Papers

We propose a competitive bi-virus model with dynamic social distancing behavior. Our model illustrates how public perception of different viruses changes the conditions for their eradication, their coexistence, or the dominance of one over the other. We show that our model is not monotone, in contrast to the classic bi-virus model. We detail how social distancing behavior produces different sets of equilibria than the classic bi-virus model and changes the criteria for their stability. In particular, we detail the set of disease free equilibria (DFE) present in our model and identify necessary and sufficient conditions for almost global exponential stability of the same. We prove similar global results for all but one non-DFE isolated (unilateral) equilibria and local stability results for the remainder. We also consider coexistence equilibria; we show such equilibria, when they exist, take the form of lines of equilibria and give local conditions for their stability. Finally, we illustrate our theoretical findings with numerical examples.

Identifying governing equations for a dynamical system is a topic of critical interest across an array of disciplines, from mathematics to engineering to biology. Machine learning – specifically deep learning – techniques have shown their capabilities in approximating dynamics from data, but a shortcoming of traditional deep learning is that there is little insight into the underlying mapping beyond its numerical output for a given input. This limits their utility in analysis beyond simple prediction. Simultaneously, a number of strategies exist which identify models based on a fixed dictionary of basis functions, but most either require some intuition or insight about the system, or are susceptible to overfitting or a lack of parsimony. Here we present a novel approach that combines the flexibility and accuracy of deep learning approaches with the utility of symbolic solutions: a deep neural network that generates a symbolic expression for the governing equations. We first describe the architecture for our model, then show the accuracy of our algorithm across a range of classical dynamical systems.

This work proposes a learning-based statistical refinement method for improving the denoising results of a given denoiser without knowing the precise noise distribution or accessing clean images or calibration data. While there are many existing successful denoising approaches for handling different kinds of noise, they typically require accurate modelling of the images and the noise (implicitly or explicitly), and hence the denoising results can be suboptimal due to different practical factors such as imperfect models, unreliable noise assumptions, or low quality data. In particular, when clean image samples are not available and there is a lack of knowledge of the underlying noise distribution, which is the case in various practical situations, the results may not well align with the noise statistics. The unawareness of the useful statistical information leads to suboptimal results. This work aims to make the best use of the statistical information to improve the consistency between the given denoising results and the noise statistics, under the assumption that the noise is conditionally pixel-wise independent given the clean signal. A method, based on a Bayesian formulation of an auxiliary signal in the noisy data, is proposed for evaluating the consistency of the denoising results, without precise information on noise distribution. By leveraging the statistical information from noisy data, the method enhances the statistical noise consistency and improves denoising quality.

This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov candidate parameters are redesigned jointly at successive decision epochs. Unlike conventional nonlinear control designs that typically tune controller gains offline and perform stability analysis separately, the proposed method embeds performance improvement and sample-based Lyapunov verification within a unified online optimization loop. The main novelty is a two-step computational structure that first contracts the continuous admissible search region around the current operating condition using a Black-Hole calibration procedure and then constructs a finite binary representation only over this calibrated region. The encoded objective is obtained from sampled nonlinear closed-loop evaluations and approximated by a local quadratic pseudo-Boolean surrogate, enabling an Ising-type Hamiltonian representation suitable for quantum-assisted optimization. Quantum imaginary time evolution is then used to explore the encoded Hamiltonian, and the resulting candidate bitstrings are decoded into continuous controller and Lyapunov parameters. To reduce dependence on the surrogate model, the decoded candidates are re-evaluated using the original nonlinear closed-loop cost and Lyapunov penalties before the final update is applied. The framework can accommodate sampled forms of different Lyapunov decay specifications by modifying the corresponding penalty and is numerically evaluated on first-order nonlinear consensus, second-order nonlinear consensus, and induction motor drive control examples. The implementation code used to generate the reported results is available at \href{https://github.com/LSU-RAISE-LAB/DQCLS-NS}{GitHub}.

