arXiv preprints from January 1, 2026 through September 5, 2026 — 01:26:25 EST
This paper presents an energy-based controller for a multiagent robotic system designed to achieve and maintain a specific formation while moving on a plane and avoiding collisions between agents. The controller emulates a network of elementary spring-damper modules connecting pairs of agents. This network, with its de-energized...
Room impulse responses (RIRs) characterize the acoustic environment of a room by capturing how sound propagates and decays within an enclosed space. In applications such as immersive audio rendering, accurate acoustic reconstruction often relies on spatially densely sampled RIRs. This consequently gives rise to a large volume of RIR...
Terahertz (THz) wireless interconnects offer high-capacity, low-latency, and energy-efficient rack-to-rack links capable of on-demand connectivity reconfiguration, serving as a promising complement to optical fabrics for communication-intensive distributed AI training datacenters. However, co-optimizing optical and THz resources to...
Practical separation of single-channel co-frequency signals (SCCFSs) is hindered by the prohibitive computational complexity of benchmark algorithms. To address this issue, we propose a low-complexity separation framework based on sequential detection (SD), in which signal separation is cast as a sequential path search over a...
Automatic speech recognition (ASR) remains challenging for individuals with cleft lip and palate (CLP) because of limited pathological speech data and large variations in speech characteristics across speakers and severity levels. These recognition difficulties can reduce the accessibility of voice-based human-computer interaction,...
Multi-Task semantic communication (SemCom) prioritizes simultaneous execution of multiple tasks over bit-accurate reconstruction in future intelligent networks. In our prior work [1], we introduced the cooperative multi-task SemCom (CMT-SemCom) framework, in which the semantic encoder is divided into a common unit (CU) and multiple...
Automatic tissue segmentation is essential for large-scale analysis of histopathology whole-slide images (WSIs), but accurate pixel-level segmentation remains challenging. Pixel-level annotations are expensive to obtain, models pre-trained on natural images may transfer poorly to histopathology, and pathology foundation models,...
We propose Dynamic Reserve Margin (DRM) as a time-varying operational adequacy metric derived from risk-constrained unit commitment (RCUC) states. DRM quantifies reserve adequacy using the additional generation capacity that committed generators can provide within a 5-minute response window relative to uncertainty and contingency...
The integration of Inverter-Based Resources (IBRs) into power systems introduces multi-timescale dynamics and oscillations which may propagate to distant areas and endanger the safe system operation. These oscillations pose a significant challenge as their source, frequency, and propagation pathways are often challenging to identify...
Cybergenetic control of gene expression enables applications in synthetic biology, drug development, and biomanufacturing. Microfluidic platforms allow the parallel control of large cell populations. However, the resulting computational burden and intrinsic biological heterogeneity limit the scalability of conventional control...
This work presents a camera-based sensor for mapping plant growth over an agricultural field. The sensor can be used on ground-based vehicles like a tractor and relies on RTK-GNSS to correctly merge many multispectral images onto one map. NDVI is used as an index to estimate plant growth, but the approach can be used with other...
No, the Julia programming language cannot land on the Moon - but it can play a crucial role in designing and analysing the Guidance, Navigation, and Control (GNC) algorithms required for doing so. This paper presents the development of a lunar landing simulation framework implemented in Julia at the European Space Agency (ESA), within...
Sixth-generation (6G) wireless networks are envisioned as AI-native systems in which semantic communication - transmitting task-relevant meaning rather than raw bits - moves beyond Shannon's classical bit-pipe model. Large language models (LLMs) dominate semantic encoding but are unsuitable for 6G user equipment and IoT devices, given...
Many real-world networks involve interactions among three or more agents that cannot be reduced to pairwise coupling, making hypergraphs a natural modeling framework. In this work, we study complete synchronization in directed hypergraphs of nonlinear agents with parameter mismatches under dynamic diffusive coupling. Although...
Well-being is a broader concept ensuring psychological, social, physical, and cognitive health. Recreational activities are one of the major approaches to facilitate well-being. There are various recreational activities in each of the domains in which well-being can be measured. Although well-being is often assessed using subjective...
Audio deepfake detection is commonly formulated as clip-level binary classification of single-domain audio. However, real-world manipulated audio can exhibit mixed authenticity, where genuine and manipulated cues coexist across temporal transitions, overlapping sources, or both. This setting requires not only detecting manipulated...
This study experimentally investigates source-direction estimation from acoustic intensity using paired cardioid microphones, with particular emphasis on well-balanced arrangements known as tight frames. Impulse responses were measured at 6 or 24 microphone positions, and two opposed-pair spacings were examined. The resulting arrays...
This paper investigates a dual-polarized reconfigurable intelligent surface (DP-RIS)-empowered symbiotic radio (SR) system with rotatable antennas (RAs). By reconfiguring antenna orientations, RAs can steer their radiation patterns toward desired directions, thereby effectively mitigating the double-fading effect in RIS-assisted...
Most single-channel separators estimate a source by applying a real gain to the mixture in each time-frequency bin. The optimum of that format, which the oracle masks used as bounds do not attain, is the orthogonal projection of the source onto the line spanned by the mixture, its residual set by the angle between them. Locating an...
This paper summarizes the ChinaVoices Challenge 2026, which aims to establish unified task definitions and evaluation conditions for Chinese dialect speech processing and to advance multi-dialect identification and automatic speech recognition. The challenge covers 16 dialect categories and defines two tasks: Chinese Multi-Dialect...
In this study preliminary results on the classification of EEG hyperscanning data acquired using MUSE-S consumer-level EEG headband are presented. Five pairs of subjects were involved and the recording protocol contained three two-person tetris game sessions alternating with relaxation periods. The data were segmented and ten spectral...
This paper proposes StreamWSR, a Streamable neural Waveform-domain model for speech Super-Resolution (SR). By adopting a fully causal architecture with compact frame-level waveform representation, the proposed StreamWSR supports zero-look-ahead streaming inference while avoiding vocoder-based reconstruction and explicit phase...
This paper develops Taylor-informed predictive cost adaptive control (PCAC) for quadrotors with online gravity-trim adaptation. First-, second-, and third-order expansions of the nonlinear dynamics about nominal hover define sparse sampled-data dictionaries for row-wise recursive least-squares identification with variable-rate...
This paper develops a Taylor-informed indirect adaptive predictive control framework for nonlinear sampled-data systems using Jacobian-frozen affine predictors. A finite Taylor expansion approximates the sampled nonlinear dynamics, and recursive least squares (RLS) identifies its polynomial coefficients online. At each sampling...
This paper addresses the stabilization problem for Aw-Rascle-Zhang (ARZ) traffic model in the presence of an arbitrarily large input delay. The linearized ARZ model is a $2 \times 2$ hyperbolic partial differential equation (PDE) system with proximal reflection, which introduces significant analytical challenges when combined with...