Machine Learning

This research is focused on modeling human’s perception of safety in close proximity of flying co-robots using machine learning method. Fast and automated framework is created to generate these models based on experimental results from a virtual reality (VR) testbed, where humans are tested for their reaction to flying co-robots. More >>

Elderly Care

This research aims to explore the use of small aerial and ground co-robots to assist the elderly in their daily life, performing tasks such as fetching objects from the floor or another room, reaching for objects, and finding/delivering items. More >>

Socially Trustable Drones

This research tries to better understand the interaction between humans and robots. In collaboration with psychologists, using tools such as virtual reality headsets and high-fidelity dynamic models, we can study the effects UAVs and other vehicles have on humans with a multidisciplinary approach. More >>

Security of Cyber-Physical Systems

This research investigates resilient cyber-physical systems (CPS) against coordinated cyber and physical attacks (CCPA). When physical damage is coupled with cyber attacks, it raises a unique challenge with respect to CPS safety. We propose an integrated architecture for CPS security and fault-tolerance, which is an implementable and theoretically substantiated framework with reduced complexity for its software architecture. More >>

Cooperative Control of Multi-Agent Systems

This research is focused on the development, implementation, and testing of robust strategies for cooperative motion control of a fleet of multiple autonomous vehicles supported by an inter-vehicle dynamic communications network. Worldwide, there has been growing interest in the use of autonomous vehicles to execute missions of increasing complexity without constant supervision of human operators. A key enabling element for the execution of such missions is the availability of advanced systems for motion control of autonomous vehicles.  More >>

Cyber-Physical-Human Systems

This research analyzes the architectures of L1 adaptive control theory for their performance guarantees in the presence of uncertainties in the communication network, which transmits data over a possibly faulty digital network via discrete packets.  More >>

L1 Adaptive Control

This research is focused on the L1 Adaptive Control, a novel theory for the design of robust adaptive control architectures using fast adaptation schemes. The key feature of L1 adaptive control is the decoupling of the adaptation loop from the control loop, which enables arbitrarily fast adaptation without sacrificing robustness. In fact, in L1 adaptive control architectures, the rate of the adaptation loop can be set arbitrarily high, subject only to hardware limitations, while the tradeoff between performance and robustness can be addressed through conventional methods from classical and robust control. More >>

Public Safety

Working with the Illinois Fire Service Institute, Prof. Hovakimyan’s group performed flight tests last week to find out how Unmanned Aerial Vehicle technologies can help firefighters. It is expected that an integrated UAV technology will reduce the time of the mission, number of required resources (including personnel), and will reduce firefighters risk by preventing man force from entering harm’s way.More >>

Stochastic Systems with Communication Constraints

This research investigates continuous-time stochastic systems in the presence of limited information and quantify Bode-like performance limitations for this class of systems in terms of mutual information rates. More >>

Singular Characteristics of First Order PDEs

This research aims to explore methods for construction of optimal solutions in various problems modeled by first order partial differential equations (PDEs), involving non-smooth value functions or non-smooth initial conditons.  More >>

Biological Networks

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