相关论文: System-Level Error Propagation and Tail-Risk Ampli…

Transformers serve as the foundational architecture for many successful large-scale models, demonstrating the ability to overfit the training data while maintaining strong generalization on unseen data, a phenomenon known as benign…

Data science relies on pipelines that are organized in the form of interdependent computational steps. Each step consists of various candidate algorithms that maybe used for performing a particular function. Each algorithm consists of…

To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a…

Automotive radar perception pipelines commonly construct angle-domain representations via beamforming before applying learning-based models. This work instead investigates a representational question: can meaningful spatial structure be…

Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…

Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…

Error distribution analysis is an important assistant technology for the research of SINS(Strapdown Inertial Navigation System). Error distribution result can provide the contribution of different errors to final navigation error, which is…

Insight into the blockage vulnerability of evolving spatial networks is important for understanding transport resilience, robustness, and failure of a broad class of real-world structures such as porous media and utility, urban traffic, and…

Understanding the traversability of terrain is essential for autonomous robot navigation, particularly in unstructured environments such as natural landscapes. Although traditional methods, such as occupancy mapping, provide a basic…

This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…

We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty.…

We focus on the problem of timing errors in navigation camera as a case study in a broader problem of the effect of a timing error in cyber-physical systems. These systems rely on the requirement that certain things happen at the same time…

Multilayer systems are coupled networks characterized by different contexts (layers) of interaction and have gained much attention recently due to their suitability to describe a broad spectrum of empirical complex systems. They are very…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

Causal discovery in multivariate extremes is challenging because extreme observations are sparse, dependent, and often affected by latent common shocks. Existing approaches focus on undirected extremal dependence, require prior graph…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…

Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…