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eess.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.

Beyond Scalar Flexibility: From Eligible AI Workloads to Dependable Load Relief

Grid studies often represent data-center flexibility as a fixed percentage of load, although no public production trace has shown how much eligible load persists across event durations or co-moves across clusters. We reconstruct 4,439 hourly power observations from a 185-day trace of 155,410 GPUs and derive a workload-semantic flexibility envelope. The fleet's time-averaged Monte Carlo median facility demand is 55.8 MW, while immediate eligible curtailment averages 3.55 MW after retaining allocated-GPU idle power: 12.1% of workload power and 6.35% of median facility power. Under full realization of that eligibility, 95%-available relief falls from 2.51 MW for one hour to 2.32 MW for four hours and 1.95 MW for 24 hours; a common realizable fraction q scales every value exactly by q. A mean-calibrated scalar overstates these quantities by 17%, 25%, and 47%, while a scalar tail-calibrated at four hours understates the one-hour product by 6% and overstates the 24-hour product by 17%; the share that reproduces the surface varies by a factor of 1.6 across durations and reliability levels. Aggregating 13 clusters raises four-hour firmness from 0.38 to 0.66, but cross-cluster covariance limits the gain. The production scheduler exposes almost no additional delay-based capacity: newly deferrable arrivals average 0.008 MW and have zero 95%-available capacity. These results replace an assumed flexibility percentage with duration, reliability, portfolio, and realizability terms that can be written into interconnection and demand-response contracts.

eess.SY↗

Newton Matching for Generative Modeling: A Unified Framework for Fine-Tuning and Sampling

We develop Newton Matching, a unified framework for fine-tuning and sampling in generative modeling. The target is $π\proptoμe^{τr}$, where $r$ is the reward, $τ>0$ the inverse temperature, and $μ$ denotes the pretrained model's terminal density for fine-tuning or the constant $1$ for sampling. We shift the paradigm from isolated losses to iterative optimization over canonical models: population minimizers of standard conditional matching for terminal densities. Under compatible smooth-realization assumptions, canonical velocities form a manifold diffeomorphic to the density manifold. Transporting the Fisher-Rao metric and mixture connection to this manifold, we show that the reverse-KL Hessian equals the metric, so the Newton direction coincides with the negative Fisher-Rao gradient. At terminal density $ρ$, each stage takes a tangential step generated by the regularized reward $r-\frac1τ\log(ρ/μ)$, followed by terminal-density-preserving canonicalization. This canonical retraction yields an exact finite-stepsize density characterization. For the ideal iteration, we prove strict reverse-KL descent away from the target for $0 < η\le τ$, global convergence under mild conditions, and local quadratic convergence for full steps ($η=τ$). Covariance and gradient forms, each with forward or reverse regression-pair constructions, yield sample-wise tangential-update losses with the same population minimizer, without importance sampling or full-trajectory backpropagation. We develop approximate updates and define critical-point consistency as vanishing tangential displacement if and only if $ρ=π$. We recover representative methods as exact realizations, critical-point-consistent approximations, or objective-altering variants, enabling modular algorithm design. Our work advances the theory and algorithms of reinforcement learning for generative models.

cs.LG↗

Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover

The operational integrity of autonomous mobile robots relies on the continuous availability of wireless control loops, making them highly attractive targets for adversarial intentional electromagnetic interference. This paper introduces a resilient, cross-layer framework that combines physical-layer spectral perception with network-layer routing optimization to protect middleware stability, such as ROS2, during intentional electromagnetic interference. Utilizing a software-defined radio front-end, the system extracts dynamic spectral descriptors, including spectral entropy and channel occupancy, to inform a Random Forest classifier that establishes adaptive environmental baselines. To ensure uninterrupted data flow, the architecture maintains dual pre-authenticated physical interfaces in a hot-standby configuration, enabling instantaneous failover through automated network routing table updates. Empirical validation on a physical ROS2 mobile robot testbed demonstrates that this adaptive hardware-assisted architecture optimizes communication recovery to an average of 141ms. This sub-second restoration translates directly into a 78.9% reduction in pooled root-mean-square path tracking error compared to software re-association, successfully securing system-level mission integrity.

