaneously discover unknown external forces as a function of time and unknown underlying dynamics. Finally, numerical examples are given to demonstrate the advantages of the proposed method.

cs.LG↗

arXiv2026

A Constraint-Aware Generative Framework for Synthetic Origin-Destination Demand in Logistics Networks

Large-scale logistics networks require synthetic data generation capabilities to support scenario-based planning under novel conditions-such as network reconfiguration and demand shocks. Existing approaches, which rely primarily on historical observations, lack the ability to generate demand patterns that adapt to changes in network topology while respecting operational constraints. We propose a constraint-aware conditional generative framework for synthetic origin-destination demand generation in hierarchical logistics networks. The framework models demand as a conditional distribution over destinations given each origin, enabling topology-aware synthesis that is both topologically realistic and operationally feasible. Operational guidance is incorporated directly into the generative objective via differentiable constraints, while a flexible conditioning mechanism supports various operational contexts and adaptation to evolving network configurations. We instantiate the proposed framework based on a conditional generative model. Experimental validation on industrial real fulfillment and transportation network demonstrates 16% improvement over graph neural network baselines, 87% operational compliance, and efficient cold-start adaptation, enabling applications in capacity planning, network design evaluation, and routing optimization.

eess.SY↗

arXiv2026

Scalable Edge-assisted Fusion and Path Prediction for Connected Autonomous Vehicles

The planning algorithms inside an Autonomous Vehicle (AV) rely on information from on-board sensors whose line of sight is limited by emerging traffic conditions and occlusions. Edge-assisted creation of a unified world model fusing information from AVs and Road Side Units (RSUs) in a geographical locale, and the prediction of AVs' future trajectories, can enhance the planning algorithms inside AVs to improve quality metrics, such as better traffic flow and collision prevention. AVs participating in such enhancements are called Connected Autonomous Vehicles (CAVs). However, such information generated by the edge (world model and motion predictions) must reach the planners within a tight Age of Information (AoI) time budget to be useful. The state of the art fuses per-CAV information: each AV fuses inputs from other actors locally, which limits both scalability with actor count and quality of results. We present Conductor, an edge-based solution for creating a unified world model from the perspective of a fixed anchor (e.g., an RSU) in a locale and predicting future trajectories of AVs in that locale. Our solution adheres to the AoI time budget by dynamically limiting the number of AVs that would lead to the best quality of results. Specifically, we introduce an occlusion-aware selector that favors information contribution by AVs that detect objects in the locale not covered by RSUs. We pair this selector with a runtime controller that adapts both the number of AV inputs to fuse and the amount of trajectory predictions in each cycle to stay within the AoI time budget. Evaluation on CAV simulation infrastructure shows our joint selector-controller meets the AoI safety bound across traffic scenarios with up to 31 CAVs, with fusion fidelity close to an Oracle and much better than a random selector under the same AoI constraint.

cs.RO↗

arXiv2026

Grid-Mode-Aware Model Predictive Control of Hybrid Energy Storage Systems for AI Data Center Power Smoothing

To facilitate the grid-friendly integration of highly variable AI data center loads, this paper proposes a grid-mode-aware model predictive control (G-MPC) framework for managing a hybrid energy storage system (HESS) to smooth grid-side power demand. The framework optimally coordinates a battery energy storage system (BESS) and a supercapacitor (SC) by solving a multi-step optimization problem in a receding-horizon manner. In particular, band-pass filter dynamics are directly embedded in the G-MPC formulation to extract and suppress grid-side power components associated with vulnerable grid oscillatory modes, thus mitigating load-induced grid oscillations. The resulting G-MPC optimization jointly minimizes violations of grid-side power-envelope, ramp-rate, and modal-power requirements and the degradation and power-ramping costs of the BESS and SC, while satisfying power limits, state-of-charge limits, and other operational constraints. To enable real-time implementation, a fix-and-re-optimize algorithm is developed to solve each G-MPC problem efficiently while preventing simultaneous charging and discharging. Extensive simulations demonstrate the effectiveness, flexibility, and computational efficiency of the proposed framework. The results also highlight the importance of explicitly suppressing power components associated with vulnerable grid modes, rather than merely reducing overall load variations, to effectively mitigate grid oscillations.

