This paper studies the distributed average tracking problem for multiple time-varying signals generated by linear dynamics, whose reference inputs are nonzero and not available to any agent in the network. In the edge-based framework, a pair of continuous algorithms with, respectively, static and adaptive coupling strengths are designed. Based on the boundary layer concept, the proposed continu...

Abstract The need to successfully navigate in the absence of GNSS has grown recent years. In particular, light aircraft such as UAVs are growing popularity for a variety applications vulnerable GPS denial. research presented here develops GPS-denied navigation scheme employing images formed from synthetic aperture radar system. Past explored utility telemetry systems. This advances pre...

A dynamics inversion compensation scheme is designed for control of nonlinear discretetime systems with input backlash. The compensator uses the dynamic inversion technique, with a neural network (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamics preinverse of an invertible discrete time dynamic...

The complexity classes Nearly-BPP and Med DisP had been recently proposed as limits of eecient computation Yam1 96, Schi 96]. For both classes, a polynomial time bounded algorithm with bounded probabilistic error has to compute correct outputs for at least 1 ? 1 n !(1) of inputs of length n. We generalize this notion to general error probabilities and arbitrary complexity classes. For proving t...

We introduce a new parallel algorithm for approximate breadthfirst ordering of an unweighted graph by using bounded asynchrony to parametrically control both the performance and error of the algorithm. This work is based on the k-level asynchronous (KLA) paradigm that trades expensive global synchronizations in the level-synchronous model for local synchronizations in the asynchronous model, wh...

Methodologies for planning motion trajectory of parametric interpolation such as non-uniform rational B-spline (NURBS) curves have been proposed in the past. However, most of the algorithms were developed based on the constraints of feedrate, acceleration/deceleration (acc/dec), jerk, and chord errors. The errors caused by servo dynamics were rarely included in the design process. This paper pr...

We present an algorithm that arranges a multi-robot system into a regular hexagonal lattice. This configuration provides continuous coverage with the fewest number of robots required. It also has a bounded stretch over a fully-connected graph, producing an efficient multi-hop communications network. Our algorithm uses artificial forces to move each robot to local potential energy wells. A local...

Load Frequency Control (LFC) has received considerable attention during last decades. This paper proposes a new method for designing decentralized interaction estimators for interconnected large-scale systems and utilizes it to multi-area power systems. For each local area, a local estimator is designed to estimate the interactions of this area using only the local output measurements. In fact,...

Cryptography based on lattices is the use of conjectured hard problems on point lattices in Rn as the basis for security in cryptosystems. In this report, firstly we introduce lattices and some hard problems based on lattice then present some of the major developments in lattice-based cryptography. The main focus in this report is on the fundamental learning with errors (LWE) problems, Ring-LWE...

The only known way to achieve Attribute-based Fully Homomorphic Encryption (ABFHE) is through indistinguishability obfsucation. The best we can do at the moment without obfuscation is Attribute-Based Leveled FHE which allows circuits of an a priori bounded depth to be evaluated. This has been achieved from the Learning with Errors (LWE) assumption. However we know of no other way without obfusc...