相关论文: Redundancy implies robustness for bang-bang strate…

In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…

We analyze the performance of redundancy in a multi-type job and multi-type server system. We assume the job dispatcher is unaware of the servers' capacities, and we set out to study under which circumstances redundancy improves the…

Robustness to noise is of utmost importance in reinforcement learning systems, particularly in military contexts where high stakes and uncertain environments prevail. Noise and uncertainty are inherent features of military operations,…

A method for testing nonlinearity in time series is described based on information-theoretic functionals -- redundancies, linear and nonlinear forms of which allow either qualitative, or, after incorporating the surrogate data technique,…

Efforts to improve the adversarial robustness of convolutional neural networks have primarily focused on developing more effective adversarial training methods. In contrast, little attention was devoted to analyzing the role of…

Degeneracy is the ability of structurally different elements to perform the same function or yield the same output under certain constraints. In contrast to redundancy, which implies identical backups, degeneracy allows diverse components…

While $\mathcal{H}_\infty$ methods can introduce robustness against worst-case perturbations, their nominal performance under conventional stochastic disturbances is often drastically reduced. Though this fundamental tradeoff between…

We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…

This paper proposes an attack-independent (non-adversarial training) technique for improving adversarial robustness of neural network models, with minimal loss of standard accuracy. We suggest creating a neighborhood around each training…

We address the problem of distributed state estimation of a linear dynamical process in an attack-prone environment. Recent attempts to solve this problem impose stringent redundancy requirements on the measurement and communication…

The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

Control systems can show robustness to many events, like disturbances and model inaccuracies. It is natural to speculate that they are also robust to sporadic deadline misses when implemented as digital tasks on an embedded platform. This…

One of the most important parts of cloud computing is storage devices, and Redundant Array of Independent Disks (RAID) systems are well known and frequently used storage devices. With the increasing production of data in cloud environments,…

This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

Robustness to adversarial attacks is typically evaluated with adversarial accuracy. While essential, this metric does not capture all aspects of robustness and in particular leaves out the question of how many perturbations can be found for…

Adversarial robustness has received increasing attention along with the study of adversarial examples. So far, existing works show that robust models not only obtain robustness against various adversarial attacks but also boost the…

Robust model predictive control algorithms are essential for addressing unavoidable errors due to the uncertainty in predicting real-world systems. However, the formulation of such algorithms typically results in a trade-off between…

Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…

Assessment of the degree of boundedness/stability of multidimensional nonlinear systems with time-dependent and nonperiodic coefficients is an important problem in various applied areas which has no adequate resolution yet. Most of the…