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How to model fine-grained spatial-temporal dynamics in videos has been a challenging problem for action recognition. It requires learning deep and rich features with superior distinctiveness for the subtle and abstract motions. Most…
In the context of control of smart structures, we present an approach for state estimation of adaptive buildings with active load-bearing elements. For obtaining information on structural deformation, a system composed of a digital camera…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Consider a space object in an orbit about the earth. An uncertain initial state can be represented as a point cloud which can be propagated to later times by the laws of Newtonian motion. If the state of the object is represented in…
Non-stationarity arises from concurrent policy updates and leads to persistent environmental fluctuations. Existing approaches like Centralized Training with Decentralized Execution (CTDE) and sequential update schemes mitigate this issue.…
The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however,…
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…
The paper studies an Allen-Cahn-type equation defined on a time-dependent surface as a model of phase separation with order-disorder transition in a thin material layer. By a formal inner-outer expansion, it is shown that the limiting…
In an asynchronous federated learning framework, the server updates the global model once it receives an update from a client instead of waiting for all the updates to arrive as in the synchronous setting. This allows heterogeneous devices…
Sovereign network functions, e.g., routing protocols, are becoming increasingly complex and susceptible to failures arising from protocol configuration anomalies and anomalous configurations. This paper interprets the protocol configuration…
A novel local interaction control method (LICM) is proposed in this paper to realize the formation control of multi-agent system (MAS). A local interaction leader follower (LILF) structure is provided by coupling the advantages of…
Plasma shape control in tokamaks requires a real-time controller that tracks dynamically changing shape targets while tolerating diagnostic failures. Classical approaches decompose the problem into equilibrium reconstruction followed by a…
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
Graph diffusion models have made significant progress in learning structured graph data and have demonstrated strong potential for predictive tasks. Existing approaches typically embed node, edge, and graph-level features into a unified…
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…
We develop a framework based on the covariant phase space formalism that identifies gravitational edge modes as dynamical reference frames. They enable the identification of the associated spacetime region and the imposition of boundary…
In this paper, we propose a novel distributed formation control strategy, which is based on the measurements of relative position of neighbors, with global orientation estimation in 3-dimensional space. Since agents do not share a common…
Federated learning (FL) has gained significant attention for enabling decentralized training on edge networks without exposing raw data. However, FL models remain susceptible to adversarial attacks and performance degradation in non-IID…
A model based on the continuous atomic density function (ADF) approach is applied to predict the atomic structure of grain boundaries (GBs) in iron. Symmetrical [100] and [110] tilt GBs in bcc iron are modeled with the ADF method and…