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arXiv 2025年

作者： Bramblett, Lauren Reasoner, Jonathan Bezzo, Nicola Departments of Systems and Information Engineering and Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904 United States

A Multi-robot system (MRS) provides significant advantages for intricate tasks such as environmental monitoring, underwater inspections, and space missions. However, addressing potential communication failures or the lack of communication infrastructure in these fields remains a challenge. A significant portion of MRS research presumes that the system can maintain communication with proximity constraints, but this approach does not solve situations where communication is either non-existent, unreliable, or poses a security risk. Some approaches tackle this issue using predictions about other robots while not communicating, but these methods generally only permit agents to utilize first-order reasoning, which involves reasoning based purely on their own observations. In contrast, to deal with this problem, our proposed framework utilizes Theory of Mind (ToM), employing higher-order reasoning by shifting a robot’s perspective to reason about a belief of others observations. Our approach has two main phases: i) an efficient runtime plan adaptation using active inference to signal intentions and reason about a robot’s own belief and the beliefs of others in the system, and ii) a hierarchical epistemic planning framework to iteratively reason about the current MRS mission state. The proposed framework outperforms greedy and first-order reasoning approaches and is validated using simulations and experiments with heterogeneous robotic systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Multipurpose robots

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Invertibility of Discrete-Time Linear systems with Sparse Inputs 63

Invertibility of Discrete-Time Linear Systems with Sparse In...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Poe, Kyle Mallada, Enrique Vidal, Rene University of Pennsylvania Applied Mathematics and Computational Science Group PA19104 United States Johns Hopkins University Mallada Is with the Department of Electrical and Computer Engineering MD21218 United States University of Pennsylvania Radiology Computer and Information Science Statistics and Data Science Departments of Electrical and Systems Engineering PA19104 United States

ISBN: (纸本)9798350316339

One of the fundamental problems of interest for discrete-time linear systems is whether its input sequence may be recovered given its output sequence, a.k.a. the left inversion problem. Many conditions on the state space geometry, dynamics, and spectral structure of a system have been used to characterize the well-posedness of this problem, without assumptions on the inputs. However, certain structural assumptions, such as input sparsity, have been shown to translate to practical gains in the performance of inversion algorithms, surpassing classical guarantees. Establishing necessary and sufficient conditions for left invertibility of systems with sparse inputs is therefore a crucial step toward understanding the performance limits of system inversion under structured input assumptions. In this work, we provide the first necessary and sufficient characterizations of left invertibility for linear systems with sparse inputs, echoing classic characterizations for standard linear systems. The key insight in deriving these results is in establishing the existence of two novel geometric invariants unique to the sparseinput setting, the weakly unobservable and strongly reachable subspace arrangements. By means of a concrete example, we demonstrate the utility of these characterizations. We conclude by discussing extensions and applications of this framework to several related problems in sparse control. © 2024 IEEE.

关键词： State space methods

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A NOVEL MODEL FOR THE MATERIAL SELECTION OF SMART OBJECTS FOR HAND-REHABILITATION: A CASE STUDY 24

A NOVEL MODEL FOR THE MATERIAL SELECTION OF SMART OBJECTS FO...

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24th International Conference on engineering design, ICED 2023

作者： Bos, Mikaël Ivar Karahanoǧlu, Armaǧan Haarman, Juliet Nizamis, Kostas Chair of Systems Engineering and Multidisciplinary Design Department of Design Production and Management Faculty of Engineering Technology University of Twente Enschede Netherlands Interaction Design Research Group Department of Design Production and Management Faculty of Engineering Technology University of Twente Enschede Netherlands Human Media Interaction Group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede Netherlands

