7 papers
Robust Data-Driven Output Feedback Control via Bootstrapped Multiplicative Noise
Benjamin Gravell, Iman Shames, Tyler Summers
We propose a robust data-driven output feedback control algorithm that explicitly incorporates inherent finite-sample model estimate uncertainties into the control design. The algo…
Policy Iteration for Multiplicative Noise Output Feedback Control
Benjamin Gravell, Matilde Gargiani, John Lygeros +1
We propose a policy iteration algorithm for solving the multiplicative noise linear quadratic output feedback design problem. The algorithm solves a set of coupled Riccati equation…
Risk Bounded Nonlinear Robot Motion Planning With Integrated Perception & Control
Venkatraman Renganathan, Sleiman Safaoui, Aadi Kothari +3
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and predict…
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
Sleiman Safaoui, Benjamin J. Gravell, Venkatraman Renganathan +1
We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant…
Centralized Collision-free Polynomial Trajectories and Goal Assignment for Aerial Swarms
Benjamin Gravell, Tyler Summers
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots…
Robust Control Design for Linear Systems via Multiplicative Noise
Benjamin Gravell, Peyman Mohajerin Esfahani, Tyler Summers
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for di…