6 citations · 7 across the 17 of their papers we have counts for
8 papers · 1 filter
Pareto-Optimal Entropy-Regularized Trajectory Optimization
Dimitrios S. Georgiou, Augustinos D. Saravanos, Evangelos A. Theodorou
Trajectory optimization (TO) under nonlinear dynamics, actuation limits and collision avoidance constraints is a fundamental problem in robotics, albeit especially challenging due…
Bayesian Active Learning for Intent Disambiguation in Interactive Robot Planning
Huao Li, Carson Sobolewski, Augustinos Saravanos +3
Interactive robot planning requires robots to infer and execute human intentions from natural language instructions that are often ambiguous, incomplete, or underspecified. Althoug…
Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication
Ardalan Tajbakhsh, Augustinos Saravanos, James Zhu +3
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable…
Operator Splitting Covariance Steering for Safe Stochastic Nonlinear Control
Akash Ratheesh, Vincent Pacelli, Augustinos D. Saravanos +1
This paper presents a novel algorithm for solving distribution steering problems featuring nonlinear dynamics and chance constraints. Covariance steering (CS) is an emerging method…
Scaling Robust Optimization for Multi-Agent Robotic Systems: A Distributed Perspective
Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimiza…
Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems
Augustinos D. Saravanos, Yihui Li, Evangelos A. Theodorou
As the scale and complexity of multi-agent robotic systems are subject to a continuous increase, this paper considers a class of systems labeled as Very-Large-Scale Multi-Agent Sys…
Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States
Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos +1
In this paper, we introduce Tolerant Discrete Barrier States (T-DBaS), a novel safety-embedding technique for trajectory optimization with enhanced exploratory capabilities. The pr…
Distributed Model Predictive Covariance Steering
Augustinos D. Saravanos, Isin M. Balci, Efstathios Bakolas +1
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance…