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eess.SY2025
Strong Duality and Dual Ascent Approach to Continuous-Time Chance-Constrained Stochastic Optimal Control
Apurva Patil, Alfredo Duarte, Fabrizio Bisetti +1
The paper addresses a continuous-time continuous-space chance-constrained stochastic optimal control (SOC) problem where the probability of failure to satisfy given state constrain…
eess.SY2025
Model Predictive Path Integral Control for Roll-to-Roll Manufacturing
Christopher Martin, Apurva Patil, Wei Li +2
Roll-to-roll (R2R) manufacturing is a continuous processing technology essential for scalable production of thin-film materials and printed electronics, but precise control remains…
eess.SY2025
Path Integral Methods for Synthesizing and Preventing Stealthy Attacks in Nonlinear Cyber-Physical Systems
Apurva Patil, Kyle Morgenstein, Luis Sentis +1
This paper studies the synthesis and mitigation of stealthy attacks in nonlinear cyber-physical systems (CPS). To quantify stealthiness, we employ the Kullback-Leibler (KL) diverge…