相关论文: Design and Optimisation of the FlyFast Front-end f…
There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the…
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…
In this manuscript a design and implementation of CACC on an autonomous vehicle platform (2017 Ford Fusion) is presented. The developed CACC controls the intervehicle distance between the target vehicle and ego vehicle using a feedforward…
This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multi-agent systems. PPF allows error tracking from a predefined large set to be trapped into a…
Although increased automation has made it easier to control aircraft, ensuring a safe interaction between the pilots and the autopilots is still a challenging problem, especially in the presence of severe anomalies. Current approach…
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…
Recent research on formal verification for Collective Adaptive Systems (CAS) pushed advancements in spatial and spatio-temporal model checking, and as a side result provided novel image analysis methodologies, rooted in logical methods for…
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…
The main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to…
This paper develops a dynamical framework for adaptive coordination in systems of interacting agents referred to here as Feedback-Coupled Memory Systems (FCMS). Instead of framing coordination as equilibrium optimization or agent-centric…
AI support of collaborative interactions entails mediating potential misalignment between interlocutor beliefs. Common preference alignment methods like DPO excel in static settings, but struggle in dynamic collaborative tasks where the…
Efficient uplink processing in distributed massive multiple-input multiple-output (D-mMIMO) systems requires both effective local combining and scalable decoding to significantly mitigate inter-user interference. Recent zero-forcing…
This paper addresses the challenges of real-time, large-scale, and near-optimal multi-agent pathfinding (MAPF) through enhancements to the recently proposed LaCAM* algorithm. LaCAM* is a scalable search-based algorithm that guarantees the…
A recent study has shown that diffusion models are well-suited for modeling the generative process of user-item interactions in recommender systems due to their denoising nature. However, existing diffusion model-based recommender systems…
We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
Dual-system UAVs with vertical take-off and landing capabilities have become increasingly popular in recent years. As a safety-critical system, it is important that a dual-system UAV can maintain safe flight after faults/failures occur.…
Goal-oriented dialogue systems face a trade-off between fluent language generation and task-specific control. While supervised learning with large language models is capable of producing realistic text, how to steer such responses towards…
Speculative decoding has become a widely adopted as an effective technique for lossless inference acceleration when deploying large language models (LLMs). While on-the-fly self-speculative methods offer seamless integration and broad…
Distributed optimization concerns the optimization of a common function in a distributed network, which finds a wide range of applications ranging from machine learning to vehicle platooning. Its key operation is to aggregate all local…