7 papers
Schrödinger Bridges over Kinetic Swarming Models
Asmaa Eldesoukey, Md Zulfiqur Haider, Italo Napolitano +2
Paradigmatic interaction models explain how collective behaviors can emerge in complex systems from interactions among the constituent agents. In bio-inspired swarms, however, inte…
Feedback Motion Planning for Stochastic Nonlinear Systems with Signal Temporal Logic Specifications
Liqian Ma, Zishun Liu, Glen Chou +1
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control…
Nonlinear Non-Gaussian Density Steering with Input and Noise Channel Mismatch: Sinkhorn with Memory for Solving the Control-affine Schrödinger Bridge Problem
Georgiy A. Bondar, Asmaa Eldesoukey, Yongxin Chen +1
Solutions to the Schrödinger bridge problem and its generalizations yield feedback control policies for optimal density steering over a controlled diffusion. To numerically compute…
A Generalized Sinkhorn Algorithm for Mean-Field Schrödinger Bridge
Asmaa Eldesoukey, Yongxin Chen, Abhishek Halder
The mean-field Schrödinger bridge (MFSB) problem concerns designing a minimum-effort controller that guides a diffusion process with nonlocal interaction to reach a given distribut…
Flow Matching for Averaged Systems
Daniel Owusu Adu, Yongxin Chen
We extend flow matching to ensembles of linear systems in both deterministic and stochastic settings. Averaging over system parameters induces memory leading to a non-Markovian int…
Schrodinger Bridge over Averaged Systems
Daniel Owusu Adu, Yongxin Chen
We consider a Schrödinger bridge problem where the Markov process is subject to parameter perturbations, forming an ensemble of systems. Our objective is to steer this ensemble fro…
Stochastic Bridges over Ensemble of Linear Systems
Daniel Owusu Adu, Yongxin Chen
We consider particles that are conditioned to initial and final states. The trajectory of these particles is uniquely shaped by the intricate interplay of internal and external sou…