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In this paper, we propose a new method for the motion planning problem of rigid object dexterous manipulation with a robotic multi-fingered hand, under quasi-static movement assumption. This method computes both object and finger trajectories as well as th ...
We consider streaming of pre-encoded and packetized media over best-effort networks in presence of acknowledgment feedbacks. We first review the rate-distortion optimization framework in such scenarios. Given an estimation of future transmission resources, ...
In this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time single-integrator dynamics and the communication graph is undirected and time-varying. We propose a decentralized Model Predictive ...
Routing packets is a central function of multi-hop wireless networks. Traditionally, there have been two paradigms for routing, either based on the geographical coordinates of the nodes (geographic routing), or based on the connectivity graph (topology-bas ...
This work is concerned with codes, graphs and their links. Graph based codes have recently become very prominent in both information theory literature and practical applications. While most research has centered around their performance under iterative dec ...
Failure restoration at the IP layer in IP-over-WDM networks requires to map the IP topology on the WDM topology in such a way that a failure at the WDM layer leaves the IP topology connected. Such a mapping is called survivable. Finding a survivable mappin ...
Graph theory experienced a remarkable increase of interest among the scientific community during the last decades. The vertex coloring problem (Min Coloring) deserves a particular attention rince it has been able to capture a wide variety of applications. ...
We consider vertex k-colorings of an arbitrary simple, connected, and undirected graph G=(V,E) such that, for every vertex v, at most lambda different colors occur in the closed neighborhood of v. These colorings are called (k,lambda)-colorings. If a graph ...
Network tomography infers internal network characteristics by sending and collecting probe packets from the network edge. Traditional tomographic techniques for general topologies typically use a mesh of multicast trees and/or unicast paths to cover the en ...
Dynamical networks with diffusive couplings are investigated from the point of view of synchronizability. Arbitrary connection graphs are admitted but the coupling is symmetric. Networks with equal interaction coefficients for all edges of the interaction ...