eess.SY↗

arXiv2026

Waves on the Walls: Empirical Characterization of mmWave Lateral Waves for Enhanced Indoor Coverage

High-frequency millimeter-wave (mmWave) communication systems are constrained by the surrounding environment, where walls are traditionally treated as obstacles that block or reflect signals indoors. Consequently, current beamforming strategies are tailored to circumvent these obstructions. In this paper, a paradigm shift is introduced that leverages lateral wave propagation along building interfaces to extend mmWave coverage. Unlike traditional reflections, lateral waves travel along the boundary between two media of different refractive indices and decay algebraically with distance, offering a potential alternative path for mmWave connectivity. While well-established at low frequencies in natural media, the existence of lateral waves at mmWave frequencies along engineered building materials has not been demonstrated before. To this end, the first experimental characterization of mmWave lateral waves along a wall is reported. Extensive controlled measurements are employed to characterize the signal-grazing geometry and to establish a frequency and distance-dependent path-loss model for this phenomenon. The results provide the first empirical foundation for a new class of interface-guided mmWave links.

cs.NI↗

arXiv2026

Estimating the Health and State of Charge of Each Cell in a Second-Life Battery System from Field Data

Effective use of battery storage depends on reliable estimation of its state of health (SOH) and state of charge (SOC). Model-based state estimation requires the open-circuit voltage (OCV) curve, which is typically unknown for second-life batteries. We present a framework that jointly estimates the states and parameters of an equivalent circuit model solely from field operation data, using Gaussian process regression to reconstruct the OCV curve. Applied to a real second-life battery system of 27 modules and 324 cells, it reveals SOH heterogeneity, a systematic SOC imbalance, and two faulty cells, all validated against a reference measurement. We aggregate the cell SOH and SOC to module level and benchmark them against a lumped-module model fitted without the individual cell voltages. The lumped-module model follows the average behavior and cannot capture the limiting cells, overestimating SOH by up to 31% and SOC by up to 23%.

eess.SY↗

arXiv2026

Deep Reinforcement Learning for Optimization of STAR-RIS Phase and Energy Splitting Coefficients in OTFS-NOMA Framework

This paper considers a downlink communication framework comprising a simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS)-aided by orthogonal time frequency space (OTFS) and non-orthogonal multiple access (NOMA) technologies. Further, delay-Doppler mobility in such frameworks renders classical alternating optimization impractical for per-coherence interval reconfiguration. To mitigate such issues, the STAR-RIS phase-shift and energy-splitting design is formulated as a constrained, non-convex sum-rate maximization problem with closed-form maximum ratio transmission beamforming and fixed NOMA power allocation. To circumvent the per-interval re-optimization burden, a deep reinforcement learning (DRL) approach is adopted that maps observed channel realizations to STAR-RIS configurations through a single forward pass. Specifically, Beta-Space Soft Actor-Critic (SAC-BSE), a maximum entropy DRL agent, is proposed. Simulation results, with two NOMA-multiplexed users on each STAR-RIS branch, confirm rapid convergence, limit the sum-rate degradation to roughly 10\% across a 128-fold user-speed range, and yield consistent gains over OTFS-only, NOMA-only, STAR-RIS-only, fixed-split, and mode-switching baselines as transmit power and the number of STAR-RIS elements increase.

cs.IT↗

arXiv2026

Integrating Agentic Artificial Intelligence with High-Performance Computing for Grid Planning

