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Search indexed arXiv papers on artificial intelligence, large language models, computer vision and robotics. Read source abstracts and follow links to arXiv.

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At least 109 records · Page 6Linked to original sources
arXiv2026

Reliability Value of Long-Duration Energy Storage against Extreme Events in High-Renewable Grids: A Full-Year AC-OPF Assessment

Long-duration energy storage (LDES) can mitigate prolonged renewable--load imbalances during Dunkelflaute events, but existing studies rely on zonal or linearized DC network models and inadequately analyze the operational feasibility of the grid across a wide range of full-year renewable, load, and contingency scenarios. To address this gap, this paper introduces a multi-period alternating-current optimal power flow (AC-OPF) formulation that captures the full nonlinear network physics and assesses the reliability value of LDES in high-renewable grids. To evaluate scarcity events spanning multiple days to weeks, full-year operation is modeled as an 8,760-h load-shedding minimization over scenarios sampled from a Gaussian copula model, fitted to 2010--2025 historical wind and bus-level load data, that represents both typical variability and tail events. On a synthetic 200-bus Illinois transmission network, a hybrid fleet of battery energy storage (BESS) and LDES with 50 MW total power reduces annual load shedding by 83.0% on average relative to the base network, versus 68.5% for short-duration BESS alone at equal power. To further account for unexpected line outages throughout the year, the formulation is extended to a multi-day security-constrained AC-OPF. Under N-1contingencies, no feasible operating solution is obtained for the base network, whereas the LDES-equipped network remains feasible in all considered cases, thereby saving the cost of additional generation and transmission capacity. During the contingency period, LDES acts as a backup power supply, requiring only 5.5% more generation on average than the no-contingency base case.

eess.SY↗
arXiv2026

A Data-Driven Koopman-Behavioral Distance for Nonlinear Dynamical Systems

Comparing nonlinear dynamical systems directly from trajectory data remains challenging because finite-horizon trajectory representations are generally coordinate dependent. Motivated by recent behavioral subspace approaches for linear systems, this paper introduces a Koopman-behavioral distance for nonlinear stochastic systems using multi-rollout trajectory data. State measurements are lifted through a common observable dictionary, and dominant lifted behavioral subspaces are compared using Grassmannian distances without explicit Koopman operator identification. We establish coordinate invariance, connection with recently proposed linear behavioral distances under exact lifted closure, and robustness to approximate closure. Numerical examples demonstrate coordinate invariance and parameter discrimination.

eess.SY↗
arXiv2026

Spectral Koopman-Hopf Formula for Reachability with Adversary

This paper develops a spectral Koopman-Hopf framework for adversarial reachability analysis of nonlinear systems. By lifting the nonlinear drift dynamics into Koopman eigenfunction coordinates, the proposed approach transforms the original state-dependent Hamilton-Jacobi-Isaacs (HJI) equation into an approximate state-independent optimization problem in spectral coordinates. The transformed control and disturbance directions are approximated using least-squares spectral projections, and upper and lower bounds on the transformed Hamiltonian are used to derive corresponding bounds on the value function and backward reachable sets. Koopman eigenfunctions are computed using a path-integral-based Galerkin framework that avoids spatial discretization of the associated eigenfunction PDEs. Numerical examples demonstrate tractable approximation of backward reachable sets for nonlinear adversarial systems.

eess.SY↗
arXiv2026

Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM

In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage times while preserving each agent's assigned waypoint order and nominal route assignment. A differentiable surrogate trajectory model maps waypoint timings to smooth position profiles and captures first-order tracking lag, enabling pairwise safety to be encoded through distance-based penalties evaluated on a dense temporal grid spanning the mission horizon. The resulting nonlinear and nonconvex velocity-scheduling problem is solved using an inexact-projection Alternating Direction Method of Multipliers (ADMM) algorithm that combines structured timing updates with gradient-based collision-correction steps and avoids explicit integer sequencing variables. Numerical experiments on random-crossing, bottleneck, and graph-based network scenarios show that the proposed method computes feasible and time-efficient schedules across a range of congestion levels and yields shorter mission completion times than a representative hierarchical baseline in the tested bottleneck cases.

