相关论文: Automated Linear Parameter-Varying Modeling of Non…
We present a dual Model Predictive Control (MPC) framework for the simultaneous identification and control of quasi-Linear Parameter Varying (qLPV) systems. The framework is composed of an online estimator for the states and parameters of…
This letter deals with the problem of state estimation for a class of systems involving linear dynamics with multiple quadratic output measurements. We propose a systematic approach to immerse the original system into a linear time-varying…
A nonlinear MPC framework is presented that is suitable for dynamical systems with sampling times in the (sub)millisecond range and that allows for an efficient implementation on embedded hardware. The algorithm is based on an augmented…
Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…
Adaptive Partition-based Methods (APM) are numerical methods to solve two-stage stochastic linear problems (2SLP). The core idea is to iteratively construct an adapted partition of the space of alea in order to aggregate scenarios while…
We introduce a novel computational framework for digital geometry processing, based upon the derivation of a nonlinear operator associated to the total variation functional. Such operator admits a generalized notion of spectral…
Hyperspectral image unmixing has proven to be a useful technique to interpret hyperspectral data, and is a prolific research topic in the community. Most of the approaches used to perform linear unmixing are based on convex geometry…
Motivated by variational models in continuum mechanics, we introduce a novel algorithm to perform nonsmooth and nonconvex minimizations with linear constraints in Euclidean spaces. We show how this algorithm is actually a natural…
The Carleman embedding method is a widely used technique for linearizing a system of nonlinear differential equations, but fails to converge in regions where there are multiple fixed points. We propose and test three different versions of a…
Inverse linear programming (LP) has received increasing attention due to its potential to generate efficient optimization formulations that can closely replicate the behavior of a complex system. However, inversely inferred parameters and…
The choice of parameterization in Nonlinear (NL) system models greatly affects the quality of the estimated model. Overly complex models can be impractical and hard to interpret, necessitating data-driven methods for simpler and more…
Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to…
We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then…
A very simple and efficient local variational iteration method for solving problems of nonlinear science is proposed in this paper. The analytical iteration formula of this method is derived first using a general form of first order…
Particle Image Velocimetry (PIV) is a method of im-aging and analysing fields of flows. The PIV tech-niques compute and display all the motion vectors of the field in a resulting image. Speeds more than thou-sand vectors per second can be…
The engineering design process often relies on mathematical modeling that can describe the underlying dynamic behavior. In this work, we present a data-driven methodology for modeling the dynamics of nonlinear systems. To simplify this…
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine functions that "includes" the dynamical characteristics of the…
Nonlinear stochastic motion presents significant challenges for Bayesian particle tracking. To address this challenge, this paper proposes a framework to construct an invertible transformation that maps the nonlinear state-space model (SSM)…
In this paper, we first propose a new Levenberg-Marquardt method for solving constrained (and not necessarily square) nonlinear systems. Basically, the method combines the unconstrained Levenberg-Marquardt method with a type of feasible…
Real engineering and scientific applications often involve one or more qualitative inputs. Standard Gaussian processes (GPs), however, cannot directly accommodate qualitative inputs. The recently introduced latent variable Gaussian process…