We present AgentiGrid, an agentic artificial intelligence (AI) framework that integrates large language models (LLMs) intelligence and high-performance computing (HPC) to streamline and accelerate the multi-scenario power flow studies. AgentiGrid is an autonomous decision-making agent that proposes parameter modifications, invokes analyses through HPC analysis toolkit ExaGO, interprets results, and determines subsequent actions. ExaGO provides multiple power flow applications that can perform deterministic, stochastic and security constrained optimal power flow analyses. AgentiGrid provides backends to multiple LLMs (OpenAI, Anthropic, Ollama, and Ollama cloud) augmented with context specific and task specific prompts. Key features include interactive mid-search steering, goal-type-aware post-search analysis, and concurrent variant exploration for power flow optimization. A Streamlit-based graphical launcher provides real-time visualization of iteration progress and generates reports in natural language. AgentiGrid is capable of autonomously converging transmission constrained alternating current optimal power flow in under 20 iterations, with near-perfect reliability

eess.SY↗

arXiv2026

Optimal Sensor and Actuator Selection for Factored Markov Decision Processes: Complexity, Approximability and Algorithms

Factored Markov Decision Processes (fMDPs) are a class of Markov Decision Processes (MDPs) in which the states (and actions) can be factored into a set of state (and action) variables and can be encoded compactly using a factored representation. In this paper, we consider a setting where the state of the fMDP is not directly observable, and the agent relies on a set of potential sensors to gather information. We formulate the problem of selecting a set of sensors for fMDPs (under a limited budget) to maximize the infinite-horizon discounted return provided by the optimal policy. We show the fundamental result that it is NP-hard to approximate this problem to within a factor of $n^{1-c}$ for any $c > 1$, where $n$ is the number of state variables. Our inapproximability results for sensor selection also extend to a general class of Partially Observable MDPs (POMDPs). We also consider the dual problem of budgeted actuator selection (at design-time) to maximize the expected return under the optimal policy, for which we establish similar inapproximability results. Finally, we consider a simple greedy algorithm and empirically show that, despite the lack of formal theoretical guarantees, it performs effectively in practice, achieving on average over $70\%$ of the optimal solution value across a variety of real-world and randomly generated problem instances.

eess.SY↗

arXiv2026

Deep Reinforcement Learning for Reach-Avoid-Stay Problems

Reach-Avoid-Stay (RAS) tasks are essential in applications where systems must safely reach a target set and remain within it under all bounded disturbances. Existing approaches either struggle to compute the maximal robust RAS set, the set of all states from which the RAS task is achievable, or are limited in handling general dynamic systems. To address these challenges, this paper proposes a two-step deep reinforcement learning framework that jointly learns the maximal robust RAS set and the corresponding control policy. The first step identifies the maximal robust control-invariant set within the target set and derives a policy that ensures the system remains within it. The second step computes the maximal robust reach-avoid (RA) set using this invariant set as the target, and it is proven that this RA set is equivalent to the maximal robust RAS set. Leveraging this result, a switching policy is constructed from the two step-wise policies, which constitutes a valid policy guaranteeing completion of the RAS task. Simulation results demonstrate that the proposed framework (1) computes the exact maximal robust RAS set in the absence of training errors, yielding the least restrictive RAS policy, and (2) identifies the RAS set with high accuracy while outperforming baseline methods on RAS tasks.

eess.SY↗

arXiv2026

Sample Complexity of Linear Quadratic Regulator Without Initial Stability

Inspired by REINFORCE, we introduce a novel receding-horizon algorithm for the Linear Quadratic Regulator (LQR) problem with unknown dynamics. Unlike prior methods, our algorithm avoids reliance on two-point gradient estimates while maintaining the same order of sample complexity. Furthermore, it eliminates the restrictive requirement of starting with a stable initial policy, broadening its applicability. Beyond these improvements, we introduce a refined analysis of error propagation through the contraction of the Riccati operator under the Riemannian distance. This refinement leads to a better sample complexity and ensures improved convergence guarantees.

math.OC↗

arXiv2026

Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)

This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical systems' operational space, with hard constraints ensuring safety-critical requirements and soft constraints encoding performance or task objectives. Initially, all constraints are consolidated into two separate scalar time-varying hard and soft constraint functions, whose positive level sets define feasible regions. A closed-form control law is developed to enforce these constraints using appropriately designed reciprocal barriers and nonlinear transformation functions. When conflicts between hard and soft constraints arise, the control law prioritizes hard constraints by virtually relaxing soft constraints via a dynamic relaxation law. Notably, the proposed control law maintains low complexity, avoiding approximation schemes for system uncertainties. Simulation results confirm the effectiveness of the proposed method.

