相关论文: Region of Synchronization Estimation for Complex N…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
In this work, we propose a region-based self-triggered control (STC) scheme for nonlinear systems. The state space is partitioned into a finite number of regions, each of which is associated to a uniform inter-event time. The controller, at…
The problem of synchronization in heterogeneous networks of linear systems with nonlinear delayed diffusive coupling is considered. The network is presented in new coordinates mean-field dynamics and synchronization errors. Thus the problem…
In this paper we address the rotation synchronization problem, where the objective is to recover absolute rotations starting from pairwise ones, where the unknowns and the measures are represented as nodes and edges of a graph,…
The synchronization problem over the special orthogonal group $SO(d)$ consists of estimating a set of unknown rotations $R_1,R_2,...,R_n$ from noisy measurements of a subset of their pairwise ratios $R_{i}^{-1}R_{j}$. The problem has found…
Group synchronization is the problem of determining reliable global estimates from noisy local measurements on networks. The typical task for group synchronization is to assign elements of a group to the nodes of a graph in a way that…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
In this paper, we present a branch and bound algorithm for extracting approximate solutions to Global Polynomial Optimization (GPO) problems with bounded feasible sets. The algorithm is based on a combination of SOS/Moment relaxations and…
Time Series Forecasting has made significant progress with the help of Patching technique, which partitions time series into multiple patches to effectively retain contextual semantic information into a representation space beneficial for…
A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are…
This paper focuses on the analysis of the Region of Attraction (RoA) for unknown autonomous dynamical systems. A data-driven approach based on the moment-Sum-of-Squares (SoS) hierarchy is proposed, enabling novel RoA outer approximations…
This work estimates safe invariant subsets of the Region of Attraction (ROA) for a seven-state vehicle-with-driver system, capturing both asymptotic stability and the influence of state-safety bounds along the system trajectory. Safe sets…
One of the main purposes of earth observation is to extract interested information and knowledge from remote sensing (RS) images with high efficiency and accuracy. However, with the development of RS technologies, RS system provide images…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot segmentation model to extract object masks from images and…
Synthetic images created by image editing operations are prevalent, but the color or illumination inconsistency between the manipulated region and background may make it unrealistic. Thus, it is important yet challenging to localize the…
This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…
Segment routing (SR) combines the advantages of source routing supported by centralized software-defined networking (SDN) paradigm and hop-by-hop routing applied in distributed IP network infrastructure. However, because of the computation…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…