Related papers: Nested Convex Bodies are Chaseable
This paper considers two point boundary value problems for conservative systems defined in multiple coordinate systems, and develops a flexible a-posteriori framework for computer assisted existence proofs. Our framework is applied to the…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
We study Smoothed Online Convex Optimization, a version of online convex optimization where the learner incurs a penalty for changing her actions between rounds. Given a $\Omega(\sqrt{d})$ lower bound on the competitive ratio of any online…
Pursuit-evasion scenarios appear widely in robotics, security domains, and many other real-world situations. We focus on two-player pursuit-evasion games with concurrent moves, infinite horizon, and discounted rewards. We assume that the…
The online unit clustering problem was proposed by Chan and Zarrabi-Zadeh (WAOA2007 and Theory of Computing Systems 45(3), 2009), which is defined as follows: "Points" are given online in the $d$-dimensional Euclidean space one by one. An…
Time-varying non-convex continuous-valued non-linear constrained optimization is a fundamental problem. We study conditions wherein a momentum-like regularising term allow for the tracking of local optima by considering an ordinary…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
We analyze a two-player game in which players take turns avoiding the selection of certain points within a convex geometry. The objective is to prevent the convex closure of all chosen points from encompassing a predefined set. The first…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Online Set Cover and Load Balancing are central problems in online optimization, and there is a long line of work on developing algorithms for these problems with convex objectives. Although we know optimal online algorithms with…
Parameter estimation of nonlinear state-space models from input-output data typically requires solving a highly non-convex optimization problem prone to slow convergence and suboptimal solutions. This work improves the reliability and…
A problem of Erd\H{o}s (Amer. Math. Monthly 52: 494-498, 1945) and a theorem of Fejes T\'oth and Fejes T\'oth (Acta Math. Acad. Sci. Hungar. 24: 229-232, 1973) initiated the study of non-separable arrangements of convex bodies and the…
Chase-escape is a competitive growth process in which red particles spread to adjacent empty sites according to a rate-$\lambda$ Poisson process while being chased and consumed by blue particles according to a rate-$1$ Poisson process.…
In this work, we present a new efficient method for convex shape representation, which is regardless of the dimension of the concerned objects, using level-set approaches. Convexity prior is very useful for object completion in computer…
We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…
Visual tracking can be easily disturbed by similar surrounding objects. Such objects as hard distractors, even though being the minority among negative samples, increase the risk of target drift and model corruption, which deserve…
This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing cooperative guidance strategies which use estimates of…
Matching pursuit algorithms are an important class of algorithms in signal processing and machine learning. We present a blended matching pursuit algorithm, combining coordinate descent-like steps with stronger gradient descent steps, for…
We consider federated learning of linearly-parameterized nonlinear systems. We establish theoretical guarantees on the effectiveness of federated nonlinear system identification compared to centralized approaches, demonstrating that the…