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math.OC2022
On Robust Control of Partially Observed Uncertain Systems with Additive Costs
Aditya Dave, Nishanth Venkatesh, Andreas A. Malikopoulos
In this paper, we consider the problem of optimizing the worst-case behavior of a partially observed system. All uncontrolled disturbances are modeled as finite-valued uncertain va…
math.OC2022
Constraint-Driven Optimal Control for Emergent Swarming and Predator Avoidance
Logan E. Beaver, Andreas A. Malikopoulos
In this letter, we present a constraint-driven optimal control framework that achieves emergent cluster flocking within a constrained 2D environment. We formulate a decentralized o…