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Inverse design refers to the problem of optimizing the input of an objective function in order to enact a target outcome. For many real-world engineering problems, the objective function takes the form of a simulator that predicts how the…
Recent advances in artificial intelligence have driven increasing intelligent applications at the network edge, such as smart home, smart factory, and smart city. To deploy computationally intensive Deep Neural Networks (DNNs) on…
Cooperative motion planning is still a challenging task for robots. Recently, Value Iteration Networks (VINs) were proposed to model motion planning tasks as Neural Networks. In this work, we extend VINs to solve cooperative planning tasks…
This paper proposes a novel distributed interval observer design for linear time-invariant (LTI) discrete-time systems subject to bounded disturbances. In the proposed observer algorithm, each agent in a networked group exchanges…
Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has recently been applied to optimize systems with time-invariant…
Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers remarkable adaptability, as they can be directly used…
We present a new molecular-dynamics algorithm for integrating the equations of motion for a system of particles interacting with mixed continuous/impulsive forces. This method, which we call Impulsive Verlet, is constructed using operator…
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…
The present article advances the concept of a non-singular cooperative guiding vector field under a homotopy equivalence transformation. Firstly, the derivation of a guiding vector field, based on a non-singular vector field, is elaborated…
We apply diffusion strategies to develop a fully-distributed cooperative reinforcement learning algorithm in which agents in a network communicate only with their immediate neighbors to improve predictions about their environment. The…
In this work, we propose a subspace-based algorithm for direction-of-arrival (DOA) estimation applied to the signals impinging on a two-level nested array, referred to as multi-step knowledge-aided iterative nested MUSIC method…
Distributed trajectory optimization via ADMM-DDP is a powerful approach for coordinating multi-agent systems, but it requires extensive tuning of tightly coupled hyperparameters that jointly govern local task performance and global…
In this paper, we consider the distributed robust filtering problem, where estimator design is based on a set of coupled linear matrix inequalities (LMIs). We separate the problem and show that the method of multipliers can be applied to…
In this paper, an efficient massive multiple-input multiple-output (MIMO) detector is proposed by employing a deep neural network (DNN). Specifically, we first unfold an existing iterative detection algorithm into the DNN structure, such…
In this paper, we propose Distributed Mirror Descent (DMD) algorithm for constrained convex optimization problems on a (strongly-)connected multi-agent network. We assume that each agent has a private objective function and a constraint…
Alternating Directions Implicit (ADI) integration is an operator splitting approach to solve parabolic and elliptic partial differential equations in multiple dimensions based on solving sequentially a set of related one-dimensional…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
In the real world, unmanned surface vehicles (USV) often need to coordinate with each other to accomplish specific tasks. However, achieving cooperative control in multi-agent systems is challenging due to issues such as non-stationarity…
The discrete-dipole approximation (DDA) is a flexible technique for computing scattering and absorption by targets of arbitrary geometry. In this paper we perform systematic study of various non-stationary iterative (conjugate gradient)…
We present a non-trivial integration of dimension-independent likelihood-informed (DILI) MCMC (Cui, Law, Marzouk, 2016) and the multilevel MCMC (Dodwell et al., 2015) to explore the hierarchy of posterior distributions. This integration…