相关论文: Heteroscedastic Bayesian Optimization-Based Dynami…

Solving optimal control problems for transport-dominated partial differential equations (PDEs) can become computationally expensive, especially when dealing with high-dimensional systems. To overcome this challenge, we focus on developing…

This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…

Unmanned aerial vehicles (UAVs) with flexible deployment contribute to enlarging the distance of information transmission to mobile users (MUs) in constrained environment. However, due to the high mobility of both UAVs and MUs, it is…

Efficient observer design and accurate sensor fusion are key in state estimation. This work proposes an optimization-based methodology, termed Trajectory Based Optimization Design (TBOD), allowing the user to easily design observers for…

This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…

We propose a new algorithm to compute a shifted proper orthogonal decomposition (sPOD) for systems dominated by multiple transport velocities. The sPOD is a recently proposed mode decomposition technique which overcomes the poor performance…

We consider the problem of active and sequential beam tracking at mmWave frequencies and above. We focus on the dynamic scenario of a UAV to UAV communications where we formulate the problem to be equivalent to tracking an optimal…

As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…

Bayesian Optimisation (BO) refers to a suite of techniques for global optimisation of expensive black box functions, which use introspective Bayesian models of the function to efficiently search for the optimum. While BO has been applied…

The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…

Preferential Bayesian optimization (PBO) learns latent utilities from pairwise comparisons, but most existing methods assume homoscedastic comparison noise. This is inadequate in human-in-the-loop settings, where a user may compare some…

Optimizing black-box functions in high-dimensional search spaces has been known to be challenging for traditional Bayesian Optimization (BO). In this paper, we introduce HiBO, a novel hierarchical algorithm integrating global-level search…

Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for dynamical systems subject to measurement noise that can be fitted into linear time-varying stochastic…

An automated technique has recently been proposed to transfer learning in the hierarchical Bayesian optimization algorithm (hBOA) based on distance-based statistics. The technique enables practitioners to improve hBOA efficiency by…

Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

Mobility management in dense cellular networks is challenging due to varying user speeds and deployment conditions. Traditional 3GPP handover (HO) schemes, relying on fixed A3-offset and time-to-trigger (TTT) parameters, struggle to balance…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

Pure Pursuit (PP) is a widely used path-tracking algorithm in autonomous vehicles due to its simplicity and real-time performance. However, its effectiveness is sensitive to the choice of lookahead distance: shorter values improve cornering…

Bayesian optimization (BO) is a widely popular approach for the hyperparameter optimization (HPO) in machine learning. At its core, BO iteratively evaluates promising configurations until a user-defined budget, such as wall-clock time or…