Related papers: Growing Convex Collision-Free Regions in Configura…
We introduce a transformation of a Neural Radiance Field (NeRF) to an equivalent Poisson Point Process (PPP). This PPP transformation allows for rigorous quantification of uncertainty in NeRFs, in particular, for computing collision…
We consider the problem of approximating partition functions for Ising models. We make use of recent tools in combinatorial optimization: the Sherali-Adams and Lasserre convex programming hierarchies, in combination with variational methods…
Reconfigurable intelligent surface (RIS)-assisted aerial non-terrestrial networks (NTNs) offer a promising paradigm for enhancing wireless communications in the era of 6G and beyond. By integrating RIS with aerial platforms such as unmanned…
Intelligent Reflecting Surfaces (IRS) promise low-power coverage extension, yet practical deployments must curb hardware complexity and control overhead. This paper quantifies the performance impact of two cost-saving measures, column-wise…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
We cast motion planning under uncertainty as a stochastic optimal control problem, where the optimal posterior distribution has an explicit form. To approximate this posterior, this work frames an optimization problem in the space of…
In kernel methods, the kernels are often required to be positive definite, which restricts the use of many indefinite kernels. To consider those non-positive definite kernels, in this paper, we aim to build an indefinite kernel learning…
Continuous optimization is an important problem in many areas of AI, including vision, robotics, probabilistic inference, and machine learning. Unfortunately, most real-world optimization problems are nonconvex, causing standard convex…
Intelligent reflecting surface (IRS) has recently been recognized as a promising technology to enhance the energy and spectrum efficiency of wireless networks by controlling the wireless medium with the configurable electromagnetic…
This paper proposes a multi-step probabilistic forecasting framework using a single neural-network based model to generate simultaneous point and interval forecasts. Our approach ensures non-crossing prediction intervals (PIs) through a…
Forthcoming 6G networks have two predominant features of wide coverage and sufficient computation capability. To support the promising applications, Integrated Sensing, Communication, and Computation (ISCC) has been considered as a vital…
Reconfigurable intelligent surface (RIS) is a promising solution to deal with the blockage-sensitivity of millimeter wave band and reduce the high energy consumption caused by network densification. However, deploying large scale RISs may…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
In next-generation wireless networks, reconfigurable intelligent surface (RIS)-assisted multiple-input multiple-output (MIMO) systems are foreseeable to support a large number of antennas at the transceiver as well as a large number of…
We advance both the theory and practice of robust $\ell_p$-quasinorm regression for $p \in (0,1]$ by using novel variants of iteratively reweighted least-squares (IRLS) to solve the underlying non-smooth problem. In the convex case, $p=1$,…
This letter proposes a fluid reconfigurable intelligent surface (FRIS) paradigm, extending the conventional reconfigurable intelligent surface (RIS) technology to incorporate position reconfigurability of the elements. In our model, a…
The paper provides global optimization algorithms for two particularly difficult nonconvex problems raised by hybrid system identification: switching linear regression and bounded-error estimation. While most works focus on local…
This paper proposes a nonlinear guidance algorithm for fuel-optimal impulsive trajectories for rendezvous operations close to a reference orbit. The approach involves overparameterized monomial coordinates and a high-order approximation of…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Recent years have seen a flurry of activities in designing provably efficient nonconvex procedures for solving statistical estimation problems. Due to the highly nonconvex nature of the empirical loss, state-of-the-art procedures often…