Related papers: Modular SAIL: dream or reality?
Iterative Learning Control (ILC) enables high control performance through learning from measured data, using only limited model knowledge in the form of a nominal parametric model. Robust stability requires robustness to modeling errors,…
Architectural simulators help in better understanding the behaviour of existing architectures and the design of new architectures. Virtualization has regained importance and this has put a pressing demand for the simulation of virtualized…
Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…
Co-simulation is widely used in the industry due to the emergence of modular dynamical models made up of interconnected, black-boxed systems. Several co-simulation algorithms have been developed, each with different properties and different…
Modern cars exist in an vast number of variants. Thus, variability has to be dealt with in all phases of the development process, in particular during model-based development of software-intensive functionality using Matlab/Simulink.…
In this work, we introduce a platform for register-transfer level (RTL) architecture design space exploration. The platform is an open-source, parameterized, synthesizable set of RTL modules for designing RISC-V based single and multi-core…
It is significant to employ multiple autonomous underwater vehicles (AUVs) to execute the underwater target tracking task collaboratively. However, it's pretty challenging to meet various prerequisites utilizing traditional control methods.…
The contribution of this paper is threefold: first, it defines a framework for modelling component-based systems, as well as a formalization of integration rules to combine their behavior. This is based on finite state machines (FSM).…
Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in…
Sustainability is becoming increasingly critical in the maritime transport, encompassing both environmental and social impacts, such as Greenhouse Gas (GHG) emissions and navigational safety. Traditional vessel navigation heavily relies on…
One of the biggest concerns in IoT is privacy and security. Encryption and authentication need big power budgets, which battery-operated IoT end-nodes do not have. Hardware accelerators designed for specific cryptographic operations provide…
Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…
To fill the lack of research efforts in virtual assembly of modules and training, this paper presents a virtual manipulation of building objects in an Immersive Virtual Environment (IVE). A worker wearing a Virtual Reality (VR) head-mounted…
An integrated sensing and communication (ISAC) framework comprises radar sensing to enable reliable direction beam-based communication between a base station (BS) and mobile user (MU). The ISAC will be an integral part of 6G with potential…
This paper deals with the problem of enforcing modular diagnosability for discrete-event systems that don't satisfy this property by their natural modularity. We introduce an approach to achieve this property combining existing modules into…
This article describes the first public implementation and evaluation of the latest version of the RISC-V hypervisor extension (H-extension v0.6.1) specification in a Rocket chip core. To perform a meaningful evaluation for modern…
Modularity is a compelling solution to continual learning (CL), the problem of modeling sequences of related tasks. Learning and then composing modules to solve different tasks provides an abstraction to address the principal challenges of…
Frameworks for writing, compiling, and optimizing deep learning (DL) models have recently enabled progress in areas like computer vision and natural language processing. Extending these frameworks to accommodate the rapidly diversifying…
Compositionality is a key strategy for addressing combinatorial complexity and the curse of dimensionality. Recent work has shown that compositional solutions can be learned and offer substantial gains across a variety of domains, including…
Simulation to real (Sim-to-Real) is an attractive approach to construct controllers for robotic tasks that are easier to simulate than to analytically solve. Working Sim-to-Real solutions have been demonstrated for tasks with a clear single…