We study a general class of least-squares problems structured according to a partially ordered set (poset). This is a fundamental optimization problem underlying the design of …
Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a …
The notion of approximate information states (AIS) was introduced in (Subramanian 2020) as a methodology for learning task-relevant state representations for control in partially …
— In optimal control problems, disturbances are typically dealt with using robust solutions, such as H∞ or tube model predictive control, that plan control actions feasible for the …
This work considers the problem of scheduling actuators to minimize the Linear Quadratic Regulator (LQR) objective. In general, this problem is NP-hard and its solution can …