Flight Control in Complex Environments: From Insects to Robots

Bumblebee in a forest

Flying robots are very useful for tasks such as aerial mapping, fast exploration, video footage and monitoring of buildings. However, autonomous missions are usually constrained to high altitude flights above flat surfaces in order to avoid collisions. Traditional methods for collision-free navigation require large resources and limit the payload of robots.

On the other hand, flying insects are able to navigate safely and efficiently using low quality vision as their main sensory input. Ideally, robots could adopt insects strategies, but little is known about the way insects turn visual stimuli into muscular actuation during flight. This precludes a direct implementation of insect flight control into robots and forces roboticists to guess appropriate strategies.

In this thesis, we aim to investigate, develop and implement insect-inspired control strategies in flying robots for goal-oriented navigation in complex environments. We will start by exploring insect sensing and actuation through experiments with bumblebees. Then, we will model the insect’s flight control strategies. This model will be tested in simulation and implemented in a custom designed flying robot. Through experiments in natural environments, we will characterize the efficiency of our model for goal-oriented collision-free navigation.

Publications

Empathetic Conversational Agents for Distress Support

K. A. Welivita / Director(s) : P. Pu Faltings 

Lausanne: EPFL

2023

p. 203.

DOI : 10.5075/epfl-thesis-9810

Multiparty Homomorphic Encryption: from Theory to Practice

C. V. Mouchet / Director(s) : C. González Troncoso; J-P. Hubaux 

Lausanne: EPFL

2023

p. 127.

DOI : 10.5075/epfl-thesis-8846

Wind, Hail, and Climate Extremes: Modelling and Attribution Studies for Environmental Data

O. M. A. Miralles / Director(s) : A. C. Davison; V. Panaretos 

Lausanne: EPFL

2023

p. 132.

DOI : 10.5075/epfl-thesis-11082

Materials engineering for improved stability of perovskite solar cells

Y. Kim / Director(s) : K. Sivula; U. A. Hagfeldt 

Lausanne: EPFL

2023

p. 154.

DOI : 10.5075/epfl-thesis-10636

Green Cryptography and Other Optimisations

A. F. Caforio / Director(s) : S. Vaudenay 

Lausanne: EPFL

2023

p. 265.

DOI : 10.5075/epfl-thesis-10505

Nanotechnology enabled modulation of T cell immunity for cancer treatment

X. Hu / Director(s) : L. Tang 

Lausanne: EPFL

2023

p. 142.

DOI : 10.5075/epfl-thesis-10472

Atomic-Level Structure and Thermodynamic and Kinetic Modelling of Zinc-Modified C-S-H

A. Morales Melgares / Director(s) : K. Scrivener; D. L. Emsley 

Lausanne: EPFL

2023

p. 120.

DOI : 10.5075/epfl-thesis-10400

NMR Crystallography in the Big Data Era: New Methods and Applications Powered by Machine Learning

M. Cordova / Director(s) : D. L. Emsley 

Lausanne: EPFL

2023

p. 232.

DOI : 10.5075/epfl-thesis-10371

Retraction-based numerical methods for continuation, interpolation and time integration on manifolds

A. E. J. Séguin / Director(s) : D. Kressner 

Lausanne: EPFL

2023

p. 192.

DOI : 10.5075/epfl-thesis-10328

Novel quantitative bioengineered tools to track human bone marrow niche cellular constituents in health and disease

R. Sarkis / Director(s) : B. Deplancke; O. M. Naveiras Torres-Quiroga 

Lausanne: EPFL

2023

p. 243.

DOI : 10.5075/epfl-thesis-10324

Exploring the interplay of molecular pattern and valency for selective interactions at the bio-interface

K. Paloja / Director(s) : M. M. C. Bastings 

Lausanne: EPFL

2023

p. 241.

DOI : 10.5075/epfl-thesis-10292

Topological Effects in Carbon-based Two-dimensional Nanostructures

Y. Guan / Director(s) : O. Yazyev 

Lausanne: EPFL

2023

p. 141.

