29,691 research outputs found
Random Finite Set Theory and Optimal Control of Large Collaborative Swarms
Controlling large swarms of robotic agents has many challenges including, but
not limited to, computational complexity due to the number of agents,
uncertainty in the functionality of each agent in the swarm, and uncertainty in
the swarm's configuration. This work generalizes the swarm state using Random
Finite Set (RFS) theory and solves the control problem using Model Predictive
Control (MPC) to overcome the aforementioned challenges. Computationally
efficient solutions are obtained via the Iterative Linear Quadratic Regulator
(ILQR). Information divergence is used to define the distance between the swarm
RFS and the desired swarm configuration. Then, a stochastic optimal control
problem is formulated using a modified L2^2 distance. Simulation results using
MPC and ILQR show that swarm intensities converge to a target destination, and
the RFS control formulation can vary in the number of target destinations. ILQR
also provides a more computationally efficient solution to the RFS swarm
problem when compared to the MPC solution. Lastly, the RFS control solution is
applied to a spacecraft relative motion problem showing the viability for this
real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731
Phaseless computational imaging with a radiating metasurface
Computational imaging modalities support a simplification of the active
architectures required in an imaging system and these approaches have been
validated across the electromagnetic spectrum. Recent implementations have
utilized pseudo-orthogonal radiation patterns to illuminate an object of
interest---notably, frequency-diverse metasurfaces have been exploited as fast
and low-cost alternative to conventional coherent imaging systems. However,
accurately measuring the complex-valued signals in the frequency domain can be
burdensome, particularly for sub-centimeter wavelengths. Here, computational
imaging is studied under the relaxed constraint of intensity-only measurements.
A novel 3D imaging system is conceived based on 'phaseless' and compressed
measurements, with benefits from recent advances in the field of phase
retrieval. In this paper, the methodology associated with this novel principle
is described, studied, and experimentally demonstrated in the microwave range.
A comparison of the estimated images from both complex valued and phaseless
measurements are presented, verifying the fidelity of phaseless computational
imaging.Comment: 18 pages, 18 figures, articl
Theory and Applications of Robust Optimization
In this paper we survey the primary research, both theoretical and applied,
in the area of Robust Optimization (RO). Our focus is on the computational
attractiveness of RO approaches, as well as the modeling power and broad
applicability of the methodology. In addition to surveying prominent
theoretical results of RO, we also present some recent results linking RO to
adaptable models for multi-stage decision-making problems. Finally, we
highlight applications of RO across a wide spectrum of domains, including
finance, statistics, learning, and various areas of engineering.Comment: 50 page
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