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Federated learning (FL) necessitates that edge devices conduct local training and communicate with a parameter server, resulting in significant energy consumption. A key challenge in practical FL systems is the rapid depletion of…
Training neural networks is a challenging non-convex optimization problem, and backpropagation or gradient descent can get stuck in spurious local optima. We propose a novel algorithm based on tensor decomposition for guaranteed training of…
Multiple unmanned aerial vehicles (UAVs) play a vital role in monitoring and data collection in wide area environments with harsh conditions. In most scenarios, issues such as real-time data retrieval and real-time UAV positioning are often…
In this letter, we investigate the problem of joint content caching and routing in satellite-terrestrial edge computing networks (STECNs) to improve caching service for geographically distributed users. To handle the challenges arising from…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
High penetrations of intermittent renewable energy resources in the power system require large balancing reserves for reliable operations. Aggregated and coordinated behind-the-meter loads can provide these fast reserves, but represent…
On-device Deep Neural Network (DNN) training has been recognized as crucial for privacy-preserving machine learning at the edge. However, the intensive training workload and limited onboard computing resources pose significant challenges to…
A tensor network is a diagram that specifies a way to "multiply" a collection of tensors together to produce another tensor (or matrix). Many existing algorithms for tensor problems (such as tensor decomposition and tensor PCA), although…
Young (<1Gyr) exoplanets represent a critically important area of exoplanet research, as they offer the opportunity to learn about the formation and early dynamic history of exoplanetary systems. However, finding young exoplanets is…
The growing deployment of drones in a myriad of applications relies on seamless and reliable wireless connectivity for safe control and operation of drones. Cellular technology is a key enabler for providing essential wireless services to…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
Robots in densely populated real-world environments frequently encounter constrained and cluttered situations such as passing through narrow doorways, hallways, and corridor intersections, where conflicts over limited space result in…
In Federated Learning (FL), with parameter aggregated by a central node, the communication overhead is a substantial concern. To circumvent this limitation and alleviate the single point of failure within the FL framework, recent studies…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
We consider the problem of designing an overlay network and routing mechanism that permits finding resources efficiently in a peer-to-peer system. We argue that many existing approaches to this problem can be modeled as the construction of…
Advancements in nanosatellite technology lead to more Earth-observation satellites in low-Earth orbit. We explore using nanosatellite constellations to achieve low-latency detection for time-critical events, such as forest fires, oil…
This paper addresses the computation of Delta-V-optimal, safe, relative orbit reconfigurations for satellite formations in a centralized fashion. The formations under consideration comprise an uncontrolled chief spacecraft flying with an…
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on single-object grasping or grasp-pose prediction without…
A crucial issue for a mobile ad hoc network is the handling of a large number of nodes. As more nodes join the mobile ad hoc network, contention and congestion are more likely. The on demand routing protocols which broadcasts control…