10 citations · 14 across the 10 of their papers we have counts for
3 papers · 1 filter
Gaussian Process Barrier States for Safe Trajectory Optimization and Control
Hassan Almubarak, Manan Gandhi, Yuichiro Aoyama +2
This paper proposes embedded Gaussian Process Barrier States (GP-BaS), a methodology to safely control unmodeled dynamics of nonlinear system using Bayesian learning. Gaussian Proc…
Distributed Differential Dynamic Programming Architectures for Large-Scale Multi-Agent Control
Augustinos D. Saravanos, Yuichiro Aoyama, Hongchang Zhu +1
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest archite…
Safety in Augmented Importance Sampling: Performance Bounds for Robust MPPI
Manan Gandhi, Hassan Almubarak, Yuichiro Aoyama +1
This work explores the nature of augmented importance sampling in safety-constrained model predictive control problems. When operating in a constrained environment, sampling based…