We present a measurement-based statistical model for the backscatter power ratio of monostatic RF sensing in urban canyons with moving clutter, suitable for large-scale system level performance evaluation of RF sensing in 6G networks. A narrowband (CW) 140 GHz sounder used a monostatic radar arrangement with an omnidirectional transmit antenna illuminating streets and a spinning horn 2o receive antenna offset vertically (less than 1 m away) collecting backscattered power as a function of azimuth and time below building height in Manhattan and Valparaiso, Chile. A concise outdoor deterministic model of average backscattered power dependent on distance to nearest building-wall reproduces observations with 3.3 dB RMS error or better. Distribution of power variation in azimuth around this average is reproduced within 0.5 dB by a random azimuth spectrum with a lognormal distribution. Temporal fluctuations for various antenna aims and locations were found to be well modeled by a Rician distribution, with lognormally distributed K-factor, with 0.47-0.73 correlation coefficient to backscatter power deviation from mean. The statistical model does not require a detailed environmental description, aiming to reproduce backscatter clutter statistics (as opposed to a deterministic response) faithfully and efficiently, essential for large-scale system-level performance evaluation.

This paper presents StormWave, an open-source, portable software-defined Radio Frequency (RF) interference generation and monitoring platform designed for realistic field-based evaluation of the resilience of wireless communication systems. StormWave enables seamless composition and runtime switching among a wide range of narrowband and wideband waveforms, while supporting multiple digital modulations, adaptive coding, and multi-radio orchestration with real-time spectrum visualization. We evaluate the effectiveness of StormWave through both outdoor ground and air-to-air (A2A) experiments. Ground experiments demonstrate clear waveform- and modulation-dependent interference effects under realistic propagation conditions, while A2A experiments reveal pronounced distance-dependent constellation distortion and access-symbol degradation under active interference. The StormWave source code will be released to the community, with the expectation that StormWave will be used as a flexible, extensible, and field-ready platform for systematically validating interference resilience of wireless systems under realistic operating conditions.

Access to realistic transmission grid models is essential for power systems research, yet detailed network data in the United States remains restricted under critical-infrastructure regulations. We present a pipeline that constructs complete, OPF-solvable transmission network models entirely from publicly available data. The five-stage pipeline (1) extracts power infrastructure from OpenStreetMap via a local Overpass API instance, (2) reconstructs bus-branch topology through voltage inference, line merging, and transformer detection, (3) estimates electrical parameters using voltage-class lookup tables calibrated with U.S. Energy Information Administration (EIA) plant-level data, (4) allocates hourly demand from EIA-930 to individual buses using US Census population as a spatial proxy, and (5) solves both DC and AC optimal power flow using PowerModels.jl with a progressive relaxation strategy that automatically loosens constraints on imprecise models. We validate the pipeline on all 48 contiguous US states and six multi-state regions, including the full Western (5,076 buses) and Eastern (21,697 buses) Interconnections. Of the 48 single-state models, 42 (88%) converge at the strictest relaxation level for AC-OPF at peak hour and 44 (92%) off-peak. Dispatch costs (median $22/MWh) and system losses (median 1.0%) are consistent with real wholesale-market outcomes. The pipeline relies exclusively on open data sources, enabling reproducible grid analysis without proprietary data. All 54 models (48 single-state and 6 multi-state) are publicly released at https://github.com/microsoft/GridSFM.

Industrial workplace challenges range from musculoskeletal disorders – a leading cause of occupational injury – to suboptimal workstation layouts, inefficient task sequences, and poor human-equipment fit. Digital human modeling (DHM) tools address several of these challenges by placing a scalable virtual mannequin in a computer-aided design (CAD) environment, enabling engineers to evaluate ergonomic risk through standardized assessment methods (RULA, REBA, NIOSH Lifting Equation, OWAS), optimize workstation layouts for reach and visibility, predict task postures through inverse kinematics, and simulate operations before physical implementation. Despite four decades of development since the Jack system originated at the University of Pennsylvania in the 1980s, the integrated DHM capability set – anthropometric mannequin, posture prediction, ergonomic assessment, and CAD integration – remains exclusive to commercial platforms such as Siemens Tecnomatix Jack (Process Simulate), Dassault DELMIA, Humanetics RAMSIS, and the University of Iowa's Santos system. These platforms operate under proprietary, vendor-quoted pricing models, and their acquisition and operating costs, together with closed-source implementations, have been repeatedly identified as practical adoption barriers for individual researchers, small-to-medium enterprises, and educational institutions. Organizations without access resort to manual observational methods – paper-based worksheets applied to photographs or video – sacrificing the predictive power and reproducibility that computational analysis provides. The paper serves as a design blueprint for (OpenJane/Joe), positioning the project for subsequent open-source implementation and community adoption.