DOI : 10.5075/epfl-thesis-10286

Modeling, Optimization and Design of High Power Medium Frequency Transformers

N. Djekanovic / Director(s) : D. Dujic 

Lausanne: EPFL

2023

p. 174.

DOI : 10.5075/epfl-thesis-10238

The biofilm ecology of proglacial floodplain streams

J. Brandani / Director(s) : T. I. Battin; H. M. Peter 

Lausanne: EPFL

2023

p. 213.

DOI : 10.5075/epfl-thesis-10173

Metabolism of the symbiotic jellyfish Cassiopea in a changing environment

G. D. Toullec / Director(s) : A. Meibom 

Lausanne: EPFL

2023

p. 100.

DOI : 10.5075/epfl-thesis-10133

Krot istorii v spyachke

A. Dmitriev 

Neprikosnovenny Zapas

2023-05-10

Vol. 2023 , num. 2(148), p. 28-42.

Yevgeny Polivanov: Beyond Formalism?

A. Dmitriev 

Linguistic Frontiers

2023-07-08

Vol. Volume 6 (2023) , num. Issue 1 (June 2023), p. 18-22.

DOI : 10.2478/lf-2023-0009

Positive Definite Completions and Continuous Graphical Models

K. Waghmare / Director(s) : V. Panaretos 

Lausanne: EPFL

2023

p. 256.

DOI : 10.5075/epfl-thesis-9925

Deep Generative Models for Autonomous Driving: from Motion Forecasting to Realistic Image Synthesis

S. Saadatnejad / Director(s) : A. M. Alahi 

Lausanne: EPFL

2023

p. 174.

DOI : 10.5075/epfl-thesis-9876

Hardware-Software co-design Methodologies for Edge AI Optimization

F. Ponzina / Director(s) : D. Atienza Alonso 

Lausanne: EPFL

2023

p. 164.

DOI : 10.5075/epfl-thesis-10318

Relating health benefits of water, sanitation, and hygiene services with the context of urban informal settlements: lessons from Côte d’Ivoire and Kenya

V. Pessoa Colombo / Director(s) : J. Chenal; J. Utzinger 

Lausanne: EPFL

2023

p. 218.

DOI : 10.5075/epfl-thesis-10143

MultiModN- Multimodal, Multi-Task, Interpretable Modular Networks

V. Swamy; M. Satayeva; J. Frej; T. Bossy; T. Vogels et al. 

2023

37th Conference on Neural Information Processing Systems (NeurIPS), New Orleans, US, December 10-16, 2023.

DOI : 10.48550/arxiv.2309.14118

Making a Model for the Green Revolution: A Controversial Beginning

M. Fenzi 

GREEN REVOLUTION(S): CONTESTED PATHS OF AGRARIAN MODERNIZATION IN THE 20TH CENTURY, Lausanne, Switzerland, January 19, 2023.

La Oficina de Estudios Especiales y la Revolución Verde 80 años después

M. Fenzi 

Coloquio. La Oficina de Estudios Especiales y la Revolución Verde 80 años después, El Colegio Mexiquense and online, 1-2 February 2023.

Strengthening farmers’ seed systems to enhance agricultural resilience

M. Fenzi 

Empowering youth and women in science for a food-secure future, Palais des Nations, Geneva, Switzerland, 21 February 2023.

Infrastructuring bureaucracy: Putting AI to (net)work in public administration

S. Sidorenko 

STS-CH 2023 Conference, Basel, Switzerland, 31.08.2023-01.09.2023.

Equilibrium β-limits dependence on bootstrap current in classical stellarators

A. Baillod; J. Loizu; Z. S. Qu; H. P. Arbez; J. Graves 

Journal of Plasma Physics

2023-09-20

Vol. 89 , num. 5, p. 905890508.

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Nonlinear saturation of resistive tearing modes in a cylindrical tokamak with and without solving the dynamics

J. Loizu; D. Bonfiglio 

Journal of Plasma Physics

2023-09-18

Vol. 89 , num. 5, p. 905890507.

