4 papers
LIPP: Load-Aware Informative Path Planning with Physical Sampling
Hojune Kim, Guangyao Shi, Gaurav S. Sukhatme
In classical Informative Path Planning (C-IPP), robots are typically modeled as mobile sensors that acquire digital measurements such as images or radiation levels. In this model,…
Data-Driven Distributionally Robust Optimal Control with State-Dependent Noise
Rui Liu, Guangyao Shi, Pratap Tokekar
Distributionally Robust Optimal Control (DROC) is a framework that enables robust control in a stochastic setting where the true disturbance distribution is unknown. Traditional DR…
Contextual Neural Moving Horizon Estimation for Robust Quadrotor Control in Varying Conditions
Kasra Torshizi, Chak Lam Shek, Khuzema Habib +3
Adaptive controllers on quadrotors typically rely on estimation of disturbances to ensure robust trajectory tracking. Estimating disturbances across diverse environmental contexts…
Multi-Agent Trust Region Policy Optimisation: A Joint Constraint Approach
Chak Lam Shek, Guangyao Shi, Pratap Tokekar
Multi-agent reinforcement learning (MARL) requires coordinated and stable policy updates among interacting agents. Heterogeneous-Agent Trust Region Policy Optimization (HATRPO) enf…