cs.RO↗
arXiv2026

Complex-Vector Power and Cross-Phase Unbalance in Three-Phase Systems

Unbalanced three-phase systems still lack a compact phasor-domain representation of power that makes the joint cross-phase voltage-current structure explicit while remaining consistent with established apparent-power definitions. This paper addresses that point through a complex-vector power (CVP) formulation for sinusoidal steady-state operation. The proposed CVP is an element of a direct-sum space whose constituents are the conventional complex-power scalar and a cross-phase unbalance (CPU) vector obtained from the cross product of the voltage and current phasor vectors. The scalar constituent retains the usual active and reactive powers, whereas the CPU vector characterizes their antisymmetric cross-phase relation. Apparent power is thereby separated into intraphase and cross-phase contributions, and its norm is preserved under the power-invariant Fortescue transformation. The formulation is extended to three-phase four-wire systems by introducing equivalent coordinates that preserve the effective apparent-power norm for the chosen voltage reference. Only standard complex numbers and matrices are required. Numerical examples identify operating conditions in which a non-negligible part of the apparent-power structure is associated with cross-phase unbalance and is not displayed by the active- and reactive-power pair alone. A proof-of-concept shunt-compensation study further illustrates how the CPU descriptor can be incorporated into reproducible current references. The proposed formulation therefore provides a compact phasor-based description of unbalance that complements established scalar apparent-power representations.

eess.SY↗
arXiv2026

Observability conditions for neural state-space models with eigenvalues and their roots of unity

We operate through the lens of ordinary differential equations and control theory to study the concept of observability in the context of neural state-space models and the Mamba architecture. We develop strategies to enforce observability, which are tailored to a learning context, specifically where the hidden states are learnable at initial time, in conjunction to over its continuum, and high-dimensional. We also highlight our methods emphasize eigenvalues, roots of unity, or both. Our methods effectuate computational efficiency when enforcing observability, sometimes at great scale. We formulate observability conditions in machine learning based on classical control theory and discuss their computational complexity. Our nontrivial results are fivefold. We discuss observability through the use of permutations in neural applications with learnable matrices without high precision. We present two results built upon the Fourier transform that effect observability with high probability up to the randomness in the learning. These results are worked with the interplay of representations in Fourier space and their eigenstructure, nonlinear mappings, and the observability matrix. We present a result for Mamba that is similar to a Hautus-type condition, but instead employs an argument using a Vandermonde matrix instead of eigenvectors. Our final result is a shared-parameter construction of the Mamba system, which is computationally efficient in high exponentiation. We develop a training algorithm with this coupling, showing it satisfies a Robbins-Monro condition under certain orthogonality, while a more classical training procedure fails to satisfy a contraction with high Lipschitz constant.

cs.LG↗
arXiv2026

Incremental Peak-to-Peak Gain Computation and Regulation of Discrete-Time Positive Luré Systems using Linear Programming

Incremental gains provide a quantitative measure of robustness for trajectories of a dynamical system. Finite incremental gains ensure that all pairs of trajectories will together converge to a fixed point or will diverge together in the absence of an applied input. This work approaches the problem of computing the incremental peak-to-peak gains for positive linear systems in Luré feedback with static memoryless nonlinearities, and regulating the incremental $\ell_\infty$ gain through the design of a state-feedback controller. Upper-bounds on these incremental gains can be computed through linear programming. Computation and state-feedback regulation of the $\ell_\infty$ incremental gain is verified by numerical examples.

math.OC↗
arXiv2026

Distributed Time-Varying Optimization via Unbiased Extremum Seeking

This paper proposes a novel distributed optimization framework that addresses time-varying optimization problems without requiring explicit derivative information of the objective functions. Traditional distributed methods often rely on derivative computations, limiting their applicability when only real-time objective function measurements are available. Leveraging unbiased extremum seeking, we develop continuous-time algorithms that utilize local measurements and neighbor-shared data to collaboratively track time-varying optima. Key advancements include compatibility with directed communication graphs, customizable convergence rates (asymptotic, exponential, or prescribed-time), and the ability to handle dynamically evolving objectives. By integrating chirpy probing signals with time-varying frequencies, our unified framework achieves accelerated convergence while maintaining stability under mild assumptions. Theoretical guarantees are established through Lie bracket averaging and Lyapunov-based analysis, with linear matrix inequality conditions ensuring rigorous convergence. Numerical simulations validate the effectiveness of the algorithms.