DOI : 10.1017/S0022377823000934

A multimodal measurement of the impact of deepfakes on the ethical reasoning and affective reactions of students

V. Ramachandran; C. Hardebolle; N. Kotluk; T. Ebrahimi; R. Riedl et al. 

2023-09-11

2023 SEFI Annual Conference, Dublin, Ireland, September 11-14, 2023.

Things that Talk: On a new perspective for engaging with scientific instruments

I-G. Mihailescu; J. Baudry 

XLII Scientific Instrument Symposium, Palermo, Italy, September 18-22, 2023.

Proposed residual stress model for hot‐rolled wide flange steel cross sections

A. Skiadopoulos; A. de Castro e Sousa; D. G. Lignos 

EUROSTEEL 2023 Setember 12-14, 2023, Amsterdam – ce/papers

2023

EUROSTEEL 2023, Setember 12-14, 2023, Amsterdam, The Neatherlands.

p. 1711-1716

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Drawing in Court: their use in patent cases and their impact on the creation of case law (1780-1850)

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2023-06-29

Patent documents as sources and data: Quantitative and qualitative methodologies, Lausanne, June 28-29, 2023.

Writing/Drawing/Modeling Inventions: Regimes of Description and the ‘Intellectual’ in IP, France-United States ca. 1790-1850

J. Baudry 

Workshop ‘Patent documents as sources and data: Quantitative and qualitative methodologies’, EPFL Lausanne, June 29-30, 2023.

Carbon budgets at the component scale and their impacts on design choices: the façade as a case study

N. Rezaei Oghazi; T. Jusselme; M. Andersen 

2023

CISBAT 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.

All-glass miniature GHz repetition rate femtosecond laser cavity

A. M. Delgoffe; S. Nazir; S. Hakobyan; C. Hönninger; Y. Bellouard 

Optica

2023

Vol. 10 , num. 10, p. 1269.

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Benign Overfitting in Deep Neural Networks under Lazy Training

Z. Zhu; F. Liu; G. Chrysos; F. Locatello; V. Cevher 

2023

40th International Conference on Machine Learning (ICML), Honolulu, Hawaii, USA, July, 23-29, 2023.

What can online reinforcement learning with function approximation benefitfrom general coverage conditions

F. Liu; L. Viano; V. Cevher 

2023

40th International Conference on Machine Learning (ICML), Honolulu, Hawaii, USA, July, 23-29, 2023.

A VR-based workflow to assess perception of daylit views-out with a focus on dynamism and immersion

Y. Cho; C. Karmann; M. Andersen 

2023-09-15

CISBAT 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.

Tone-mapping requirements in real-time videos for studying the dynamism of views-out in virtual reality

Y. Cho; S. W. Wasilewski; C. Karmann; M. Andersen 

2023-09-20

CIE 2023, Ljubljana, Slovenia, September 18-20, 2023.

Digital upcycling of concrete rubbles – video

M. Grangeot 

2023-09-10

From concrete waste to walls An investigation of reclamation and digital technologies for new load-bearing structures

M. Grangeot; C. Fivet; S. Parascho 

2023-11-01

cisbat 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.

From concrete waste to walls An investigation of reclamation and digital technologies for new load-bearing structures

M. Grangeot; C. Fivet; S. Parascho 

CISBAT 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.

Acoustic Levitation apparatus (Robotics Practicals)

A. Dolev; L. F. J. Noseda; B. Yalcin; S. Sakar 

2023

How to Achieve Large-Area Ultra-Fast Operation of MoS 2 Monolayer Flash Memories?

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IEEE Nanotechnology Magazine

2023

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Database of Residual Stress Measurements on Hot-rolled Wide Flange Steel Cross Sections

A. Skiadopoulos; A. de Castro e Sousa; D. Lignos 

2023

Euclid preparation XXVI. The Euclid Morphology Challenge: Towards structural parameters for billions of galaxies

H. Bretonniere; U. Kuchner; M. Huertas-Company; E. Merlin; M. Castellano et al. 

Astronomy & Astrophysics

2023-03-14

Vol. 671 , p. A102.