In this article, we study unbalanced optimal transport (UOT) and establish a control-theoretic dynamical extension, which we call the unbalanced density control (UDC), for a class of Gaussian reference measures. In the static setting, we consider UOT with quadratic transport cost and Kullback–Leibler penalties on the marginals relative to prescribed Gaussian measures. We show that the infinite-dimensional variational problem admits an exact Gaussian reduction, yielding a finite-dimensional optimization over masses, means, and covariances, together with a closed-form expression for the optimal transported mass. We then formulate UDC for discrete-time linear systems, where the initial and terminal state measures are imposed softly through KL penalties and the intermediate evolution is governed by controlled linear dynamics with quadratic control cost. For this problem, we prove that any feasible solution can be replaced, without loss of optimality, by a Gaussian initial measure and an affine-Gaussian control policy. This leads to an exact finite-dimensional reformulation and, after a standard covariance-steering lifting, to an SDP-based optimization for fixed mass, again coupled with a closed-form mass update. We further establish existence of optimal solutions and identify a sufficient condition under which the affine-Gaussian UDC policy is deterministic. These results provide globally optimal solution methods for both Gaussian UOT and Gaussian UDC. Finally, we illustrate our results with several numerical examples.

This paper deals with the estimation of multiantenna channels in the line-of-sight conditions that are prevalent in the near field. By expressing the curved wavefront as a polynomial via a power series expansion of a sphere, the estimation of the channel over the array can be formulated as a multidimensional polynomial phase estimation problem. The application of a newly developed polynomial phase estimator, able of handling arbitrary dimensions and polynomial degrees, yields a superior tradeoff between channel estimation accuracy and complexity.

Decision-making in power systems spans multiple timescales – from milliseconds to prevent surges, to seconds to balance frequency and protect grid assets, to minutes for real-time energy balancing, to day-ahead, seasonal, and long-term planning. Growing uncertainty and complexity, driven by intermittent renewables and distributed energy resources (DER), demand fresh approaches to power system intelligence and architecture. Daniel Kahneman describes the interplay of two systems of human decision-making: System 1 that is fast, intuitive, experience based, reactive, and System 2 that is slow, deliberate, analytical. Similarly, octopus intelligence illustrates a model for distributed yet coordinated decision-making between central and edge intelligence. Future power systems must embed coordinated intelligence that operates across diverse timescales and with placement at both edge and centralized levels. This paper maps decision-intelligence in power systems against System 1 and 2 and edge-central architecture paradigms based on the trade-offs inherent in decision making such as speed/latency, energy cost/compute, accuracy, and robustness. The framework inspires an agentic intelligence architecture – laying the foundation for trustworthy, autonomous power systems of the future.

Real-world control systems must achieve long-horizon objectives (liveness) while respecting continuous-time safety constraints, a combination that motivates hierarchical layered control architectures (LCAs). Existing LCA research, however, lacks (i) a uniform specification language across discrete planning and continuous execution, (ii) formal guarantees that specifications are preserved when interconnecting subsystems at heterogeneous time scales, and (iii) compositional separation between layers, owing to reliance on naive input-filtering laws. This paper addresses all three gaps by importing the safety–liveness decomposition into a heterogeneous assume–guarantee framework: safety is enforced by invariance at the continuous-time layer, while liveness is achieved through refinement at the discrete-time layer, with inter-layer coordination formalized via vertical refinement and timing-compatibility conditions. We instantiate this contract with a novel LCA combining an MPC planner, an input-to-state stabilizing (ISS) low-level controller, and a reference-governor bridge, and validate it on a Hybrid Energy Storage System (HESS) comprising a battery and a supercapacitor.

This work introduces HyParLyVe (Hyperplane Partitioned Lyapunov Verifier), a novel algorithm for sound and complete verification of neural Lyapunov candidates by interpreting shallow ReLU networks as hyperplane arrangements. This perspective reduces positive definiteness verification to a finite set of vertex evaluations, and the decrease condition to a bounded optimization problem over each region. We formally prove correctness of the proposed verification procedures and demonstrate that HyParLyVe achieves significant speedups over state-of-the-art methods.

