3 papers
math.OC2025
Intrinsic Successive Convexification: Trajectory Optimization on Smooth Manifolds
Spencer Kraisler, Mehran Mesbahi, Behcet Acikmese
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enf…
math.OC2024
Policy Optimization in Control: Geometry and Algorithmic Implications
Shahriar Talebi, Yang Zheng, Spencer Kraisler +2
This survey explores the geometric perspective on policy optimization within the realm of feedback control systems, emphasizing the intrinsic relationship between control design an…
math.OC2024
Output-feedback Synthesis Orbit Geometry: Quotient Manifolds and LQG Direct Policy Optimization
Spencer Kraisler, Mehran Mesbahi
We consider direct policy optimization for the linear-quadratic Gaussian (LQG) setting. Over the past few years, it has been recognized that the landscape of dynamic output-feedbac…