相关论文: Asymptotic behaviour in the robot rendezvous probl…
We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…
This article describes a set of methods for quickly computing the solution to the regularized optimal transport problem. It generalizes and improves upon the widely-used iterative Bregman projections algorithm (or Sinkhorn--Knopp…
We propose a new probabilistic pattern formation algorithm for oblivious mobile robots that operates inthe ASYNC model. Unlike previous work, our algorithm makes no assumptions about the local coordinatesystems of robots (the robots do not…
The Arbitrary Pattern Formation problem asks for a distributed algorithm that moves a set of autonomous mobile robots to form any arbitrary pattern given as input. The robots are assumed to be autonomous, anonymous and identical. They…
In this paper, we study the Entropic Martingale Optimal Transport (EMOT) problem on \mathbb{R}. The investigation of the EMOT problem arises in the calibration problem of the Stochastic Volatility Models, where martingale constraints…
We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…
This paper presents a saddlepoint approximation of the random-coding union bound of Polyanskiy et al. for i.i.d. random coding over discrete memoryless channels. The approximation is single-letter, and can thus be computed efficiently.…
We apply the recent results of F. Hiai, M. Mosonyi and T. Ogawa [arXiv:0707.2020, to appear in J. Math. Phys.] to the asymptotic hypothesis testing problem of locally faithful shift-invariant quasi-free states on a CAR algebra. We use a…
We provide a general theorem on the asymptotic behavior of stochastic processes that conform to a relaxed supermartingale condition. The distinguishing feature of our result is that it provides quantitative convergence guarantees at a much…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
Current performance bounds for randomized iterative methods are often considered tight under per-iteration analyses, yet they are notoriously loose in practice. We derive asymptotic performance bounds that narrow this theory-practice gap,…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Most existing robot formation problems seek a target formation of a certain \emph{minimal} and, thus, efficient structure. Examples include the Gathering and the Chain-Formation problem. In this work, we study formation problems that try to…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
The problem of maintaining a wireless communication link between a fixed base station and an autonomous agent by means of a team of mobile robots is addressed in this work. Such problem can be of interest for search and rescue missions in…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
We propose a second-order multi-agent system for target tracking on a sphere. The model contains a centripetal force, a bonding force, a velocity alignment operator to the target, and cooperative control between flocking agents. We propose…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
The article addresses the convergence of implicit and semi-implicit, fully discrete approximations of a class of nonlinear parabolic evolution problems. Such schemes are popular in the numerical solution of evolutions defined with the…
This paper focuses on investigating an inexact stochastic model-based optimization algorithm that integrates preconditioning techniques for solving stochastic composite optimization problems. The proposed framework unifies and extends the…