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Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Inspection for structural properties (surface stiffness and coefficient of restitution) is crucial for understanding and performing aerial manipulations in unknown environments, with little to no prior knowledge on their state.…
By sharing local sensor information via Vehicle-to-Vehicle (V2V) wireless communication networks, Cooperative Adaptive Cruise Control (CACC) is a technology that enables Connected and Automated Vehicles (CAVs) to drive autonomously on the…
Recent work on activation and latent steering has demonstrated that modifying internal representations can effectively guide large language models (LLMs) toward improved reasoning and efficiency without additional training. However, most…
In this work, a novel data-based stochastic global identification framework is introduced for air vehicles operating under varying flight states and uncertainty. In this context, the term global refers to the identification of a model that…
A probabilistic performance-oriented controller design approach based on polynomial chaos expansion and optimization is proposed for flight dynamic systems. Unlike robust control techniques where uncertainties are conservatively handled,…
Software vulnerability detection can be formulated as a binary classification problem that determines whether a given code snippet contains security defects. Existing multimodal methods typically fuse Natural Code Sequence (NCS)…
Traditional hearing aids often rely on static fittings that fail to adapt to their dynamic acoustic environments. We propose CAFA, a Context-Adaptive Fitting Advisor that provides personalized, real-time hearing aid adjustments through a…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
In this paper we present FASE (Fast Asynchronous Systems Evaluation), a tool for evaluating worst-case efficiency of asynchronous systems. This tool implements some well-established results in the setting of a timed CCS-like process…
In this paper, we study the collaborative state fusion problem in a multi-agent environment, where mobile agents collaborate to track movable targets. Due to the limited sensing range and potential errors of on-board sensors, it is…
We develop a novel approach for confidently accelerating inference in the large and expensive multilayer Transformers that are now ubiquitous in natural language processing (NLP). Amortized or approximate computational methods increase…
Air traffic operations are strongly influenced by convective weather, and one common response is pathfinder operations, in which a designated aircraft tests the viability of weather-impacted airspace and routes. Despite relatively routine…
Crash consistency is essential for applications that must persist data. Crash-consistency testing has been commonly applied to find crash-consistency bugs in applications. The crash-state space grows exponentially as the number of…
Current flight procedure design methods heavily rely on human-led design process, which is not only low auto-mation but also suffer from complex algorithm modelling and poor generalization. To address these challenges, this paper proposes…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
Tabular data stands out as one of the most frequently encountered types in high energy physics. Unlike commonly homogeneous data such as pixelated images, simulating high-dimensional tabular data and accurately capturing their correlations…