arXiv subjects

Sébastien Roy

Publications and source records attributed to Sébastien Roy.

5 recordsLinked to original sources

arXiv2026

Consensus in Multi-Agent Systems with Uniform and Nonuniform Communication Delays

This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus algorithm accounting for delays across communication links in a connected, undirected graph. Novel convergence results are derived using Rouché's theorem and Lyapunov-based stability analysis. The system is shown to reach consensus at a steady-state value given by a weighted average determined by the delay distribution, with stability ensured under explicit parameter bounds. Both uniform and nonuniform delay scenarios are analyzed, and the corresponding convergence values are explicitly derived. The theoretical results are validated through simulations, which explore the impact of delay heterogeneity on consensus outcomes. Furthermore, the algorithm is implemented and experimentally tested on a swarm of QBOT3 ground robots to solve the rendezvous problem, demonstrating the agents' ability to converge to a common location despite realistic communication constraints, thus confirming the algorithm's robustness and practical applicability. The results provide guidelines for designing consensus protocols that tolerate communication delays, offer insights into the relationship between network delays and coordination performance, and demonstrate their applicability to distributed robotic systems.

eess.SY↗

arXiv2025

Scalable 49-Channel Neural Recorder with an Event-Driven Ramp ADC and PCA Compression in 28 nm CMOS

Neural interfaces advance neuroscience research and therapeutic innovations by accurately measuring neuronal activity. However, recording raw data from numerous neurons results in substantial amount of data and poses challenges for wireless transmission. While conventional neural recorders consume energy to digitize and process the full neural signal, only a fraction of this data carries essential spiking information. Leveraging on this signal sparsity, this paper introduces a neural recording integrated circuit in TSMC 28nm CMOS. It features an event-driven ramp analog-to-digital converter, and a spike compression module based on principal component analysis. The circuit consists of 49 channels, each occupying an on-chip area of 50 $\times$ 60 $μ$m$^2$. The circuit measures 1370 $\times$ 1370 $μ$m$^2$ and consumes 534 $μ$W. Compression testing on a synthetic dataset demonstrated an 8.8-fold reduction compared to raw spikes and a 328-fold reduction relative to the raw signal. This compression approach maintained a spike sorting accuracy of 74.9%, compared to the 79.5% accuracy obtained with the raw signal. The paper details the architecture and performance outcomes of the neural recording circuit and its compression module.

eess.SY↗

arXiv2025

Energy, Scalability, Data and Security in Massive IoT: Current Landscape and Future Directions

The Massive Internet of Things (MIoT) envisions an interconnected ecosystem of billions of devices, fundamentally transforming diverse sectors such as healthcare, smart cities, transportation, agriculture, and energy management. However, the vast scale of MIoT introduces significant challenges, including network scalability, efficient data management, energy conservation, and robust security mechanisms. This paper presents a thorough review of existing and emerging MIoT technologies designed to address these challenges, including Low-Power Wide-Area Networks (LPWAN), 5G/6G capabilities, edge and fog computing architectures, and hybrid access methodologies. We further investigate advanced strategies such as AI-driven resource allocation, federated learning for privacy-preserving analytics, and decentralized security frameworks using blockchain. Additionally, we analyze sustainable practices, emphasizing energy harvesting and integrating green technologies to reduce environmental impact. Through extensive comparative analysis, this study identifies critical innovations and architectural adaptations required to support efficient, resilient, and scalable MIoT deployments. Key insights include the role of network slicing and intelligent resource management for scalability, adaptive protocols for real-time data handling, and lightweight AI models suited to the constraints of MIoT devices. This research ultimately contributes to a deeper understanding of how MIoT systems can evolve to meet the growing demand for seamless, reliable connectivity while prioritizing sustainability, security, and performance across diverse applications. Our findings serve as a roadmap for future advancements, underscoring the potential of MIoT to support a globally interconnected, intelligent infrastructure.

cs.ET↗

arXiv2023

Feasibility Assessment of an Optically Powered Digital Retinal Prosthesis Architecture for Retinal Ganglion Cell Stimulation

Clinical trials previously demonstrated the notable capacity to elicit visual percepts in blind patients affected with retinal diseases by electrically stimulating the remaining neurons on the retina. However, these implants restored very limited visual acuity and required transcutaneous cables traversing the eyeball, leading to reduced reliability and complex surgery with high postoperative infection risks. To overcome the limitations imposed by cables, a retinal implant architecture in which near-infrared illumination carries both power and data through the pupil to a digital stimulation controller is presented. A high efficiency multi-junction photovoltaic cell transduces the optical power to a CMOS stimulator capable of delivering flexible interleaved sequential stimulation through a diamond microelectrode array. To demonstrate the capacity to elicit a neural response with this approach while complying with the optical irradiance limit at the pupil, fluorescence imaging with a calcium indicator is used on a degenerate rat retina. The power delivered by the laser at the permissible irradiance of 4 mW/mm2 at 850 nm is shown to be sufficient to both power the stimulator ASIC and elicit a response in retinal ganglion cells (RGCs), with the ability to generate of up to 35 000 pulses per second at the average stimulation threshold. This confirms the feasibility of generating a response in RGCs with an infrared-powered digital architecture capable of delivering complex sequential stimulation patterns at high repetition rates, albeit with some limitations.

q-bio.NC↗

arXiv2008

Scaling and commensurate-incommensurate crossover for the d=2, z=2 quantum critical point of itinerant antiferromagnets

Quantum critical points exist at zero temperature, yet, experimentally their influence seems to extend over a large part of the phase diagram of systems such as heavy-fermion compounds and high-temperature superconductors. Theoretically, however, it is generally not known over what range of parameters the physics is governed by the quantum critical point. We answer this question for the spin-density wave to fermi-liquid quantum critical point in the two-dimensional Hubbard model. This problem is in the $d=2,z=2$ universality class. We use the Two-Particle Self-Consistent approach, which is accurate from weak to intermediate coupling, and whose critical behavior is the same as for the self-consistent-renormalized approach of Moriya. Despite the presence of logarithmic corrections, numerical results demonstrate that quantum critical scaling for the static magnetic susceptibility can extend up to very high temperatures but that the commensurate to incommensurate crossover leads to deviations to scaling.

cond-mat.str-el↗