@conference {
	title = {Event-triggered Feedback Control for Signal Temporal Logic Tasks},
	author = {Lindemann, Lars., Maity, Dipankar., Baras, John S., Dimarogonas,Dimos.},
	year = {2018},
	month = {12/2018},
	address = {Miami, Florida},
	booktitle = { Conference on Decision and Control (CDC)2018}
}
@conference {
	title = {Event-Triggered Controller Synthesis for Dynamical Systems withTemporal Logic Constraints},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2018},
	month = {06/2018},
	abstract = {In this work, we propose an event-triggered control framework for dynamical systems with temporal logical constraints. Event-triggered control methodologies have proven to be very efficient in reducing sensing, communication and computation costs. When a continuous feedback control is replaced with an event-triggered strategy, the corresponding state trajectories also differ. In a system with logical constraints, such small deviation in the trajectory might lead to unsatisfiability of the logical constraints. In this work, we develop an approach where we ensure that the event-triggered state trajectory is confined within an ~tube of the ideal trajectory associated with the continuous state feedback. At the same time, we will ensure satisfiability of the logical constraints as well. Furthermore, we show that the proposed method works for delayed systems as long as the delay is bounded by a certain quantity.},
	address = {Milwaukee USA},
	booktitle = {2018 American Control Conference},
	pages = {pg. 1134-1138}
}
@conference {
	title = {Linear Quadratic Games with Costly Measurements},
	author = {Maity, Dipankar., Anastasopoulos, Achilleas. , Baras, John S.},
	year = {2017},
	month = {12/2017},
	abstract = {In this work we consider a stochastic linear quadratic two-player game.The state measurements are observed through a switched noiseless communication link. Each player incurs a finite cost every time the link is established to get measurements. Along with the usual control action, each player is equipped with a switching action to control the communication link. The measurements help to improve the estimate and hence reduce the quadratic cost, but at the same time the cost is increased due to switching. We study the subgame perfect equilibrium control and switching strategies for the players. We show that the problem can be solved in a two-step process by solving two dynamic programming problems. The first step corresponds to solving a dynamic programming for the control strategy and the second step involves solving another dynamic programming for the switching strategy.},
	address = {Melbourne, Australia},
	booktitle = {56th IEEE Conference on Decision and Control (CDC 2017)},
	pages = {pp. 6223-6228}
}
@conference {
	title = {Linear Quadratic Stochastic Differential Games under Asymmetric Value of Information},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2017},
	month = {07/2017},
	abstract = {This paper considers a variant of two-player linear quadratic stochastic differential games. In this framework, none of the players have access to the state observations for all the time, which restricts the possibility of continuous feedback strategies. However, they can observe the state intermittently at discrete time instances by paying some finite cost. Having on demand costly measurements ensure that open-loop strategy is not the only strategy for this game. The individual cost functions for each player explicitly incorporate the value of information and the asymmetry that comes along with different costs of state observation for different players. We study the structural properties of the Nash equilibrium for this particular class of problems when the cost of observation is finite and positive. We show that the game problem simplifies into two decoupled game problems: one for deciding the control strategies, and the other for deciding the observation acquisition times. The study also reveals that under two extreme cases -cost of observation being 0 or $\infty$- the strategies coincide with feedback and open-loop strategies respectively.},
	address = {Toulouse, France},
	booktitle = {IFAC 2017 World Conference},
	pages = {pp. 9287-9292}
}
@conference {
	title = {Asymptotic Policies for Stochastic Differential Linear Quadratic Games with Intermittent State Feedback},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2017},
	month = {07/2017},
	abstract = {In this paper, we consider infinite horizon linear quadratic stochastic differential games where the games are neither open-loop nor closed-loop. The state of the game dynamics is measured only when a certain switch is closed. The switch requires unanimous operation by the players, and continuum state measurements are not possible. There is an upper bound on the number of times the switch can be closed. Each player is given a quadratic cost function and the objective of each player is to design a switching strategy and a control strategy in order to optimize their respective cost function. We investigate the Nash control strategy and optimal switching policy for this game with two different cost structures: discounted cost and average-time cost.},
