From the 1 of 11 linked papers with an AI index.
11 papers
Distributionally Robust and Safe Imitation Learning
Ahmed Aboudonia, Naira Hovakimyan
The paper introduces a framework that combines Taylor Series Imitation Learning with distributionally robust adaptive control to handle both policy- and uncertainty-induced distrib…
Dissipativity-Based Data-Driven Decentralized Control of Interconnected Systems
Taiki Nakano, Ahmed Aboudonia, Jaap Eising +3
We propose data-driven decentralized control algorithms for stabilizing interconnected discrete-time linear time-invariant systems. We first derive a data-driven condition to synth…
Distributed Predictive Control Barrier Functions: Towards Scalable Safety Certification in Modular Multi-Agent Systems
Jonas Ohnemus, Alexandre Didier, Ahmed Aboudonia +2
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables…
Distributionally Robust Imitation Learning: Layered Control Architecture for Certifiable Autonomy
Aditya Gahlawat, Ahmed Aboudonia, Sandeep Banik +5
Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, I…
A Robust Task-Level Control Architecture for Learned Dynamical Systems
Eshika Pathak, Ahmed Aboudonia, Sandeep Banik +1
Dynamical system (DS)-based learning from demonstration (LfD) is a powerful tool for generating motion plans in the operation ('task') space of robotic systems. However, realizing…
A Data-Driven Model Predictive Controller to manage epidemics: The case of SARS-CoV-2 in Mauritius
S. Z. Sayed Hassen, A. Aboudonia, J. Lygeros
This work investigates the benefits of implementing a systematic approach to social isolation policies during epidemics. We develop a mixed integer data-driven model predictive con…