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Sensors in cyber-physical systems often capture interconnected processes and thus emit correlated time series (CTS), the forecasting of which enables important applications. The key to successful CTS forecasting is to uncover the temporal…
The problem of super-resolution compressive sensing (SR-CS) is crucial for various wireless sensing and communication applications. Existing methods often suffer from limited resolution capabilities and sensitivity to hyper-parameters,…
We consider minimizing high-dimensional smooth nonconvex objectives using only noisy pairwise comparisons. Unlike classical zeroth-order methods limited by the ambient dimension $d$, we propose Noisy-Comparison Random Search (NCRS), a…
We consider the problem of distributed optimal power flow (OPF) for multi-area electric power systems. A novel distributed algorithm is proposed, referred to as the rotated coordinate descent critical region exploration (RCDCRE). It allows…
Rapidly-exploring Random Tree star (RRT*) has recently gained immense popularity in the motion planning community as it provides a probabilistically complete and asymptotically optimal solution without requiring the complete information of…
We consider the problem of Spectrum Sensing in Cognitive Radio Systems. We have developed a distributed algorithm that the Secondary users can run to sense the channel cooperatively. It is based on sequential detection algorithms which…
Group synchronization is a fundamental task involving the recovery of group elements from pairwise measurements. For orthogonal group synchronization, the most common approach reformulates the problem as a constrained nonconvex optimization…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
This paper considers cooperative spectrum sensing in Cognitive Radios. In our previous work we have developed DualSPRT, a distributed algorithm for cooperative spectrum sensing using Sequential Probability Ratio Test (SPRT) at the Cognitive…
Autonomous driving has been an active area of research and development, with various strategies being explored for decision-making in autonomous vehicles. Rule-based systems, decision trees, Markov decision processes, and Bayesian networks…
This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is the first-known complete, exact steering method that produces a time-optimal trajectory between any states…
Compressed sensing (CS) schemes are proposed for monostatic as well as synthetic aperture radar (SAR) imaging with chirped signals and Ultra-Narrowband (UNB) continuous waveforms. In particular, a simple, perturbation method is developed to…
Under mild conditions on the noise level of the measurements, rotation averaging satisfies strong duality, which enables global solutions to be obtained via semidefinite programming (SDP) relaxation. However, generic solvers for SDP are…
In recent years, Compressed Sensing (CS) has gained significant interest as a technique for acquiring high-resolution sensory data using fewer measurements than traditional Nyquist sampling requires. At the same time, autonomous robotic…
Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
This work is on constrained large-scale non-convex optimization where the constraint set implies a manifold structure. Solving such problems is important in a multitude of fundamental machine learning tasks. Recent advances on Riemannian…
Autonomous driving has now made great strides thanks to artificial intelligence, and numerous advanced methods have been proposed for vehicle end target detection, including single sensor or multi sensor detection methods. However, the…
Reconfigurable intelligent surface (RIS) has recently been gained attention as an effective technique improving the coverage and performance of communication systems by creating additional communication links. Deployment of RIS is crucial…
Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…