8 papers · 1 filter
Model Predictive Path Integral Control as a Quantum Query Problem
Goutam Das, Takashi Tanaka
Model predictive path integral (MPPI) control computes its inputs as cost-weighted averages over simulated trajectories. However, it typically requires many simulations, especially…
Bound-Optimized Task Choice for Path Integral Control
Rylie Anderson, Goutam Das, Takashi Tanaka
Path Integral (PI) control is a powerful sampling-based method for stochastic optimal control, but it requires a restrictive coupling between the noise covariance and the control c…
Path Integral Control for Partially Observed Systems with Controlled Sensing
Goutam Das, Takashi Tanaka
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, whi…
Path Integral Control in Gaussian Belief Space for Partially Observed Systems
Goutam Das, Takashi Tanaka
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC uses the matching condition, which requires th…
Heterogeneous Roles against Assignment Based Policies in Two vs Two Target Defense Game
Goutam Das, Violetta Rostobaya, James Berneburg +3
In this paper, we consider a target defense game in which the attacker team seeks to reach a high-value target while the defender team seeks to prevent that by capturing them away…
Guarding a Target Area from a Heterogeneous Group of Cooperative Attackers
Yoonjae Lee, Goutam Das, Daigo Shishika +1
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In cont…
Defending a Static Target Point with a Slow Defender
Goutam Das, Michael Dorothy, Zachary I. Bell +1
This paper studies a target-defense game played between a slow defender and a fast attacker. The attacker wins the game if it reaches the target while avoiding the defender's captu…
Guarding a Non-Maneuverable Translating Line with an Attached Defender
Goutam Das, Michael Dorothy, Zachary I. Bell +1
In this paper we consider a target-guarding differential game where the defender must protect a linearly translating line-segment by intercepting an attacker who tries to reach it.…