Related papers: A Fisher Information based Receding Horizon Contro…
Horizon reduction is a common design strategy in offline reinforcement learning (RL), used to mitigate long-horizon credit assignment, improve stability, and enable scalable learning through truncated rollouts, windowed training, or…
Reconfigurable intelligent surface (RIS)-empowered communication has emerged as a novel concept for customizing future wireless environments in a cost- and energy-efficient way. However, due to double path loss, existing fully passive RIS…
In this paper, we propose a multiobjective optimization framework for the sensor selection problem in uncertain Wireless Sensor Networks (WSNs). The uncertainties of the WSNs result in a set of sensor observations with insufficient…
We consider the remote estimation of a time-correlated signal using an energy harvesting (EH) sensor. The sensor observes the unknown signal and communicates its observations to a remote fusion center using an amplify-and-forward strategy.…
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow passages or crossing large gaps. Our approach adds new…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
We consider the problem of decentralized estimation using wireless sensor networks. Specifically, we propose a novel framework based on level-triggered sampling, a non-uniform sampling strategy, and sequential estimation. The proposed…
An approach based on the Fisher information (FI) is developed to quantify the maximum information gain and optimal experimental design in neutron reflectometry experiments. In these experiments, the FI can be analytically calculated and…
This paper introduces a receding horizon like control scheme for localizable distributed systems, in which the effect of each local disturbance is limited spatially and temporally. We characterize such systems by a set of linear equality…
In this work, solution of the finite horizon hybrid optimal control problem as the central element of the receding horizon optimal control (model predictive control) is investigated based on the indirect approach. The response of a hybrid…
The paper addresses state estimation for linear discrete-time systems with binary (threshold) measurements. A Moving Horizon Estimation (MHE) approach is followed and different estimators, characterized by two different choices of the cost…
Accurate and fast sea horizon detection is vital for tasks in autonomous navigation and maritime security, such as video stabilization, target region reduction, precise tracking, and obstacle avoidance. This paper introduces a novel sea…
This paper deals with the improvement of energy efficiency in wireless sensor networks (WSN).Taking into consideration the power saving problem which is of crucial importance when the sensors are supplied by a limited power source, this…
We consider a wireless sensor network whose main function is to detect certain infrequent alarm events, and to forward alarm packets to a base station, using geographical forwarding. The nodes know their locations, and they sleep-wake…
Long horizon lengths in Moving Horizon Estimation are desirable to reach the performance limits of the full information estimator. However, the conventional MHE technique suffers from a number of deficiencies in this respect. First, the…
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a model predictive control (MPC) scheme that formulates the…
Motivated by various distributed control applications, we consider a linear system with Gaussian noise observed by multiple sensors which transmit measurements over a dynamic lossy network. We characterize the stationary optimal sensor…
Wireless power transfer (WPT) is a promising technology that provides the network a way to replenish the batteries of the remote devices by utilizing RF transmissions. We study a class of harvest-first-transmit-later type of WPT policy,…
Relaying increases the coverage area and reliability of wireless communications systems by mitigating the fading effect on the received signal. Most technical contributions in the context of these systems assume ideal hardware (ID) by…
We provide a solution to the problem of receding horizon control for stochastic discrete-time systems with bounded control inputs and imperfect state measurements. For a suitable choice of control policies, we show that the finite-horizon…