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Gaia Data Release 3: The extragalactic content

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Astronomy & Astrophysics

2023-06-16

Vol. 674 , p. A41.

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Exploring and mapping the diffuse interstellar band at 862nm

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Astronomy & Astrophysics

2023-06-16

Vol. 674 , p. A40.

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Averages of b-hadron, c-handron, and t-lepton properties as of 2021

Y. Amhis; S. Banerjee; E. Ben-Haim; E. Bertholet; F. U. Bernlochner et al. 

Physical Review D

2023-03-01

Vol. 107 , num. 5, p. 052008.

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Gaia Data Release 3 Summary of the variability processing and analysis

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Astronomy & Astrophysics

2023-06-16

Vol. 674 , p. A13.

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Quantum process tomography with unsupervised learning and tensor networks

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Nature Communications

2023-05-19

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Down-conversion of a single photon as a probe of many-body localization

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Nature

2023-01-26

Vol. 613 , num. 7945, p. 650-+.

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Feasibility of the EDICAM camera for runaway electron detection in JT-60SA disruptions

S. Olasz; M. Hoppe; T. Szepesi; K. Kamiya; P. Balazs et al. 

Fusion Engineering And Design

2023-10-01

Vol. 195 , p. 113940.

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Linking connectivity of deep brain stimulation of nucleus accumbens area with clinical depression improvements: a retrospective longitudinal case series

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European Archives Of Psychiatry And Clinical Neuroscience

2023-09-05

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Experimental and numerical investigations of electron transport enhancement by electron-cyclotron plasma-wave interaction in tokamaks

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Plasma Physics And Controlled Fusion

2023-10-01

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How accurate are flux-tube (local) gyrokinetic codes in modeling energetic particle effects on core turbulence?

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Nuclear Fusion

2023-10-01

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Out of their minds? Externalist challenges for using AI in forensic psychiatry

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Frontiers In Psychiatry

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A fluoropolymer bifunctional solid membrane interface for improving the discharge duration in aqueous Al-air batteries

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Chemical Communications

2023-08-23

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A Full-Wave Reference Simulator for Computing Surface Reflectance

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A review of the security vulnerabilities and countermeasures in the Internet of Things solutions: A bright future for the Blockchain

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Internet Of Things

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Predicting party switching through machine learning and open data

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Inflammatory mitochondrial nucleic acids as drivers of pathophysiology

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cgNA plus web : A Visual Interface to the cgNA plus Sequence-dependent Statistical Mechanics Model of Double-stranded Nucleic Acids

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Arvin: Greybox Fuzzing Using Approximate Dynamic CFG Analysis

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Proceedings Of The 2023 Acm Asia Conference On Computer And Communications Security, Asia Ccs 2023

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Pipelined Architecture for Soft-Decision Iterative Projection Aggregation Decoding for RM Codes

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Ieee Transactions On Circuits And Systems I-Regular Papers

2023-08-31

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Chlorination of amides: Kinetics and mechanisms of formation of N-chloramides and their reactions with phenolic compounds

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Polydimethylsiloxane based soft polymer optical fibers: From the processing-property relationship to pressure sensing applications

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Improving planar optode lifetime: encapsulation and optical release of pH-sensing optodes and assessment of their lifetime in situ

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Journal Of Soils And Sediments

2023-09-14

DOI : 10.1007/s11368-023-03650-4

Physiological Demands of Exergames in Older Adults- A Systematic Literature Review

C. Kubica; B. Duetschler; T. Felder; D. Querciagrossa; C. R. Nigg 

Journal Of Aging And Physical Activity

2023-08-24

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Adaptive Symplectic Model Order Reduction Of Parametric Particle-Based Vlasov-Poisson Equation

