Related papers: SOStab: a Matlab Toolbox for Transient Stability A…
Dynamic path planning must remain reliable in the presence of sensing noise, uncertain localization, and incomplete semantic perception. We propose a practical, implementation-friendly planner that operates on occupancy grids and optionally…
We present SySCoRe, a MATLAB toolbox that synthesizes controllers for stochastic continuous-state systems to satisfy temporal logic specifications. Starting from a system description and a co-safe temporal logic specification, SySCoRe…
We describe new methods for deciding the stability of switching systems. The methods build on two ideas previously appeared in the literature: the polytope norm iterative construction, and the lifting procedure. Moreover, the combination of…
We demonstrate applications of algebraic techniques that optimize and certify polynomial inequalities to problems of interest in the operations research and transportation engineering communities. Three problems are considered: (i) wireless…
The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is independently built using the local information through solving a…
In this paper, we investigate optimization problems with nonnegative and orthogonal constraints, where any feasible matrix of size $n \times p$ exhibits a sparsity pattern such that each row accommodates at most one nonzero entry. Our…
This manuscript describes the software package SCOUT, which analyzes, characterizes, and corrects one-dimensional signals. Specifically, it allows to check and correct for stationarity, detect spurious samples, check for normality, check…
A promising approach to optimal control of nonlinear systems involves iteratively linearizing the system and solving an optimization problem at each time instant to determine the optimal control input. Since this approach relies on online…
In many scientific fields like e.g. neuroscience, climatology or physics, complex relationships can be described most parsimoniously by nonlinear mechanics. Despite their relevance, many scientists still apply linear estimates in order to…
Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation methodologies. To address these issues, we present…
Certifying nonnegativity of polynomials is a well-known NP-hard problem with direct applications spanning non-convex optimization, control, robotics, and beyond. A sufficient condition for nonnegativity is the Sum of Squares (SOS) property,…
A new method for the stability assessment of inverter-based microgrids is presented in this paper. Directly determining stability boundaries by searching the multidimensional space of inverters' droop gains is a computationally prohibitive…
This paper studies the finite-time stability and stabilization of linear discrete time-varying stochastic systems with multiplicative noise. Firstly, necessary and sufficient conditions for finite-time stability are presented via state…
Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…
Despite data's crucial role in machine learning, most existing tools and research tend to focus on systems on top of existing data rather than how to interpret and manipulate data. In this paper, we propose DataLab, a unified data-oriented…
This paper introduces a novel approach to evaluating the asymptotic stability of equilibrium points in both continuous-time (CT) and discrete-time (DT) nonlinear autonomous systems. By utilizing indirect Lyapunov methods and linearizing…
In this work, we consider convex optimization problems with smooth objective function and nonsmooth functional constraints. We propose a new stochastic gradient algorithm, called Stochastic Halfspace Approximation Method (SHAM), to solve…
Minimal problems in computer vision raise the demand of generating efficient automatic solvers for polynomial equation systems. Given a polynomial system repeated with different coefficient instances, the traditional Gr\"obner basis or…
Simulation and control of the transient flow in natural gas networks involve solving partial differential equations (PDEs). This paper proposes a semi-analytical solutions (SAS) approach for fast and accurate simulation of the natural gas…
SOLNP+ is a derivative-free solver for constrained nonlinear optimization. It starts from SOLNP proposed in 1989 by Ye Ye with the main idea that uses finite difference to approximate the gradient. We incorporate the techniques of implicit…