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SimTIO: A Simulation-Grounded Multi-Agent LLM Framework for Compositional Traffic Intervention Optimization

Traffic analysts must translate diagnosed bottlenecks into executable interventions without allowing local improvements to degrade network-wide performance. This study presents SimTIO, a simulation-grounded multi-agent large language model framework for composing and selecting traffic interventions under explicit operational constraints. SimTIO first simulates an unmodified SUMO scenario to identify a baseline-frozen set of ten bottleneck edges. A grounded sampler then initializes signal-control, corridor-speed, and demand-preserving routing actions, while three specialist agents use measured simulation feedback to select one-parameter refinements from validator-confirmed mutation catalogs. Compatible actions are combined and re-simulated so that their interaction effects are measured rather than inferred. Final selection minimizes bottleneck time loss while constraining network-wide delay, neighboring-road spillover, throughput loss, and teleport events, with the unmodified scenario retained as a no-operation guard. Across 15 cases covering five U.S. urban networks, three synthetic-demand seeds, and 2,400 origin-destination trips per scenario, SimTIO reduced Top-10 bottleneck time loss by an average of 9.18 percent and network-wide delay by 2.78 percent. It found a feasible improving plan in 86.7 percent of cases, compared with 73.3 percent for grounded random search and 80.0 percent for a deterministic heuristic under the same seven-simulation budget, although the differences in Top-10 improvement were not statistically significant. These results support using LLMs as constrained, feedback-guided local search operators while reserving final decision authority for executable tools, microscopic simulation, and explicit safety constraints.

cs.MA↗

Practical Zero-Trust for Mission-Critical Robotic Fleets via Hardware Attestation and Packet Timing Watermarking

Autonomous unmanned vehicles are vital to tactical missions, mission-critical public-safety operations like search and rescue and disaster response. However, their reliance on open wireless links and standard Robot Operating System (ROS 2) middleware exposes a broad cyber-physical attack surface. A compromise of these systems can disrupt real-time control loops, leading to mission failure or asset loss in high-stakes environments. This paper presents and empirically evaluates a layered, context-aware cybersecurity framework enforcing Zero-Trust principles for a multi-node robotic fleet over Wi-Fi. The framework integrates an active hardware root of trust (TPM 2.0), centralized in-band and out-of-band SIEM telemetry monitoring (ELK Stack and Kismet), and a non-cryptographic Inter-Packet Delay (IPD) timing watermark. Evaluated on a live ROS 2 mobile testbed under multi-layer exploits (OSI Layers 2-5), results demonstrate that while volume-based filters isolate brute denial-of-service floods, tracking the statistical sample kurtosis (K) of the embedded IPD watermark exposes stealthy Man-in-the-Middle command injections with complete detection accuracy without payload overheads.

eess.SY↗

AgentHomeID - Agent-based modelling of building stock transformation: A multi-scale framework for policy assessment and infrastructure planning

Decarbonising the building sector is central to meeting climate targets, yet existing models rarely capture the interaction between system-level transformation dynamics and heterogeneous individual investment decisions. This work presents AgentHomeID, an agent-based model of building stock evolution in which owner behaviour, techno-economic constraints, and regulatory frameworks are represented explicitly at the level of individual buildings and their owners. The model differentiates owner-occupiers, private landlords, and institutional owners, using willingness-to-pay (WTP) parameters estimated from empirical decision-maker studies, and operates on both representative building archetypes and real building data derived from geographic information systems (GIS). We demonstrate this versatility across three applications. At national scale, scenario analysis for Germany to 2045 shows that removing binding renewable heating requirements substantially raises final energy demand even where envelope refurbishment is unchanged, and that subsidy allocation and investment activity diverge sharply across owner types and income quartiles, with the lowest quartiles persistently underinvesting. At regional scale, bottom-up simulation for a German distribution grid planning region yields spatially concentrated heat pump uptake at NUTS-3 level that differs from aggregated top-down projections in both magnitude and spatial distribution. At urban block level, the same simulations resolve substation-level load heterogeneity and show that integrated system peaks driven by heat pumps, electric vehicles, and photovoltaics do not coincide with individual technology peaks. Across all three scales, owner heterogeneity and local structure materially shape transition pathways, indicating that they should be represented explicitly in models used for policy assessment and infrastructure planning.

eess.SY↗

When are selector control strategies optimal for constrained monotone systems?

