相关论文: Robust Motion Averaging under Maximum Correntropy …

We consider the problem of efficient on-line anomaly detection in computer network traffic. The problem is approached statistically, as that of sequential (quickest) changepoint detection. A multi-cyclic setting of quickest change detection…

Purpose: Recent developments in hardware design enable the use of Fast Field-Cycling (FFC) techniques in MRI to exploit the different relaxation rates at very low field strength, achieving novel contrast. The method opens new avenues for in…

We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…

Momentum is a popular technique to accelerate the convergence in practical training, and its impact on convergence guarantee has been well-studied for first-order algorithms. However, such a successful acceleration technique has not yet…

An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…

In this paper, we propose a novel offloading learning approach to compromise energy consumption and latency in multi-tier network with mobile edge computing. In order to solve this integer programming problem, instead of using conventional…

We investigate the problem of time-of-arrival (TOA) based localization under possible non-line-of-sight (NLOS) propagation conditions. To robustify the squared-range-based location estimator, we follow the maximum correntropy criterion,…

Newton's method has been an important approach for solving variational inequalities, quasi-Newton method is a good alternative choice to save computational cost. In this paper, we propose a new method for solving monotone variational…

We study an optimal control problem under uncertainty, where the target function is the solution of an elliptic partial differential equation with random coefficients, steered by a control function. The robust formulation of the…

This article develops a methodology that enables learning an objective function of an optimal control system from incomplete trajectory observations. The objective function is assumed to be a weighted sum of features (or basis functions)…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

To analyze marine animals behavior, seasonal distribution and abundance, digital imagery can be acquired by visual or Lidar camera. Depending on the quantity and properties of acquired imagery, the animals are characterized as either…

Human motion generation is a critical task with a wide range of applications. Achieving high realism in generated motions requires naturalness, smoothness, and plausibility. Despite rapid advancements in the field, current generation…

The maximum correntropy criterion (MCC) has been employed to design outlier-robust adaptive filtering algorithms, among which the recursive MCC (RMCC) algorithm is a typical one. Motivated by the success of our recently proposed…

We propose a hybrid moment method for the multi-scale kinetic equations in the framework of the regularized moment method [7]. In this method, the fourth order moment system is chosen as the governing equations in the fluid region. When…

This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…

This work presents a method for information fusion in source localization applications. The method utilizes the concept of optimal mass transport in order to construct estimates of the spatial spectrum using a convex barycenter formulation.…

The goal of Continual Learning (CL) task is to continuously learn multiple new tasks sequentially while achieving a balance between the plasticity and stability of new and old knowledge. This paper analyzes that this insufficiency arises…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

In this paper, we present a new wireless sensing system utilizing a movable antenna (MA) that continuously moves and receives sensing signals to enhance sensing performance over the conventional fixed-position antenna (FPA) sensing. We show…