Diffusion scientifique
Dernières publications
Segment-Safe Control Barrier Functions for Model Predictive Control
Communication lors d'une conférence
Andrea Pagnini, Ezio Malis
Ensuring inter-sample safety for continuous-time robotic systems under discrete Model Predictive Control (MPC) remains a key challenge. Standard discrete MPC risks safety violations between sampling instants, while existing conservative solutions often sacrifice performance. We…
Focus on Relevant Road Users with Multi-Rules Reachable Sets
Communication lors d'une conférence
Monica Fossati, Ezio Malis, Philippe Martinet
Autonomous driving in urban environments poses significant challenges due to the presence of numerous heterogeneous agents, which may or may not comply with traffic rules. Considering all agents in the scene when exploring possible future scenarios can be computationally…
Learning-Based Fusion for Robust Multi-Spectral Visual Servoing
Communication lors d'une conférence
Enrico Fiasché, Siddharth Singh Savner, Ezio Malis, Philippe Martinet
Multispectral sensors, which measure multiple wavelength bands beyond the standard red, green, and blue channels, capture richer information than conventional RGB cameras. Such enriched data is especially valuable in visual servoing, where robot control critically depends on…
T-CoLoc: Leveraging Tethers for Reliable Co-Localization within an Underwater ROV Chain
Communication lors d'une conférence
Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel
Underwater Remotely Operated Vehicles (ROVs) exchange data with a control station via a communication cable. One or more intermediate robots can be placed along this tether to manage its shape and minimize the mechanical effects on the ROV. This work deals with the localization…
Compressible Tasks in Green Data Centers as Grid-Forming Support Assets
Communication lors d'une conférence
Anna Vandi, Ramon Aparicio-Pardo, Guillaume Urvoy-Keller
Renewable microgrids can help data centers cope with the increasing demand for cloud-based services, but they pay the price of the double uncertainty of workload and renewable resource availability. The mismatch between demand and renewable supply prevents microgrid-based data…
The Closed Hull Game and the Closed Interval Game
Communication lors d'une conférence
Samuel N Araújo, Fabricio Benevides, Nicolas Martins, Nicolas Nisse, Rudini Sampaio
Given a set S of vertices in a graph G, its geodesic interval is the set I(S) containing S and all vertices on a shortest path between vertices of S. A set S is convex if I(S) = S. Moreover, the convex hull H(S) of S is the smallest convex set containing S. In 1984, Harary…