10 papers
Structural Averaged Controllability for Linear Ensemble Systems: Multi-input Case
Amirreza Neshaei Moghaddam, Xudong Chen, Bahman Gharesifard
We study structural averaged controllability for multi-input linear ensemble systems. In this problem, one asks whether a sparsity pattern admits a linear ensemble system that is a…
From Schrodinger Bridge to Optimal Transport over Sub-Riemannian Manifolds
Daniel Owusu Adu, Karthik Elamvazhuthi, Bahman Gharesifard
We study the least-energy way to reshape a probability distribution when motion is constrained to a horizontal bundle, that is, optimal transport and distribution steering in sub-R…
Global exponential stabilization of a force- and torque-actuated unicycle by flexible-step MPC
Ala Kolsi, Christian Ebenbauer, Bahman Gharesifard +1
We study the problem of global exponential stabilization of a force- and torque-controlled unicycle model in discrete time. To this end, we extend a recently introduced approach to…
On Reward-Balancing Methods for Reinforcement Learning
Simone Baroncini, Bahman Gharesifard, Giuseppe Notarstefano
This paper investigates the so-called reward-balancing methods, a novel class of algorithms for solving discounted-return reinforcement learning (RL) problems. These methods consis…
Flexible-step MPC for Unknown Linear Time-Invariant Systems
Markus Pietschner, Christian Ebenbauer, Bahman Gharesifard +1
We propose a novel flexible-step model predictive control algorithm for unknown linear time-invariant discrete-time systems. The goal is to asymptotically stabilize the system with…
Sample Complexity of Linear Quadratic Regulator Without Initial Stability
Amirreza Neshaei Moghaddam, Alex Olshevsky, Bahman Gharesifard
Inspired by REINFORCE, we introduce a novel receding-horizon algorithm for the Linear Quadratic Regulator (LQR) problem with unknown dynamics. Unlike prior methods, our algorithm a…