Related papers: Is there an optimal choice of configuration space …
We propose an algorithm to restrict the switching signals of a constrained switched system in order to guarantee its stability, while at the same time attempting to keep the largest possible set of allowed switching signals. Our work is…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
In this paper, we study the numerical simulation of stochastic differential equations (SDEs) on the special orthogonal Lie group $\text{SO}(n)$. We propose a geometry-preserving numerical scheme based on the stochastic tangent space…
The viability of a variant of numerical stochastic perturbation theory, where the Langevin equation is replaced by the SMD algorithm, is examined. In particular, the convergence of the process to a unique stationary state is rigorously…
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and virtual nonholonomic constraints, including linear and affine…
Stability selection represents an attractive approach to identify sparse sets of features jointly associated with an outcome in high-dimensional contexts. We introduce an automated calibration procedure via maximisation of an in-house…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Three-body systems of scalar bosons are described in the framework of relativistic constraint dynamics. With help of a change of variables followed by a change of wave function, two redundant degrees of freedom get eliminated and the…
Bit arrays, or bitmaps, are used to significantly speed up set operations in several areas, such as data warehousing, information retrieval, and data mining, to cite a few. However, bitmaps usually use a large storage space, thus requiring…
Conservation of symmetries plays a crucial role in both classical and quantum simulations of many-body systems, enabling the tracking of states with specific symmetry properties and leading to substantial reductions in the number of…
A multiple knapsack constraint over a set of items is defined by a set of bins of arbitrary capacities, and a weight for each of the items. An assignment for the constraint is an allocation of subsets of items to the bins which adheres to…
Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extremely) large number…
Binary embeddings provide efficient and powerful ways to perform operations on large scale data. However binary embedding typically requires long codes in order to preserve the discriminative power of the input space. Thus binary coding…
In this paper, a novel spatial modulation aided non-orthogonal multiple access (SM-NOMA) system is proposed. We use mutual information (MI) to characterize the achievable spectral efficiency (SE) of the proposed SM-NOMA system. Due to the…
Bayesian optimization (BO) is a popular approach to optimize expensive-to-evaluate black-box functions. A significant challenge in BO is to scale to high-dimensional parameter spaces while retaining sample efficiency. A solution considered…
The implementation of physical symmetries into problem descriptions allows for the reduction of parameters and computational complexity. We show the integration of the permutation symmetry as the most restrictive discrete symmetry into…
In the field of operational modal analysis (OMA), obtained modal information is frequently used to assess the current state of aerospace, mechanical, offshore and civil structures. However, the stochasticity of operational systems and the…
We consider the optimal control problem for null curves in de Sitter 3-space defined by a functional which is linear in the curvature of the trajectory. We show how techniques based on the method of moving frames and exterior differential…
This article develops a Bayesian optimization (BO) method which acts directly over raw strings, proposing the first uses of string kernels and genetic algorithms within BO loops. Recent applications of BO over strings have been hindered by…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…