Related papers: Robust signal decompositions on the circle
A spatial signal is defined by its evaluations on the whole domain. In this paper, we consider stable reconstruction of real-valued signals with finite rate of innovations (FRI), up to a sign, from their magnitude measurements on the whole…
Functions that are piecewise defined are a common sight in mathematics while convexity is a property especially desired in optimization. Suppose now a piecewise-defined function is convex on each of its defining components - when can we…
This paper addresses a fundamental and important question in control: under what conditions does there fail to exist a robust control policy that keeps the state of a constrained linear system within a target set, despite bounded…
What is a mathematically rigorous way to describe the taxi-pickup distribution in Manhattan, or the profile information in online social networks? A deep understanding of representing those data not only provides insights to the data…
This paper considers the deconvolution problem in the case where the target signal is multidimensional and no information is known about the noise distribution. More precisely, no assumption is made on the noise distribution and no samples…
The problem of recovering a moment-determinate multivariate function $f$ via its moment sequence is studied. Under mild conditions on $f$, the point-wise and $L_1$-rates of convergence for the proposed constructions are established. The…
A key limitation in using various modern methods of machine learning in developing feedback control policies is the lack of appropriate methodologies to analyze their long-term dynamics, in terms of making any sort of guarantees (even…
The aim of this paper is to present the application of an approach to study contraction theory recently developed for piecewise smooth and switched systems. The approach that can be used to analyze incremental stability properties of…
Motions carry information about the underlying task being executed. Previous work in human motion analysis suggests that complex motions may result from the composition of fundamental submovements called movemes. The existence of finite…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
Reliable measurement of dependence between variables is essential in many applications of statistics and machine learning. Current approaches for dependence estimation, especially density-based approaches, lack in precision, robustness…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
Discrete delta functions define the limits of attainable spatial resolution for all imaging systems. Here we construct broad, multi-dimensional discrete functions that replicate closely the action of a Dirac delta function under aperiodic…
The radius of robust feasibility provides a numerical value for the largest possible uncertainty set that guarantees robust feasibility of an uncertain linear conic program. This determines when the robust feasible set is non-empty.…
The effect of random surface roughness on hydrodynamics of viscous incompressible liquid is discussed. Roughness-driven contributions to hydrodynamic flows, energy dissipation, and friction force are calculated in a wide range of…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Cross-task generalization is a core challenge in open-world robotic manipulation, and the key lies in extracting transferable manipulation knowledge from seen tasks. Recent in-context learning approaches leverage seen task demonstrations to…
A system comprised of an elastic solid and its response to an external random force sequence is shown to behave based on the principles of the theory of algorithmic complexity and randomness. The solid distorts the randomness of an input…
Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…
We study the topological dynamics by iterations of a piecewise continuous, non linear and locally contractive map in a real finite dimensional compact ball. We consider those maps satisfying the "separation property": different continuity…