Related papers: Robust signal decompositions on the circle
We study the asymptotic dynamics of piecewise contracting maps defined on a compact interval. For maps that are not necessarily injective, but have a finite number of local extrema and discontinuity points, we prove the existence of a…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…
Critical point tracking is a core topic in scientific visualization for understanding the dynamic behavior of time-varying vector field data. The topological notion of robustness has been introduced recently to quantify the structural…
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
We revisit the Blind Deconvolution problem with a focus on understanding its robustness and convergence properties. Provable robustness to noise and other perturbations is receiving recent interest in vision, from obtaining immunity to…
Distance covariance is a popular measure of dependence between random variables. It has some robustness properties, but not all. We prove that the influence function of the usual distance covariance is bounded, but that its breakdown value…
A robust controller is specified, and the stability bounds of the uncertain closed-loop system are determined using the small gain, circle, positive real, and Popov criteria. A graphical approach is employed in order to demonstrate the ease…
We consider the problem of learning a graph from a finite set of noisy graph signal observations, the goal of which is to find a smooth representation of the graph signal. Such a problem is motivated by the desire to infer relational…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
A general method for estimating the approximation numbers of composition operators on $\Ht$, using finite-dimensional model subspaces, is studied and applied in the case when the symbol of the operator maps the unit disc to a domain whose…
This paper presents the stability analysis of a system composed of rotating beams on a flexible, circular fixed ring, using the Routh-Hurwitz criterion. The model displayed has been fully developed within the rotating frame by use of an…
Decomposing the domain of a function into parts has many uses in mathematics. A domain may naturally be a union of pieces, a function may be defined by cases, or different boundary conditions may hold on different regions. For any…
Stability is among the most important concepts in dynamical systems. Local stability is well-studied, whereas determining how "globally stable" a nonlinear system is very challenging. Over the last few decades, many different ideas have…
We study the problem of detecting zeros of continuous functions that are known only up to an error bound, extending the earlier theoretical work with explicit algorithms and experiments with an implementation. More formally, the robustness…
This work presents a novel surface decomposition method for the sensitivity analysis of first-passage dynamic reliability of linear systems subjected to Gaussian random excitations. The method decomposes the sensitivity of first-passage…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
We establish sensitivity analysis on the sphere. We present formulas that allow us to decompose a function $f\colon \mathbb S^d\rightarrow \mathbb R$ into a sum of terms $f_{\boldsymbol u,\boldsymbol \xi}$. The index $\boldsymbol u$ is a…