Filtyp
The number of degrees of freedom is a crucial parameter in many electromagnetic problems. In for example modern communication systems spatial diversity is often employed through multiple beams to enhance capacity and reliability. However, while the degrees of freedom can be computed, their connection to physical quantities is not as easily understood. To address this issue, this paper proposes a s
Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM. However, existing works either rely on RGB-D sensors or require a separate monocular SLAM approach for camera tracking, and fail to produce high-fidelity 3D dense reconstructions. To address these shortcomings, we present NICER-SLAM, a dense RGB SLAM system
This paper deals with the centroid and formation control problem of multi–agent robotic systems. The proposed solution is based on a leader–follower scheme, where only a subset of agents, i.e., the leaders, knows the desired trajectories for the centroid and the formation of the system, while the other agents, i.e., the followers, are required to estimate them through a dynamic consensus scheme. T
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied—with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations—the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework tha
The AI Act marks a new chapter in AI governance, affecting companies around the world seeking to offer their services within the European Union. This study focuses on the comprehensive AI Act requirements set out for high-risk AI systems. We explored the perceived compliance challenge for the AI Act's high-risk requirements and associated contributing factors; the AI Act's impact on industry in te
An optimal control problem on finite-dimensional positive cones is stated. Under a critical assumption on the cone, the corresponding Bellman equation is satisfied by a linear function, which can be computed by convex optimization. A separate theorem relates the assumption on the cone to the existence of minimal elements in certain subsets of the dual cone. Three special cases are derived as examp
This paper presents an in-depth analysis of the stability and performance of control systems experiencing sensor timing misalignments, a common challenge in practical applications such as autonomous vehicles and aerospace systems. We model multichannel sensor delays as independent random variables, capturing the variability of real-world systems where different sensors exhibit distinct and non-con
Keynote paper The point of departure for this lecture lies in the insight that tourism research is uniquely positioned at the juncture of applied and scholarly research. Drawing upon work I have conducted in the realms tourism and leisure study, the lecture strives to problematize the practice of ethnography as a method and raise questions concerning the opportunity research in the fields of tour
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of contact forces and sliding velocities. The method is validated in both simulation and real-world experiments. Furthermore, we propose a heuristic to deal with fast
Modern real-time control systems can sporadically exceed the computation deadlines, which may lead to a deterioration in performance or even instability if not actively accounted for. This letter proposes a stochastic model predictive control approach that incorporates deadline miss probabilities of subsequent control task executions in a scenario tree. To account for the effect of missed deadline
This is the Replicated Computational Results (RCR) Report for the article ‘Stress Testing Control Loops in Cyber-Physical Systems’. The article proposes a novel approach for testing Cyber-Physical Systems (CPS) based on the integration of the guarantees that can be provided with the control theoretical models into the software testing practices. This RCR report describes how to reproduce the empir
Dynamic task offloading is essential for real-time robotic applications, enabling them to adapt to fluctuating computational demands and maintain efficiency under changing conditions. This paper introduces a dynamic task offloading framework that incorporates monitoring, decision making, offloading triggering, and performance monitoring to optimize resource usage by offloading real-time tasks to e
Motivated by empirical research on bias and opinion formation, we formulate a multidimensional nonlinear opinion-dynamical model where agents have individual biases, which are fixed, as well as opinions, which evolve. The dimensions represent competing options, of which each agent has a relative opinion, and are coupled through normalization of the opinion vector. This can capture, for example, an
This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknown environmental contacts encountered during the manipulation of a DLO, classifying the induced const
This article addresses the obstacle avoidance problem for setpoint stabilization tasks in complex dynamic 2-D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and controller is proposed that integrates the favorable convergence characteristics of closed-form motion planning techniques with the intuitive representation of system constraints t
The rapid development of wearable biomedical systems now enables real-time monitoring of electroencephalography (EEG) signals. Acquisition of these signals relies on electrodes. These systems must meet the design challenge of selecting an optimal set of electrodes that balances performance and usability constraints. The search for the optimal subset of electrodes from a larger set is a problem wit
The AI Act’s (AIA) requirements for high-risk AI systems affect many aspects of modern software systems. Knowing which AIA-related technical challenges are relevant to different companies is essential to focus compliance-oriented research on the aspects that matter. We therefore conducted an interview study in collaboration with a case company that specializes in network video solutions within the
Distributed optimal control is known to be challenging and can become intractable even for linear-quadratic regulator problems. In this work, we study a special class of such problems where distributed state feedback controllers can give near-optimal performance. More specifically, we consider networked linear-quadratic controllers with decoupled costs and spatially exponentially decaying dynamics
Frequent updates in IoT software are crucial for fixing security vulnerabilities, correcting bugs, and adding new features. However, for systems comprising geographically distributed devices, implementing updates is challenging. Such updates must be coordinated across multiple devices, automated without end-user involvement, adaptable to weak connectivity, and minimally disruptive to end users. In