Home hand rehabilitation for stroke is becoming increasingly important due to logistic and financial challenges. Developing Daily-life Integrated Hand-rehabilitation Products (DIHP) aims to enable the application of at-home rehabilitation. The materials of these products are essential for their success, however, selecting materials for DIHP has not been investigated yet. Previous research on material selection showed that it is done strictly on material properties or based on a human-centered approach. Hence, in this study, we propose a hybrid model for choosing materials for DIHP. To achieve this, we first combined the findings of previous material selection processes into a comprehensive material selection model. We applied this model in a case study, in which we first selected three materials based on their properties. Following, we 3d printed a DIHP out of the chosen materials and tested the feeling of the materials with multiple expert groups. Our findings suggest that the proposed material selection method is promising and highlights that our comprehensive model provides more insights when compared to a strict material property-based selection. © The Author(s), 2023. Published by Cambridge University Press.

关键词： 3D printing

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Characterizing Structured versus Unstructured Environments based on Pedestrians’ and Vehicles’ Motion Trajectories

arXiv

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arXiv 2025年

作者： Golchoubian, Mahsa Ghafurian, Moojan Azad, Nasser Lashgarian Dautenhahn, Kerstin Department of Systems Design Engineering University of Waterloo Canada Department of Electrical and Computer Engineering University of Waterloo Canada

Trajectory behaviours of pedestrians and vehicles operating close to each other can be different in unstructured compared to structured environments. These differences in the motion behaviour are valuable to be considered in the trajectory prediction algorithm of an autonomous vehicle. However, the available datasets on pedestrians’ and vehicles’ trajectories that are commonly used as benchmarks for trajectory prediction have not been classified based on the nature of their environment. On the other hand, the definitions provided for unstructured and structured environments are rather qualitative and hard to be used for justifying the type of a given environment. In this paper, we have compared different existing datasets based on a couple of extracted trajectory features, such as mean speed and trajectory variability. Through K-means clustering and generalized linear models, we propose more quantitative measures for distinguishing the two different types of environments. Our results show that features such as trajectory variability, stop fraction and density of pedestrians are different among the two environmental types and can be used to classify the existing datasets. Copyright © 2025, The Authors. All rights reserved.

关键词： Trajectories

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Towards Real-Time Generation of Delay-Compensated Video Feeds for Outdoor Mobile Robot Teleoperation

arXiv

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arXiv 2024年

作者： Chakraborty, Neeloy Fang, Yixiao Schreiber, Andre Ji, Tianchen Huang, Zhe Mihigo, Aganze Wall, Cassidy Almana, Abdulrahman Driggs-Campbell, Katherine Departments of Electrical and Computer Engineering Computer Science Industrial and Enterprise Systems Engineering The University of Illinois Urbana-Champaign United States

Teleoperation is an important technology to enable supervisors to control agricultural robots remotely. However, environmental factors in dense crop rows and limitations in network infrastructure hinder the reliability of data streamed to teleoperators. These issues result in delayed and variable frame rate video feeds that often deviate significantly from the robot’s actual viewpoint. We propose a modular learning-based vision pipeline to generate delay-compensated images in real-time for supervisors. Our extensive offline evaluations demonstrate that our method generates more accurate images compared to state-of-the-art approaches in our setting. Additionally, ours is one of the few works to evaluate a delay-compensation method in outdoor field environments with complex terrain on data from a real robot in real-time. Resulting videos and code are provided at https://***/***/comp-teleop. © 2024, CC BY.

关键词： Agricultural robots

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Robo ludens: Game design techniques applied in HRI experiments

Robo ludens: Game design techniques applied in HRI experimen...

