Zobrazeno 1 - 10
of 1 966
pro vyhledávání: '"A. Hovakimyan"'
Autor:
Kim, Jinrae, Hovakimyan, Naira
We propose an adaptive method for uncertain time-varying (TV) convex optimization, termed as $\mathcal{L}_{1}$ adaptive optimization ($\mathcal{L}_{1}$-AO). The proposed method uses a baseline TV optimizer with a prediction model, designed for the gr
Externí odkaz:
http://arxiv.org/abs/2409.16583
Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating sophisticated models of humanoid robots, they often require labor-intens
Externí odkaz:
http://arxiv.org/abs/2409.15710
This letter presents a Koopman-theoretic lifted linear parameter-varying (LPV) system with countably infinite dimensions to model the nonlinear dynamics of a quadrotor on SE(3) for facilitating control design. The LPV system evolves in time in the sp
Externí odkaz:
http://arxiv.org/abs/2409.12374
Uncertainties in the environment and behavior model inaccuracies compromise the state estimation of a dynamic obstacle and its trajectory predictions, introducing biases in estimation and shifts in predictive distributions. Addressing these challenge
Externí odkaz:
http://arxiv.org/abs/2407.19071
Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety set. Most of the developments up to date assume availability of correct
Externí odkaz:
http://arxiv.org/abs/2407.00218
We present \texttt{FlipDyn-G}, a dynamic game model extending the \texttt{FlipDyn} framework to a graph-based setting, where each node represents a dynamical system. This model captures the interactions between a defender and an adversary who strateg
Externí odkaz:
http://arxiv.org/abs/2406.16812
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized optimization-based planner
Externí odkaz:
http://arxiv.org/abs/2404.00133
Autor:
Liu, Shengjie, Wu, Jing, Bao, Jingyuan, Wang, Wenyi, Hovakimyan, Naira, Healey, Christopher G
This paper describes an investigation of the robustness of large language models (LLMs) for retrieval augmented generation (RAG)-based summarization tasks. While LLMs provide summarization capabilities, their performance in complex, real-world scenar
Externí odkaz:
http://arxiv.org/abs/2403.19889
Crop management plays a crucial role in determining crop yield, economic profitability, and environmental sustainability. Despite the availability of management guidelines, optimizing these practices remains a complex and multifaceted challenge. In r
Externí odkaz:
http://arxiv.org/abs/2403.19839
In this study, we uncover the unexpected efficacy of residual-based large language models (LLMs) as part of encoders for biomedical imaging tasks, a domain traditionally devoid of language or textual data. The approach diverges from established metho
Externí odkaz:
http://arxiv.org/abs/2403.17343