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To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
Driven by artificial intelligence, data science, and high-resolution simulations, I/O workloads and hardware on high-performance computing (HPC) systems have become increasingly complex. This complexity can lead to large I/O overheads and…
We address the problem of retrieving the full state of a network of R\"ossler systems from the knowledge of the actual state of a limited set of nodes. The selection of the nodes where sensors are placed is carried out in a hierarchical way…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
Most FPGA boards in the HPC domain are well-suited for parallel scaling because of the direct integration of versatile and high-throughput network ports. However, the utilization of their network capabilities is often challenging and…
In this paper, we propose the first optimum process scheduling algorithm for an increasingly prevalent type of heterogeneous multicore (HEMC) system that combines high-performance big cores and energy-efficient small cores with the same…
Algorithm configuration (AC) is concerned with the automated search of the most suitable parameter configuration of a parametrized algorithm. There is currently a wide variety of AC problem variants and methods proposed in the literature.…
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…
The solution to an optimal power flow (OPF) problem provides a minimum cost operating point for an electric power system. The performance of OPF solution techniques strongly depends on the problem's feasible space. This paper presents an…
Several recent papers have shown that reservoir computers are useful for analyzing and predicting dynamical systems. Reservoir computers have also been shown to be useful for various classification problems. In this work, a reservoir…
Fog Computing provides computational resources close to the end user, supporting low-latency and high-bandwidth communications. It supports IoT applications, enabling real-time data processing, analytics, and decision-making at the edge of…
Blockchain scalability can be complicated and costly. As enterprises begin to adopt blockchain technology to solve business problems, there are valid concerns if blockchain applications can support the transactional demands of production…
This work proposes a methodology to find performance and energy trade-offs for parallel applications running on Heterogeneous Multi-Processing systems with a single instruction-set architecture. These offer flexibility in the form of…
Similar to algorithms, which consume time and memory to run, hardware requires resources to function. For devices processing physical waves, implementing operations needs sufficient "space," as dictated by wave physics. How much space is…
Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…
Ordinal classification has been widely applied in many high-stakes applications, e.g., medical imaging and diagnosis, where reliable uncertainty quantification (UQ) is essential for decision making. Conformal prediction (CP) is a general UQ…
Variable selection plays a crucial role in enhancing modeling effectiveness across diverse fields, addressing the challenges posed by high-dimensional datasets of correlated variables. This work introduces a novel approach namely Knockoff…
Runtime scheduling and workflow systems are an increasingly popular algorithmic component in HPC because they allow full system utilization with relaxed synchronization requirements. There are so many special-purpose tools for task…
We propose a novel approach for constraint-based graphical user interface (GUI) layout based on OR-constraints (ORC) in standard soft/hard linear constraint systems. ORC layout unifies grid layout and flow layout, supporting both their…
An algorithm for structured database searching is presented and used to solve the set partition problem. O(n) oracle calls are required in order to obtain a solution, but the probability that this solution is optimal decreases exponentially…