math.OC↗
arXiv2026

Finite-time Reachability for Constrained, Partially Uncontrolled Nonlinear Systems

This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control constrained nonlinear systems by building a simple, linear driftless approximation at the initial state. We construct a partition of the finite time horizon into successively smaller intervals, and design controlled inputs based on the approximate dynamics in each partition. Under conditions that bound the length of the time horizon, we prove that these inputs result in bounded error from the target state in the original nonlinear system. As successive partitions of the time horizon become shorter, the error reduces to zero despite the effect of uncontrolled inputs. A simulation example on the model of a fighter jet demonstrates that the designed sequence of controlled inputs achieves the target state despite the system suffering a loss of control authority over one of its inputs.

math.OC↗
arXiv2026

When are supercapacitors practically feasible in electric vehicles? A multi-dimensional HESS techno-economic evaluation

While the hybrid energy storage system (HESS) can theoretically mitigate battery degradation in electric vehicles, its practical implementation remains highly limited. To delineate the specific scenarios and application boundaries where supercapacitors remain feasible, this study proposes a multi-dimensional techno-economic feasibility evaluation framework. First, a cross-vehicle sizing method based on dynamic programming is established to quantify physical mass-volume packaging constraints and identify feasible supercapacitor candidates across different vehicle types. Building upon the optimal sizing parameters derived from the battery aging Pareto front, an expert-guided deep reinforcement learning energy management strategy is integrated to yield near-optimal online performance, ensuring a fair life-cycle economic assessment. Finally, a comprehensive feasibility matrix is constructed to systematically evaluate mass, volume, battery lifespan, additional supercapacitor costs, operation cost, future energy storage prices, and the influence of emerging solid-state batteries. Results reveal that city buses remain the most promising vehicle type for HESS due to minimal additional costs and sufficient packaging space. Current mass-volume penalties and limited economic benefits hinder HESS application in passenger vehicles and heavy-duty trucks, respectively. This situation may only improve if supercapacitor prices drop significantly in the future. Quantified analysis shows that higher load-frequency characteristics generally favor HESS benefits within the same vehicle platform, while the overall techno-economic feasibility across vehicles is jointly influenced by load characteristics and vehicle configuration. Furthermore, looking toward the 2030+ solid-state battery era, we highlight that integrating increasingly affordable supercapacitors can provide substantial asset protection leverage.

eess.SY↗
arXiv2026

Environment Parameter Gradient Theorem for Co-Design in Reinforcement Learning

Reinforcement learning (RL) is traditionally concerned with learning a control policy for a fixed environment. In many engineering systems, however, the environment itself is alterable, i.e., physical or operational parameters can be tuned to shape the system's transition dynamics and costs experienced by the RL agent. This motivates jointly optimizing both the policy and the environment design parameters. To this end, we establish an Environment Parameter Gradient Theorem --- a formal expression for the gradient of the RL's objective function with respect to environment parameters. The key theoretical device is a generalized action-value function $Q_{π,ξ}(s,a,ζ)$, which comprises two copies of the environment parameters: $ζ$ governs the cost and transition dynamics at the current state--action pair, while $ξ$ governs the future rollouts. This decoupling yields a tractable closed-form gradient expression and is essential to the theorem's derivation. Building on this result, we develop a model-free algorithm that simultaneously learns the optimal policy and the environment parameters. We demonstrate the efficacy of our framework on a UAV network design problem, where the optimal UAV placement (environment parameters) and communication routes (governed by the policy) are learned jointly to minimize the total communication cost in the network.