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2021 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021

作者： Muñoz Cardona, John Edison Dautenhahn, Kerstin Systems Design Engineering Department University of Waterloo WaterlooON Canada Electrical and Computer Engineering System Design Engineering Departments University of Waterloo WaterlooON Canada

ISBN: (纸本)9781450382908

Games have been used extensively to study human behavior. Researchers in the field of human-robot interaction (HRI) are becoming more aware of the importance of designing compelling and playful games to study interrelationships among players. Despite the growing interest, the use of game design techniques in the creation of playful experiences for HRI experiments is still in its infancy and more multidisciplinary activities should be promoted to foster the convergence between game research and HRI. This workshop aims at discussing the value of using iterative game design techniques to integrate playful experiences using social robots for HRI experiments. More concretely, we want to explore tools, approaches and methods used in previous experiences for appropriate design of interactive games in HRI. Furthermore, based on previous research, a taxonomy for game design using social robots will be presented and attendees will have access to hands-on material created to facilitate the design of interactive games considering important aspects of the robotic systems to maximize the fun experience. We hope this workshop will bring to HRI researchers, game designers, roboticists, and technology enthusiasts enlightening thoughts and ideas to confront the often complicated and time-demanding process of designing compelling games for HRI experiments. © 2021 Owner/Author.

关键词： Human robot interaction

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Sustainable Smart Road: A Unified Cost Estimation Model for Renewable-Powered Smart Roads 4

Sustainable Smart Road: A Unified Cost Estimation Model for ...

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4th IEEE International Conference on electrical, computer, and Energy Technologies, ICECET 2024

作者： Colombo, Cristian Giovanni Longo, Michela Nocera, Leonardo Ota, Ryosuke Zaninelli, Dario Politecnico di Milano Department of Energy Milan Italy Politecnico di Milano Milan Italy Tokyo Metropolitan University Faculty of Systems Design Department of Electrical Engineering and Computer Science Tokyo Japan

ISBN: (纸本)9798350395914

With new stringent policies affecting the transport and generation sectors, new technologies have emerged to drive the electric and technological transition. One of these is the smart road, a highly sensorised system to enable the integration of new vehicles and safety technologies. In this paper, the implementation of a smart road is simulated, first from an energy point of view and then from an economic point of view, by identifying the power demand of components and their cost. Next, the energetic core of the smart road is implemented. The energy core consists of a PV plant capable of powering the infrastructure. In this paper a simulation to test the proposed methodology is implemented. In the case study, a 280.05 kW smart road is powered by an optimally dimensioned PV plant. The production guaranteed by the 283.8 kWp plant will be 389.49 MW h/year and requires 57232. Furthermore, the 234.57 x20AC investment for the plant will represent less than 10% of the total investment, highlighting how renewable integration can be an economic sustainable purpose. Finally, another method to return the investment as quickly as possible will be proposed. © 2024 IEEE.

关键词： PV' Renewable Integration Road Infrastructure Smart Road

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Competitive Multi-armed Bandit Games for Resource Sharing

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IEEE Transactions on Mobile Computing 2025年

作者： Li, Hongbo Duan, Lingjie The Ohio State University Department of Electrical and Computer Engineering ColumbusOH43210 United States Singapore University of Technology and Design Pillar of Engineering Systems and Design 487372 Singapore

In modern resource-sharing systems, multiple agents access limited resources with unknown stochastic conditions to perform tasks. When multiple agents access the same resource (arm) simultaneously, they compete for successful usage, leading to contention and reduced rewards. This motivates our theoretical study of competitive multi-armed bandit (CMAB) games. In this paper, we study a new N-player K-arm competitive MAB game, where non-myopic players (agents) compete with each other to form diverse private estimations of unknown arms over time. Their possible collisions on the same arms and the time-varying nature of arm rewards make the policy analysis here more involved than the existing studies for myopic players. We explicitly analyze the threshold-based structures of the social optimum and the existing selfish policy, showing that the latter causes prolonged convergence times (Formula presented), while the socially optimal policy with coordinated communication reduces it to (Formula presented). Based on the policy comparison, we prove that the competition among selfish players for the best arm can result in an infinite price of anarchy (PoA), indicating an arbitrarily large efficiency loss compared to the social optimum. We further prove that no informational (non-monetary) mechanism (including Bayesian persuasion) can reduce the infinite PoA, as strategic misreporting by non-myopic players undermines such approaches. To address this, we propose a Combined Informational and Side-Payment (CISP) mechanism, which provides socially optimal arm recommendations with proper informational and monetary incentives to players according to their diverse and time-varying private beliefs. Our CISP mechanism keeps ex-post budget balanced for the social planner and ensures truthful reporting from players, thereby achieving the minimum PoA = 1 and the same convergence time as the social optimum. © 2002-2012 IEEE.

