Related papers: Robust pole placement with Moore's algorithm
We propose a new heuristic approach for solving the challenge of determining optimal placements for geomagnetically induced current blocking devices on electrical grids. Traditionally, these determinations are approached by formulating the…
On-demand ride-pooling has emerged as a popular urban transportation solution, addressing the efficiency limitations of traditional ride-hailing services by grouping multiple riding requests with spatiotemporal proximity into a single…
This paper investigates a specific instance of the static repositioning problem within station-based bike-sharing systems. Our study incorporates operational and damaged bikes, a heterogeneous fleet, and multiple visits between stations and…
We establish the well-posedness of a coupled micro-macro parabolic-elliptic system modeling the interplay between two pressures in a gas-liquid mixture close to equilibrium that is filling a porous media with distributed microstructures.…
This work presents a unified framework that combines global approximations with locally built models to handle challenging nonconvex and nonsmooth composite optimization problems, including cases involving extended real-valued functions. We…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
A new training algorithm is presented for delayed reinforcement learning problems that does not assume the existence of a critic model and employs the polytope optimization algorithm to adjust the weights of the action network so that a…
Packing is a complex phenomenon of prominence in many natural and industrial processes (liquid crystals, granular materials, infiltration, melting, flow, sintering, segregation, sedimentation, compaction, etc.). A variety of computational…
We study the problem of finding solutions to the stable matching problem that are robust to errors in the input and we obtain a polynomial time algorithm for a special class of errors. In the process, we also initiate work on a new…
High-order ARX models can be used to approximate a quite general class of linear systems in a parametric model structure, and well-established methods can then be used to retrieve the true plant and noise models from the ARX polynomials.…
We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…
The efficient condition assessment of engineered systems requires the coupling of high fidelity models with data extracted from the state of the system `as-is'. In enabling this task, this paper implements a parametric Model Order Reduction…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
Self-localization is a fundamental capability that mobile robot navigation systems integrate to move from one point to another using a map. Thus, any enhancement in localization accuracy is crucial to perform delicate dexterity tasks. This…
We formalize a new paradigm for optimality of algorithms, that generalizes worst-case optimality based only on input-size to problem-dependent parameters including implicit ones. We re-visit some existing sorting algorithms from this…
We propose a method for evolving solutions that are robust with respect to variations of the environmental conditions (i.e. that can operate effectively in new conditions immediately, without the need to adapt to variations). The obtained…
When applying imitation learning techniques to fit a policy from expert demonstrations, one can take advantage of prior stability/robustness assumptions on the expert's policy and incorporate such control-theoretic prior knowledge…
Feedback-based online optimization algorithms have gained traction in recent years because of their simple implementation, their ability to reject disturbances in real time, and their increased robustness to model mismatch. While the…
The efficient placement of signal templates in source-parameter space is a crucial requisite for exhaustive matched-filtering searches of modeled gravitational-wave sources. Unfortunately, the current placement algorithms based on regular…