5 papers
Dual-Stage Safe Herding Framework for Adversarial Attacker in Dynamic Environment
Wenqing Wang, Ye Zhang, Haoyu Li +1
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities an…
Set Invariance with Probability One for Controlled Diffusion: Score-based Approach
Wenqing Wang, Alexis M. H. Teter, Murat Arcak +1
Given a controlled diffusion and a connected, bounded, Lipschitz set, when is it possible to guarantee controlled set invariance with probability one? In this work, we answer this…
Markov Kernels, Distances and Optimal Control: A Parable of Linear Quadratic Non-Gaussian Distribution Steering
Alexis M. H. Teter, Wenqing Wang, Sachin Shivakumar +1
For a controllable linear time-varying (LTV) pair and positive semidefinite, we derive the Markov kernel for the Itô diff…
Weyl Calculus and Exactly Solvable Schrödinger Bridges with Quadratic State Cost
Alexis M. H. Teter, Wenqing Wang, Abhishek Halder
Schrödinger bridge--a stochastic dynamical generalization of optimal mass transport--exhibits a learning-control duality. Viewed as a stochastic control problem, the Schrödinger br…
Schrödinger Bridge with Quadratic State Cost is Exactly Solvable
Alexis M. H. Teter, Wenqing Wang, Abhishek Halder
Schrödinger bridge is a diffusion process that steers a given distribution to another in a prescribed time while minimizing the effort to do so. It can be seen as the stochastic dy…