	address = {Valletta, Malta},
	booktitle = {25th Mediterranean Conference on Control and Automation (MED 2017)},
	pages = {pp. 117-122}
}
@conference {
	title = {Stochastic Differential Linear-Quadratic Games with Intermittent Asymmetric Observations},
	author = {Maity, Dipankar., Raghavan, Aneesh., Baras, John S.},
	year = {2017},
	month = {05/2017},
	abstract = {In this paper, we consider a two-players stochastic linear quadratic game framework. The game is partially observed and each player has their own private observation. The challenge is that none of the players has access to the continuum observations, rather they can access their respective observations at discrete time instances by operating a switch unanimously. The operation of the switch is costly and hence the gathering of the observations are costly. Each player is equipped with finite memory and she can only use the latest observation to construct the control strategy. The private observations of the players lead to a source of asymmetry in this game. Moreover, the players have different costs for operating the switch, which is another source of asymmetry. We study the structural properties of the Nash equilibrium for this particular class of problems and then we finally show that the switching problem simplifies to a bi-objective optimization problem.},
	address = {Seattle, WA},
	booktitle = {2017 American Control Conference},
	pages = {pp. 3670-3675},
	organization = {Sheraton Seattle Hotel}
}
@conference {
	title = {Optimal strategies for linear quadratic differential games with costly information},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2016},
	month = {12/2016},
	abstract = {A two players stochastic differential game is considered~with a given cost function. The players engage in a~non-cooperative game where one tries to minimize the cost and~the other tries to maximize the same. The players are given a~dynamical system and their actions serve as the control inputs~to the dynamical system. Their job is to control the state of~this dynamical system to optimize the given objective function.~We use the term {\textquotedblleft}state of the game{\textquotedblright} to describe the state of~this dynamical system. The challenge being that none of the~players has access to the state of the game for all time, rather~they can access the state intermittently and only after paying~some information cost. Thus the cost structure is non-classical~for a linear-quadratic game and it incorporates the value of~information. We provide the Nash equilibrium strategy for the~players under full state information access at no cost, as well~as costly state information access. The optimal instances for~accessing the state information are also provided for the players.},
	address = {Las Vegas, Nevada},
	booktitle = {55th IEEE Conference on Decision and Control },
	pages = {pp. 276-282}
}
@conference {
	title = {Optimal Mission Planning under Logical Constraints with Safety Gaurantees: An Application for Robotic CPSs},
	author = {Maity, Dipankar., Zhou, Yuchen., Baras, John S.},
	year = {2016},
	month = {09/2016},
	address = {Garching, Munich},
	booktitle = {International Symposium on Networked Cyber-Physical Systems (NetCPS)}
}
@conference {
	title = {Dynamic, Optimal Sensor Scheduling and Value of Information},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2016},
	month = {07/2016},
	abstract = {In this paper, we present a method for the optimal state estimation of a linear system, observed by various dynamically schedulable and distributed sensors. We consider this problem to be a problem of information fusion, where the information is obtained from the sensors in exchange of scheduling and sensor operational costs. Sensors over a distributed network can work together efficiently in order to maximize the overall network performance. We consider several costs related to sensor scheduling such as the continuous cost for keeping the sensor on, and sensor switching cost for turning a sensor on from off state and vice versa. Our goal is to estimate the state as closely as possible while minimizing the scheduling cost. We incorporate the error in estimation as a cost in the optimization function. The resultant problem is then converted into an optimal control problem, where optimal scheduling is obtained by pointwise maximizing the Hamiltonian of the system.},
	address = {Washington DC},
	booktitle = {International Conference on Information Fusion (FUSION 2015)},
	pages = {pp. 239-244}
}
@conference {
	title = {The Effect of Delays in the Economic Dispatch Problem for Smart Grid Architectures},
	author = {Somarakis, Christoforos., Maity, Dipankar., Baras, John S.},
	year = {2016},
	month = {07/2016},
	abstract = {We consider the Economic Dispatch Problem~(EDP) in power systems for a smart-grid friendly environment.~We develop a consensus based decentralized optimization algorithm~that evolves in a time-varying communication network~that suffers from multiple propagation time-dependent delays.
