Related papers: A Separation Theorem for Joint Sensor and Actuator…
Recently, the problem of multitasking scheduling has attracted a lot of attention in the service industries where workers frequently perform multiple tasks by switching from one task to another. Hall, Leung and Li (Discrete Applied…
In this work we are interested in the problems of supervised learning and variable selection when the input-output dependence is described by a nonlinear function depending on a few variables. Our goal is to consider a sparse nonparametric…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
Given a linear dynamical system, we consider the problem of selecting (at design-time) an optimal set of sensors (subject to certain budget constraints) to minimize the trace of the steady state error covariance matrix of the Kalman filter.…
Detection of a signal under noise is a classical signal processing problem. When monitoring spatial phenomena under a fixed budget, i.e., either physical, economical or computational constraints, the selection of a subset of available…
An energy efficient use of large scale sensor networks necessitates activating a subset of possible sensors for estimation at a fusion center. The problem is inherently combinatorial; to this end, a set of iterative, randomized algorithms…
So far, many control algorithms have been developed for singularly perturbed systems. However, in many industrial processes, enforcing closed-loop fast-slow dynamics for peculiarly non-separable ones is a prior request and a crucial issue…
In this paper we address the problem of designing an interruptible system in a setting in which $n$ problem instances, all equally important, must be solved concurrently. The system involves scheduling executions of contract algorithms…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
Measurements and sensing implementations impose certain cost in sensor networks. The sensor selection cost optimization is the problem of minimizing the sensing cost of monitoring a physical (or cyber- physical) system. Consider a given set…
In this work, we introduce a novel approach for determining a joint sparse spectrum from several non-uniformly sampled data sets, where each data set is assumed to have its own, possibly disjoint, and only partially known, sampling times.…
In distributed systems with processes that do not share a global clock, \emph{partial synchrony} is achieved by clock synchronization that guarantees bounded clock skew among all applications. Existing solutions for distributed runtime…
In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of…
In this work, we present the first stability results for approximate predictors in multi-input non-linear systems with distinct actuation delays. We show that if the predictor approximation satisfies a uniform (in time) error bound,…
This paper studies the lattice agreement problem and proposes a stronger form, $\varepsilon$-bounded lattice agreement, that enforces an additional tightness constraint on the outputs. To formalize the concept, we define a quasi-metric on…
The paper proposes an algorithm for a discretization (sampled-time implementation) of a homogeneous control preserving the finite-time and nearly fixed-time stability property of the original (sampling-free) system. The sampling period is…
Model order reduction involves constructing a reduced-order approximation of a high-order model while retaining its essential characteristics. This reduced-order model serves as a substitute for the original one in various applications such…
In discrete-event systems, to save sensor resources, the agent continuously adjusts sensor activation decisions according to a sensor activation policy based on the changing observations. However, new challenges arise for sensor activations…
Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understanding of success and failure cases. However, discrete-time SLAM…
Whether a robot can perform some specific task depends on several aspects, including the robot's sensors and the plans it possesses. We are interested in search algorithms that treat plans and sensor designs jointly, yielding…