This paper considers optimal control problems defined by a monotone dynamical system, a monotone cost, and monotone constraints. We identify families of such problems for which the optimal solution is bang-ride, i.e., that it always operates on the constraint boundaries and switches between a finite number of state-feedback controllers. This motivates the use of simpler policies, such as selector control, that can be designed without perfect models and full state measurements. The approach is successfully applied to several variations of the health-aware fast charging problem for lithium-ion batteries.

math.OC↗

Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions

Control barrier functions (CBFs) provide a principled framework for safety-critical control, but their construction typically requires an explicit and differentiable description of the safe or unsafe region. It becomes challenging for data-defined unsafe regions that may evolve over time. This paper proposes SafeLink, a data-driven CBF construction and adaptation method based on a cost-sensitive random vector functional link (RVFL) network. SafeLink introduces asymmetric misclassification costs to promote conservative unsafe-region representation while preserving a closed-form solution. We establish the Lipschitz continuity of the learned CBF and its derivatives, and derive sufficient conditions for conservative unsafe-region coverage and the corresponding interval-wise safety guarantees. Analytical updates are further developed for adjusting the misclassification cost and for incrementally adding or decrementally removing samples, avoiding full retraining when the unsafe region changes. Experiments on a two-link manipulator demonstrate that SafeLink rapidly adapts to evolving unsafe regions, enables collision-free target reaching, and achieves substantially lower update runtimes than baselines.

cs.RO↗

SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding

Quadruped mammals coordinate sagittal spinal bending with axial extension and compression during dynamic locomotion. Yet most robotic quadrupeds use rigid trunks, passively compliant spines with fixed properties, or actively controlled spines that track prescribed trajectories. Whether actively regulated spinal compliance can support faster dynamic locomotion remains unclear. We present SPARC, a compact 1.26-kg, 3-DoF sagittal-plane spine that combines revolute and prismatic motion with independently tunable task-space stiffness and damping. A floating-base impedance controller renders the desired task-space compliance, and benchtop tests show that the fitted axial stiffness matches commanded values within 1.5%. We integrate SPARC into an 8-DoF quadruped and evaluate it across 97 bounding trials under three spine configurations: impedance-controlled SPARC, the same SPARC module held near a fixed pose using position control, and a lightweight rigid spine. Impedance-controlled SPARC reaches 1.029 m/s, compared with 0.769 m/s for position-controlled SPARC and 0.673 m/s for the rigid spine. Impedance-controlled SPARC reaches higher speeds with larger axial motion and greater mechanical power exchange, while at matched speed it has a higher electrical cost of transport than the rigid spine, revealing an energetic trade-off. Code and hardware are available at: https://github.com/YueWang996/sparc

cs.RO↗

BESS Siting and Sizing to Mitigate EV Charging-Induced Voltage Violations: A Planning Space Reduction Approach

The rapid growth of electric vehicle (EV) charging can cause persistent voltage violations in distribution networks and increase the need for grid-side voltage support. This paper develops a proactive voltage management framework for planning battery energy storage systems (BESS) to mitigate EV charging-induced voltage violations. Annual EV charging profiles are generated through Monte Carlo simulation using probability distributions derived from real charging events and are incorporated into an annual voltage assessment to identify stressed operating conditions. An optimal expansion planning model then determines installation locations and capacities at minimum investment cost. To improve computational tractability, a planning space reduction (PSR) strategy combines critical period selection to reduce the chronological horizon with candidate bus screening to reduce the BESS siting space. The resulting investment decisions are evaluated through full-year operational validation on the IEEE 33-bus, IEEE 69-bus, and a 240-bus distribution system. Results show that PSR reduces solution time by up to 99.2% while matching the exhaustive benchmark in the 33-bus and 69-bus systems and limiting the objective deviation to 0.55% in the 240-bus system. The optimized BESS deployments eliminate the identified annual voltage violations and further reduce electricity purchase costs and network energy losses under increasing EV penetration.

eess.SY↗

Extragradient methods with complexity guarantees for hierarchical variational inequalities

In the framework of a real Hilbert space we consider the problem of approaching solutions to a class of hierarchical variational inequality problems, subsuming several other problem classes including certain mathematical programs under equilibrium constraints, constrained min-max problems, hierarchical game problems, optimal control under VI constraints, and simple bilevel optimization problems. For this general problem formulation, we establish rates of convergence in terms of suitably constructed gap functions, measuring feasibility gaps and optimality gaps. We present worst-case iteration complexity results on both levels of the variational problem, as well as weak convergence under a geometric weak sharpness condition on the lower level solution set. Our results match and improve the state of the art in terms of their iteration complexity and the generality of the problem formulation.

math.OC↗

Joint Network-and-Server Congestion in Multi-Source Traffic Allocation: A Convex Formulation and Price-Based Decentralization (Extended Version)

