4 citations · 4 across the 4 of their papers we have counts for
4 papers
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…
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…
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…
Consensus on Lie groups for the Riemannian Center of Mass
Spencer Kraisler, Shahriar Talebi, Mehran Mesbahi
In this paper, we develop a consensus algorithm for distributed computation of the Riemannian center of mass (RCM) on Lie Groups. The algorithm is built upon a distributed optimiza…