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Discrete Approximate Information States in Partially Observable Environments
The notion of approximate information states (AIS) was introduced in (Subramanian 2020) as a methodology for learning task-relevant …
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Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While …
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Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Solving Least Squares Problems on Partially Ordered Sets
We study a general class of least-squares problems structured according to a partially ordered set (poset). This is a fundamental …
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Solving Least Squares Problems on Partially Ordered Sets
Resilient control: Compromising to adapt
— In optimal control problems, disturbances are typically dealt with using robust solutions, such as H∞ or tube model predictive …
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Matroid-constrained approximately supermodular optimization for near-optimal actuator scheduling
This work considers the problem of scheduling actuators to minimize the Linear Quadratic Regulator (LQR) objective. In general, this …
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