J. S. Hesthaven; C. Pagliantini; N. Ripamonti 

Mathematics Of Computation

2023-08-24

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Modeling local thermal responses of individuals: Validation of advanced human thermo-physiology models

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Detecting whether a stochastic process is finitely expressed in a basis

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Tissue clearing applications in memory engram research

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Expansion Work Recovery of Hydrogen for a FC-Truck-Tentative Design of an Expansion Machine

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Light-Driven Thermo-Optical Effects in Nanoresonator Arrays

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Advanced Optical Materials

2023-09-07

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Identification of the Mott Insulating Charge Density Wave State in 1T-TaS2

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Methods for Calibrating the Electrochemical Quartz Crystal Microbalance: Frequency to Mass and Compensation for Viscous Load

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Chemosensors

2023-08-01

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Applied And Computational Harmonic Analysis

2023-11-01

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4D printing of Metal-Reinforced double network granular hydrogels

M. Hirsch; L. D’Onofrio; Q. Guan; J. Hughes; E. Amstad 

Chemical Engineering Journal

2023-10-01

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Saliency prediction in 360° architectural scenes: Performance and impact of daylight variations

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Journal of Environmental Psychology

2023

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Risk of incorrect choices due to uncertainty in BPS evaluations of conceptual-stage neighbourhood-scale building designs

M. Agarwal; L. Pastore; M. Andersen 

Journal of Building Performance Simulation

2023

p. 1-19.

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Buried Interface Engineering Enables Efficient and 1,960‐hour Isos‐L‐2i Stable Inverted Perovskite Solar Cells

L. Li; M. Wei; V. Carnevali; H. Zeng; m. Zeng et al. 

Advanced Materials

2023-08-26

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Controlling morpho-electrophysiological variability of neurons with detailed biophysical models

A. Arnaudon; M. Reva; M. M. Zbili; H. Markram; W. Van Geit et al. 

bioRxiv

2023

DOI : 10.1101/2023.04.06.535923

Interpretable statistical representations of neural population dynamics and geometry

A. Gosztolai; R. L. Peach; A. Arnaudon; M. Barahona; P. Vandergheynst 

arXiv

2023

DOI : 10.48550/arxiv.2304.03376

Associations between in vitro, in vivo and in silico cell classes in mouse primary visual cortex

Y. Wei; A. Nandi; X. Jia; J. H. Siegle; D. Denman et al. 

Nature Communications

2023

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Modeling and simulation of neocortical micro- and mesocircuitry. Part II: Physiology and experimentation

J. B. Isbister; A. Ecker; C. Pokorny; S. Bolaños Puchet; D. Egas Santander et al. 

bioRxiv

2023

DOI : 10.1101/2023.05.17.541168

Community-based reconstruction and simulation of a full-scale model of region CA1 of rat hippocampus.

A. Romani; A. Antonietti; D. Bella; J. M. Budd; E. Giacalone et al. 

bioRxiv

2023

DOI : 10.1101/2023.05.17.541167

A unified framework for Simplicial Kuramoto models

M. Nurisso; A. Arnaudon; M. Lucas; R. L. Peach; P. Expert et al. 

arXiv

2023

DOI : 10.48550/arxiv.2305.17977

Distributed Lossy Computation with Structured Codes: From Discrete to Continuous Sources

A. Pastore; S. H. Lim; C. Feng; B. Nazer; M. C. Gastpar 

Proceedings of the 2023 IEEE International Symposium on Information Theory (ISIT)

2023

2023 IEEE International Symposium on Information Theory (ISIT), Taipei, Taiwan, June 25-30, 2023.

p. 1681-1686

DOI : 10.1109/ISIT54713.2023.10206990

Personalized Privacy-Preserving Distributed Learning on Heterogeneous Data

A. Pradeep; M. C. Gastpar 

Proceedings of the 2023 IEEE International Symposium on Information Theory (ISIT)

2023

2023 IEEE International Symposium on Information Theory (ISIT), Taipei, Taiwan, June 25-30, 2023.

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