Related papers: Active Localization of Unstable Systems with Coars…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Active solids, more specifically elastic lattices embedded with polar active units, exhibit collective actuation when the elasto-active feedback, generically present in such systems, exceeds some critical value. The dynamics then…
Precise control under uncertainty requires a good understanding and characterization of the noise affecting the system. This paper studies the problem of steering state distributions of dynamical systems subject to partially known…
In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
We present a simple technique for the computation of coarse-scale steady states of dynamical systems with time scale separation in the form of a "wrapper" around a fine-scale simulator. We discuss how this approach alleviates certain…
We present an experimental signature of the Anderson localisation of microcavity polaritons, and provide a systematic study of the dependence on disorder strength. We reveal a controllable degree of localisation, as characterised by the…
The introduction of unexpected system disturbances and new system dynamics does not allow guaranteed continuous system stability. In this research we present a novel approach for detecting early failure indicators of non-linear highly…
We study data-driven stabilization of continuous-time systems in autoregressive form when only noisy input-output data are available. First, we provide an operator-based characterization of the set of systems consistent with the data. Next,…
This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…
Stabilizing an unknown control system is one of the most fundamental problems in control systems engineering. In this paper, we provide a simple, model-free algorithm for stabilizing fully observed dynamical systems. While model-free…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
Engineered systems naturally experience large disturbances that can disrupt desired operation because the system may fail to recover to a stable equilibrium point. It is valuable to determine the mechanism of instability when the system is…
In distributed quantum computation, small devices composed of a single or a few qubits are networker together to achieve a scalable machine. Typically there is an optically active matter qubit at each node, so that photons are exploited to…
This paper addresses the synthesis of interval observers for partially unknown nonlinear systems subject to bounded noise, aiming to simultaneously estimate system states and learn a model of the unknown dynamics. Our approach leverages…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
Almost sure asymptotic stabilization of a discrete-time switched stochastic system is investigated. Information on the active operation mode of the switched system is assumed to be available for control purposes only at random time…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
Routing algorithms for wireless sensor networks can be broadly divided into two classes - proactive and reactive. Proactive routing is suitable for a network with a fixed topology. On the other hand, reactive routing is more suitable for a…