12 papers
Optimal Trajectory Generation for Improved Magnetic Navigation
Justin Kang, Teddy Herrera, Liraz Mudrik +3
Magnetic navigation has emerged as a promising alternative for navigation in Global Positioning System (GPS)-denied environments, leveraging geomagnetic field maps in conjunction w…
First-Order Optimization as Minimum-Time Control
Liraz Mudrik, Isaac Kaminer, Pramod P. Khargonekar
We formulate first-order optimization as a minimum-time control problem. The iterate is the state, the update, a combination of the gradients observed so far, is the control, and t…
Kill-Probability-Maximization Guidance: Breaking from the Miss-Distance-Minimization Paradigm
Liraz Mudrik, Yaakov Oshman
Classical guidance laws aim at minimizing the miss distance, thus implicitly determining the minimum warhead lethality radius required against nominal targets. However, nonnominal…
Prescribed-Time Distributed Generalized Nash Equilibrium Seeking
Liraz Mudrik, Isaac Kaminer, Sean Kragelund +1
Safety-critical multi-agent systems, from cooperative guidance to collision avoidance, must often reach a coordinated decision by a hard deadline rather than merely converge to one…
Saddle Point Evasion via Curvature-Regularized Gradient Dynamics
Liraz Mudrik, Isaac Kaminer, Sean Kragelund +1
Nonconvex optimization underlies many modern machine learning and control tasks, where saddle points pose the dominant obstacle to reliable convergence in high-dimensional settings…
Scaling and Trade-offs in Multi-agent Autonomous Systems
Abram H. Clark, Liraz Mudrik, Colton Kawamura +3
Designing autonomous drone swarms is hampered by a vast design space spanning platform, algorithmic, and numerical-strength choices. We perform large-scale agent-based simulations…
Comprehensive Approach to Directly Addressing Estimation Delays in Stochastic Guidance
Liraz Mudrik, Yaakov Oshman
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade inter…
Multi-UAV Trajectory Optimization for Bearing-Only Localization in GPS Denied Environments
Alfonso Sciacchitano, Liraz Mudrik, Sean Kragelund +1
Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors ar…
Unified Estimation-Guidance Framework Based on Bayesian Decision Theory
Liraz Mudrik, Yaakov Oshman
Using Bayesian decision theory, we modify the perfect-information, differential-game-based guidance law (DGL1) to address the inevitable estimation error occurring when driving thi…
Bang-Bang Evasion: Its Stochastic Optimality and a Terminal-Set-Based Implementation
Liraz Mudrik, Yaakov Oshman
We address the problem of optimal evasion in a planar endgame engagement, where a target with bounded lateral acceleration seeks to avoid interception by a missile guided by a line…
Optimization via a Control-Centric Framework
Liraz Mudrik, Isaac Kaminer, Sean Kragelund +1
Optimization plays a central role in intelligent systems and cyber-physical technologies, where speed and reliability of convergence directly impact performance. In control theory,…
Mixed Bernstein-Fourier Approximants for Optimal Trajectory Generation with Periodic Behavior
Liraz Mudrik, Sean Kragelund, Isaac Kaminer
Efficient trajectory generation is crucial for autonomous systems; however, current numerical methods often struggle to handle periodic behaviors effectively, particularly when the…