This paper studies an important rate allocation problem that arises in many networked and distributed systems: steady-state traffic rate allocation from multiple sources to multiple service nodes when both (i) the access-path delay on each source-node route is rate-dependent (capacity-constrained) and convex, and (ii) each service node (also capacity-constrained) experiences a load-dependent queueing delay driven by aggregate load from all sources. We show that the resulting flow-weighted end-to-end delay minimization is a convex program, yielding a global system-optimal solution characterized by KKT conditions that equalize total marginal costs (a path marginal access term plus a node congestion price) across all utilized routes. This condition admits a Wardrop-type interpretation: for each source, all utilized options equalize total marginal cost, while any option with strictly larger total marginal cost receives no flow. Building on this structure, we develop a lightweight distributed pricing-based algorithm in which each service node locally computes and broadcasts a scalar congestion price from its observed aggregate load, while each source updates its traffic split by solving a small separable convex allocation problem under the advertised prices. Numerical illustrations demonstrate convergence of the distributed iteration to the centralized optimum and highlight the trade-offs induced by jointly modeling access and service congestion.

cs.DC↗

Computing Scaled Relative Graphs of Discrete-time LTI Systems from Data

Graphical methods for system analysis have played a central role in control theory. The Scaled Relative Graph (SRG) has recently emerged as a useful tool for stability analysis of feedback interconnections. In this paper, we further extend its applicability by showing how the SRG of a discrete-time linear-time-invariant (LTI) system can be computed exactly from its state-space representation using linear matrix inequalities. We additionally propose a fully data-driven approach where we demonstrate how to compute the SRG exclusively from input-output data. Furthermore, we introduce a robust version of the SRG, which can be computed from noisy data trajectories and contains the SRG of the actual system.

eess.SY↗

State-space fading memory

The fading-memory (FM) property captures the progressive loss of influence of past inputs on a system's current output and has originally been formalized by Boyd and Chua in an operator-theoretic framework. Despite its importance for systems approximation, reservoir computing, and recurrent neural networks, its connection with state-space notions of nonlinear stability, especially incremental ones, remains understudied. This paper introduces a state-space definition of FM. In state-space, FM can be interpreted as an extension of incremental input-to-output stability ($δ$IOS) that explicitly incorporates a memory kernel upper-bounding the decay of past input differences. It is also closely related to Boyd and Chua's FM definition, with the sole difference of requiring uniform, instead of general, continuity of the memory functional with respect to an input-fading norm. We demonstrate that incremental input-to-state stability ($δ$ISS) implies FM semi-globally for time-invariant systems under an equibounded input assumption. Notably, Boyd and Chua's approximation theorems apply to $δ$ISS state-space models. As a closing application, we show that, under mild assumptions, the state-space model of a current-driven memristive device possesses the FM property.

eess.SY↗

Distributed Sum-of-Squares Programming for Local Stability Analysis of Polynomial PDEs

It has recently been shown that the evolution of a state, described by a Partial Differential Equation (PDE), can be more conveniently represented as the evolution of the state's highest spatial derivative (the ``fundamental state''), which lies in L_2 and has no boundary conditions or continuity constraints. For linear PDEs, this yields a Partial Integral Equation (PIE) parametrized by Partial Integral (PI) operators mapping the fundamental state to the PDE state. In this paper, we show that for polynomial PDEs, the dynamics of the fundamental state can be compactly expressed as a distributed polynomial in the fundamental state, parametrized by a new tensor algebra of PI operators acting on the tensor product of the fundamental state. We further define a sum-of-squares (SOS) parameterization of the distributed polynomial and use this to construct a distributed SOS program, for testing local stability of polynomial PDEs.

eess.SY↗

Observation-Aligned Two-Stage Domain Decomposition for Physics-Informed Traffic State Estimation with Sparse Fixed Sensors

Traffic state estimation from sparse fixed sensors is challenging because physics-informed neural networks (PINNs) tend to over-smooth sharp transitions admitted by the Lighthill-Whitham--Richards (LWR) model. This study proposes Two-Stage Domain Decomposition Physics-Informed Neural Networks (TSDD-PINN), an observation-aligned framework for LWR-based offline speed-field reconstruction. The framework supports spatial, temporal, and space--time refinement. Matched direction analysis shows that spatial refinement has the lowest mean error and less than half the training time of space--time refinement in the tested setting, while temporal refinement is faster. A global parent PINN is first trained. In the controlled spatial implementation, its residual profile guides a deterministic partition for warm-started child networks. An optional operational safeguard retains Stage~1 when the prespecified screen does not activate. The primary I-24 MOTION evaluation spans five days, five sensor configurations, and ten seeds per configuration, yielding 1{,}500 runs. Controlled TSDD-PINN attains the lowest relative $L_2$ error in 18 of 25 configurations and 14 of 15 sparse-sensing cases, while training 2.4 times faster than the extended PINN (XPINN) baseline under the evaluated implementations and training budgets. Non-neural comparisons show that the advantage over interpolation is concentrated under sparse sensing, whereas dense sensing often favors interpolation. A separate 250-run operational evaluation finds infrequent activation and motivates the Stage-1-preserving safeguard. The residual is treated as an indicator of model difficulty rather than a validated shock detector. The evidence supports a sensing-density-dependent operating range rather than uniform improvement.

