相关论文: Optimal Input Design for Affine Model Discriminati…

Driving in dynamically changing traffic is a highly challenging task for autonomous vehicles, especially in crowded urban roadways. The Artificial Intelligence (AI) system of a driverless car must be able to arbitrate between different…

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of…

This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…

The field of adversarial robustness has attracted significant attention in machine learning. Contrary to the common approach of training models that are accurate in average case, it aims at training models that are accurate for worst case…

Planning in hybrid systems with both discrete and continuous control variables is important for dealing with real-world applications such as extra-planetary exploration and multi-vehicle transportation systems. Meanwhile, generating…

The analysis of industrial processes, modelled as descriptor systems, is often computationally hard due to the presence of both algebraic couplings and difference equations of high order. In this paper, we introduce a control refinement…

We propose a general formulation, called Multi-X, for multi-class multi-instance model fitting - the problem of interpreting the input data as a mixture of noisy observations originating from multiple instances of multiple classes. We…

This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…

The objective function of a matrix factorization model usually aims to minimize the average of a regression error contributed by each element. However, given the existence of stochastic noises, the implicit deviations of sample data from…

A challenging category of robotics problems arises when sensing incurs substantial costs. This paper examines settings in which a robot wishes to limit its observations of state, for instance, motivated by specific considerations of energy…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Optimal control problems of tracking type for a class of linear systems with uncertain parameters in the dynamics are investigated. An affine tracking feedback control input is obtained by considering the minimization of an energy-like…

Optimal transport is a powerful framework for the efficient allocation of resources between sources and targets. However, traditional models often struggle to scale effectively in the presence of large and heterogeneous populations. In this…

Existing multimodal tasks mostly target at the complete input modality setting, i.e., each modality is either complete or completely missing in both training and test sets. However, the randomly missing situations have still been…

This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…

In the last decade, the sound quality of electric induction motors is a hot topic in the research field. Specially, due to its high number of applications, the population is exposed to physical and psychological discomfort caused by the…

Autonomous driving systems remain brittle in rare, ambiguous, and out-of-distribution scenarios, where human driver succeed through contextual reasoning. Shared autonomy has emerged as a promising approach to mitigate such failures by…

Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…

In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible for the worst-case disturbance. Yet, planning for every…

We consider the problem of inference in higher-order undirected graphical models with binary labels. We formulate this problem as a binary polynomial optimization problem and propose several linear programming relaxations for it. We compare…