332 citations · 376 across the 32 of their papers we have counts for
9 papers · 1 filter
Resource-Aware Distributed Submodular Maximization: A Paradigm for Multi-Robot Decision-Making
Zirui Xu, Vasileios Tzoumas
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robot…
Robust and Adaptive Sequential Submodular Optimization
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
Emerging applications of control, estimation, and machine learning, ranging from target tracking to decentralized model fitting, pose resource constraints that limit which of the a…
Resilient Non-Submodular Maximization over Matroid Constraints
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
The control and sensing of large-scale systems results in combinatorial problems not only for sensor and actuator placement but also for scheduling or observability/controllability…
LQG Control and Sensing Co-Design
Vasileios Tzoumas, Luca Carlone, George J. Pappas +1
We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing co-design problem, where one jointly designs sensing and control policies. We focus on the realistic case where…
Sensing-Constrained LQG Control
Vasileios Tzoumas, Luca Carlone, George J. Pappas +1
Linear-Quadratic-Gaussian (LQG) control is concerned with the design of an optimal controller and estimator for linear Gaussian systems with imperfect state information. Standard L…
Resilient Monotone Submodular Function Maximization
Vasileios Tzoumas, Konstantinos Gatsis, Ali Jadbabaie +1
In this paper, we focus on applications in machine learning, optimization, and control that call for the resilient selection of a few elements, e.g. features, sensors, or leaders,…
Near-Optimal Sensor Scheduling for Batch State Estimation: Complexity, Algorithms, and Limits
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
In this paper, we focus on batch state estimation for linear systems. This problem is important in applications such as environmental field estimation, robotic navigation, and targ…
Sensor Placement for Optimal Kalman Filtering: Fundamental Limits, Submodularity, and Algorithms
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to desig…
Minimal Actuator Placement with Bounds on Control Effort
V. Tzoumas, M. A. Rahimian, G. J. Pappas +1
We address the problem of minimal actuator placement in linear systems so that the volume of the set of states reachable with one unit or less of input energy is lower bounded by a…