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When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Drift analysis is a powerful tool for analyzing the time complexity of evolutionary algorithms. However, it requires manual construction of drift functions to bound hitting time for each specific algorithm and problem. To address this…
The notion of concept drift refers to the phenomenon that the distribution, which is underlying the observed data, changes over time; as a consequence machine learning models may become inaccurate and need adjustment. Many unsupervised…
In the past few years, stochastic resetting has become a subject of immense interest. Most of the theoretical studies so far focused on instantaneous resetting which is, however, a major impediment to practical realization or experimental…
The detrending algorithms which are widely used to reduce the impact of stellar variability on space-based transit surveys are ill-suited for estimating the parameters of confirmed planets, as they unavoidably alter the transit signal. We…
The notion of concept drift refers to the phenomenon that the distribution, which is underlying the observed data, changes over time; as a consequence machine learning models may become inaccurate and need adjustment. While there do exist…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
Given trajectory data, a domain-specific study area, and a user-defined threshold, we aim to find anomalous trajectories indicative of possible GPS spoofing (e.g., fake trajectory). The problem is societally important to curb illegal…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
Statistical multispecies models of multiarea marine ecosystems use a variety of data sources to estimate parameters using composite or weighted likelihood functions with associated weighting issues and questions on how to obtain variance…
Recently there has been much work on selective sampling, an online active learning setting, in which algorithms work in rounds. On each round an algorithm receives an input and makes a prediction. Then, it can decide whether to query a…
With the rapid development of civil aviation and the significant improvement of people's living standards, taking an air plane has become a common and efficient way of travel. However, due to the flight characteris-tics of the aircraft and…
We study the dynamics of a radioactive species flowing through a porous material, within the Continuous-Time Random Walk (CTRW) approach to the modelling of stochastic transport processes. Emphasis is given to the case where radioactive…
Given trajectories with gaps (i.e., missing data), we investigate algorithms to identify abnormal gaps in trajectories which occur when a given moving object did not report its location, but other moving objects in the same geographic…
Single object tracking (SOT) heavily relies on the representation of the target object as a bounding box. However, due to the potential deformation and rotation experienced by the tracked targets, the genuine bounding box fails to capture…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
We extend a recently introduced prototypical stochastic model describing uniformly the search and return of objects looking for new food sources around a given home. The model describes the kinematic motion of the object with constant speed…
This paper investigates recurrence properties of dynamical systems under the restriction that control is available only through inputs and outputs. We introduce the concept of ``coarse non-wandering'', a generalization of the classical…