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Graph alignment, which aims at identifying corresponding entities across multiple networks, has been widely applied in various domains. As the graphs to be aligned are usually constructed from different sources, the inconsistency issues of…
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is still difficult. Existing approaches are often plagued by…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
In this article we propose and develop a new methodology which is inspired from Kalman filtering and multilevel Monte Carlo (MLMC), entitle the multilevel localized ensemble Kalman--Bucy Filter (MLLEnKBF). Based on the work of Chada et al.…
Obtaining strong linear relaxations of capacitated covering problems constitute a major technical challenge even for simple settings. For one of the most basic cases, the Knapsack-Cover (Min-Knapsack) problem, the relaxation based on…
This paper presents two new constructions related to singular solutions of polynomial systems. The first is a new deflation method for an isolated singular root. This construction uses a single linear differential form defined from the…
There are two intertwined factors that affect performance of concurrent data structures: the ability of processes to access the data in parallel and the cost of synchronization. It has been observed that for a large class of…
Geo-distributed systems often replicate data at multiple locations to achieve availability and performance despite network partitions. These systems must accept updates at any replica and propagate these updates asynchronously to every…
In this paper, we investigate resource allocation for multicarrier communication systems employing a full-duplex base station for serving multiple half-duplex downlink and uplink users simultaneously. We study the joint power and subcarrier…
In this paper, we propose a constructive algorithm to dynamically linearize two-input control systems via successive one-fold prolongations of a control that has to be suitably chosen at each step of the algorithm. Linearization via…
The Harrow, Hassidim, Lloyd (HHL) algorithm is a quantum algorithm expected to accelerate solving large-scale linear ordinary differential equations (ODEs). To apply the HHL to non-linear problems such as chemical reactions, the system must…
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…
Efficient estimation of high-dimensional matrices-including covariance and precision matrices-is a cornerstone of modern multivariate statistics. Most existing studies have focused primarily on the theoretical properties of the estimators…
We discuss balanced truncation model order reduction for large-scale quadratic-bilinear (QB) systems. Balanced truncation for linear systems mainly involves the computation of the Gramians of the system, namely reachability and…
While consolidation strategies form the backbone of many supply chain optimisation problems, exploitation of multi-tier material relationships through consolidation remains an understudied area, despite being a prominent feature of…
Dualities between quantum field theories have proven to be a powerful tool in various areas of physics. In this paper, we introduce a new perspective for obtaining strong coupling expansions based on a well-known technique -- the…
Data assimilation is the task to combine evolution models and observational data in order to produce reliable predictions. In this paper, we focus on ensemble-based recursive data assimilation problems. Our main contribution is a hybrid…
In this paper, we consider a nonconvex optimization problem with nonlinear equality constraints. We assume that both, the objective function and the functional constraints are locally smooth. For solving this problem, we propose a…
A mixed basis approach based on density functional theory is extended to one-dimensional(1D) systems. The basis functions here are taken to be the localized B-splines for the two finite non-periodic dimensions and the plane waves for the…
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback controller design therefore remains nonconvex in typical…