4 papers
STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization
Hongrui Zheng, Zirui Zang, Ahmad Amine +2
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control traj…
Nonplanar Model Predictive Control for Autonomous Vehicles with Recursive Sparse Gaussian Process Dynamics
Ahmad Amine, Kabir Puri, Viet-Anh Le +1
This paper proposes a nonplanar model predictive control (MPC) framework for autonomous vehicles operating on nonplanar terrain. To approximate complex vehicle dynamics in such env…
SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks
Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis +3
Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe i…
Adversarial Physics-Informed Machine Learning for Robust Optimal Safe Predefined-Time Stabilization: A Game-Theoretic Approach
Nick-Marios T. Kokolakis, Shanqing Liu, Jerome Darbon +2
We develop a game-theoretic framework for adversarially robust optimal safe predefined-time stabilization of parameter-dependent nonlinear dynamical systems with nonquadratic cost…