6 papers
cuNRTO: GPU-Accelerated Nonlinear Robust Trajectory Optimization
Jiawei Wang, Arshiya Taj Abdul, Evangelos A. Theodorou
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbance…
Distributed Covariance Steering via Non-Convex ADMM for Large-Scale Multi-Agent Systems
Augustinos D. Saravanos, Isin M. Balci, Arshiya Taj Abdul +2
This paper studies the problem of steering large-scale multi-agent stochastic linear systems between Gaussian distributions under probabilistic collision avoidance constraints. We…
Scaling Robust Optimization for Swarms: A Distributed Perspective
Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
This article introduces a decentralized robust optimization framework for safe multi-agent control under uncertainty. Although stochastic noise has been the primary form of modelin…
Nonlinear Robust Optimization for Planning and Control
Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optima…
Scaling Robust Optimization for Multi-Agent Robotic Systems: A Distributed Perspective
Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimiza…
Deep Distributed Optimization for Large-Scale Quadratic Programming
Augustinos D. Saravanos, Hunter Kuperman, Alex Oshin +3
Quadratic programming (QP) forms a crucial foundation in optimization, encompassing a broad spectrum of domains and serving as the basis for more advanced algorithms. Consequently,…