Zobrazeno 1 - 10
of 481
pro vyhledávání: '"Belta, Calin A."'
Modeling dynamical biological systems is key for understanding, predicting, and controlling complex biological behaviors. Traditional methods for identifying governing equations, such as ordinary differential equations (ODEs), typically require exten
Externí odkaz:
http://arxiv.org/abs/2412.15227
Autor:
Ahmad, Ahmad, Kermanshah, Mehdi, Leahy, Kevin, Serlin, Zachary, Siu, Ho Chit, Mann, Makai, Vasile, Cristian-Ioan, Tron, Roberto, Belta, Calin
In this paper, we tackle the challenging problem of delayed rewards in reinforcement learning (RL). While Proximal Policy Optimization (PPO) has emerged as a leading Policy Gradient method, its performance can degrade under delayed rewards. We introd
Externí odkaz:
http://arxiv.org/abs/2411.17861
This paper considers how heterogeneous multi-agent teams can leverage their different capabilities to mutually improve individual agent performance. We present Capability-Augmenting Tasks (CATs), which encode how agents can augment their capabilities
Externí odkaz:
http://arxiv.org/abs/2409.09285
Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were developed to ensure stability, while adhering to input constraints and safety-critical requirements.
Externí odkaz:
http://arxiv.org/abs/2409.08300
Autor:
Kermanshah, Mehdi, Beaver, Logan E., Sokolich, Max, Kirmizitas, Fatma Ceren, Das, Sambeeta, Tron, Roberto, Weiss, Ron, Belta, Calin
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator for precise trajectory tracking. To address the challenges posed by unm
Externí odkaz:
http://arxiv.org/abs/2406.02722
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and Control Lyap
Externí odkaz:
http://arxiv.org/abs/2404.00881
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are typically
Externí odkaz:
http://arxiv.org/abs/2403.19122
Imitation learning methods have demonstrated considerable success in teaching autonomous systems complex tasks through expert demonstrations. However, a limitation of these methods is their lack of interpretability, particularly in understanding the
Externí odkaz:
http://arxiv.org/abs/2402.10310
We propose an approach to synthesize linear feedback controllers for linear systems in polygonal environments. Our method focuses on designing a robust controller that can account for uncertainty in measurements. Its inputs are provided by a percepti
Externí odkaz:
http://arxiv.org/abs/2310.08413
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic cost and satisfying state and control constraints can be mapped to a
Externí odkaz:
http://arxiv.org/abs/2310.00238