2 papers
math.OC2021
Discrete-Time Linear-Quadratic Regulation via Optimal Transport
Mathias Hudoba de Badyn, Erik Miehling, Dylan Janak +5
In this paper, we consider a discrete-time stochastic control problem with uncertain initial and target states. We first discuss the connection between optimal transport and stocha…
math.OC2021
Decentralized trajectory optimization for multi-agent exploration
Dimitris Gkouletsos, Andrea Iannelli, Mathias Hudoba de Badyn +1
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of…