Related papers: Towards Tighter Convex Relaxation of Mixed-integer…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
Teaming is the process of establishing connections among agents within a system to enable collaboration toward achieving a collective goal. This paper examines teaming in the context of a network of agents learning to coordinate with…
Distributed computing has become a common practice nowadays, where the recent focus has been given to the usage of smart networking devices with in-network computing capabilities. State-of-the-art switches with near-line rate computing and…
We propose a combination of machine learning and flux limiting for property-preserving subgrid scale modeling in the context of flux-limited finite volume methods for the one-dimensional shallow-water equations. The numerical fluxes of a…
There is a critical need for efficient and reliable active flow control strategies to reduce drag and noise in aerospace and marine engineering applications. While traditional full-order models based on the Navier-Stokes equations are not…
Despite technological advancements, the significance of interdisciplinary subjects like complex networks has grown. Exploring communication within these networks is crucial, with traffic becoming a key concern due to the expanding…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
The current formulation of the optimal scheduling of appliance energy consumption uses as optimization variables the vectors of appliances' scheduled energy consumption over equally-divided time slots of a day, which does not take into…
Many problems of interest for cyber-physical network systems can be formulated as Mixed Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithm to solve this class…
Learning to solve complex tasks with signal temporal logic (STL) specifications is crucial to many real-world applications. However, most previous works only consider fixed or parametrized STL specifications due to the lack of a diverse STL…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
In this paper, we consider the optimal power flow (OPF) problem which consists in determining the power production at each bus of an electric network by minimizing the production cost. Our contribution is an exact solution algorithm for the…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Collaborative edge computing (CEC) is an emerging paradigm where heterogeneous edge devices collaborate to fulfill computation tasks, such as model training or video processing, by sharing communication and computation resources.…
Gradient-based first-order convex optimization algorithms find widespread applicability in a variety of domains, including machine learning tasks. Motivated by the recent advances in fixed-time stability theory of continuous-time dynamical…
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, and is robust to exogenous disturbances. To this end, we…
Convex polyhedral abstractions of logic programs have been found very useful in deriving numeric relationships between program arguments in order to prove program properties and in other areas such as termination and complexity analysis. We…
The pooling problem is a classical NP-hard problem in the chemical process and petroleum industries. This problem is modeled as a nonlinear, nonconvex network flow problem in which raw materials with different specifications are blended in…