eess.SY↗
arXiv2026

Learning-enabled Acceleration of Scenario-based Model Predictive Control

Scenario-based model predictive control (SBMPC) is a variant of model predictive control (MPC) that explicitly accounts for uncertainty by optimizing control actions over multiple predicted scenarios. However, its computational complexity increases rapidly with the number of scenarios and prediction horizon, limiting its applicability to real-time planning and control. This paper presents a learning-accelerated Alternating Direction Method of Multipliers (ADMM) algorithm for efficiently solving SBMPC problems by leveraging parallel computing and Moreau envelope learning, while maintaining high solution accuracy. We reformulate the SBMPC problems into consensus forms that can be decomposed via ADMM, separating the scenario-dependent dynamics from non-anticipativity constraints and enabling parallel updates across scenarios and time steps. Building on this decomposition, we utilize a learning-to-optimize scheme that leverages Moreau envelope learning of the cost function to accelerate the primal update in ADMM, thereby reducing computation time. The proposed framework is evaluated on a microgrid energy management problem subject to load and renewable generation uncertainties. Comparisons with IPOPT and MadNLP, two popular and modern nonlinear programming solvers, demonstrate substantial computational speedups while maintaining reliable closed-loop control performance.

math.OC↗
arXiv2026

Bidirectional Wireless Communication for Weakly Coupled Implantable Brain-Computer Interfaces

Implantable brain-computer interfaces (BCIs) promise transformative societal impact, from restoring lost motor, sensory, and speech function in patients with paralysis, stroke, sclerosis, and sensory deficits to serving as a high-bandwidth conduit between human cognition and machine intelligence. Realizing these visions requires moving from laboratory prototypes to chronic clinical systems that support thousands to millions of electrodes, several millimeters to centimeters deep beneath the brain surface, under strict heating and size limits. Almost every clinically relevant implant therefore operates in a weakly coupled regime, with coupling coefficients of $10^{-3}$ to $10^{-1}$ across centimetres of lossy tissue. In this regime, the wireless channel sets the limits of power-transfer efficiency, communication bandwidth, and energy per bit. We review the recent progress of bidirectional wireless links across inductive, mid-field, RF, ultrasonic, magnetoelectric, optical, UWB, and electro-quasistatic modalities, and benchmark them against the clinical axes of depth, size, and data rate. Within an approximately 10 mW communication budget set by the approximately $1^\circ$C tissue-heating ceiling, narrowband high-Q links are well suited for power transfer and low-speed data, but at 1-10 nJ/b cannot reach the greater than 10 Mbps to tens of Gbps uplinks that thousand- to million-channel interfaces demand, even with aggressive on-implant compression. This calls for sub-10 pJ/b and ultimately sub-1 pJ/b wireless links, where wideband techniques, such as ultra-wideband (UWB) and brain-channel communication (BCC), are suitable. We close with a quantitative framework for analyzing such wireless links and a co-design roadmap across electromagnetics, circuits, packaging, security, and regulation, toward secure, networked, million-channel brain interfaces.

eess.SY↗
arXiv2026

Biased Backpressure Routing for Multihop Wireless Networks with Heterogeneous Interfaces

Heterogeneous-interface multihop wireless networks (Het-MuNets) are emerging as a promising paradigm for tactical networks and for infrastructure-light applications such as vehicular communications, wireless backhaul, and non-terrestrial connectivity. To exploit the diverse profiles of heterogeneous communication technologies in penetration, interference, and bandwidth, packet-to-interface assignment must be determined on a per-hop basis, making routing and scheduling highly complex. In this work, we develop a unified framework for joint packet routing, link scheduling, and interface assignment in Het-MuNets with multiple concurrent flows. By modeling packet-to-interface assignment as transmission between virtual subnodes, we transform interface assignment into intra-device virtual routing, which is solved jointly with physical routing and scheduling under a unified multi-layer shortest path-biased Backpressure (SP-BP) scheme. Numerical results demonstrate that the proposed framework outperforms SP-BP operating on other baseline graph models and non-backpressure routing schemes in goodput, latency, and packet delivery rate.

cs.NI↗
arXiv2026

FALCON-S: Fixed-wing ground-effect Aerodynamics Simulator and Flight Control Learning Suite

