42 citations · 60 across the 13 of their papers we have counts for
18 papers
On-the-fly control of unknown nonlinear systems with sublinear regret
Abraham P. Vinod, Arie Israel, Ufuk Topcu
We study the problem of data-driven, constrained control of unknown nonlinear dynamics from a single ongoing and finite-horizon trajectory. We consider a one-step optimal control p…
Safely: Safe Stochastic Motion Planning Under Constrained Sensing via Duality
Michael Hibbard, Abraham P. Vinod, Jesse Quattrociocchi +1
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of…
Physical-Layer Security via Distributed Beamforming in the Presence of Adversaries with Unknown Locations
Yagiz Savas, Abolfazl Hashemi, Abraham P. Vinod +2
We study the problem of securely communicating a sequence of information bits with a client in the presence of multiple adversaries at unknown locations in the environment. We assu…
Constrained, Global Optimization of Functions with Lipschitz Continuous Gradients
Abraham P. Vinod, Arie Israel, Ufuk Topcu
We present two first-order, sequential optimization algorithms to solve constrained optimization problems. We consider a black-box setting with a priori unknown, non-convex objecti…
On-The-Fly Control of Unknown Systems: From Side Information to Performance Guarantees through Reachability
Franck Djeumou, Abraham P. Vinod, Eric Goubault +2
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for sett…
Convexified Open-Loop Stochastic Optimal Control for Linear Non-Gaussian Systems
Vignesh Sivaramakrishnan, Abraham P. Vinod, Meeko M. K. Oishi
We consider stochastic optimal control of linear dynamical systems with additive non-Gaussian disturbance. We propose a novel, sampling-free approach, based on Fourier transformati…
On-The-Fly Control of Unknown Smooth Systems from Limited Data
Franck Djeumou, Abraham P. Vinod, Eric Goubault +2
We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side i…
Near-Optimal Reactive Synthesis Incorporating Runtime Information
Suda Bharadwaj, Abraham P. Vinod, Rayna Dimitrova +1
We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We i…
Blending Controllers via Multi-Objective Bandits
Parham Gohari, Franck Djeumou, Abraham P. Vinod +1
Safety and performance are often two competing objectives in sequential decision-making problems. Existing performant controllers, such as controllers derived from reinforcement le…
Trust-based user-interface design for human-automation systems
Abraham P. Vinod, Adam J. Thorpe, Philip A. Olaniyi +2
We present a method for dynamics-driven, user-interface design for a human-automation system via sensor selection. We define the user-interface to be the output of a MIMO LTI syste…
Voronoi Partition-based Scenario Reduction for Fast Sampling-based Stochastic Reachability Computation of LTI Systems
Hossein Sartipizadeh, Abraham P. Vinod, Behcet Acikmese +1
In this paper, we address the stochastic reach-avoid problem for linear systems with additive stochastic uncertainty. We seek to compute the maximum probability that the states rem…
Lagrangian Approximations for Stochastic Reachability of a Target Tube
Joseph D. Gleason, Abraham P. Vinod, Meeko M. K. Oishi
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets fo…
Stochastic reachability of a target tube: Theory and computation
Abraham P. Vinod, Meeko M. K. Oishi
Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, whic…
Probabilistic Occupancy Function and Sets Using Forward Stochastic Reachability for Rigid-Body Dynamic Obstacles
Abraham P. Vinod, Meeko M. K. Oishi
We present theory and algorithms for the computation of probability-weighted "keep-out" sets to assure probabilistically safe navigation in the presence of multiple rigid body obst…
Underapproximation of Reach-Avoid Sets for Discrete-Time Stochastic Systems via Lagrangian Methods
Joseph D. Gleason, Abraham P. Vinod, Meeko. M. K. Oishi
We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concep…
Scalable Underapproximation for the Stochastic Reach-Avoid Problem for High-Dimensional LTI Systems using Fourier Transforms
Abraham P. Vinod, Meeko M. K. Oishi
We present a scalable underapproximation of the terminal hitting time stochastic reach-avoid probability at a given initial condition, for verification of high-dimensional stochast…
Computation of forward stochastic reach sets: Application to stochastic, dynamic obstacle avoidance
Baisravan HomChaudhuri, Abraham P. Vinod, Meeko M. K. Oishi
We propose a method to efficiently compute the forward stochastic reach (FSR) set and its probability measure for nonlinear systems with an affine disturbance input, that is stocha…
Forward Stochastic Reachability Analysis for Uncontrolled Linear Systems using Fourier Transforms
Abraham P. Vinod, Baisravan Homchaudhuri, Meeko M. K. Oishi
We propose a scalable method for forward stochastic reachability analysis for uncontrolled linear systems with affine disturbance. Our method uses Fourier transforms to efficiently…