Publications related to Variable Threshold Algorithm for Division of Labor Analyzed as a Dynamical System

Stability: a search for structure

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

EPFL2024

The Strong Integral Input-to-State Stability Property in Dynamical Flow Networks

Nils Gustav Nilsson

Dynamical flow networks serve as macroscopic models for, e.g., transportation networks, queuing networks, and distribution networks. While the flow dynamics in such networks follow the conservation of mass on the links, the outflow from each link is often ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Dynamical system approach to navigation around obstacles

Aude Billard, Aradhana Nayak

In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...

2024

Additive and geometric transversality of fractal sets in the integers

Florian Karl Richter

By juxtaposing ideas from fractal geometry and dynamical systems, Furstenberg proposed a series of conjectures in the late 1960's that explore the relationship between digit expansions with respect to multiplicatively independent bases. In this work, we in ...

2024

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

Collective motion in a sheet of microswimmers

Viktor Skultéty

Self-propelled particles such as bacteria or algae swimming through a fluid are non-equilibrium systems where particle motility breaks microscopic detailed balance, often resulting in large-scale collective motion. Previous theoretical work has identified ...

Nature Portfolio2024

Identifying invariant solutions of wall-bounded three-dimensional shear flows using robust adjoint-based variational techniques

Tobias Schneider, Omid Ashtari

Invariant solutions of the Navier-Stokes equations play an important role in the spatiotemporally chaotic dynamics of turbulent shear flows. Despite the significance of these solutions, their identification remains a computational challenge, rendering many ...

Cambridge University Press2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Backtracking Dynamical Cavity Method

Freya Behrens, Lenka Zdeborová, Barbora Hudcová

The cavity method is one of the cornerstones of the statistical physics of disordered systems such as spin glasses and other complex systems. It is able to analytically and asymptotically exactly describe the equilibrium properties of a broad range of mode ...

American Physical Society2023

Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems

Colin Neil Jones, Melanie Nicole Zeilinger, Xuan Truong Nghiem, Roland Schwan

Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to ...

IEEE2023

Community-Aware Group Testing

Suhas Diggavi, Christina Fragouli, Pavlos Nikolopoulos, Sundara Rajan Srinivasavaradhan

Group testing is a technique that can reduce the number of tests needed to identify infected members in a population, by pooling together multiple diagnostic samples. Despite the variety and importance of prior results, traditional work on group testing ha ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Spectral and thermodynamic properties of interacting electrons with dynamical functionals

Tommaso Chiarotti

Empowered by ever-increasing computational power and algorithmic developments, electronic-structure simulations continue to drive research and innovation in materials science. In this context, ab-initio calculations offer an unbiased platform for the under ...

EPFL2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Seismic Testing of Adjacent Interacting Masonry Structures

Katrin Beyer, Andrea Penna, Igor Tomic

Masonry buildings form building aggregates around the world in historical centers, which developed as the layout of the city or village densified. In these aggregates, adjacent buildings can share structural walls, connected at the interfaces by interlocki ...

2023

A Comparison of Residual-based Methods on Fault Detection

Olga Fink, Gaëtan Michel Frusque

An important initial step in fault detection for complex industrial systems is gaining an understanding of their health condition. Subsequently, continuous monitoring of this health condition becomes crucial to observe its evolution, track changes over tim ...

PHM Society2023

Specific Gestalt principles cannot explain (un)crowding

Michael Herzog, Oh-Hyeon Choung, Einat Rashal

The standard physiological model has serious problems accounting for many aspects of vision, particularly when stimulus configurations become slightly more complex than the ones classically used, e.g., configurations of Gabors rather than only one or a few ...

2023

Data-driven Methods for Control: from Linear to Lifting

Yingzhao Lian

The progress towards intelligent systems and digitalization relies heavily on the use of automation technology. However, the growing diversity of control objects presents significant challenges for traditional control approaches, as they are highly depende ...

EPFL2023

On the slip burst amplitude cutoff in dislocation-rich microcrystals

Andreas Mortensen, Luciano Borasi

The plastic deformation of small-scale face-centered cubic metals exhibits intermittent slip burst events that appear on stress-strain curves as sudden strain jumps and/or load drops. These events are generally attributed to the avalanche-like cooperative ...

Pergamon-Elsevier Science Ltd2023

Follow the Clairvoyant: an Imitation Learning Approach to Optimal Control

John Lygeros, Giancarlo Ferrari Trecate, Luca Furieri, Andrea Martin, Florian Dörfler

We consider control of dynamical systems through the lens of competitive analysis. Most prior work in this area focuses on minimizing regret, that is, the loss relative to an ideal clairvoyant policy that has noncausal access to past, present, and future d ...

Elsevier2023