eess.SY↗

arXiv2026

Predictive control barrier functions for piecewise affine systems with non-smooth constraints

Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an online finite-horizon optimal control problem that implicitly defines a large safe set. The optimal control problem, also known as the predictive safety filter (PSF), involves predicting the system's flow under a given backup control policy. However, for non-smooth systems and constraints, some key elements, such as CBF gradients and the sensitivity of the flow, are not well-defined, making the current methods inadequate for ensuring safety. Additionally, for control-non-affine systems, the PSF is generally nonlinear and non-convex, posing challenges for real-time computation. This paper considers piecewise affine systems, which are usually control-non-affine, under nonlinear state and polyhedral input constraints. We solve the safety issue by incorporating set-valued generalized Clarke derivatives in the PSF design. We show that enforcing CBF constraints across all elements of the generalized Clarke derivatives suffices to guarantee safety. Moreover, to lighten the computational overhead, we propose an explicit approximation of the PSF. The resulting control methods are demonstrated through numerical examples.

eess.SY↗

arXiv2026

Computable Characterisations of Scaled Relative Graphs of Closed Operators

The Scaled Relative Graph (SRG) is a promising tool for stability and robustness analysis of multi-input multi-output systems. In this paper, we provide tools for exact and computable constructions of the SRG for closed linear operators, based on maximum and minimum gain computations. The results are suitable for bounded and unbounded operators, and we specify how they can be used to draw SRGs for the typical operators that are used to model linear-time-invariant dynamical systems. For the special case of state-space models, we show how the Bounded Real Lemma can be used to construct the SRG. Furthermore, we give an example of how stability analysis of dynamical systems can be done with SRGs.

eess.SY↗

arXiv2026

An Energy-Based Mechanism for Compositional Behavior

Flexible intelligence relies on the ability to reuse previously acquired behaviors and combine them differently as circumstances change. In biological and artificial systems, this ability is often attributed to gating mechanisms that determine how much each available behavior should contribute at a given time. Yet these gating rules, the dynamics that compute them, and the neural circuits that may implement them are usually introduced separately, leaving unclear whether they reflect a common underlying principle. Here, we show that they can all be derived from a single variational principle for behavioral composition. The resulting mechanism naturally gives rise to softmax gating, evolves as an energy-based dynamical system with guaranteed convergence, and admits a recurrent neural network instantiation featuring context-dependent and local interactions. Across collective behavior, human decision-making, and layered control, the same mechanism reproduces characteristic behavioral patterns, provides interpretable accounts of how different behaviors are combined, and matches or outperforms established approaches. These results provide a unified account of how behavioral composition can emerge from a common principle, with implications for understanding flexible behavior in natural systems and for designing artificial agents that can adapt by recombining existing capabilities.

math.OC↗

arXiv2026

Compensating Coarse Quantization in Massive MIMO: Channel Estimation and BER under Imperfect CSI

Low-resolution quantization is essential to reduce implementation cost and power consumption in massive multiple-input multiple-output (MIMO) systems for 5G and 6G. While most existing studies assume perfect channel state information (CSI), we model the impact of coarse quantization noise on both channel estimation and data transmission, yielding a more realistic assessment of system performance under imperfect CSI conditions in the uplink. We develop a tight approximation for the bit-error ratio (BER) of uncoded M-QAM with zero-forcing detection, based on the linear minimum mean-square error (LMMSE) channel estimate. These analytical results enable compensation strategies that jointly optimize quantization resolution, transmit power, and pilot length across different numbers of users and base station antennas. We further demonstrate the applicability of the proposed framework through several design scenarios that highlight its effectiveness in optimizing system parameters and improving energy efficiency under quantization constraints. For example, in a 16-QAM system, extending the pilot sequence by 2.5 times and lowering transmit power by 0.5 dB enables a 3-bit quantized system to match the BER of the full-resolution case. The proposed framework offers a fast and accurate alternative to Monte Carlo simulations, enabling practical system optimization under realistic quantization constraints.

