8 papers · 1 filter
Higher-Order Approximation of Exit Functionals in Sampling-Based Stochastic Model Predictive Control
Sashank Modali, Takashi Tanaka
Safety evaluation in sampling-based stochastic model predictive control often requires numerical estimation of exit functionals. The approximation of first-exit times and exit indi…
Model Predictive Path Integral Control as a Quantum Query Problem
Goutam Das, Takashi Tanaka
Model predictive path integral (MPPI) control computes its inputs as cost-weighted averages over simulated trajectories. However, it typically requires many simulations, especially…
Bound-Optimized Task Choice for Path Integral Control
Rylie Anderson, Goutam Das, Takashi Tanaka
Path Integral (PI) control is a powerful sampling-based method for stochastic optimal control, but it requires a restrictive coupling between the noise covariance and the control c…
Path Integral Control for Partially Observed Systems with Controlled Sensing
Goutam Das, Takashi Tanaka
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, whi…
Path Integral Control in Gaussian Belief Space for Partially Observed Systems
Goutam Das, Takashi Tanaka
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC uses the matching condition, which requires th…
Variational Encrypted Model Predictive Control
Jihoon Suh, Yeongjun Jang, Junsoo Kim +1
We develop a variational encrypted model predictive control (VEMPC) protocol whose online execution relies only on encrypted polynomial operations. The proposed approach reformulat…
Inverse Learning-Based Output Feedback Control of Nonlinear Systems with Verifiable Guarantees
Yeongjun Jang, Hamin Chang, Heein Park +3
In this paper, we present a data-driven output feedback controller for nonlinear systems that achieves practical output regulation, using noise-free input/output measurement data.…
Distributionally Robust Path Integral Control
Hyuk Park, Duo Zhou, Grani A. Hanasusanto +1
We consider a continuous-time continuous-space stochastic optimal control problem, where the controller lacks exact knowledge of the underlying diffusion process, relying instead o…