We present a modular, high-fidelity simulation framework for the development and benchmarking of flight control strategies in fixed-wing aerial robots operating near the ground. Unlike existing simulators that rely on simplified or hover-oriented dynamics, our framework models full 6DoF rigid-body physics, semi-empirical ground-effect aerodynamics, actuator dynamics, sensor noise, and environmental disturbances. This physical realism, combined with modular component design, enables systematic analysis of low-altitude flight behavior under realistic conditions. The simulator supports both CPU and GPU backends via Torch and NVIDIA Warp, enabling high-throughput parallel execution suitable for large-scale reinforcement learning training and optimal control rollouts. A unified interface accommodates a range of controllers (both RL and optical control algorithms) across tasks such as altitude regulation and trajectory tracking. Cross-validation with X-Plane and JSBSim is also supported to facilitate engineering integration and visual fidelity.

cs.RO↗
arXiv2026

Multimodal Large Language Model-guided Constrained Optimization for RAN Intelligent Control

Artificial intelligence (AI)-based radio access network (RAN) controllers are commonly designed for predefined operating scenarios and optimization tasks, limiting their adaptability when network conditions and operator requirements change after deployment. This paper proposes multimodal large language model (MLLM)-guided constrained optimization for RAN intelligent control (MLLM-coRIC), a requirement-adaptive hierarchical Open RAN (O-RAN) framework for joint resource and power allocation. MLLM-coRIC jointly exploits the operator's natural-language specification and radio-frequency (RF)-derived network context as multimodal inputs, enabling a single deployed framework to address different optimization problems without redesigning task-specific algorithms or retraining control policies. At the Non-Real-Time RAN Intelligent Controller (Non-RT RIC), the MLLM performs holistic, longer-timescale reasoning over the operator requirement, predicted network evolution, and measured optimization outcomes to design the numerical control loss. The relative constraint penalties are iteratively refined through a closed-loop process, allowing the optimization criterion to reflect both the intended network behavior and the expected operating context. At the Near-Real-Time RIC (Near-RT RIC), a loss-conditioned hybrid executor translates the synthesized criterion into fast radio actions by combining learned ramp-constrained resource allocation with model-based interference-aware power control. A multi-cell evaluation environment integrating the CARLA urban mobility simulator and the Sionna RT ray-tracing-based wireless propagation simulator is implemented for validation.

eess.SY↗
arXiv2026

Fixed-Time Integral Reinforcement Learning for Saturated Nonlinear Multi-Agent Systems Under FDI Attacks

The leader-follower formation control problem is investigated for nonlinear multi-agent systems with unknown dynamics, external disturbances, and false data injection (FDI) attacks on actuator channels. The problem is formulated as a zero-sum differential game and solved using the Integral Bellman-Isaacs approach. To address input saturation constraints, a non-quadratic control cost function is incorporated into the optimization problem, leading to a bounded control law. Furthermore, this paper proposes a cost function construction method and develops a critic learning law, which together guarantee the practical fixed-time stability of the system while overcoming the limitations of existing fixed-time reinforcement learning formulations. Finally, the practical fixed-time convergence of both the critic weight estimation error and the leader-referenced formation tracking error to bounded residual sets is rigorously proven. Simulation results demonstrate the effectiveness of the proposed method under external disturbances, FDI attacks, and input constraints.

eess.SY↗
arXiv2026

Weak Convexity and Proximal Bundle Methods for Nonsmooth Policy Optimization in Robust Control

We study policy optimization for discrete-time robust $\mathcal{H}_\infty$ control with static output-feedback, and present the first feasibility-preserving algorithm with a deterministic, non-asymptotic complexity guarantee. This problem naturally leads to a nonsmooth and nonconvex optimization over the set of stabilizing feedback gains. We first establish several structural properties of the $\mathcal{H}_\infty$ cost. In particular, we show that the cost is weakly convex on every convex subset of a sublevel set. For the state-feedback case, we further establish a weak Polyak--Łojasiewicz inequality, which ensures that every stationary point is globally optimal. Building on these properties, we develop a proximal bundle method for $\mathcal{H}_\infty$ policy optimization. The proposed method can be viewed as an implementable approximation of the proximal point method and uses only function value and subgradient information. We show that all iterates remain stabilizing and establish a deterministic non-asymptotic complexity bound of $\mathcal{O}(\max\{η^{-4},ε^{-2}\})$ for finding an $(η,ε)$-stationary point. Numerical experiments illustrate our theoretical results.

math.OC↗