Related papers: Synergistic Potential Functions from Single Modifi…
A parametric point process model is developed, with modeling based on the assumption that sequential observations often share latent phenomena, while also possessing idiosyncratic effects. An alternating optimization method is proposed to…
This paper addresses the problem of motion synchronization (or averaging) and describes a simple, closed-form solution based on a spectral decomposition, which does not consider rotation and translation separately but works straight in…
We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible space, we adopt a novel procedure that constrains the agent…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…
Symmetries are ubiquitous in network systems and have profound impacts on the observable dynamics. At the most fundamental level, many synchronization patterns are induced by underlying network symmetry, and a high degree of symmetry is…
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying…
Many systems occurring in real-world applications, such as controlling the motions of robots or modeling the spread of diseases, are switched impulsive systems. To ensure that the system state stays in a safe region (e.g., to avoid…
Transformation Synchronization is the problem of recovering absolute transformations from a given set of pairwise relative motions. Despite its usefulness, the problem remains challenging due to the influences from noisy and outlier…
We extend results on backstepping hybrid feedbacks by exploiting synergistic Lyapunov function and feedback (SLFF) pairs in a generalized form. Compared to existing results, we delineate SLFF pairs that are ready-made and do not require…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
Safety-critical control of uncertain, adaptive systems often relies on conservative, worst-case uncertainty bounds that limit closed-loop performance. Online conformal prediction is a powerful data-driven method for quantifying uncertainty…
We study inverse statistical mechanics: how can one design a potential function so as to produce a specified ground state? In this paper, we show that unexpectedly simple potential functions suffice for certain symmetrical configurations,…
Shared resources synchronization is a well studied problem, in both shared memory environment or distributed memory environment. Many synchronization mechanisms are proposed, with their own way to reach certain consistency level. This…
Safe autonomy is important in many application domains, especially for applications involving interactions with humans. Existing safe control algorithms are similar to one another in the sense that: they all provide control inputs to…
Generalized self-concordance is a key property present in the objective function of many important learning problems. We establish the convergence rate of a simple Frank-Wolfe variant that uses the open-loop step size strategy $\gamma_t =…
Model merging is a flexible and computationally tractable approach to merge single-task checkpoints into a multi-task model. Prior work has solely focused on constrained multi-task settings where there is a one-to-one mapping between a…
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
Ergodic Optimization is the process of finding invariant probability measures that maximize the integral of a given function. It has been conjectured that "most" functions are optimized by measures supported on a periodic orbit, and it has…
Thin-plate spline (TPS) is a principal warp that allows for representing elastic, nonlinear transformation with control point motions. With the increase of control points, the warp becomes increasingly flexible but usually encounters a…