Related papers: Robust signal decompositions on the circle
We study a distributed coordination mechanism for uniform agents located on a circle. The agents perform their actions in synchronised rounds. At the beginning of each round an agent chooses the direction of its movement from clockwise,…
Compared to real-valued signals, complex-valued signals provide a unique and intuitive representation of the phase of real physical systems and processes, which holds fundamental significance and is widely applied across many fields of…
We formalize notions of robustness for composite estimators via the notion of a breakdown point. A composite estimator successively applies two (or more) estimators: on data decomposed into disjoint parts, it applies the first estimator on…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
Progress in the last decade has brought about significant improvements in the accuracy and speed of SLAM systems, broadening their mapping capabilities. Despite these advancements, long-term operation remains a major challenge, primarily…
Certifying feasibility in decision-making, critical in many industries, can be framed as a constraint satisfaction problem. This paper focuses on characterising a subset of parameter values from an a priori set that satisfy constraints on a…
The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…
The approximation of smooth functions with a spectral basis typically leads to rapidly decaying coefficients where the rate of decay depends on the smoothness of the function and vice-versa. The optimal number of degrees of freedom in the…
Reliable corner detection is an important task in determining the shape of different regions within an image. Real-life image data are always imprecise due to inherent uncertainties that may arise from the imaging process such as…
We consider a separation problem where the observation consists of the sum of a high amplitude smooth signal and a low amplitude transient signal. We propose a method for decomposition that relies on solving instances of a `constrained…
We survey a few classes of analytic functions on the disk that have real boundary values almost everywhere on the unit circle. We explore some of their properties, various decompositions, and some connections these functions make to…
Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…
The theory of disordered elastic systems is one of the most powerful frameworks to assess the physics of multiple systems that span from ferromagnets to migrating biological cells. In this formalism, one assumes that the system can be…
This paper is concerned with robust instability analysis for linear multi-agent dynamical systems with cyclic structure. This relates to interesting and important periodic oscillation phenomena in biology and neuronal science, since the…
Soft colloids allow to explore high density states well beyond random close packing. An important open question is whether softness controls the dynamics under these dense conditions. While experimental works reported conflicting results,…
We propose an approach to measure surface elastic constants of soft solids. Generally, this requires one to probe interfacial mechanics at around the elastocapillary length scale, which is typically microscopic. Deformations of microscopic…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
We propose precise notions of what it means to guard a domain "robustly", under a variety of models. While approximation algorithms for minimizing the number of (precise) point guards in a polygon is a notoriously challenging area of…
A ring electrode of an RRDE setup is often used to detect a redox active specie produced at the disk electrode. It is especially useful when some side processes occur at the disk (e.g. passivation film growth) along with the main…
This work is concerned with the recovery of piecewise constant images from noisy linear measurements. We study the noise robustness of a variational reconstruction method, which is based on total (gradient) variation regularization. We show…