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With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…
A Fixed-Parameter Tractable (\FPT) $\rho$-approximation algorithm for a minimization (resp. maximization) parameterized problem $P$ is an FPT algorithm that, given an instance $(x, k)\in P$ computes a solution of cost at most $k \cdot…
Recent works have demonstrated great success in pre-training large-scale autoregressive language models on massive GPUs. To reduce the wall-clock training time, a common practice is to increase the batch size and learning rate. However,…
We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Let $G = (V, E)$ be an $m_1 \times \ldots \times m_k$ grid. Assuming that each $v \in V$ is occupied by a robot and a robot may move to a neighboring vertex in a step via synchronized rotations along cycles of $G$, we first establish that…
The wakeup problem addresses the fundamental challenge of symmetry breaking. Initially, n devices share a time-slotted multiple access channel, which models wireless communication. A transmission succeeds if exactly one device sends in a…
Stochastic restart may drastically reduce the expected run time of a computer algorithm, expedite the completion of a complex search process, or increase the turnover rate of an enzymatic reaction. These diverse first-passage-time (FPT)…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
Electrically-actuated quadrupedal robots possess high mobility on complex terrains, but their motors tend to accumulate heat under high-torque cyclic loads, potentially triggering overheat protection and limiting long-duration tasks. This…
We consider several problems relating to strongly-connected directed networks of identical finite-state processors that work synchronously in discrete time steps. The conceptually simplest of these is the Wake Up and Report Problem; this is…
We obtain exact results for the recently discovered finite-time thermodynamic uncertainty relation in a stochastically driven system with non-Gaussian work statistics, both in the steady state and transient regimes, by obtaining exact…
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural…
Federated learning with heterogeneous clients remains a significant challenge for deep learning, primarily due to client drift arising from inconsistent local updates. Existing federated optimization methods typically address this issue…
Freezing-of-Gait (FoG) affects over 50% of mid-to-late stage Parkinson's disease (PD) patients, significantly impairing patients' mobility independence and reducing quality of life. FoG is characterized by sudden episodes where walking…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…
In the IEEE 802.11ax standard, a mode of operation called target wake time (TWT) is introduced towards enabling deterministic scheduling in WLAN networks. In the TWT mode, a group of stations (STAs) can negotiate with the access point (AP)…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
Frame coalescing is one of the most efficient techniques to manage the low power idle (LPI) mode supported by Energy Efficient Ethernet (EEE) interfaces. This technique enables EEE interfaces to remain in the LPI mode for a certain amount…
In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during…