Related papers: Multi-DoF Time Domain Passivity Approach Based Dri…
This paper presents an adaptive tracking control method for a class of nonlinearly parameterized MIMO dynamic systems with time-varying delay and unknown nonlinear dead-zone inputs. A new high dimensional integral Lyapunov-Krasovskii…
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…
We report on the realization of delivering coherent optical frequency to multiple places based on passive phase noise cancellation over a bus topology fiber network. This technique mitigates any active servo controller on the main fiber…
Unmanned Aerial Vehicles (UAVs) acting as Flying Access Points (FAPs) are being used to provide on-demand wireless connectivity in extreme scenarios. Despite ongoing research, the optimization of UAVs' positions according to dynamic users'…
This paper presents a novel approach for stability and transparency analysis for bilateral teleoperation in the presence of data loss in communication media. A new model for data loss is proposed based on a set of periodic continuous pulses…
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such…
This paper addresses the challenge of collision-free motion planning in automated navigation within complex environments. Utilizing advancements in Deep Reinforcement Learning (DRL) and sensor technologies like LiDAR, we propose the TD3-DWA…
In this paper, robust control with sea state observer and dynamic thrust allocation is proposed for the Dynamic Positioning (DP) of an accommodation vessel in the presence of unknown hydrodynamic force variation and the input time delay. In…
In dynamic wireless ad-hoc networks (DynWANs), autonomous computing devices set up a network for the communication needs of the moment. These networks require the implementation of a medium access control (MAC) layer. We consider MAC…
Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…
In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…
A dynamic phasor (DP) framework for time-domain and frequency-domain analyses of grid-forming converters (GFCs) connected to series-compensated transmission lines is proposed. The proposed framework can capture the behavior of GFCs…
In this paper a new distributed asynchronous algorithm is proposed for time synchronization in networks with random communication delays, measurement noise and communication dropouts. Three different types of the drift correction algorithm…
High-mobility wireless communications have received a lot of attentions in the past few years. In this paper, we consider angle-domain Doppler shifts compensation scheme to reduce the channel time variation for the high-mobility uplink from…
Within the LPWAN framework, the LoRa modulation adopted by LoRaWAN technology has garnered significant interest as a connectivity solution for IoT applications due to its ability to offer low-cost, low-power, and long-range communications.…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
In the existing literature on joint timing and frequency synchronization of orthogonal time frequency space modulation (OTFS), practically infeasible impulse pilot with large peak-to-average power ratio (PAPR) is deployed. Hence, in this…
Affine frequency division multiplexing (AFDM) and orthogonal AFDM access (O-AFDMA) are promising techniques based on chirp signals, which are able to suppress the performance deterioration caused by Doppler shifts in high-mobility…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
In this paper, we present a novel stochastic geometry-based approach to analyze the effect of residual Doppler shift on orthogonal frequency-division multiple access (OFDMA) systems in low earth orbit (LEO) satellite-terrestrial networks.…