相关论文: MMRHP: A Miniature Mixed-Reality HIL Platform for …

Efficient management of aircraft MRO hangars requires the integration of spatial layout with time-continuous scheduling to minimize operational costs. We propose a continuous-time mixed-integer linear program that jointly optimizes aircraft…

Spatial reasoning has emerged as a critical capability for Multimodal Large Language Models (MLLMs), drawing increasing attention and rapid advancement. However, existing benchmarks primarily focus on single-step perception-to-judgment…

This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…

Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on…

Present grid infrastructure is unprepared for the wide-scale integration of electric vehicles (EVs). Real-time grid simulation and hardware testing are necessary for the fast and accurate development of EV charging control strategies that…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to the risk involved in testing or deploying such systems.…

The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…

This work introduces SynPF, an MCL-based algorithm tailored for high-speed racing environments. Benchmarked against Cartographer, a state-of-the-art pose-graph SLAM algorithm, SynPF leverages synergies from previous particle-filtering…

Real-world evaluation of perception-based planning models for robotic systems, such as autonomous vehicles, can be safely and inexpensively conducted offline, i.e. by computing model prediction error over a pre-collected validation dataset…

This paper presents an efficient approach for the evaluation of multi-parametric mixed integer quadratic programming (mp-MIQP) solutions, occurring for instance in control problems involving discrete time hybrid systems with quadratic cost.…

In this work, we propose the world's first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in…

In this paper, we develop novel accuracy and performance guarantees for optimal state estimation of general nonlinear systems (in particular, moving horizon estimation, MHE). Our results rely on a turnpike property of the optimal state…

Simplifying machine learning (ML) application development, including distributed computation, programming interface, resource management, model selection, etc, has attracted intensive interests recently. These research efforts have…

Machine Learning Enabled Systems (MLS) are becoming integral to real-world applications, but ensuring their sustainable performance over time remains a significant challenge. These systems operate in dynamic environments and face runtime…

This paper presents a network hardware-in-the-loop (HIL) simulation system for modeling large-scale power systems. Researchers have developed many HIL test systems for power systems in recent years. Those test systems can model both…

The current verification flow of complex systems uses different engines synergistically: virtual prototyping, formal verification, simulation, emulation and FPGA prototyping. However, none is able to verify a complete architecture.…

Designing reliable integrated energy systems for industrial processes requires optimization and verification models across multiple fidelities, from architecture-level sizing to high-fidelity dynamic operation. However, model mismatch…

Hyperproperties are properties that refer to multiple computation traces. This includes many information-flow security policies, such as observational determinism, (generalized) noninterference, and noninference, and other system properties…

The integration of machine learning (ML) is critical for industrial competitiveness, yet its adoption is frequently stalled by the prohibitive costs and operational disruptions of upgrading legacy systems. The financial and logistical…