Zobrazeno 1 - 10
of 10
pro vyhledávání: '"Benjamin Gravell"'
Publikováno v:
IEEE Control Systems Letters. 5:307-312
Robustness is a key challenge in the integration of learning and control. In machine learning and robotics, two common approaches to promote robustness are adversarial training and domain randomization. Both of these approaches have analogs in contro
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f9647ac587c6ab8954ec3aaae59c59cb
https://doi.org/10.1109/lcsys.2020.3001883
https://doi.org/10.1109/lcsys.2020.3001883
Autor:
Venkatraman Renganathan, Sleiman Safaoui, Aadi Kothari, Benjamin Gravell, Iman Shames, Tyler Summers
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making questiona
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::11316edb7bf3d87bef0131b179b0ffb4
http://arxiv.org/abs/2201.01483
http://arxiv.org/abs/2201.01483
Autor:
Benjamin Gravell, Tyler Summers
Publikováno v:
2021 60th IEEE Conference on Decision and Control (CDC).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::69c0f7dd16ec2f7e14df7f2f541020e9
https://doi.org/10.1109/cdc45484.2021.9683784
https://doi.org/10.1109/cdc45484.2021.9683784
The paper studies identification of linear systems with multiplicative noise from multiple-trajectory data. An algorithm based on the least-squares method and multiple-trajectory data is proposed for joint estimation of the nominal system matrices an
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7bf33eab78c96322d6040470a54770bb
Publikováno v:
IEEE Transactions on Automatic Control, 66(11)
The linear quadratic regulator (LQR) problem has reemerged as an important theoretical benchmark for reinforcement learning-based control of complex dynamical systems with continuous state and action spaces. In contrast with nearly all recent work in
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0fd97f7dc086692cf1bd3d11ce53fe91
http://resolver.tudelft.nl/uuid:aecd5a3d-d429-4433-9fe3-13080316fd05
http://resolver.tudelft.nl/uuid:aecd5a3d-d429-4433-9fe3-13080316fd05
Publikováno v:
IFAC-PapersOnLine. 52:327-332
We give algorithms for designing near-optimal sparse controllers using policy gradient with applications to control of systems corrupted by multiplicative noise, which is increasingly important in emerging complex dynamical networks. Various regulari
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e81e61b4b0e16bb0b5b04caf72cbaa2f
https://doi.org/10.1016/j.ifacol.2019.12.176
https://doi.org/10.1016/j.ifacol.2019.12.176
Publikováno v:
IFAC-PapersOnLine, 53 (2020)(2)
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control design. Specifi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6560e1c1d53d7d7f5a0f9f54695b20a6
http://arxiv.org/abs/2004.08019
http://arxiv.org/abs/2004.08019
Autor:
Benjamin Gravell, Tyler H. Summers
Publikováno v:
IFAC-PapersOnLine. 51:75-81
We develop computationally tractable methods for concurrent goal assignment and planning of collision-free trajectories for multiple aerial robot systems. Our method first assigns robots to goals to minimize total time-in-motion, assuming straight-li
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::452974b1ffcd718d669162cce4ae167b
https://doi.org/10.1016/j.ifacol.2018.07.091
https://doi.org/10.1016/j.ifacol.2018.07.091
Publikováno v:
ACC
The study of multiplicative noise models has a long history in control theory but is re-emerging in the context of complex networked systems and systems with learning-based control. We consider linear system identification with multiplicative noise f
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::786bd914d5430d57d965b0f6717b09a3
Autor:
Tyler H. Summers, Benjamin Gravell
Publikováno v:
Control Engineering Practice. 109:104753
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total time-in-m
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c4bad06dd0dd41e9bdbfbeb0db593aa9
https://doi.org/10.1016/j.conengprac.2021.104753
https://doi.org/10.1016/j.conengprac.2021.104753