29,691 research outputs found

    Random Finite Set Theory and Optimal Control of Large Collaborative Swarms

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    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

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    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

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    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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