Related papers: Improving Action Smoothness for a Cascaded Online …
Transformer has shown promise in reinforcement learning to model time-varying features for obtaining generalized low-level robot policies on diverse robotics datasets in embodied learning. However, it still suffers from the issues of low…
A Fourier transform method is introduced for a class of hybrid time-frequency methods that solve the acoustic scattering problem in regimes where the solution exhibits both highly oscillatory behavior and slow decay in time. This extends…
We introduce online action-stacking, an inference-time wrapper for reinforcement learning policies that produces realistic air traffic control commands while allowing training on a much smaller discrete action space. Policies are trained…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
Coordinating a high number of flexibility providing units (e.g. to provide ancillary services for the transmission system) across various grid layers requires new control concepts. A flexibility request at a point of common coupling can be…
A cascaded online learning flight control system has been developed and enhanced with respect to action smoothness. In this paper, we investigate the convergence performance of the control system, characterized by the increment of a…
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control…
Computing the Sparse Fast Fourier Transform(sFFT) of a K-sparse signal of size N has emerged as a critical topic for a long time. The sFFT algorithms decrease the runtime and sampling complexity by taking advantage of the signal inherent…
Online Feedback Optimization (OFO) controllers steer a system to its optimal operating point by treating optimization algorithms as auxiliary dynamic systems. Implementation of OFO controllers requires setting the parameters of the…
The widespread deployment of phasor measurement unit (PMU) overpower systems makes it possible to monitor and analyze grid dynamics in real-time. Low-frequency oscillation is harmful to power system equipment and operation, and in the…
We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…
A critical problem with the practical utility of controllers trained with deep Reinforcement Learning (RL) is the notable lack of smoothness in the actions learned by the RL policies. This trend often presents itself in the form of control…
This paper presents an online reinforcement-learning framework for safe gain scheduling of a nonlinear quadcopter controller. Rather than learning thrust and torque commands directly, the proposed method selects gain vectors online from a…
A cascaded iterative Fourier transform (CIFT) algorithm is presented for optical security applications. Two phase-masks are designed and located in the input and the Fourier domains of a 4-f correlator respectively, in order to implement…
In this paper, we focus on improving the online face liveness detection system to enhance the security of the downstream face recognition system. Most of the existing frame-based methods are suffering from the prediction inconsistency…
Many video understanding tasks work in the offline setting by assuming that the input video is given from the start to the end. However, many real-world problems require the online setting, making a decision immediately using only the…
Dual-system UAVs with vertical take-off and landing capabilities have become increasingly popular in recent years. As a safety-critical system, it is important that a dual-system UAV can maintain safe flight after faults/failures occur.…
This paper proposes a multivariable extremum seeking scheme using Fast Fourier Transform (FFT) for a network of subsystems working towards optimizing the sum of their local objectives, where the overall objective is the only available…
In this paper, a comparative study is done on the time and frequency domain tuning strategies for fractional order (FO) PID controllers to handle higher order processes. A new fractional order template for reduced parameter modeling of…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…