相关论文: Dynamics of a Towed Cable with Sensor-Array for Un…
In the context of control of smart structures, we present an approach for state estimation of adaptive buildings with active load-bearing elements. For obtaining information on structural deformation, a system composed of a digital camera…
Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. Despite their benefits for achieving high data rate communications, their potential advantages for tracking of the location of the…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
UAV tracking can be widely applied in scenarios such as disaster rescue, environmental monitoring, and logistics transportation. However, existing UAV tracking methods predominantly emphasize speed and lack exploration in semantic…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
Millimeter wave (mmWave) systems will likely employ directional beamforming with large antenna arrays at both the transmitters and receivers. Acquiring channel knowledge to design these beamformers, however, is challenging due to the large…
The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…
We investigate the problem of localizing multiple targets using a single set of measurements from a network of radar sensors. Such "single snapshot imaging" provides timely situational awareness, but can utilize neither platform motion, as…
The AAA algorithm has become a popular tool for data-driven rational approximation of single variable functions, such as transfer functions of a linear dynamical system. In the setting of parametric dynamical systems appearing in many…
This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by…
Synthetic Aperture Radar (SAR) data enables large-scale surveillance of maritime vessels. However, near-real-time monitoring is currently constrained by the need to downlink all raw data, perform image focusing, and subsequently analyze it…
Millimeter-wave (mmWave) systems use directional beams to support high-rate data communications. Small misalignment between the transmit and receive beams (e.g., due to the mobility) can result in significant drop of the received signal…
Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use position-based control, where policies output target joint…
This work addresses the problem of Social Activity Recognition (SAR), a critical component in real-world tasks like surveillance and assistive robotics. Unlike traditional event understanding approaches, SAR necessitates modeling individual…
In this paper, a novel Three dimensional (3D) positioning framework of fluid antenna system (FAS)-enabled unmanned aerial vehicles (UAVs) is developed. In the proposed framework, a set of controlled UAVs cooperatively estimate the real-time…
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…
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a…
This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is…
In this paper, we develop an algorithm for joint handover and beam tracking in millimeter-wave (mmWave) networks. The aim is to provide a reliable connection in terms of the achieved throughput along the trajectory of the mobile user while…