4 citations · 9 across the 15 of their papers we have counts for
19 papers
Data-Driven Minimum Energy Control for Stochastic Linear Systems with Finite Sample Guarantees
Vaishnavi Sharma, Vaibhav Katewa
The open-loop minimum-energy control (MEC) problem asks for control inputs that minimize the control energy while ensuring the terminal state reaches a desired value. In this paper…
Multi-Sensor Alignment for Weather Simulations
Samsad Alam, Devyani Lambhate, Aditya Mohan +2
Perception tasks for autonomous vehicles need to work satisfactorily in adverse weather conditions. Due to lack of real-world weather datasets, weather simulations are a promising…
Exploiting Adjacent Similarity in Multi-Armed Bandit Tasks via Transfer of Reward Samples
NR Rahul, Vaibhav Katewa
We consider a sequential multi-task problem, where each task is modeled as the stochastic multi-armed bandit with K arms. We assume the bandit tasks are adjacently similar in the s…
Transfer in Sequential Multi-armed Bandits via Reward Samples
Rahul N R, Vaibhav Katewa
We consider a sequential stochastic multi-armed bandit problem where the agent interacts with bandit over multiple episodes. The reward distribution of the arms remain constant thr…
Approximate Stability Radius Analysis and Design in Linear Systems
Ananta Kant Rai, Vaibhav Katewa
The robustness of the stability properties of dynamical systems in the presence of unknown/adversarial perturbations to system parameters is a desirable property. In this paper, we…
Minimum-norm Sparse Perturbations for Opacity in Linear Systems
Varkey M John, Vaibhav Katewa
Opacity is a notion that describes an eavesdropper's inability to estimate a system's 'secret' states by observing the system's outputs. In this paper, we propose algorithms to com…
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
Phani Thontepu, Bhavya Giri Goswami, Manan Tayal +6
In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacle…
On Connections between Opacity and Security in Linear Systems
Varkey M. John, Vaibhav Katewa
Opacity and attack detectability are important properties for any system as they allow the states to remain private and malicious attacks to be detected, respectively. In this pape…
Behavioral Feedback for Optimal LQG Control
Abed AlRahman Al Makdah, Vishaal Krishnan, Vaibhav Katewa +1
In this work, we revisit the Linear Quadratic Gaussian (LQG) optimal control problem from a behavioral perspective. Motivated by the suitability of behavioral models for data-drive…
Robust Adversarial Classification via Abstaining
Abed AlRahman Al Makdah, Vaibhav Katewa, Fabio Pasqualetti
In this work, we consider a binary classification problem and cast it into a binary hypothesis testing framework, where the observations can be perturbed by an adversary. To improv…
On a Security vs Privacy Trade-off in Interconnected Dynamical Systems
Vaibhav Katewa, Rajasekhar Anguluri, Fabio Pasqualetti
We study a security problem for interconnected systems, where each subsystem aims to detect local attacks using local measurements and information exchanged with neighboring subsys…
Network Theoretic Analysis of Maximum a Posteriori Detectors for Optimal Input Detection
Rajasekhar Anguluri, Vaibhav Katewa, Sandip Roy +1
This paper considers maximum-a-posteriori (MAP) and linear discriminant based MAP detectors to detect changes in the mean and covariance of a stochastic input, driving specific net…
On the Robustness of Data-Driven Controllers for Linear Systems
Rajasekhar Anguluri, Abed AlRahman Al Makdah, Vaibhav Katewa +1
This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of t…
Accuracy Prevents Robustness in Perception-based Control
Abed AlRahman Al Makdah, Vaibhav Katewa, Fabio Pasqualetti
In this paper we prove the existence of a fundamental trade-off between accuracy and robustness in perception-based control, where control decisions rely solely on data-driven, and…
Centralized Versus Decentralized Detection of Attacks in Stochastic Interconnected Systems
Rajasekhar Anguluri, Vaibhav Katewa, Fabio Pasqualetti
We consider a security problem for interconnected systems governed by linear, discrete, time-invariant, stochastic dynamics, where the objective is to detect exogenous attacks by p…
A Fundamental Performance Limitation for Adversarial Classification
Abed AlRahman Al Makdah, Vaibhav Katewa, Fabio Pasqualetti
Despite the widespread use of machine learning algorithms to solve problems of technological, economic, and social relevance, provable guarantees on the performance of these data-d…
Data-Driven Minimum-Energy Controls for Linear Systems
Giacomo Baggio, Vaibhav Katewa, Fabio Pasqualetti
In this paper we study the problem of computing minimum-energy controls for linear systems from experimental data. The design of open-loop minimum-energy control inputs to steer a…
On the Real Stability Radius of Sparse Systems
Vaibhav Katewa, Fabio Pasqualetti
In this paper, we study robust stability of sparse LTI systems using the stability radius (SR) as a robustness measure. We consider real perturbations with an arbitrary and pre-spe…
Minimum-gain Pole Placement with Sparse Static Feedback
Vaibhav Katewa, Fabio Pasqualetti
The minimum-gain eigenvalue assignment/pole placement problem (MGEAP) is a classical problem in LTI systems with static state feedback. In this paper, we study the MGEAP when the s…