Zobrazeno 1 - 10
of 25
pro vyhledávání: '"Horowitz, Matanya B."'
This paper presents a novel method to synthesize stochastic control Lyapunov functions for a class of nonlinear, stochastic control systems. In this work, the classical nonlinear Hamilton-Jacobi-Bellman partial differential equation is transformed in
Externí odkaz:
http://arxiv.org/abs/1509.07922
In this work, we present a method to perform Model Predictive Control (MPC) over systems whose state is an element of $SO(n)$ for $n=2,3$. This is done without charts or any local linearization, and instead is performed by operating over the orbitope
Externí odkaz:
http://arxiv.org/abs/1410.2792
Autor:
Matni, Nikolai, Horowitz, Matanya B.
This paper introduces several new algorithms for consensus over the special orthogonal group. By relying on a convex relaxation of the space of rotation matrices, consensus over rotation elements is reduced to solving a convex problem with a unique g
Externí odkaz:
http://arxiv.org/abs/1410.1760
Publikováno v:
SIAM Journal of Control and Optimization 2016 54:6, 3106-3125
This paper presents a new method for synthesizing stochastic control Lyapunov functions for a class of nonlinear stochastic control systems. The technique relies on a transformation of the classical nonlinear Hamilton-Jacobi-Bellman partial different
Externí odkaz:
http://arxiv.org/abs/1410.0405
Autor:
Horowitz, Matanya B., Burdick, Joel W.
This paper presents a new methodology to craft navigation functions for nonlinear systems with stochastic uncertainty. The method relies on the transformation of the Hamilton-Jacobi-Bellman (HJB) equation into a linear partial differential equation.
Externí odkaz:
http://arxiv.org/abs/1409.5993
This work proposes a method for solving linear stochastic optimal control (SOC) problems using sum of squares and semidefinite programming. Previous work had used polynomial optimization to approximate the value function, requiring a high polynomial
Externí odkaz:
http://arxiv.org/abs/1409.5986
The Hamilton Jacobi Bellman Equation (HJB) provides the globally optimal solution to large classes of control problems. Unfortunately, this generality comes at a price, the calculation of such solutions is typically intractible for systems with more
Externí odkaz:
http://arxiv.org/abs/1404.1089
Autor:
Horowitz, Matanya B., Burdick, Joel W.
Recent results in the study of the Hamilton Jacobi Bellman (HJB) equation have led to the discovery of a formulation of the value function as a linear Partial Differential Equation (PDE) for stochastic nonlinear systems with a mild constraint on thei
Externí odkaz:
http://arxiv.org/abs/1402.2763
This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of $SE(2)$ and $SE(3)$. The approach can use dense point cloud data from stereo vision or an RGB-D sensor (such as th
Externí odkaz:
http://arxiv.org/abs/1401.3700
Autor:
Matni, Nikolai, Leong, Yoke Peng, Wang, Yuh Shyang, You, Seungil, Horowitz, Matanya B., Doyle, John C.
Publikováno v:
In Procedia Computer Science 2014 28:285-293
