Related papers: Latency vs precision: Stability preserving percept…

Time delays are a common perturbation in systems with many states, such as networked, distributed, or decentralized systems. Current methods analyzing the stability of large systems with time delay typically produce very conservative…

Time perception is the phenomenological experience of time by an individual. In this paper, we study how to replicate neural mechanisms involved in time perception, allowing robots to take a step towards temporal cognition. Our framework…

In applications of dynamical systems, situations can arise where it is desired to predict the onset of synchronization as it can lead to characteristic and significant changes in the system performance and behaviors, for better or worse. In…

In this paper, we consider a remote inference system, where a neural network is used to infer a time-varying target (e.g., robot movement), based on features (e.g., video clips) that are progressively received from a sensing node (e.g., a…

Real-time tracking of dynamic targets amidst large-scale, high-frequency disturbances remains a critical unsolved challenge in Robotic Ultrasound Systems (RUSS), primarily due to the end-to-end latency of existing systems. This paper argues…

This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…

Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…

We study in this paper the impact of communication latency on the classical Work Stealing load balancing algorithm. Our approach considers existing performance models and the underlying algorithms. We introduce a latency parameter in the…

A challenging category of robotics problems arises when sensing incurs substantial costs. This paper examines settings in which a robot wishes to limit its observations of state, for instance, motivated by specific considerations of energy…

Conformance is defined as a measure of distance between the behaviors of two dynamical systems. The notion of conformance can accelerate system design when models of varying fidelities are available on which analysis and control design can…

A stochastic Model Predictive Control strategy for control systems with communication networks between the sensor node and the controller and between the controller and the actuator node is proposed. Data packets are subject to random…

Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…

Most autonomous robotic agents use logic inference to keep themselves to safe and permitted behaviour. Given a set of rules, it is important that the robot is able to establish the consistency between its rules, its perception-based…

Our goal is procedural text comprehension, namely tracking how the properties of entities (e.g., their location) change with time given a procedural text (e.g., a paragraph about photosynthesis, a recipe). This task is challenging as the…

Simultaneous speech translation (SimulST) systems must balance translation quality with response time, making latency measurement crucial for evaluating their real-world performance. However, there has been a longstanding belief that…

Selective Prediction is the task of rejecting inputs a model would predict incorrectly on. This involves a trade-off between input space coverage (how many data points are accepted) and model utility (how good is the performance on accepted…

Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…

During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…

We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…

Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…