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Maintaining and updating shortest paths information in a graph is a fundamental problem with many applications. As computations on dense graphs can be prohibitively expensive, and it is preferable to perform the computations on a sparse…
This paper presents an optimised algorithm implementing the method of slices for analysing the stability of slopes. The algorithm adopts an improved physically based parameterisation of slip lines according to their geometrical…
In computing, as in many aspects of life, changes incur cost. Many optimization problems are formulated as a one-time instance starting from scratch. However, a common case that arises is when we already have a set of prior assignments, and…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…
State estimation constitutes a core task in monitoring, supervision, and control of dynamic systems. This paper proposes a data-driven framework for the design of state observers for descriptor systems. Necessary and sufficient conditions…
A challenging problem in estimating high-dimensional graphical models is to choose the regularization parameter in a data-dependent way. The standard techniques include $K$-fold cross-validation ($K$-CV), Akaike information criterion (AIC),…
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…
We present a fully automated method that identifies attractors and their basins of attraction without approximations of the dynamics. The method works by defining a finite state machine on top of the system flow. The input to the method is…
We consider the \textsc{Steiner Orientation} problem, where we are given as input a mixed graph $G=(V,E,A)$ and a set of $k$ demand pairs $(s_i,t_i)$, $i\in[k]$. The goal is to orient the undirected edges of $G$ in a way that the resulting…
Slow manifolds are important geometric structures in the state spaces of dynamical systems with multiple time scales. This paper introduces an algorithm for computing trajectories on slow manifolds that are normally hyperbolic with both…
In component shape optimization, the component properties are often evaluated by computationally expensive simulations. Such optimization becomes unfeasible when it is focused on a global search requiring thousands of simulations to be…
We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robust control mechanics as…
Optimal control is an essential tool for stabilizing complex nonlinear systems. However, despite the extensive impacts of methods such as receding horizon control, dynamic programming and reinforcement learning, the design of cost functions…
The paper addresses state estimation for linear discrete-time systems with binary (threshold) measurements. A Moving Horizon Estimation (MHE) approach is followed and different estimators, characterized by two different choices of the cost…
In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
We present a self-stabilizing algorithm for the (asynchronous) unison problem which achieves an efficient trade-off between time, workload, and space in a weak model. Precisely, our algorithm is defined in the atomic-state model and works…
We present a cut finite element method for shape optimization in the case of linear elasticity. The elastic domain is defined by a level-set function, and the evolution of the domain is obtained by moving the level-set along a velocity…
Current object segmentation algorithms are based on the hypothesis that one has access to a very large amount of data. In this paper, we aim to segment objects using only tiny datasets. To this extent, we propose a new automatic part-based…
We study online optimization in a setting where an online learner seeks to optimize a per-round hitting cost, which may be non-convex, while incurring a movement cost when changing actions between rounds. We ask: \textit{under what general…