45 citations · 155 across the 47 of their papers we have counts for
51 papers
Distributed Covariance Steering via Non-Convex ADMM for Large-Scale Multi-Agent Systems
Augustinos D. Saravanos, Isin M. Balci, Arshiya Taj Abdul +2
This paper studies the problem of steering large-scale multi-agent stochastic linear systems between Gaussian distributions under probabilistic collision avoidance constraints. We…
Game-Theoretic Autonomous Driving: A Graphs of Convex Sets Approach
Nikolaj Käfer, Ahmed Khalil, Edward Huynh +2
Multi-vehicle autonomous driving couples strategic interaction with hybrid (discrete-continuous) maneuver planning under shared safety constraints. We introduce IBR-GCS, an Iterati…
Universal Barrier Functions for Safety and Stability of Constrained Nonlinear Systems
Vrushabh Zinage, Efstathios Bakolas
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We intr…
Ensemble Kalman Inversion for Constrained Nonlinear MPC: An ADMM-Splitting Approach
Ahmed Khalil, Mohamed Safwat, Efstathios Bakolas
This work proposes a novel Alternating Direction Method of Multipliers (ADMM)-based Ensemble Kalman Inversion (EKI) algorithm for solving constrained nonlinear model predictive con…
Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach
Ahmed Khalil, Yoonjae Lee, Efstathios Bakolas
This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work…
Constrained Multi-Modal Density Control of Linear Systems via Covariance Steering Theory
Isin M Balci, Efstathios Bakolas
In this paper, we investigate finite-horizon optimal density steering problems for discrete-time stochastic linear dynamical systems whose state probability densities can be repres…