3 papers
eess.SY2024
Towards Fast and Safety-Guaranteed Trajectory Planning and Tracking for Time-Varying Systems
Seth Siriya, Mo Chen, Ye Pu
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be re…
cs.RO2023
Task-Oriented Koopman-Based Control with Contrastive Encoder
Xubo Lyu, Hanyang Hu, Seth Siriya +2
We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operato…
eess.SY2023
Stability Bounds for Learning-Based Adaptive Control of Discrete-Time Multi-Dimensional Stochastic Linear Systems with Input Constraints
Seth Siriya, Jingge Zhu, Dragan Nešić +1
We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances,…