arXiv preprints from January 1, 2026 through September 5, 2026 — 08:17:19 EST
Cable-suspended payload transport by multirotor UAVs is flexible but generates periodic swing disturbance that degrades tracking and risks instability. Existing anti-swing methods require additional sensors or precise identification of cable length and payload mass, limiting field deployment. We propose a swing-estimation and damping...
High-altitude platforms (HAPs) are emerging as persistent middle-layer infrastructures for space-air-ground integrated networks (SAGINs), offering a favorable compromise among coverage, latency, endurance, and deployment flexibility. Their role, however, is evolving beyond communication relaying toward the joint provision of sensing,...
Distributed detection of an unknown deterministic signal is studied in a wireless sensor network with low-cost nodes. Sensors apply one-bit quantization to noisy observations and transmit over Rayleigh fading to a Fusion Center (FC). Score tests, including variants using observed Fisher information, are proposed as low-complexity...
MRI reconstruction methods for undersampled k-space data naturally utilize complex-valued measurements. Parallel developments in sparse phase retrieval have shown that magnitude-only measurements may provide complementary information for signal recovery. However, their use in MRI reconstruction remains largely unexplored, due to lack...
This paper presents a novel sequential policy iteration (PI) method for stochastic differential games with state- and control-dependent noise. The updates preserve mean-square stability, so that the iteration is well posed. We further derive a closed-form expression for the Fréchet derivative of the sequential PI map at a Nash...
This paper presents a method to solve the inverse problem for N-player infinite-horizon linear-quadratic (LQ) differential games with state- and control-dependent noise. For this stochastic setting, we derive necessary and sufficient conditions for linear feedback Nash equilibria, which take the form of coupled stochastic algebraic...
This paper develops a demand-side management framework for electricity networks with multiple competing retailers. The interaction among retailers is formulated as a coalitional game, yielding a family of coupled mixed-integer optimisation problems in which retail prices, consumer power demands, and the network partition are jointly...
Planners currently represent data centers as aggregate constant-PQ or ZIP loads in steady-state interconnection and contingency studies. These aggregate models are computationally convenient. However, they obscure the electrical relationship between computational workloads, server utilization, and grid-side demand. They ignore the...
This paper reviews Adaptive Model Predictive Control (AMPC) methods for Autonomous Vehicles (AVs), focusing on control strategies that dynamically adapt to uncertainties and changing conditions in real-time. The critical role of Adaptive Model Predictive Control (AMPC) in addressing the challenges of autonomous vehicle control are...
State estimation is commonly posed in either a probabilistic or an unknown-but-bounded framework. The former requires a fully specified noise distribution, typically with unbounded support, while the latter yields guaranteed enclosures that carry no probabilistic weighting. Bridging these noise descriptions, this paper proposes a...
Embodied intelligence is shifting artificial intelligence from passive digital perception toward active physical interaction. However, foundation-model-enabled embodied agents face a fundamental tension between open-world cognition and resource-constrained deployment. On-device models are limited by computation, memory, and energy...
The integration of sensing, communication, and intelligence is becoming a key enabler for sixth generation (6G) wireless systems, where intelligent terminals are expected to simultaneously support efficient link establishment and reliable environmental sensing. However, existing studies mainly exploit sensing information or...
Synchronizing nonlinear dynamical networks typically requires solving matrix inequalities or detailed system models, which fail for large networks. This paper offers a simple fix : a purely graph-theoretic framework using only a single Lipschitz-like bound on the dynamics. Coupling strengths are computed directly from the digraph,...
The quantum approximate optimization algorithm (QAOA) targets NP-hard maximum-likelihood (ML) detection in multiple-input multiple-output (MIMO) systems. Existing $M$-ary quadrature amplitude modulation (M-QAM) detectors design angles by expected Ising energy: online per instance, warm-started, or ramped, while train-once designs...
Autoencoders are commonly used for unsupervised data-driven fault detection in nonlinear dynamical systems. Despite their widespread success and often favorable performance compared with traditional approaches, most applications rely on heuristic reconstruction of measured data using features learned from nominal training data,...
Impulsive noise (IN), characterized by its high power and non-Gaussian distribution, poses a critical challenge in modern orthogonal frequency-division multiplexing (OFDM) systems, driven by the proliferation of electronic devices. Current IN mitigation techniques rely heavily on time-domain processing. These methods apply before the...
This paper introduces the asymptotic behavior assignment problem for nonlinear systems. Given a controlled system and a reference system with an ``open'' input, the goal is to design a regulator such that, for every admissible input, the asymptotic input-output behavior of the closed-loop system reproduces that of the reference. This...
Preterm birth (PTB) remains a major global health problem, and reliable non-invasive risk assessment remains difficult. Electrohysterography (EHG) records uterine electrical activity from the maternal abdomen and may support PTB assessment, but performance can be inflated when segments from the same recording are split across training...
Recent publications have started to explore the application of Geometric Algebra (GA) to the modeling, analysis and control of dynamical systems and, in particular, electrical circuits. Since a crucial element there is to transform the ordinary differential equations governing the dynamical system which models the systems' behavior...
In this work, we introduce the generalized reach-avoid (GRA) task, which both extends and unifies the canonical tasks of Hamilton-Jacobi Reachability (HJR). We show that the GRA not only serves as a common primitive in this class of fundamental tasks, but also strictly extends the fundamental tasks that can be solved with HJR....
Reliable quantitative analysis of dynamic contrast-enhanced MRI requires high-quality spatiotemporal reconstructions at high undersampling rates. Scan-specific reconstructions using Gaussian and Gabor primitives have shown promising results without the need for large training datasets, but have not addressed the additional dimension...
Heart rate and respiration rate are crucial vital signs. We present CORAL to address challenges in automating continuous vital sign monitoring 1) in-hospital across broader populations (age, disease states), 2) at-home in telehealth and wellbeing applications (noise, placement), and 3) across data modalities (ECG, PPG, SCG, BioZ,...
We present a parameter-free episodic evaluation of nearest-centroid classification for elephant vocalisations on fixed pretrained acoustic embeddings, across the Elephant Voices (EV) and Linguistic Data Consortium (LDC) datasets. Rather than asking which embedding yields the best classifier when trained on all available labelled data,...
Time-critical interactive systems increasingly require ultra-low-latency device identification for multiple users, yet prevailing approaches such as passwords, QR codes, and RFID/NFC are constrained by human input, frame-based sensing, or near-contact range. This paper presents ECO-ID, an event-camera-based optical system for...
Lung nodule segmentation in computed tomography is essential for extracting clinically relevant information for lung cancer assessment and treatment planning. Foundation models have shown notable segmentation capabilities, but state-of-the-art approaches often depend on input prompts, such as points or boxes, making their performance...