5 citations · 7 across the 27 of their papers we have counts for
12 papers · 1 filter
Continuous-Time Covariance Steering with Common Free-Final Time: Finite-Horizon Solutions and Infinite-Horizon Limits
Akan Selim, Fengjiao Liu, Siddhartha Ganguly +1
This article studies the optimal common free-final time problem for steering the state covariance of a continuous-time stochastic linear system between prescribed initial and termi…
Conflict-Based Lazy Search for Fast Multi-Manipulator Planning
Dongliang Zheng, Zhipeng Wang, Siqi Wang +4
Employing multiple manipulators can boost efficiency and accomplish tasks that a single manipulator cannot do. However, real-time planning for multiple manipulators in a cluttered…
Lifted Schrödinger Bridges for Gaussian Mixture Endpoints: Projection Gaps and Path-Space Obstructions
Siddhartha Ganguly, George Rapakoulias, Panagiotis Tsiotras
We study stochastic density control between Gaussian-mixture endpoint distributions under Brownian prior dynamics. Since the direct Schrödinger bridge between Gaussian mixtures is…
Stochastic Transition-Map Distillation for Fast Probabilistic Inference
George Rapakoulias, Peter Garud, Lingjiong Zhu +1
Diffusion models achieve strong generation quality, diversity, and distribution coverage, but their performance often comes with expensive inference. In this work, we propose Stoch…
Asymmetric-Information Resource Allocation Games: An LP Approach to Purposeful Deception
Longxu Pan, Yue Guan, Daigo Shishika +1
In this work, we introduce the Deceptive Resource Allocation Game (DRAG), which studies purposeful deception within a Bayesian game framework. In DRAG, a Defender allocates resourc…
Reachability Analysis of the State Transition and State Covariance Matrices for an LTV System
Fengjiao Liu, Yixiao Zhang, Panagiotis Tsiotras
In this paper, we study the reachability of two closely related matrices appearing in the analysis of linear time-varying (LTV) systems over a finite time interval, namely, its clo…
Nonlinear Stochastic Density Steering via Gaussian Mixture Schrodinger Bridges and Multiple Linearizations
Mattia Mosso, George Rapakoulias, Yue Guan +1
The paper studies the optimal density steering problem for nonlinear continuous-time stochastic systems. To accurately capture nonlinear dynamics in high-uncertainty regions that d…
Covariance Steering of Discrete-Time Markov Jump Linear Systems with Multiplicative Noise
Fangji Wang, Siddhartha Ganguly, Panagiotis Tsiotras
We study a finite-horizon covariance steering problem for discrete-time Markov jump linear systems (MJLS) with both state- and control-dependent multiplicative noise. The objective…
Factor Graph-Based Continuum Robot State Estimation with Magnus Expansion Priors
Lorenzo Ticozzi, Patricio A. Vela, Sabyasachi Dash +2
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approach…
Nonlinear Stochastic Optimal Control and Optimal Stopping using the Fokker-Planck Transformation
Akan Selim, Siddhartha Ganguly, Ali Pakniyat +1
In this paper, we develop a theoretical framework for nonlinear stochastic optimal control problems with optimal stopping by establishing a density-based deterministic representati…
Data-Driven Covariance Steering with Output Feedback
Dimitrios Moustroufis, Panagiotis Tsiotras
This paper addresses output-feedback covariance steering for stochastic discrete-time linear time-invariant systems with unknown dynamics. We construct a controllable non-minimal s…
Schrodinger Bridges and Density Steering Problems for Gaussian Mixtures Models in Discrete-Time
George Rapakoulias, Fengjiao Liu, Panagiotis Tsiotras
In this work, we revisit the discrete-time Schrödinger Bridge (SB) and Density Steering (DS) problems for Gaussian mixture model (GMM) boundary distributions. Building on the exist…