This paper, being an improvisation of an earlier work of~ours, addresses the effects of time dependent delays in a fully~decentralized network. We show analytically and by simulation~that propagation delays may not only affect the performance~of the dynamic algorithm that solves the EDP but can ~also~destabilize the system.},
	address = {Boston, Massachusetts},
	booktitle = {2016 American Control Conference},
	pages = {pp. 3533-3538}
}
@conference {
	title = {Distributed Energy-Aware Mobile Sensor Coverage Game with Inter-Agent Communication},
	author = {Paraskevas, Evripidis., Maity, Dipankar., Baras, John S.},
	year = {2016},
	month = {07/2016},
	abstract = {Mobile Sensor Networks (MSN) are used to monitor large areas and collect measurements, e.g. temperature, humidity, or pressure data. Mobile sensors try to optimize their benefit from sensing a particular area, while keeping their energy consumption at the lowest possible level. We formulate this energy-aware sensor coverage problem as a potential game, where the mobile sensor nodes are considered as agents. The utility function of the game captures the trade-off between the benefit from coverage and the energy consumption. We also propose a distributed learning strategy for this potential game. The algorithm enables a bit-valued information exchange between the agents. Finally, it is proved that the learning rule converges to a Nash Equilibrium.},
	address = {Boston, Massachusetts},
	booktitle = {2016 American Control Conference},
	pages = {pp. 6259-6264}
}
@conference {
	title = {Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic},
	author = {Zhou, Yuchen., Maity, Dipankar., Baras, John S.},
	year = {2016},
	month = {06/2016},
	abstract = {In this paper, we consider the robot motion (or~task) planning problem under some given bounded time high-level specifications. We use metric interval temporal logic~(MITL), a member of the temporal logic family, to represent~the task specification and then we provide a constructive way to~generate a timed automaton and methods to look for accepting~runs on the automaton to find a feasible motion (or path)~sequence for the robot to complete the task.~},
	address = {Aalborg, DK},
	booktitle = {European Control Conference (ECC16)},
	pages = {pp. 690-695}
}
@conference {
	title = {Strategies for Two-Player Differential Games with Costly Information},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2016},
	month = {05/2016},
	abstract = {In this work, a two players nonzero-sum differential game is considered, where one player tries to minimize some predefined cost and the other tries to maximize the same. The game is described by a stochastic differential system and the actions of the players serve as the control inputs to the dynamical system. The cost being a function of the actions chosen by the players and the state of the dynamical system, the players aim to control the state in order to optimize the cost functional. However in this problem, the players do not have the access to the states for every time, rather the states are available at discrete time instances after some finite costs are paid by the players. The inclusion of the information-cost makes the structure of the cost functional non-classical. The work presents the strategies for the players under no-cost information access as well as under costly information access. Explicit time instances for the information access are also derived by solving certain finite dimensional optimization problems.},
	address = {Xi{\textquoteright}an, China},
	booktitle = {13th International Workshop on Discrete Event Systems },
	pages = {pp . 211-216}
}
@conference {
	title = {Event Based Control for Control Affine Nonlinear Systems: A Lyapunov Function Based Approach},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2015},
	month = {12/2015},
	abstract = {In this paper, we propose an event based control~strategy for control affine nonlinear systems. The proposed~method ensures sufficient reduction in communication by only~invoking a communication when some event has occurred. The~error between the continuous state feedback nonlinear system~and the event based system can be bounded in an invariant~set. The upper bound of this error is derived which can be~controlled by appropriately choosing the parameters for the~event triggering function. This method is then applied to a~networked nonlinear system of inverted pendulum and a nonlinearizable~nonlinear system.},
	address = {Osaka, Japan},
	booktitle = {54th Conference on Control (CDC 2015)},
	pages = {pp. 3767-3772}
}
@conference {
	title = {Optimal Mission Planner with Timed Temporal Logic Constraints},
	author = {Zhou, Yuchen., Maity, Dipankar., Baras, John S.},
	year = {2015},
	month = {07/2015},
	abstract = {In this paper, we present an optimization-based~method for path planning of a mobile robot subject to time~bounded temporal constraints, in a dynamic environment.~Temporal logic (TL) can address very complex task specification~such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints.We then translate the MTL formulae into mixed~integer linear constraints and solve the associated optimization~problem using a mixed integer linear program solver. This~approach is different from the automata-based methods which generate a finite abstraction of the environment and dynamics,~and use an automata-theoretic approach to formally generate~a path that satisfies the TL specifications. We have applied~our approach on several case studies in complex dynamical~environments subjected to timed temporal specifications.},
	address = {Linz, Austria},
	booktitle = {European Control Conference (ECC15)},
	pages = {pp. 759-764}
}
@conference {