In contrast to radio frequency (RF), where the modulation bandwidth is restricted by regulations to avoid interference, the available bandwidth in optical wireless communication (OWC) is primarily constrained by system components. To investigate their frequency characteristics, we review the bandwidth limitations of components in the PHY layer of OWC links. Such limitations typically contribute to a decay in the frequency profile of the gain-to-noise ratio (GNR), which can be modeled by a pole-zero transfer function that is generally low-pass. To boost performance, we optimize the signal power spectral density (PSD) of DC-biased optical orthogonal frequency-division multiplexing (DCO-OFDM) which allows for modulation beyond the 3-dB end-to-end bandwidth. We express the Lagrangian-optimized throughput versus the maximum modulation frequency, for an M-zero N-pole low-pass GNR optical link. For optimization implementation, we compare a novel Newton-based algorithm with a newly accelerated version of the Hughes-Hartogs (HH) algorithm, to find the (near-) optimal signal spectrum for theoretical, measured and simulated GNR responses. As demonstrated numerically, employing the proposed multi-stage response model for optimization improves performance in dealing with the successive bandwidth limitations.

MiniMind-O is an open 0.1B-scale omni model built on the MiniMind language model. It accepts text, speech, and image inputs, and returns both text and streaming speech. The release includes model code, checkpoints, and the main Parquet training datasets for text-to-audio, image-to-text, and audio-to-audio training, making the complete interaction loop directly inspectable. The model uses a full MiniMind backbone as the Thinker and an independent four-layer Talker made from MiniMind blocks. Frozen SenseVoice-Small and SigLIP2 encoders provide speech and image features, which are mapped by lightweight MLP projectors and injected at modality-placeholder positions. The Talker reads a middle-layer Thinker state together with an autoregressive eight-layer Mimi-code buffer. Speaker control is handled by a dedicated speaker token, right-aligned reference codec prompts, and precomputed CAM++ speaker embeddings, so voice conditioning remains part of the audio-code context rather than a separate TTS module. With a 768-dimensional Talker, the dense and MoE variants reach average CERs of 0.0897 and 0.0900 in Thinker–Talker consistency evaluation, with overall voice-cloning similarities of 0.5995 and 0.5937. Beyond reporting a working system, the paper identifies three scale-critical design choices for small omni models: middle-layer semantic bridging, a released multimodal sequence format, and a parameter-efficient eight-codebook interface.

We introduce a deterministic sparse Fourier transform framework based on a keyed multi-view gating mechanism that leverages 2-of-3 Chinese Remainder Theorem (CRT) agreement to reduce candidate frequency pairs from $O(k^2)$ to $\Theta(k)$ under sparse-regime assumptions. Unlike prior approaches that rely on randomized bucketization for candidate formation, the proposed method provides deterministic structure with probabilistic guarantees arising only from assumptions on frequency placement and independence of affine hashing across views. The algorithm is realized through a peeling-based recovery procedure that extracts frequencies directly from singleton bins without explicit pair enumeration. A recursive self-reduction eliminates the $O(\sqrt{N} \log N)$ preprocessing floor, yielding $O(\sqrt{N} \log k)$ expected identification time while maintaining an $O(N \log N)$ worst-case bound via deterministic dense-FFT fallback. A multi-view verification framework combining Parseval energy consistency and bin-wise residual checks ensures bounded failure probability and no false negatives under correct verification. This establishes a framework combining deterministic candidate reduction, sublinear expected complexity, and worst-case safety guarantees within a CRT-based sparse FFT architecture.

Stem retrieval, the task of matching missing stems to a given audio submix, is a key challenge currently limited by models that discard temporal information. We introduce PHALAR, a contrastive framework achieving a relative accuracy increase of up to $\approx 70\%$ over the state-of-the-art while requiring $<50\%$ of the parameters and a 7$\times$ training speedup. By utilizing a Learned Spectral Pooling layer and a complex-valued head, PHALAR enforces pitch-equivariant and phase-equivariant biases. PHALAR establishes new retrieval state-of-the-art across MoisesDB, Slakh, and ChocoChorales, correlating significantly higher with human coherence judgment than semantic baselines. Finally, zero-shot beat tracking and linear chord probing confirm that PHALAR captures robust musical structures beyond the retrieval task.

