138 citations · 402 across the 159 of their papers we have counts for
19 papers · 1 filter
Optimal Search for Finding Satellites Post-Launch
Carlo Schreiber, Duncan Eddy, Mahdi Al-Husseini +3
This paper introduces Bayesian Continuation Model Predictive Control (BC-MPC), an adaptive method that replans near-term antenna pointings while continuing a feasible baseline swee…
Risk-Averse Lander Site Selection under Altitude-Limited Information
Vikas A. Patel, Mahdi Al-Husseini, Duncan Eddy +1
In aerospace systems, powered descent requires efficiently selecting a landing site while fine-scale hazards remain unresolvable until low altitude. This process presents a decisio…
Real-Time Flight Test Maneuver Selection with Monte Carlo Tree Search
Nicholas E. Bostock, Helen Pruitt-Kennett, Marc R. Schlichting +1
Flight test is shifting toward a data-centric approach in which data contribute to model refinement, reducing reliance on pre-scripted test points. An open problem is how to sequen…
Fault-Aware MPC for Robotic Fleet Communications Scheduling
Carlo Schreiber, Duncan Eddy, Mykel J. Kochenderfer
Operating a fleet of remote robotic systems with intermittent communications requires scheduling limited contact opportunities to maintain fleet health awareness, complete mission…
Optimizing Task Completion Time Updates Using POMDPs
Duncan Eddy, Esen Yel, Emma Passmore +4
Managing announced task completion times is a fundamental control problem in project management. While extensive research exists on estimating task durations and task scheduling, t…
Distributionally Robust Control with Constraints on Linear Unidimensional Projections
Alexandros E. Tzikas, Lukas Fiechtner, Arec Jamgochian +1
Distributionally robust control is a well-studied framework for optimal decision making under uncertainty, with the objective of minimizing an expected cost function over control a…
Polyhedral Enclosures: An Efficient Combinatorial Abstraction for Nonlinear Neural Feedback Systems
I. Samuel Akinwande, Chelsea Sidrane, Mykel J. Kochenderfer +1
As dynamical systems equipped with neural network controllers (neural feedback systems) become increasingly prevalent, it is critical to develop methods to ensure their safe operat…
An Iterative Bayesian Approach for System Identification based on Linear Gaussian Models
Alexandros E. Tzikas, Mykel J. Kochenderfer
We tackle the problem of system identification, where we select inputs, observe the corresponding outputs from the true system, and optimize the parameters of our model to best fit…
Sliced Distribution Matching based on Cumulative Distribution Functions with Applications to Control
Alexandros E. Tzikas, Arec Jamgochian, Nazim Kemal Ure +2
Computing the similarity between two probability distributions is a recurring theme across control. We introduce a unified family of distances between the probability distributions…
Optimal Control of Mechanical Ventilators with Learned Respiratory Dynamics
Isaac Ronald Ward, Dylan M. Asmar, Mansur Arief +2
Deciding on appropriate mechanical ventilator management strategies significantly impacts the health outcomes for patients with respiratory diseases. Acute Respiratory Distress Syn…
Optimizing Falsification for Learning-Based Control Systems: A Multi-Fidelity Bayesian Approach
Zahra Shahrooei, Mykel J. Kochenderfer, Ali Baheri
Testing controllers in safety-critical systems is vital for ensuring their safety and preventing failures. In this paper, we address the falsification problem within learning-based…
Informative Input Design for Dynamic Mode Decomposition
Joshua Ott, Mykel J. Kochenderfer, Stephen Boyd
Efficiently estimating system dynamics from data is essential for minimizing data collection costs and improving model performance. This work addresses the challenge of designing f…
Watercraft as Overwater Ambulance Exchange Points to Enhance Aeromedical Evacuation
Mahdi Al-Husseini, Kyle H. Wray, Mykel J. Kochenderfer
Ambulance exchange points are preidentified sites where patients are transferred between evacuation platforms while en route to enhanced medical care. We propose a new capability f…
Hierarchical Framework for Optimizing Wildfire Surveillance and Suppression using Human-Autonomous Teaming
Mahdi Al-Husseini, Kyle Wray, Mykel Kochenderfer
The integration of manned and unmanned aircraft can help improve wildfire response. Wildfire containment failures occur when resources available to first responders, who execute th…
Model Predictive Optimized Path Integral Strategies
Dylan M. Asmar, Ransalu Senanayake, Shawn Manuel +1
We generalize the derivation of model predictive path integral control (MPPI) to allow for a single joint distribution across controls in the control sequence. This reformation all…
Markov Decision Processes For Multi-Objective Satellite Task Planning
Duncan Eddy, Mykel Kochenderfer
This paper presents a semi-Markov decision process (SMDP) formulation of the satellite task scheduling problem. This formulation can consider multiple operational objectives simult…
Satellite Image Tasking Under Orbit Prediction Uncertainty
Duncan Eddy, Mykel Kochenderfer
Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches…
Estimation and Control Using Sampling-Based Bayesian Reinforcement Learning
Patrick Slade, Zachary N. Sunberg, Mykel J. Kochenderfer
Real-world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation and control tasks to m…
Simultaneous active parameter estimation and control using sampling-based Bayesian reinforcement learning
Patrick Slade, Preston Culbertson, Zachary Sunberg +1
Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling error and shifts in…