	title = {Event Based Control of Linear Systems with Stochastic Perturbations},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2015},
	month = {06/2015},
	abstract = {In this paper, an event-based control strategy for~linear systems under disturbances is presented where the control~input generator generates a control which tries to mimic a state~feedback control between two successive events. The control input~is generated in such a way that the error between the state of~this system and the continuous state feedback system is bounded.~The event generator triggers an event based on this error and the~control input generator modifies its control function in such a way~that it makes sure that the error generated up to this triggering~instance is reduced to zero and thus it does not have any effect on~the future value of the state regardless of the stability of the plant.~It is also shown that under this event triggering mechanism, the~control input generator generates the control in such a way that~this error bound could be made arbitrarily small.~},
	address = {Krakow, Poland},
	booktitle = {1st IEEE International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP 2015)}
}
@conference {
	title = {Motion Planning in Dynamic Environment with Bounded Time Temporal Logic Specifications},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2015},
	month = {06/2015},
	abstract = {In this paper, we consider the problem of robotic~motion planning that satisfies some bounded time high-level~specifications. Although temporal logic can efficiently express~high-level specifications such as coverage, obstacle avoidance,~temporal ordering of tasks etc., it fails to address~problems~with explicit timing constraints. The inherent limitations of~Linear Temporal Logic (LTL) to address problems with explicit timing constraints have been overcome by translating the~planning problem from the workspace of the robot to a~higher dimensional space called spacetime where the existing~LTL semantics and grammar are sufficient to mathematically~formulate the bounded time high-level specifications. A discrete~path will be generated, that will meet the specifications with all~timing constraints and, at the same time, it will optimize some~cost function. A continuous trajectory satisfying the continuous~dynamics of the robot will be generated from the discrete path~using proper control laws.},
	address = {Torremolinos, Spain},
	booktitle = {23rd Mediterranean Conference on Control and Automoation (MED 2015)},
	pages = {pp. 973-979}
}
@article {
	title = {Optimal LQG Control under Delay-dependent Costly Information},
	author = {Maity, Dipankar., Mamduhi, Mohammad H., Hirche, Sandra., Johansson, Karl Henrik., John S. Baras},
	year = {2018},
	month = {06/2018},
	abstract = {In the design of closed-loop networked control systems (NCSs), induced transmission delay between sensors and control station is an often-present issue which compromises control performance and may even cause instability. Taking into account the current advances of communication technology, a very relevant scenario within which induced delay needs to be investigated is cost-prone usage of communication resources. More precisely, if information exchange over the network is costly, then induced delay is the matter of decision maker{\textquoteright}s willingness to either pay the required cost to have immediate access to communication resource, or delay the access at a reduced price. In this article, we consider price-based decision making problem for a stochastic linear time-invariant system, and address the effect of induced delay on control performance based on LQG cost function. Assuming that network access with shorter delay is costlier, a decision maker installed at the control station determines real-time delay duration such that an optimal balance between the control performance and the communication cost is maintained. In this article, we show that, under mild assumptions on the available information for decision makers, the separation property holds between the optimal transmission and control policies. As the cost function is decomposable, the optimal policies are efficiently computed.},
	journal = {IEEE L-CSS (2018)}
}
@article {
	title = {Optimal Event Triggered Control of Nondeterministic Linear Systems},
	author = {Maity, Dipankar., Baras, John S.},
	year = {2018},
	month = {03/2018},
	abstract = {We consider an event-triggered controller synthesis problem to replace the continuous feedback policy with an intermittent feedback one for a non-deterministic linear system. An event-triggered framework communicates the measurement to the controller only at certain discrete time instances which are generated by an event-generator. The objective of this work is to synthesize an optimal event generator and controller such that the trajectory of the states of the event-triggered system mimics the trajectory of the state of the feedback system with arbitrary precision. The optimality is in the sense that the least number of state measurements are sent to the controller in order to compute the control signal. The results of this paper show that such an optimal event-triggered controller retains the linear structure when the continuous feedback controller is linear; and the optimal event-generator follows a threshold based policy, where the eventgenerator decides to send the state measurement to the controller every time a certain signal exceeds that threshold. Finally, the similar framework was extended for a controller synthesis of infinite horizon. The structural properties of the optimal eventtriggered controller and event-generator remain unchanged when extended to an infinite horizon.},
	pages = {1-3},
	journal = {IEEE Transactions on Automatic Control}
}
