359 citations
- École Nationale Supérieure des Mines de ParisFR32 papers
- Hôpital Saint-MichelFR28 papers
- Université Paris Sciences et LettresFR23 papers
- Centre de Robotique Intégrée d'Ile de FranceFR9 papers
- Valeo (France)FR5 papers
- École nationale des ponts et chausséesFR4 papers
- Safran (France)FR4 papers
- Sorbonne UniversitéFR4 papers
- Centre Automatique et SystèmesFR3 papers
- Institut national de recherche en sciences et technologies du numériqueFR3 papers
- University of EdinburghGB3 papers
- Aix-Marseille UniversitéFR2 papers
9 papers · 1 filter
Variational Dynamic Programming for Stochastic Optimal Control
Marc Lambert, Francis Bach, Silvère Bonnabel
We consider the problem of stochastic optimal control, where the state-feedback control policies take the form of a probability distribution and where a penalty on the entropy is a…
Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples
Brigitte d'Andréa-Novel, Jean-Michel Coron, Wilfrid Perruquetti
This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the c…
Modelling the Time-dependent VRP through Open Data
Augustin Lombard, Simon Tamayo, Frédéric Fontane
This paper presents an open data approach to model and solve the vehicle routing problem with time-dependent travel times (TDVRP). The proposed model is based on a multi-layer matr…
Controllability of the 1D Schrödinger equation using flatness
Philippe Martin, Lionel Rosier, Pierre Rouchon
We derive in a direct way the exact controllability of the 1D free Schrödinger equation with Dirichlet boundary control. We use the so-called flatness approach, which consists in p…
Some remarks on wheeled autonomous vehicles and the evolution of their control design
Brigitte d'Andréa-Novel, Lghani Menhour, Michel Fliess +1
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It…
Stochastic gradient descent on Riemannian manifolds
Silvere Bonnabel
Stochastic gradient descent is a simple approach to find the local minima of a cost function whose evaluations are corrupted by noise. In this paper, we develop a procedure extendi…