12 citations · 32 across the 21 of their papers we have counts for
22 papers
Active Mapping of Underwater Litter Using Camera-Sonar Fusion
David Rete, Patrick Boros, Lucian Busoniu
Marine litter is a growing threat to the underwater ecosystem, driving demand for autonomous survey methods that can locate debris efficiently over large areas. Existing survey met…
Value iteration with stopping criterion: finite iterations, stability, and near-optimality guarantees
Mathieu Granzotto, Romain Postoyan, Dragan Nešić +2
Value iteration (VI) is a cornerstone of dynamic programming that allows computing near-optimal feedback laws for general plant dynamics and cost functions. In practice, however, i…
Fast Neural-Network Approximation of Active Target Search Under Uncertainty
Bilal Yousuf, Zsofia Lendek, Lucian Busoniu
We address the problem of searching for an unknown number of stationary targets at unknown positions with a mobile agent. A probability hypothesis density filter is used to estimat…
An optimistic planning algorithm for switched discrete-time LQR
Mathieu Granzotto, Romain Postoyan, Dragan Nešić +2
We introduce TROOP, a tree-based Riccati optimistic online planner, that is designed to generate near-optimal control laws for discrete-time switched linear systems with switched q…
Hyperflux: Pruning Reveals Importance
Eugen Barbulescu, Antonio Alexoaie, Lucian Busoniu
Network pruning is used to reduce inference latency and power consumption in large neural networks. However, most methods focus on empirical results at the expense of understanding…
A BlueROV2-based platform for underwater mapping experiments
Tudor Alinei-Poiana, David Rete, Davian Martinovici +2
We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the…
Two-Channel Extended Kalman Filtering with Intermittent Measurements
Vicu-Mihalis Maer, Zsofia Lendek, Stefan Pirje +5
We consider two nonlinear state estimation problems in a setting where an extended Kalman filter receives measurements from two sets of sensors via two channels (2C). In the stocha…
3D exploration-based search for multiple targets using a UAV
Bilal Yousuf, Zsofia Lendek, Lucian Busoniu
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the t…
Active search and coverage using point-cloud reinforcement learning
Matthias Rosynski, Alexandru Pop, Lucian Busoniu
We consider a problem in which the trajectory of a mobile 3D sensor must be optimized so that certain objects are both found in the overall scene and covered by the point cloud, as…
Underwater Robot Pose Estimation Using Acoustic Methods and Intermittent Position Measurements at the Surface
Vicu-Mihalis Maer, Levente Tamas, Lucian Busoniu
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot…
Path-aware optimistic optimization for a mobile robot
Tudor Santejudean, Lucian Busoniu
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the…
Near-optimal control of nonlinear systems with hybrid inputs and dwell-time constraints
Ioana Lal, Constantin Morarescu, Jamal Daafouz +1
We propose two new optimistic planning algorithms for nonlinear hybrid-input systems, in which the input has both a continuous and a discrete component, and the discrete component…
Stability analysis of optimal control problems with time-dependent costs
Sifeddine Benahmed, Romain Postoyan, Mathieu Granzotto +3
We present stability conditions for deterministic time-varying nonlinear discrete-time systems whose inputs aim to minimize an infinite-horizon time-dependent cost. Global asymptot…
Distributed Policy Gradient with Variance Reduction in Multi-Agent Reinforcement Learning
Xiaoxiao Zhao, Jinlong Lei, Li Li +1
This paper studies a distributed policy gradient in collaborative multi-agent reinforcement learning (MARL), where agents over a communication network aim to find the optimal polic…
Exploiting homogeneity for the optimal control of discrete-time systems: application to value iteration
Mathieu Granzotto, Romain Postoyan, Lucian Buşoniu +2
To investigate solutions of (near-)optimal control problems, we extend and exploit a notion of homogeneity recently proposed in the literature for discrete-time systems. Assuming t…
ObserveNet Control: A Vision-Dynamics Learning Approach to Predictive Control in Autonomous Vehicles
Cosmin Ginerica, Mihai Zaha, Florin Gogianu +3
A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is signifi…
Spectral Normalisation for Deep Reinforcement Learning: an Optimisation Perspective
Florin Gogianu, Tudor Berariu, Mihaela Rosca +3
Most of the recent deep reinforcement learning advances take an RL-centric perspective and focus on refinements of the training objective. We diverge from this view and show we can…
When to stop value iteration: stability and near-optimality versus computation
Mathieu Granzotto, Romain Postoyan, Dragan Nešić +2
Value iteration (VI) is a ubiquitous algorithm for optimal control, planning, and reinforcement learning schemes. Under the right assumptions, VI is a vital tool to generate inputs…
Learning control for transmission and navigation with a mobile robot under unknown communication rates
L. Busoniu, V. S. Varma, J. Loheac +4
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission…
Space-time budget allocation policy design for viral marketing
I. C. Morarescu, V. S. Varma, L. Busoniu +1
We address formally the problem of opinion dynamics when the agents of a social network (e.g., consumers) are not only influenced by their neighbors but also by an external influen…
Optimistic planning for the near-optimal control of nonlinear switched discrete-time systems with stability guarantees
Mathieu Granzotto, Romain Postoyan, Lucian Buşoniu +2
Originating in the artificial intelligence literature, optimistic planning (OP) is an algorithm that generates near-optimal control inputs for generic nonlinear discrete-time syste…
Decoupled Dynamics Distributed Control for Strings of Nonlinear Autonomous Agents
Serban Sabau, Irinel-Constantin Morarescu, Lucian Busoniu +1
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, c…