Unmanned aerial vehicles (UAVs) often collaborate by collecting and offloading sensing streams to an edge server, where a deep neural network (DNN) model performs cross-stream alignment, fusion, and inference. However, the coupling between wireless offloading and DNN execution makes end-to-end latency minimization challenging. To address this issue, this paper investigates efficient edge inference in multi-UAV networks. Specifically, a multi-UAV collaborative edge inference model is first established, in which UAV sensing streams are processed by a multi-branch DNN on a multi-core accelerator. Based on this model, an end-to-end latency minimization problem with a synchronization penalty is formulated. A genetic algorithm (GA)-based full joint scheduler, termed GA-Joint, is then developed to obtain high-quality scheduling solutions. To reduce the search complexity, two lightweight variants, termed GA-DAG and GA-DACS, are further proposed. Simulation results demonstrate that the proposed GA-based scheduling algorithms achieve lower end-to-end latency than Decoupled-Greedy and Joint-Greedy, which represent decoupled and joint greedy scheduling schemes, respectively, in most cases. Furthermore, GA-DACS achieves performance close to that of GA-Joint in many cases and even delivers slightly lower latency in certain scenarios.

Multipath effects significantly influence the quality of microwave imaging in highly reflective environments, while the physical measurement aperture size constrains resolution. It is shown that by exploiting multipath reflections, improved resolution can be achieved while maintaining acceptable artifact levels. Based on image theory, strong scattered fields from an ideal reflection plane can be represented by virtual image sources. Using a single-frequency inverse source solver, the spatially distributed original and image sources are reconstructed and separated, which allows separate application of the imaging algorithm for both of them. The coherent combination of both sets of sources together with appropriate phase correction results in an effective aperture expansion that yields superior resolution. Furthermore, this separation strategy significantly mitigates interference artifacts. Simulation results, supported by theoretical analysis and comparison with a ray-tracing enhanced backprojection algorithm are presented to verify the effectiveness of the proposed approach.

An inverse source reconstruction (ISR) based 3-D near-field (NF) passive radar microwave imaging method utilizing modulated signals is presented. The modulated signals from a non-cooperative transmitter are scattered by the targets of interest and captured by a fixed reference antenna together with an NF scanning probe at different positions. By normalizing with the reference signals, spatial coherence of the NF observations is obtained, and a single-frequency inverse source solver is subsequently utilized for ISR and image generation. A corresponding phase correction method is proposed for the coherent superposition of multi-frequency images and verified through simulations. In addition, it is shown that for realistic narrowband signals, an incoherent imaging approach is sufficient. The presented technical scheme is validated using a planar scanning system in a typical office room, where software-defined radios are employed for the transmitting and receiving of narrowband orthogonal frequency-division multiplexing signals at Wi-Fi operating frequencies. With the aid of background subtraction and reference signals, images of a mannequin placed in the office room are successfully obtained.

This paper presents a welfarist approach to fair active power curtailment in distribution grids with distributed photovoltaics. We address the lack of consistent axiomatic foundations in existing ad-hoc curtailment rules by modeling the decision as a social choice problem over feasible operating points and by deriving curtailment objectives from a set of foundational axioms that express principled stances on fairness and grid access rights. Rather than relying on the typically assumed full comparability of utilities, which can lead to undesirable outcomes in heterogeneous residential systems, we adopt a cardinal non-comparability stance on utilities. This approach requires far fewer assumptions about prosumers' private preferences while providing a rigorous basis for fair social ranking. We then present a unified framework that demonstrates that existing curtailment schemes represent specific instances of the Kalai-Smorodinsky rule applied to different normative reference points. This perspective offers grid operators an auditable, axiomatic foundation for justifying fairness in local energy systems.

