6 citations · 9 across the 10 of their papers we have counts for
11 papers
A Dual Ensemble Kalman Filter Approach to Robust Control of Nonlinear Systems: An Application to Partial Differential Equations
Anant A. Joshi, Saviz Mowlavi, Mouhacine Benosman
This paper considers the problem of data-driven robust control design for nonlinear systems, for instance, obtained when discretizing nonlinear partial differential equations (PDEs…
Error Analysis of Sampling Algorithms for Approximating Stochastic Optimal Control
Anant A. Joshi, Amirhossein Taghvaei, Prashant G. Mehta
This paper is concerned with the error analysis of two types of sampling algorithms, namely model predictive path integral (MPPI) and an interacting particle system (\IPS) algorith…
Interacting Particle Systems for Fast Linear Quadratic RL
Anant A Joshi, Heng-Sheng Chang, Amirhossein Taghvaei +2
This paper is concerned with the design of algorithms based on systems of interacting particles to represent, approximate, and learn the optimal control law for reinforcement learn…
Backward Map for Filter Stability Analysis
Jin Won Kim, Anant A. Joshi, Prashant G. Mehta
In this paper, a backward map is introduced for the purposes of analysis of the nonlinear (stochastic) filter stability. The backward map is important because the filter-stability…
Dual Ensemble Kalman Filter for Stochastic Optimal Control
Anant A. Joshi, Amirhossein Taghvaei, Prashant G. Mehta +1
In this paper, stochastic optimal control problems in continuous time and space are considered. In recent years, such problems have received renewed attention from the lens of rein…
Towards Provable Log Density Policy Gradient
Pulkit Katdare, Anant Joshi, Katherine Driggs-Campbell
Policy gradient methods are a vital ingredient behind the success of modern reinforcement learning. Modern policy gradient methods, although successful, introduce a residual error…
Controlled Interacting Particle Algorithms for Simulation-based Reinforcement Learning
Anant Joshi, Amirhossein Taghvaei, Prashant G. Mehta +1
This paper is concerned with optimal control problems for control systems in continuous time, and interacting particle system methods designed to construct approximate control solu…
Robust Discrete-Time Pontryagin Maximum Principle on Matrix Lie Groups
Anant A. Joshi, Debasish Chatterjee, Ravi N. Banavar
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturb…
Modification of Hilbert's Space-Filling Curve to Avoid Obstacles: A Robotic Path-Planning Strategy
Anant A. Joshi, Maulik C. Bhatt, Arpita Sinha
This paper addresses the problem of exploring a region using the Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assu…
Uncertainty Quantification And Analysis Of Dynamical Systems With Invariants
Anant A. Joshi, Kamesh Subbarao
This paper considers uncertainty quantification in systems perturbed by stochastic disturbances, in particular, Gaussian white noise. The main focus of this work is on describing t…
A bundle framework for observer design on smooth manifolds with symmetry
Anant A. Joshi, D. H. S. Maithripala, Ravi N. Banavar
The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient…