Related papers: The Control Toolbox - An Open-Source C++ Library f…
Performance, genericity and flexibility are three valuable qualities for scientific environments that tend to be antagonistic. C++ provides excellent support for both performances and genericity thanks to its support for (class and…
Graphic Processing Units (GPUs) have become ubiquitous in scientific computing. However, writing efficient GPU kernels can be challenging due to the need for careful code tuning. To automatically explore the kernel optimization space,…
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…
Tick is a statistical learning library for Python~3, with a particular emphasis on time-dependent models, such as point processes, and tools for generalized linear models and survival analysis. The core of the library is an optimization…
Over the past few decades, a vast amount of information on the structure of atomic nuclei has been collected, compiled, and evaluated. Accurate and reliable data are essential for the understanding of the behavior of atomic nuclei.…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
We present Open-CD, a change detection toolbox that contains a rich set of change detection methods as well as related components and modules. The toolbox started from a series of open source general vision task tools, including OpenMMLab…
Applied research in graph algorithms and combinatorial structures needs comprehensive and versatile software libraries. However, the design and the implementation of flexible libraries are challenging activities. Among the other problems…
In this paper, we present Coyote C++, a fully automated white-box unit testing tool for C and C++. Whereas existing tools have struggled to realize unit test generation for C++, Coyote C++ is able to produce high coverage results from unit…
Typical software has a huge input space. The number of inputs may be astronomical or even infinite. Thus, the task of validating that the software is correct seems hopeless. To deal with this difficult task, Combinatorial Test Design (CTD)…
Robust optimization is a very popular means to address decision-making problems affected by uncertainty. Its success has been fueled by its attractive robustness and scalability properties, by ease of modeling, and by the limited…
Real world combinatorial optimization problems such as scheduling are typically too complex to solve with exact methods. Additionally, the problems often have to observe vaguely specified constraints of different importance, the available…
Resource-limited robots face significant challenges in executing computationally intensive tasks, such as locomotion and manipulation, particularly for real-time optimal control algorithms like Model Predictive Control (MPC). This paper…
Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion planning, where traditional Euclidean formulations struggle with…
Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…
Object-oriented programming languages such as Java and Objective C have become popular for implementing agent-based and other object-based simulations since objects in those languages can {\em reflect} (i.e. make runtime queries of an…
The Core Imaging Library (CIL) is an open-source versatile Python framework for solving inverse problems with special emphasis on imaging applications such as computed tomography (CT), using a plug-in architecture for data and operators,…
The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended model of the plant. After such an uncertain plant is formed, an…
Pattern recognition and machine learning are becoming integral parts of algorithms in a wide range of applications. Different algorithms and approaches for machine learning include different tradeoffs between performance and computation, so…