Related papers: Actuator and sensor placement in linear advection …
This paper introduces a novel method for numerically stabilizing sequential continuous adjoint flow solvers utilizing an elliptic relaxation strategy. The proposed approach is formulated as a Partial Differential Equation (PDE) containing a…
This paper deals with the gradient extremum seeking control for static scalar maps with actuators governed by distributed diffusion partial differential equations (PDEs). To achieve the real-time optimization objective, we design a…
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
Determinantal point processes (DPPs) are probability models over subsets of a ground set that favor diverse selections while suppressing redundancy. That is, they tend to assign higher likelihood to collections whose elements complement one…
Transport phenomena play a vital role in various fields of science and engineering. In this work, exact solutions are derived for advection equations with integer- and fractional-order time derivatives and a constant time-delay in the…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
Sensors in buildings are used for a wide variety of applications such as monitoring air quality, contaminants, indoor temperature, and relative humidity. These are used for accessing and ensuring indoor air quality, and also for ensuring…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
We consider the bilinear optimal control of an advection-reaction-diffusion system, where the control arises as the velocity field in the advection term. Such a problem is generally challenging from both theoretical analysis and algorithmic…
We consider the actuator placement problem for linear systems. Specifically, we aim to identify an actuator which requires the least amount of control energy to drive the system from an arbitrary initial condition to the origin in the worst…
Sensor placement for linear inverse problems is the selection of locations to assign sensors so that the entire physical signal can be well recovered from partial observations. In this paper, we propose a fast sampling algorithm to place…
We consider the control of discrete-time linear dynamical systems using sparse inputs where we limit the number of active actuators at every time step. We develop an algorithm for determining a sparse actuator schedule that ensures the…
This paper describes an optimization framework to design guidance for a possibly heterogeneous team of multiple mobile sensors to estimate a spatiotemporal process modeled by a 2D diffusion-advection process. Owing to the abstract linear…
We develop a fast and scalable computational framework to solve large-scale and high-dimensional Bayesian optimal experimental design problems. In particular, we consider the problem of optimal observation sensor placement for Bayesian…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
In this paper, we present a geometric framework for the passive localisation of static emitters. The objective is to localise the position of the emitters in a given area by centralised coordination of mobile passive sensors. This framework…
A detailed characterisation of a combined Linear Variable Differential Transformer (LVDT) position sensor and voice-coil (VC) actuator designed for seismic isolation systems in gravitational wave detectors is presented. A dedicated…
Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and…
Covariance matrix estimation is an important problem in multivariate data analysis, both from theoretical as well as applied points of view. Many simple and popular covariance matrix estimators are known to be severely affected by model…