8 papers
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…
A Mean-Field Game Model For Large-Scale Attrition in Attacker-Defender Systems
Avetik Arakelyan, Tigran Bakaryan, Davit Alaverdyan +2
This paper proposes a novel Mean-Field Game (MFG) framework for large-scale attacker-defender systems aimed at protecting one or multiple High-Value Units (HVUs). Motivated by clas…
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…
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…