Classical stochastic control assumes perfect knowledge of the uncertainty affecting the plant. In practice, however, such information is often incomplete. To address this limitation, we consider a distributionally robust control (DRC) problem with ambiguity sets defined via the Sinkhorn discrepancy. Compared to other discrepancy measures based on optimal transport, such as the popular Wasserstein distance, the Sinkhorn divergence does not constrain the worst-case distribution to be discrete, and allows combining observed data with prior knowledge in the form of a reference distribution, making this choice particularly suitable when only few noise samples are available for control design. We first study the properties of Sinkhorn ambiguity sets, establishing convexity and weak compactness under standard assumptions. We then leverage these results to prove that, the Sinkhorn DR linear quadratic control problem over linear policies can be solved through convex programming-even in the presence of DR safety constraints. Finally, we validate our theoretical findings and demonstrate the effectiveness of the proposed approach on a trajectory planning example.

This paper investigates the economic impact of vehicle-home-grid integration in the presence of rooftop PV, by proposing an online, aging-aware energy management strategy for an electric vehicle (EV), a household, and the electrical grid. The model predictive control-based framework explicitly exploits vehicle-to-grid (V2G) and vehicle-to-home (V2H) operation to perform energy arbitrage, increase self-consumption, while respecting user-driven driving requirements. The framework optimizes power flows over a shrinking horizon using a detailed battery aging model that captures both calendar and cycle degradation, and a Transformer-based forecaster that provides short-term predictions of household load and solar irradiance. For a one-year horizon, the proposed strategy yields the lowest annual cost among all evaluated strategies. Adding PV increases the annual profit by EUR 1060.7 compared to operating without PV, and yields an economic gain of up to EUR 2410.5 over smart unidirectional charging, at the expense of only 1.27% extra battery degradation. Even in the least favorable case with no remuneration for V2G energy, bidirectional operation still delivers an economic gain of EUR 355.8 through V2H. Sensitivity analyses over V2G price ratio, EV battery size, household demand, and pickup time uncertainty confirm that these benefits persist across a wide range of scenarios and highlight the potential of EVs as active energy nodes, enabling sustainable energy management and cost-effective battery usage in real-world conditions.

We derive a physics-based, closed-form model linking antenna directivity to the root-mean-square (RMS) delay spread and mean excess delay in large reverberant indoor environments. Starting from the Rician K-factor-the ratio of line-of-sight (LOS) to scattered power we show that K scales with the total transmit-plus-receive (Tx+Rx) antenna gain through a single reverberance factor that quantifies scatter anisotropy. For an arbitrary scatter power delay profile (PDP), we derive a general identity connecting sigma, tau, and K; the exponential scatter model is the physically motivated special case. Ray-tracing simulations over 100 random link placements in a 57300 m3 industrial hall at 75 GHz validate the model. Compact design rules map target delay-spread values to the minimum required antenna gain, enabling wideband mmWave industrial links.

Preserving speech intelligibility is a minimum requirement for speech codecs in communication. Recently, very low-bitrate neural codecs have gained interest for replacing classical codecs, reinforcing the need to evaluate whether intelligibility is preserved in realistic scenarios. In this paper, we evaluate the intelligibility and listening effort of classical and neural speech codecs in clean and noisy conditions. Further, we assess the impact of speech enhancement (SE) before coding, simulating a possible audio processing pipeline. The results show that classical codecs are more noise robust than neural codecs. Further, SE can lead to significant intelligibility and listening effort improvements for codecs otherwise negatively affected by noise. Listening effort reveals nuanced differences when intelligibility is saturated. Lastly, objective intelligibility based on automatic speech recognition is highly correlated with subjective intelligibility scores averaged per condition.

We study day-ahead transmission topology control for high-voltage grid operation under $N-1$ security constraints. The operational task is to select, over a 24-hour horizon, a sequence of substation topologies obtained via busbar-coupler switching to relieve line overloads while limiting switching effort and topological complexity. We formulate this task as a sequential multi-objective optimization problem with four objectives used in TSO decision making: worst-case $N-1$ line loading, maximum topological depth, number of topology changes, and time spent outside the reference topology. We propose an exact block algorithm that exploits the temporal structure of topology plans: consecutive hours with the same topology are represented as blocks, enabling enumeration of the complete Pareto front over the admissible set of topologies under fixed operational bounds on depth and switching. We also develop a tailored NSGA-III-based evolutionary heuristic and evaluate it against the exact front. Using real operational data from the Dutch high-voltage transmission grid operated by TenneT, the block algorithm computes the exact front for a highly congested day in under three minutes after topology-level load-flow preprocessing. The exact front reveals low-switching plans with no DC $N-1$ thermal overloads that the tested evolutionary search fails to find. The proposed method, therefore, provides both a practical day-ahead decision-support tool for transmission operators and a benchmark for heuristic and learning-based topology-control methods.

