Related papers: Synergistic Potential Functions from Single Modifi…
In this paper, we focus on the problem of stochastic optimization where the objective function can be written as an expectation function over a closed convex set. We also consider multiple expectation constraints which restrict the domain…
This paper proposes a real-time neural network (NN) stochastic filter-based controller on the Lie Group of the Special Orthogonal Group $SO(3)$ as a novel approach to the attitude tracking problem. The introduced solution consists of two…
As an important and challenging problem in computer vision and graphics, keypoint-based object tracking is typically formulated in a spatio-temporal statistical learning framework. However, most existing keypoint trackers are incapable of…
A wide variety of complex systems exhibit large fluctuations both in space and time that often can be attributed to the presence of some kind of critical phenomena. Under such critical scenario it is well known that the properties of the…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
In this paper, we investigate the use of relaxed logarithmic barrier functions in the context of linear model predictive control. We present results that allow to guarantee asymptotic stability of the corresponding closed-loop system, and…
This paper presents a fast algorithm for projecting a given function to the set of shift orthogonal functions (i.e. set containing functions with unit $L^2$ norm that are orthogonal to their prescribed shifts). The algorithm can be…
Modern distribution grids with high penetration of renewable generation provide substantial flexibility through distributed reactive power sources and transformer tap changers. This high degree of freedom can be exploited for optimisation.…
Human mobility modeling from GPS-trajectories and synthetic trajectory generation are crucial for various applications, such as urban planning, disaster management and epidemiology. Both of these tasks often require filling gaps in a…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
This paper proposes a novel tube-based Model Predictive Control (MPC) framework for tracking varying setpoint references with linear systems subject to additive and multiplicative uncertainties. The MPC controllers designed using this…
This is a potential theoretic study of balayage (sweeping) of a positive Radon measure on a locally compact (Hausdorff) space onto a closed, or more generally a quasiclosed set (that is, a set which can be approximated in outer capacity by…
This technical report presents the construction and analysis of polynomial navigation functions for motion planning in 3-D workspaces populated by spherical and cylindrical obstacles. The workspace is modeled as a bounded spherical region,…
There are several ways to convert a closure or interior operation to a different operation that has particular desirable properties. In this paper, we axiomatize 3 ways to do so, drawing on disparate examples from the literature, including…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive…
The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Quantum corrections to three-point functions of scalar single trace operators in planar N=4 Super-Yang-Mills theory are studied using integrability. At one loop, we find new algebraic structures that not only govern all two loop corrections…