Related papers: Growing Convex Collision-Free Regions in Configura…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
Variable selection in high-dimensional space characterizes many contemporary problems in scientific discovery and decision making. Many frequently-used techniques are based on independence screening; examples include correlation ranking…
Conformal prediction methodologies have significantly advanced the quantification of uncertainties in predictive models. Yet, the construction of confidence regions for model parameters presents a notable challenge, often necessitating…
This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…
Reconfigurable intelligent surface (RIS) is pivotal for beyond 5G networks in regards to the surge demand for reliable communication in unmanned aerial vehicle (UAV) networks. This paper presents an innovative approach to maximize…
This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions. It uses the principle of learning through experience to deduce the cost-to-go of regions within the…
The integration of Reconfigurable Intelligent Surfaces (RISs) into wireless environments endows channels with programmability, and is expected to play a key role in future communication standards. To date, most RIS-related efforts focus on…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
The region of attraction characterizes well-behaved and safe operation of a nonlinear system and is hence sought after for verification. In this paper, a framework for probabilistic region of attraction estimation is developed that combines…
We develop and analyze a new `relax-and-split' (RS) approach for compositions of separable nonconvex nonsmooth functions with linear maps. RS uses a relaxation technique together with partial minimization, and brings classic techniques…
Quadratic systems with lossless quadratic terms arise in many applications, including models of atmosphere and incompressible fluid flows. Such systems have a trapping region if all trajectories eventually converge to and stay within a…
Without requiring operational costs such as cabling and powering while maintaining reconfigurable phase-shift capability, self-sustainable reconfigurable intelligent surfaces (ssRISs) can be deployed in locations inaccessible to…
Reconfigurable intelligent surface (RIS) has recently gained significant interest as an emerging technology for future wireless networks thanks to its potential for improving the coverage probability in challenging propagation environments.…
We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that captures only collision-free areas of the joint space,…
Unrolled computation graphs arise in many scenarios, including training RNNs, tuning hyperparameters through unrolled optimization, and training learned optimizers. Current approaches to optimizing parameters in such computation graphs…
In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…
This paper investigates stochastic invariance for control systems through probabilistic controlled invariant sets (PCISs). As a natural complement to robust controlled invariant sets~(RCISs), we propose finite- and infinite-horizon PCISs,…
A reconfigurable intelligent surface (RIS) is a planar surface that can enhance the quality of communication by providing control over the communication environment. Reflection optimization is one of the pivotal challenges in RIS setups.…
This work addresses the problem of risk-sensitive control for nonlinear systems with imperfect state observations, extending results for the linear case. In particular, we derive an algorithm that can compute local solutions with…
Learning from offline task demonstrations is a problem of great interest in robotics. For simple short-horizon manipulation tasks with modest variation in task instances, offline learning from a small set of demonstrations can produce…