Research
Journal Publications
Kwesi Rutledge, Sze Zheng Yong, Necmiye Ozay, Finite horizon constrained control and bounded-error estimation in the presence of missing data, Nonlinear Analysis: Hybrid Systems, Volume 36, 2020. [ScienceDirect] [PDF]
G. Chou, Y. E. Sahin, L. Yang, K. J. Rutledge, P. Nilsson and N. Ozay, "Using Control Synthesis to Generate Corner Cases: A Case Study on Autonomous Driving," in IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, Nov. 2018. [IEEE Xplore] [PDF]
Conference Publications
Kwesi Rutledge and Necmiye Ozay. Correct-By-Construction Exploration and Exploitation for Unknown Linear Systems Using Bilinear Optimization. In 25th ACM International Conference on Hybrid Systems: Computation and Control (HSCC '22). Association for Computing Machinery, New York, NY, USA, Article 8, 1–11. [ACM]
A. Aspeel, K. Rutledge, R. M. Jungers, B. Macq and N. Özay, "Optimal Control for Linear Networked Control Systems with Information Transmission Constraints," 2021 60th IEEE Conference on Decision and Control (CDC), 2021, pp. 1960-1967, doi: 10.1109/CDC45484.2021.9683476. [ArXiV] [IEEEXplore]
Kwesi J. Rutledge, Glen Chou, and Necmiye Ozay. Compositional safety rules for inter-triggering hybrid automata. In Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control (HSCC '21). Association for Computing Machinery, New York, NY, USA, Article 4, 1–11. [ACM]
K. Rutledge and N. Ozay, "Belief-prefix Control for Autonomously Dodging Switching Disturbances", 2020 European Controls Conference (ECC). [IEEE Xplore] [PDF]
Y. E. Sahin, Z. Liu, K. Rutledge, D. Panagou, S. Z. Yong and N. Ozay, "Intention-Aware Supervisory Control with Driving Safety Applications," 2019 IEEE Conference on Control Technology and Applications (CCTA), Hong Kong, China, 2019. [IEEE Xplore]
K. J. Rutledge, S. Z. Yong and N. Ozay, "Prefix-based Bounded-error Estimation with Intermittent Observations," 2019 American Control Conference (ACC), Philadelphia, PA, USA, 2019. [IEEE Xplore]
Kwesi J. Rutledge, Sze Zheng Yong, Necmiye Ozay," "Optimization-Based Design of Bounded-Error Estimators Robust to Missing Data" IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), 2018. [ScienceDirect]
Software
I've developed several pieces of software that might be useful for people in the field of Control, including:
- A MATLAB Implementation of the Knowledge Abstraction and Minimization (KAM) algorithm for Linear Systems
- A Go (Golang) Implementation of Some of the Common Algorithms in Model Checking
The Knowledge Abstraction and Minimization algorithm is described in On abstraction-based controller design with output feedback by Rupak Majumdar, Necmiye Ozay, and Anne-Kathrin Schmuck.
What is Control Theory?
I am interested in the many ways that we can use the tools of optimization (barrier functions, neural networks, etc.) to make control systems behave correctly according to a human-readable goal. Control systems are roughly any thing that changes over time, can be modeled with a differential or difference equation and has a "control input" which we can use to affect the system's behavior. Some definitions from the University of Waterloo and Wikipedia may help further explain.
Theory I'm Familiar With
Some tools that I've used to create verifiably correct controllers include: Set-Valued Estimation, Quadratic Invariance (also known as Q-Parameterization, or System-Level Synthesis), Polynomial Optimization, and Model Predictive Control. Above you will find my published work along with some links to toolboxes I designed to do controller design.