80 citations · 167 across the 23 of their papers we have counts for
6 papers · 1 filter
Lax Formulae for Efficiently Solving Two Classes of State-Constrained Optimal Control Problems
Donggun Lee, Claire J. Tomlin
This paper presents Lax formulae for solving the following optimal control problems: minimize the maximum (or the minimum) cost over a time horizon, while satisfying a state constr…
Hamilton-Jacobi Equations for Two Classes of State-Constrained Zero-Sum Games
Donggun Lee, Claire J. Tomlin
This paper presents Hamilton-Jacobi (HJ) formulations for two classes of two-player zero-sum games: one with a maximum cost value over time, and one with a minimum cost value over…
Feedback Linearization for Unknown Systems via Reinforcement Learning
Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar +4
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant…
The Parallelization of Riccati Recursion
Forrest Laine, Claire Tomlin
A method is presented for parallelizing the computation of solutions to discrete-time, linear-quadratic, finite-horizon optimal control problems, which we will refer to as LQR prob…
A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets
Anayo K. Akametalu, Shromona Ghosh, Jaime F. Fisac +1
We propose a novel formulation for approximating reachable sets through a minimum discounted reward optimal control problem. The formulation yields a continuous solution that can b…
A Hybrid Framework for Multi-Vehicle Collision Avoidance
Aparna Dhinakaran, Mo Chen, Glen Chou +2
With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarante…