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Feb 10, 2016
Robotics

Hazard analysis of human--robot interactions with HAZOP--UML

New safety critical systems are about to appear in our everyday life: advanced robots able to interact with humans and perform tasks at home, in hosp…
Oct 16, 2014
Conferences: IROS
Robotics

Partial Force Control of Constrained Floating-Base Robots

Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We presen…
Apr 26, 2011
Optimization and Control
Systems and Control

Inner approximations for polynomial matrix inequalities and robust …

Following a polynomial approach, many robust fixed-order controller design problems can be formulated as optimization problems whose set of feasible …
May 20, 2015
Robotics

Decentralized Simultaneous Multi-target Exploration using a Connected…

This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a t…
May 21, 2016
Optimization and Control
Robotics
Systems and Control
Dynamical Systems

Full-Pose Tracking Control for Aerial Robotic Systems with Laterall…

In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the contro…
Oct 27, 2014
Optimization and Control

Tractable approximations of sets defined with quantifiers

Given a compact basic semi-algebraic set $K\subset R^n\times R^m$, a simple set $B$ (box or ellipsoid), and some semi-algebraic function $f$, we cons…
Sep 01, 2010
Optimization and Control

A new look at nonnegativity on closed sets and polynomial optimization

We first show that a continuous function f is nonnegative on a closed set $K\subseteq R^n$ if and only if (countably many) moment matrices of some si…
May 06, 2009
Robotics

Soft Motion Trajectory Planner for Service Manipulator Robot

Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial roboti…
Sep 23, 2016
Systems and Control
Dynamical Systems

Determinability and state estimation for switched differential-algebr…

The problem of state reconstruction and estimation is considered for a class of switched dynamical systems whose subsystems are modeled using linear …
Mar 06, 2017
Statistics Theory
Optimization and Control

D-optimal design for multivariate polynomial regression via the Chr…

We present a new approach to the design of D-optimal experiments with multivariate polynomial regressions on compact semi-algebraic design spaces. We…
Jun 28, 2017
Analysis of PDEs

Lyapunov stability analysis of a string equation coupled with an or…

This paper considers the stability problem of a linear time invariant system in feedback with a string equation. A new Lyapunov functional candidate …
Apr 10, 2019
Robotics
Artificial Intelligence
Systems and Control

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynami…

A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the co…
Aug 19, 2010
Analysis of PDEs
Optimization and Control

In this section, the local stability of the nonlinear inverse problem stated in Theorem 1.2 will be proved following the ideas of [8] and [22]. The proof is splited in several steps.

Lipschitz stability in an inverse problem for the Kuramoto-Sivashinsk…

This paper presents an inverse problem for the nonlinear 1-d Kuramoto-Sivashinsky (K-S) equation. More precisely, we study the nonlinear inverse prob…
Jul 24, 2018
Optimization and Control
Analysis of PDEs

Stabilization of an unstable wave equation using an infinite dimensio…

This paper deals with the stabilization of an anti-stable string equation with Dirichlet actuation where the instability appears because of the uncon…
Oct 18, 2013
Analysis of PDEs

Stability of an inverse problem for the discrete wave equation and …

Using uniform global Carleman estimates for discrete elliptic and semi-discrete hyperbolic equations, we study Lipschitz and logarithmic stability fo…
Mar 01, 2019
Cryptography and Security
Computer Vision
Machine Learning

TamperNN: Efficient Tampering Detection of Deployed Neural Nets

Neural networks are powering the deployment of embedded devices and Internet of Things. Applications range from personal assistants to critical ones …
Nov 14, 2019
Artificial Intelligence

In this paper, we advocate using the results of setwise contests between candidates to design social welfare functions that are less myopic than those only based on pairwise comparisons. In this direction, we have studied a k-wise generalization of …

Beyond Pairwise Comparisons in Social Choice: A Setwise Kemeny Aggr…

In this paper, we advocate the use of setwise contests for aggregating a set of input rankings into an output ranking. We propose a generalization of…
Oct 03, 2019
Machine Learning
Cryptography and Security

The Bouncer Problem: Challenges to Remote Explainability

The concept of explainability is envisioned to satisfy society's demands for transparency on machine learning decisions. The concept is simple: like …
Jul 21, 2014
Analysis of PDEs

This section is devoted to the proof of Theorem 4. The proof relies on a compactness-uniqueness argument and the observability estimate (Theorem 5) on the whole network.

Inverse problem on a tree-shaped network

In this article, we prove a uniqueness result for a coefficient inverse problems regarding a wave, a heat or a Schr\"odinger equation set on a tree-s…
Mar 01, 2019
Cryptography and Security
Computer Vision
Machine Learning

TamperNN: Efficient Tampering Detection of Deployed Neural Nets

Neural networks are powering the deployment of embedded devices and Internet of Things. Applications range from personal assistants to critical ones …
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