Related papers: Distributed Coverage Control on Poriferous Surface…
This paper proposes a distributed attack detection and mitigation technique based on distributed estimation over a multi-agent network, where the agents take partial system measurements susceptible to (possible) biasing attacks. In…
We propose Parallelised Diffeomorphic Sampling-based Motion Planning (PDMP). PDMP is a novel parallelised framework that uses bijective and differentiable mappings, or diffeomorphisms, to transform sampling distributions of sampling-based…
Reconfigurable intelligent surfaces (RISs) become promising for enhancing non-orthogonal multiple access (NOMA) systems, i.e., enhancing the channel quality and altering the SIC orders. Invoked by stochastic geometry methods, we investigate…
A multiphysics data analytic platform is established for imaging poroelastic interfaces of finite permeability (e.g., hydraulic fractures) from elastic waveforms and/or acoustic pore pressure measurements. This is accomplished through…
This paper develops a novel physics-inspired traffic coordination approach and applies it to Unmanned Aircraft System (UAS) traffic management. We extend available physics-inspired approaches previously applied to 1-D traffic flow on…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
Moving mesh methods are designed to redistribute a mesh in a regular way. This applied problem can be considered to overlap with the problem of finding a diffeomorphic mapping between density measures. In applications, an off-the-shelf grid…
We propose a distributed design method for decentralized control by exploiting the underlying sparsity properties of the problem. Our method is based on chordal decomposition of sparse block matrices and the alternating direction method of…
Porous structures are materials consisting of minuscule pores, where the microstructure morphology significantly impacts their macroscopic properties. Integrating different porous structures through a blending method is indispensable to…
We propose a novel physical layer security scheme that exploits an optimization method as a one-way function. The proposed scheme builds on nonsquare differential multiple-input multiple-output (MIMO), which is capable of noncoherent…
This paper deals with the gradient extremum seeking control for static scalar maps with actuators governed by distributed diffusion partial differential equations (PDEs). To achieve the real-time optimization objective, we design a…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
Mutual Coupling (MC) is an unavoidable feature in Reconfigurable Intelligent Surfaces (RISs) with sub-wavelength inter-element spacing. Its inherent presence naturally leads to non-local RIS structures, which can be efficiently described…
This paper studies the interference broadcast channel comprising multiple multi-antenna Base Stations (BSs), each controlling a beyond diagonal Reconfigurable Intelligent Surface (RIS) and serving multiple single-antenna users. Wideband…
In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…
In clinical applications, the utility of segmentation models is often based on the accuracy of derived downstream metrics such as organ size, rather than by the pixel-level accuracy of the segmentation masks themselves. Thus, uncertainty…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
This paper studies the multi-agent coverage control (MAC) problem where agents must dynamically learn an unknown density function while performing coverage tasks. Unlike many current theoretical frameworks that concentrate solely on the…
Flexible control light field across multiple parameters is the cornerstone of versatile and miniaturized optical devices. Metasurfaces, comprising subwavelength scatterers, offer a potent platform for executing such precise manipulations.…