关键词： Budget control

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Awareness and Assistance: General Drivers' Cyber Threat Identification and the Role of an In-Vehicle Console Display 27

Awareness and Assistance: General Drivers' Cyber Threat Iden...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： He, Fan Kern, Juliet Fischmeister, Sebastian Burns, Catherine M. University of Waterloo Department of Systems Design Engineering WaterlooONN2L 3G1 Canada University of Waterloo Department of Electrical and Computer Engineering WaterlooONN2L 3G1 Canada

ISBN: (纸本)9798331505929

This online survey-based study investigated human drivers' awareness of cyber threats to automated vehicles from a human-centric perspective. Findings show drivers more readily identify explicit threats, particularly affecting vehicle motion, but struggle to grasp their origins. The study also assesses the effectiveness of Tesla Model 3's console display, as an example of a popular modern vehicle dashboard interface, in aiding threat identification, with drivers viewing it as moderately helpful. However, the driver's performance in identifying threat details is limited. This work's results highlight the challenges drivers face in responding to cyber threats and their need for information displayed for cyber threat diagnostics, actionable guidance, and a potential dedicated operation center for timely, systematic cyber threat management in modern driving systems. © 2024 IEEE.

关键词： Cyber attacks

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Hyperspectral Tensor Completion Using Low-Rank Modeling and Convex Functional Analysis

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IEEE Transactions on Neural Networks and Learning systems 2024年第8期35卷 10736-10750页

作者： Lin, Chia-Hsiang Liu, Yangrui Chi, Chong-Yung Hsu, Chih-Chung Ren, Hsuan Quek, Tony Q. S. National Cheng Kung University Department of Electrical Engineering Tainan70101 Taiwan National Tsing Hua University Department of Electrical Engineering Hsinchu300044 Taiwan National Cheng Kung University Department of Statistics Tainan70101 Taiwan National Central University Center for Space and Remote Sensing Research Taoyuan320317 Taiwan Singapore University of Technology and Design Information Systems Technology and Design Pillar Singapore487372 Singapore National Cheng Kung University Department of Computer Science and Information Engineering Tainan70101 Taiwan

Hyperspectral tensor completion (HTC) for remote sensing, critical for advancing space exploration and other satellite imaging technologies, has drawn considerable attention from recent machine learning community. Hyperspectral image (HSI) contains a wide range of narrowly spaced spectral bands hence forming unique electrical magnetic signatures for distinct materials, and thus plays an irreplaceable role in remote material identification. Nevertheless, remotely acquired HSIs are of low data purity and quite often incompletely observed or corrupted during transmission. Therefore, completing the 3-D hyperspectral tensor, involving two spatial dimensions and one spectral dimension, is a crucial signal processing task for facilitating the subsequent applications. Benchmark HTC methods rely on either supervised learning or nonconvex optimization. As reported in recent machine learning literature, John ellipsoid (JE) in functional analysis is a fundamental topology for effective hyperspectral analysis. We therefore attempt to adopt this key topology in this work, but this induces a dilemma that the computation of JE requires the complete information of the entire HSI tensor that is, however, unavailable under the HTC problem setting. We resolve the dilemma, decouple HTC into convex subproblems ensuring computational efficiency, and show state-of-the-art HTC performances of our algorithm. We also demonstrate that our method has improved the subsequent land cover classification accuracy on the recovered hyperspectral tensor. © 2012 IEEE.

关键词： Convex optimization

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