cs.LG↗

Multi-Robot Bearing-based Pose Estimation via Angle Rigidity

This letter proposes a novel distributed pose estimator for multi-robot systems evolving on $\mathrm{SE}(3)$. The robots' positions are estimated in $\mathbb{R}^3$ using angles computed from body-frame bearings, without requiring orientation knowledge. The robots' orientations are then recovered in $\mathrm{SO}(3)$ from the estimated positions, together with bearing and bearing-rate measurements. The estimator accommodates directed sensing topologies and requires only infinitesimal angle rigidity (IAR), thereby relaxing the requirement, common in bearing-based approaches, that every robot acquire at least two bearings. Unlike existing angle-based schemes, the proposed method also estimates the robots' orientations. We prove local uniform exponential stability of the observer, assuming that a subset of robots executes persistently exciting motions. These theoretical results are corroborated through numerical simulations.

cs.RO↗

Variable-Step Time-Delay Control for Proactive Aperiodic Spacecraft Attitude Control

This paper addresses proactive aperiodic spacecraft attitude control under model uncertainty, environmental disturbances, and actuator degradation. To this end, we develop Variable step Time Delay Control (VTDC), which jointly designs robust feedback control and control-update scheduling rather than treating them as separate components. Inspired by adaptive stepsize regulation in Runge Kutta integration, VTDC structures the local control error to scale with the realized timestep. Using sliding manifold based Time Delay Control, the resulting System Time Delay Error (TDE), which reflects local model and uncertainty variations, is shown to be quadratically bounded by the control interval. This relation yields a closed form feedback law that enlarges or reduces the subsequent interval to regulate the TDE magnitude. The next update time is therefore determined algebraically without continuous trigger monitoring, future state prediction, or iterative search. The resulting variable step closed loop admits bounded timesteps and step ratios, excludes Zeno behavior, and renders the sliding variable uniformly ultimately bounded. Nonlinear spacecraft attitude control simulations demonstrate accurate tracking with low scheduling cost under representative uncertainties and disturbances.

eess.SY↗
Compare source metadata on this page
WorkPublishedSource identifierSource
Beyond Scalar Flexibility: From Eligible AI Workloads to Dependable Load Relief2026-09-042609.05406arxiv
Newton Matching for Generative Modeling: A Unified Framework for Fine-Tuning and Sampling2026-09-042609.05727arxiv
Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover2026-09-042609.05739arxiv
SimTIO: A Simulation-Grounded Multi-Agent LLM Framework for Compositional Traffic Intervention Optimization2026-09-042609.05740arxiv
Practical Zero-Trust for Mission-Critical Robotic Fleets via Hardware Attestation and Packet Timing Watermarking2026-09-042609.05741arxiv
AgentHomeID - Agent-based modelling of building stock transformation: A multi-scale framework for policy assessment and infrastructure planning2026-09-212609.05763arxiv
When are selector control strategies optimal for constrained monotone systems?2026-09-032312.08829arxiv
Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions2026-09-032503.16551arxiv
SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding2026-09-032510.01984arxiv
BESS Siting and Sizing to Mitigate EV Charging-Induced Voltage Violations: A Planning Space Reduction Approach2026-09-032511.00297arxiv
Extragradient methods with complexity guarantees for hierarchical variational inequalities2026-09-032512.20791arxiv
Joint Network-and-Server Congestion in Multi-Source Traffic Allocation: A Convex Formulation and Price-Based Decentralization (Extended Version)2026-09-032602.03246arxiv
Computing Scaled Relative Graphs of Discrete-time LTI Systems from Data2026-09-032603.05239arxiv
State-space fading memory2026-09-032603.23814arxiv
Distributed Sum-of-Squares Programming for Local Stability Analysis of Polynomial PDEs2026-09-032604.01115arxiv
Observation-Aligned Two-Stage Domain Decomposition for Physics-Informed Traffic State Estimation with Sparse Fixed Sensors2026-09-032605.08028arxiv
Multi-Robot Bearing-based Pose Estimation via Angle Rigidity2026-09-032606.03931arxiv
Variable-Step Time-Delay Control for Proactive Aperiodic Spacecraft Attitude Control2026-09-032608.10770arxiv

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