Related papers: Robust signal decompositions on the circle
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…
This paper studies the robustness of observability of a linear time-invariant system under sensor failures from a computational perspective. To be precise, the problem of determining the minimum number of sensors whose removal can destroy…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
An important problem in geometric reasoning is to find the configuration of a collection of geometric bodies so as to satisfy a set of given constraints. Recently, it has been suggested that this problem can be solved efficiently by…
We consider the decomposition of bounded linear operators on Hilbert spaces in terms of functions forming frames. Similar to the singular-value decomposition, the resulting frame decompositions encode information on the structure and…
Continuous-time signals are well known for not being perfectly localized in both time and frequency domains. Conversely, a signal defined over the vertices of a graph can be perfectly localized in both vertex and frequency domains. We…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
In this paper, a deformable object is considered for cameras deployment with the aim of visual coverage. The object contour is discretized into sampled points as meshes, and the deformation is represented as continuous trajectories for the…
We analyze integral representation and $\Gamma$-convergence properties of functionals defined on \emph{piecewise rigid functions}, i.e., functions which are piecewise affine on a Caccioppoli partition where the derivative in each component…
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…
Modeling contact between deformable solids is a fundamental problem in computer animation, mechanical design, and robotics. Existing methods based on $C^0$-discretizations -- piece-wise linear or polynomial surfaces -- suffer from…
Many signals in Nature, technology and experiment have a multi-component structure. By spectral decomposition and projection on the eigenvectors of a family of unitary operators, a robust method is developed to decompose a signals in its…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
The concept of decomposition in computer science and engineering is considered a fundamental component of computational thinking and is prevalent in design of algorithms, software construction, hardware design, and more. We propose a simple…
Regularization is used in many different areas of optimization when solutions are sought which not only minimize a given function, but also possess a certain degree of regularity. Popular applications are image denoising, sparse regression…
A block decomposition method is proposed for minimizing a (possibly non-convex) continuously differentiable function subject to one linear equality constraint and simple bounds on the variables. The proposed method iteratively selects a…
We study the behaviour of discrete dynamical systems generated by a continuous map $f$ of a compact real interval into itself where at randomly chosen times a function different from $f$ - so called impulse function is applied. We show that…
Robustness against small perturbations is a crucial feature of topological properties. This robustness is both a source of theoretical interest and a drive for technological applications, but presents a challenge when looking for new…
We study a parametric family of piecewise rotations of the torus, in the limit in which the rotation number approaches the rational value 1/4. There is a region of positive measure where the discontinuity set becomes dense in the limit; we…
We show that the open-loop transfer functions and the stability margins may be defined within the recent model-free control setting. Several convincing computer experiments are presented including one which studies the robustness with…