We consider a novel algorithm, for the completion of partially observed low-rank tensors, as a generalization of matrix completion. The proposed low-rank tensor completion (TC) method builds on the conventional nuclear norm (NN) minimization-based low-rank TC paradigm, by leveraging the alternating direction method of multipliers (ADMM) optimization framework. To that extend the original NN minimization problem is reformulated into multiple subproblems, which are then solved iteratively via closed-form proximal operators, making use of over-relaxation and an adaptive penalty parameter update scheme, to further speed up convergence and improve the overall performance of the method. Simulation results demonstrate the superior performance of the new method in terms of normalized mean square error (NMSE), compared to the conventional state-of-the-art (SotA) techniques, including NN minimization approaches, as well as a mixture of the latter with a matrix factorization approach, while its convergence can be significantly improved by initializing the algorithm with the solution of the SotA.

We study the problem of global exponential stabilization of a force- and torque-controlled unicycle model in discrete time. To this end, we extend a recently introduced approach to model predictive control (MPC) in which a flexible number of inputs is implemented in every iteration. We present the first flexible-step MPC protocol with state-dependent weights for average descent. Notably, the proposed method relies neither on a suitable design of running or terminal cost functions nor on a suitable choice of terminal constraints. Instead, stability is guaranteed through a generalized discrete-time control Lyapunov function. We establish a new theoretical framework for global exponential stabilization of general nonlinear discrete-time control systems by flexible-step MPC. The obtained results go beyond the unicycle example. However, given the importance of the unicycle dynamics, we make that a focal point of our work. For the particular case of the dynamic (second-order) unicycle model, we show that global exponential stability cannot be attained in the classical sense, but in a slightly weaker sense. The proposed flexible-step MPC method is shown to induce the best possible notion of global exponential stability for this model. We provide explicit rules for the choice of parameters, which guarantee feasibility and global exponential stability. Our numerical simulations show that the discrete MPC method also works very well in applications to a continuous-time torque-actuated unicycle.

Spline functions are smooth piecewise polynomials widely used for interpolation and smoothing, and nonnegative spline smoothing is also studied for nonnegative data. Previous research used sufficient conditions for the nonnegativity of spline functions because necessary and sufficient conditions for the nonnegativity are infinitely many linear inequalities, which are difficult to handle in optimization algorithms. This conventional method quickly computes a nonnegative spline function via quadratic programming (QP), but the optimal solution may be slightly degraded by using the sufficient condition. In this paper, we express 1D nonnegative spline smoothing as a convex semi-infinite programming (CSIP) problem that directly deals with infinite inequality constraints. As optimization algorithms for general SIP problems, local-reduction-based sequential quadratic programming (LRSQP) methods are used, but their convergence performance deteriorates for certain problems due to multiple approximations during updates. To quickly solve the CSIP problem, we propose a cutting-plane (CP) method. In the proposed method, after giving an initial solution by the standard spline smoothing, we find the minimizer of each polynomial piece by using the closed-form solution for a low-degree polynomial or a numerical solution for a high-degree polynomial. If the minimum value is negative, then such minimizer is added into the constraint of the problem to guarantee the nonnegativity. This constrained problem is quickly solved via QP, and we find the minimizer of each polynomial piece again. We repeat these procedures until there are no negative minimum values. The proposed method guarantees convergence to the original CSIP solution, and its effectiveness is demonstrated in numerical experiments by comparison to the conventional methods, QP under the sufficient condition and CSIP using the MATLAB LRSQP algorithm.

In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control architecture unifies planning with control design. Concurrently, control barrier functions are designed on a transformed disk version of the original nonconvex and geometrically complex robotic workspace, thus amending the issue of deadlocks. Simulations of the proposed method indicate effective handling of multiple overlapping spatio-temporal tasks even in the face of input saturation.