相关论文: On the hopping pattern design for D2D Discovery

Process pattern discovery methods (PPDMs) aim at identifying patterns of interest to users. Existing PPDMs typically are unsupervised and focus on a single dimension of interest, such as discovering frequent patterns. We present an…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…

This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…

There are two popular ways to speed up simulations of planet formation via increasing the collision probability: ({\it i}) confine motion to 2D, ({\it ii}) artificially enhance the physical radii of the bodies by an expansion factor. In…

This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…

In the first part of this thesis, we present our efforts on experimental validation of the predictive performance of mechanics-based mathematical models on a physical one-legged hopping robot platform. We extend upon a recently proposed…

User-to-network relaying enabled via Device-to-Device communications (D2D) is a promising technique for improving the performance of cellular networks. Since in practice relays are in mobility, a dynamic relay selection scheme is…

We propose a class of subspace ascent methods for computing optimal approximate designs that covers both existing as well as new and more efficient algorithms. Within this class of methods, we construct a simple, randomized exchange…

We test an optimised hopping parameter expansion on various Z_2 lattice scalar field models: the Ising model, a spin-one model and lambda (phi)^4. We do this by studying the critical indices for a variety of optimisation criteria, in a…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

In this paper, we consider a cooperative device-todevice (D2D) communication system, where the D2D transmitters (DTs) act as relays to assist the densified cellular network users (CUs) for transmission quality of service (QoS) improvement.…

Device to Device (D2D) Communication is expected to be a core part of the forthcoming 5G Mobile Communication Networks as it promises improvements in energy efficiency, spectral efficiency, overall system capacity, and higher data rates…

Hyperparameter optimization (HPO) is an important step in machine learning (ML) model development, but common practices are archaic -- primarily relying on manual or grid searches. This is partly because adopting advanced HPO algorithms…

The use of stochastic models, in effect piecewise deterministic Markov processes (PDMP), has become increasingly popular especially for the modeling of chemical reactions and cell biophysics. Yet, exact simulation methods, for the…

We design optimal $2 \times N$ ($2 <N$) matrices, with unit columns, so that the maximum condition number of all the submatrices comprising 3 columns is minimized. The problem has two applications. When estimating a 2-dimensional signal by…

This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…

This work presents an optimization method for generating kinodynamically feasible and collision-free multi-robot trajectories that exploits an incremental denoising scheme in diffusion models. Our key insight is that high-quality…

This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the motion planning problem for hybrid systems is formulated using…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…