Related papers: A Robust Numerical Path Tracking Algorithm for Pol…
This paper presents a novel accelerated distributed algorithm for unconstrained consensus optimization over static undirected networks. The proposed algorithm combines the benefits of acceleration from momentum, the robustness of the…
Load forecasting is a fundamental task in smart grid. Many techniques have been applied to developing load forecasting models. Due to the challenges such as the Curse of Dimensionality, overfitting, and limited computing resources,…
A reparametrization (of a continuous path) is given by a surjective weakly increasing self-map of the unit interval. We show that the monoid of reparametrizations (with respect to compositions) can be understood via ``stop-maps'' that allow…
Hypergraph matching has recently become a popular approach for solving correspondence problems in computer vision as it allows to integrate higher-order geometric information. Hypergraph matching can be formulated as a third-order…
This paper proposes a novel multi-target tracking (MTT) algorithm for scenarios with arbitrary numbers of measurements per target. We propose the variational probabilistic multi-hypothesis tracking (VPMHT) algorithm based on the variational…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
Numerical algebraic geometry provides a number of efficient tools for approximating the solutions of polynomial systems. One such tool is the parameter homotopy, which can be an extremely efficient method to solve numerous polynomial…
Researchers have designed many algorithms to measure the distances between graph nodes, such as average hitting times of random walks, cosine distances from DeepWalk, personalized PageRank, etc. Successful although these algorithms are,…
We introduce the Cox homotopy algorithm for solving a sparse system of polynomial equations on a compact toric variety $X_\Sigma$. The algorithm lends its name from a construction, described by Cox, of $X_\Sigma$ as a GIT quotient $X_\Sigma…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Ray tracing algorithm simulates the physical movements of a huge amount of rays to render a high quality image, in which the tracing procedure for each ray can be implemented in parallel. By leveraging the inherent parallelism of quantum…
This paper is devoted to the study of numerical approximation schemes for a class of parabolic equations on (0, 1) perturbed by a non-linear rough signal. It is the continuation of [8, 7], where the existence and uniqueness of a solution…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…
We present a novel second-order trajectory optimization algorithm based on Stein Variational Newton's Method and Maximum Entropy Differential Dynamic Programming. The proposed algorithm, called Stein Variational Differential Dynamic…
We consider polynomial systems of Prony type, appearing in many areas of mathematics. Their robust numerical solution is considered to be difficult, especially in "near-colliding" situations. We consider a case when the structure of the…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
Developing efficient and guaranteed nonconvex algorithms has been an important challenge in modern machine learning. Algorithms with good empirical performance such as stochastic gradient descent often lack theoretical guarantees. In this…
Gradient boosting algorithms construct a regression predictor using a linear combination of ``base learners''. Boosting also offers an approach to obtaining robust non-parametric regression estimators that are scalable to applications with…