相关论文: Region of Synchronization Estimation for Complex N…

In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by polynomial inequalities such that robots with general shapes…

This paper presents a method for calculating the Region of Attraction (ROA) of nonlinear dynamical systems, both with and without control. The ROA is determined by solving a hierarchy of semidefinite programs (SDPs) defined on a splitting…

Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…

Global optimization has gained attraction over the past decades, thanks to the development of both theoretical foundations and efficient numerical routines. Among recent advances, Kernel Sum of Squares (KernelSOS) provides a powerful…

The Sum-of-Squares (SOS) approximation method is a technique used in optimization problems to derive lower bounds on the optimal value of an objective function. By representing the objective function as a sum of squares in a feature space,…

The problem of synchronization over a group $\mathcal{G}$ aims to estimate a collection of group elements $G^*_1, \dots, G^*_n \in \mathcal{G}$ based on noisy observations of a subset of all pairwise ratios of the form $G^*_i {G^*_j}^{-1}$.…

Despite the fact that Second Order Similarity (SOS) has been used with significant success in tasks such as graph matching and clustering, it has not been exploited for learning local descriptors. In this work, we explore the potential of…

Synchronization of rotations is the problem of estimating a set of rotations R_i in SO(n), i = 1, ..., N, based on noisy measurements of relative rotations R_i R_j^T. This fundamental problem has found many recent applications, most…

The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…

In this paper, we address the output synchronization of heterogeneous linear networks. In the literature, all agents are typically required to synchronize exactly to a common trajectory. Here, we introduce optimal stationary synchronization…

Nonlinear networks are often multistable, exhibiting coexisting stable states with competing regions of attraction (ROAs). As a result, ROAs can have complex "tentacle-like" morphologies that are challenging to characterize analytically or…

This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…

Channel models for massive MIMO are typically based on matrices with complex Gaussian entries, extended by the Kronecker and Weichselberger model. One reason for observing a gap between modeled and actual channel behavior is the absence of…

The Max-k-Cut problem is a fundamental combinatorial optimization challenge that generalizes the classic NP-complete Max-Cut problem. While relaxation techniques are commonly employed to tackle Max-k-Cut, they often lack guarantees of…

Many complex engineering systems network together functional elements and balance demand loads (e.g.information on data networks, electric power on grids). This allows load spikes to be shifted and avoid a local overload. In mobile wireless…

Reconfigurable intelligent surfaces (RISs) have attracted enormous interest thanks to their ability to overcome line-of-sight blockages in mmWave systems, enabling in turn accurate localization with minimal infrastructure. Less investigated…

Global polynomial optimization is an important tool across applied mathematics, with many applications in operations research, engineering, and physical sciences. In various settings, the polynomials depend on external parameters that may…

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…

This paper presents a method for calculating Region of Attraction of a target set (not necessarily an equilibrium) for controlled polynomial dynamical systems, using a hierarchy of semidefinite programming problems (SDPs). Our approach…

Reconfigurable intelligent surface (RIS)-aided networks have been investigated for the purpose of improving the system performance. However, the introduced unit modulus phase shifts and coupling characteristic bring enormous challenges to…