45 citations · 155 across the 47 of their papers we have counts for
13 papers · 1 filter
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…
Covariance Steering of Discrete-Time Linear Systems with Mixed Multiplicative and Additive Noise
Isin M. Balci, Efstathios Bakolas
In this paper, we study the covariance steering (CS) problem for discrete-time linear systems subject to multiplicative and additive noise. Specifically, we consider two variants o…
Exact SDP Formulation for Discrete-Time Covariance Steering with Wasserstein Terminal Cost
Isin M. Balci, Efstathios Bakolas
In this paper, we present new results on the covariance steering problem with Wasserstein distance terminal cost. We show that the state history feedback control policy parametriza…
Constrained Covariance Steering Based Tube-MPPI
Isin M. Balci, Efstathios Bakolas, Bogdan Vlahov +1
In this paper, we present a new trajectory optimization algorithm for stochastic linear systems which combines Model Predictive Path Integral (MPPI) control with Constrained Covari…
Guarding a Target Set from a Single Attacker in the Euclidean Space
Yoonjae Lee, Efstathios Bakolas
This paper addresses a two-player target defense game in the -dimensional Euclidean space where an attacker attempts to enter a closed convex target set while a defender strives…
Covariance Control of Discrete-Time Gaussian Linear Systems Using Affine Disturbance Feedback Control Policies
Isin M. Balci, Efstathios Bakolas
In this paper, we present a new control policy parametrization for the finite-horizon covariance steering problem for discrete-time Gaussian linear systems (DTGLS) which can reduce…
On the Convexity of Discrete Time Covariance Steering in Stochastic Linear Systems with Wasserstein Terminal Cost
Isin M. Balci, Abhishek Halder, Efstathios Bakolas
In this work, we analyze the properties of the solution to the covariance steering problem for discrete time Gaussian linear systems with a squared Wasserstein distance terminal co…
Minimum Variance and Covariance Steering Based on Affine Disturbance Feedback Control Parameterization
Efstathios Bakolas
The goal of this paper is to address finite-horizon minimum variance and covariance steering problems for discrete-time stochastic (Gaussian) linear systems. On the one hand, the m…
Nonlinear Covariance Steering using Variational Gaussian Process Predictive Models
Alexandros Tsolovikos, Efstathios Bakolas
In this work, we consider the problem of steering the first two moments of the uncertain state of an unknown discrete-time stochastic nonlinear system to a given terminal distribut…
Covariance Steering of Discrete-Time Stochastic Linear Systems Based on Distribution Distance Terminal Costs
Isin M. Balci, Efstathios Bakolas
We consider a class of stochastic optimal control problems for discrete-time stochastic linear systems which seek for control policies that will steer the probability distribution…
Greedy Finite-Horizon Covariance Steering for Discrete-Time Stochastic Nonlinear Systems Based on the Unscented Transform
Efstathios Bakolas, Alexandros Tsolovikos
In this work, we consider the problem of steering the first two moments of the uncertain state of a discrete time nonlinear stochastic system to prescribed goal quantities at a giv…