相关论文: Gradient-based Taxis Algorithms for Network Roboti…

We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…

Communication efficiency is a major bottleneck in the applications of distributed networks. To address the problem, the problem of quantized distributed optimization has attracted a lot of attention. However, most of the existing quantized…

A trust network is a social network in which edges represent the trust relationship between two nodes in the network. In a trust network, a fundamental question is how to assess and compute the bias and prestige of the nodes, where the bias…

Districting-and-routing is a strategic problem aiming to aggregate basic geographical units (e.g., zip codes) into delivery districts. Its goal is to minimize the expected long-term routing cost of performing deliveries in each district…

The trajectory prediction is a critical and challenging problem in the design of an autonomous driving system. Many AI-oriented companies, such as Google Waymo, Uber and DiDi, are investigating more accurate vehicle trajectory prediction…

This article deals with the conjugate gradient method on a Riemannian manifold with interest in global convergence analysis. The existing conjugate gradient algorithms on a manifold endowed with a vector transport need the assumption that…

This paper develops an algorithmic framework for tracking fixed points of time-varying contraction mappings. Analytical results for the tracking error are established for the cases where: (i) the underlying contraction self-map changes at…

This paper shows how Graph Neural Networks can be used for learning distributed coordination mechanisms in connected teams of robots. We capture the relational aspect of robot coordination by modeling the robot team as a graph, where each…

Linear networks provide valuable insights into the workings of neural networks in general. This paper identifies conditions under which the gradient flow provably trains a linear network, in spite of the non-strict saddle points present in…

This paper proposes a new equation from continuous adjoint theory to compute the gradient of quantities governed by the Transport Theory of light. Unlike discrete gradients ala autograd, which work at the code level, we first formulate the…

This paper considers the problem of online trajectory design under time-varying environments. We formulate the general trajectory optimization problem within the framework of time-varying constrained convex optimization and proposed a novel…

Routing algorithms play a crucial role in the efficient transmission of data within computer networks by determining the optimal paths for packet forwarding. This paper presents a comprehensive exploration of routing algorithms, focusing on…

Emerging technologies and applications including Internet of Things (IoT), social networking, and crowd-sourcing generate large amounts of data at the network edge. Machine learning models are often built from the collected data, to enable…

In this paper we consider the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer to peer framework where the vehicles/nodes can get pairwise…

When an online learning algorithm is used to estimate the unknown parameters of a model, the signals interacting with the parameter estimates should not decay too quickly for the optimal values to be discovered correctly. This requirement…

Training deep neural networks on large datasets containing high-dimensional data requires a large amount of computation. A solution to this problem is data-parallel distributed training, where a model is replicated into several…

Precise pick-and-place is essential in robotic applications. To this end, we define a novel exact training method and an iterative inference method that improve pick-and-place precision with Transporter Networks. We conduct a large scale…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

This paper presents a physics-informed neural network approach for dynamic modeling of saturable synchronous machines, including cases with spatial harmonics. We introduce an architecture that incorporates gradient networks directly into…

Traceroute sampling is an important technique in exploring the internet router graph and the autonomous system graph. Although it is one of the primary techniques used in calculating statistics about the internet, it can introduce bias that…