eess.SP↗

arXiv2026

Equivariant Filter Transformations for Consistent and Efficient Visual--Inertial Navigation

This paper presents an equivariant filter (EqF) transformation approach for visual--inertial navigation. By establishing analytical links between EqFs with different symmetries, the proposed approach enables systematic consistency design and efficient implementation. First, we formalize the mapping from the global system state to the local error-state and prove that it induces a nonsingular linear transformation between the error-states of any two EqFs. Second, we derive transformation laws for the associated linearized error-state systems and unobservable subspaces. These results yield a general consistency design principle: for any unobservable system, a consistent EqF with a state-independent unobservable subspace can be synthesized by transforming the local coordinate chart, thereby avoiding ad hoc symmetry analysis. Third, to mitigate the computational burden arising from the non-block-diagonal Jacobians required for consistency, we propose two efficient implementation strategies. These strategies exploit the Jacobians of a simpler EqF with block-diagonal structure to accelerate covariance operations while preserving consistency. Extensive Monte Carlo simulations and real-world experiments validate the proposed approach in terms of both accuracy and runtime.

cs.RO↗

arXiv2026

Hierarchical Control for Continuous-time Systems via General Approximate Alternating Simulation Relations

This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate larger mismatches between abstract and concrete models. The definition of gAAS for continuous-time systems is first proposed, and its properties are investigated. Then, a control refinement method is developed to enable hierarchical control for the gAAS relation. Finally, case studies demonstrate the effectiveness of the proposed approach, highlighting its advantages over existing methods.

eess.SY↗

Compare source metadata on this page

Work	Published	Source identifier	Source
Data-Driven Learning of Unknown Nonlinear Differential Equations Using Functional Analysis	2026-09-03	2609.04329	arxiv
A Constraint-Aware Generative Framework for Synthetic Origin-Destination Demand in Logistics Networks	2026-09-03	2609.04345	arxiv
Scalable Edge-assisted Fusion and Path Prediction for Connected Autonomous Vehicles	2026-09-03	2609.04364	arxiv
Grid-Mode-Aware Model Predictive Control of Hybrid Energy Storage Systems for AI Data Center Power Smoothing	2026-09-03	2609.04398	arxiv
Waves on the Walls: Empirical Characterization of mmWave Lateral Waves for Enhanced Indoor Coverage	2026-09-03	2609.04429	arxiv
Estimating the Health and State of Charge of Each Cell in a Second-Life Battery System from Field Data	2026-09-03	2609.04487	arxiv
Deep Reinforcement Learning for Optimization of STAR-RIS Phase and Energy Splitting Coefficients in OTFS-NOMA Framework	2026-09-03	2609.04536	arxiv
Integrating Agentic Artificial Intelligence with High-Performance Computing for Grid Planning	2026-09-03	2609.04544	arxiv
Optimal Sensor and Actuator Selection for Factored Markov Decision Processes: Complexity, Approximability and Algorithms	2026-09-02	2407.07310	arxiv
Deep Reinforcement Learning for Reach-Avoid-Stay Problems	2026-09-02	2410.02898	arxiv
Sample Complexity of Linear Quadratic Regulator Without Initial Stability	2026-09-02	2502.14210	arxiv
Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)	2026-09-02	2510.11393	arxiv
Predictive control barrier functions for piecewise affine systems with non-smooth constraints	2026-09-02	2510.21321	arxiv
Computable Characterisations of Scaled Relative Graphs of Closed Operators	2026-09-02	2511.08420	arxiv
An Energy-Based Mechanism for Compositional Behavior	2026-09-02	2512.04745	arxiv
Compensating Coarse Quantization in Massive MIMO: Channel Estimation and BER under Imperfect CSI	2026-09-02	2512.14893	arxiv
Equivariant Filter Transformations for Consistent and Efficient Visual--Inertial Navigation	2026-09-02	2603.24130	arxiv
Hierarchical Control for Continuous-time Systems via General Approximate Alternating Simulation Relations	2026-09-02	2604.28108	arxiv

These are bibliographic comparisons, not experimental rankings. Follow the original document for methods and conditions.