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Found 17 papers, 4 papers with code
Path Integral Control with Rollout Clustering and Dynamic Obstacles
Model Predictive Path Integral (MPPI) control has proven to be a powerful tool for the control of uncertain systems (such as systems subject to disturbances and systems with unmodeled dynamics).
Neural Differentiable Integral Control Barrier Functions for Unknown Nonlinear Systems with Input Constraints
In this paper, we propose a deep learning based control synthesis framework for fast and online computation of controllers that guarantees the safety of general nonlinear control systems with unknown dynamics in the presence of input constraints.
Density Steering of Gaussian Mixture Models for Discrete-Time Linear Systems
Subsequently, we propose a randomized policy to enhance the numerical tractability of the problem and demonstrate that under this policy the state distribution remains a Gaussian mixture.
Disturbance Observer-based Robust Integral Control Barrier Functions for Nonlinear Systems with High Relative Degree
Towards this aim, we first construct a governing augmented state space model consisting of the equations of motion of the original system, the integral control law and the nonlinear disturbance observer.
Semi-global Exponential Stability for Dual Quaternion Based Rigid-Body Tracking Control
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable.
Two-Player Reconnaissance Game with Half-Planar Target and Retreat Regions
This paper is concerned with the reconnaissance game that involves two mobile agents: the Intruder and the Defender.
Neural Koopman Control Barrier Functions for Safety-Critical Control of Unknown Nonlinear Systems
We prove that the learned CBF for the latter bilinear system is also a valid CBF for the unknown nonlinear system by characterizing the $\ell^2$-norm error bound between these two systems.
Vector Field-based Collision Avoidance for Moving Obstacles with Time-Varying Elliptical Shape
This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time.
Neural Koopman Lyapunov Control
In this paper, we propose a framework to construct these stabilizable bilinear models and identify its associated observables from data by simultaneously learning a bilinear Koopman embedding for the underlying unknown control affine nonlinear system as well as a Control Lyapunov Function (CLF) for the Koopman based bilinear model using a learner and falsifier.
Feedback Strategies for Hypersonic Pursuit of a Ground Evader
Subsequently, using this linearized system model, we formulate an auxiliary two-player zero-sum LQDG which is effective in the neighborhood of the given reference trajectory and derive its feedback saddle point strategy that allows the hypersonic vehicle to modify its trajectory online in response to the target's evasive maneuvers.
Koopman Operator Based Modeling and Control of Rigid Body Motion Represented by Dual Quaternions
In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation.
Minimum-fuel Spacecraft Rendezvous based on Sparsity Promoting Optimization
In this paper, we consider the classical spacecraft rendezvous problem in which the so-called active spacecraft has to approach the target spacecraft which is moving in an elliptical orbit around a planet by using the minimum possible amount of fuel.
Distributed Coverage Control of Multi-Agent Networks with Guaranteed Collision Avoidance in Cluttered Environments
The first level treats the multi-agent network as a whole based on the distribution of the locations of its agents over the spatial domain.
Greedy Decentralized Auction-based Task Allocation for Multi-Agent Systems
In our approach, each member of the multi-agent team is assigned to at most one task from a set of spatially distributed tasks, while several agents can be allocated to the same task.
Optimal Strategies for Guarding a Compact and Convex Target Set: A Differential Game Approach
We revisit the two-player planar target-defense game initially posed by Isaacs where a pursuer (or defender) attempts to guard a target set from an attack by an evader (or attacker).
On the Convexity of Discrete Time Covariance Steering in Stochastic Linear Systems with Wasserstein Terminal Cost
In particular, we show that when the terminal state covariance is upper bounded, with respect to the L\"{o}wner partial order, by the covariance matrix of the desired terminal normal distribution, then our problem admits a unique global minimizing state feedback gain.
Koopman Operator Based Modeling for Quadrotor Control on $SE(3)$
In this paper, we propose a Koopman operator based approach to describe the nonlinear dynamics of a quadrotor on SE(3) in terms of an infinite-dimensional linear system which evolves in the space of observable functions (lifted space) and which is more appropriate for control design purposes.
