5 papers
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…
Risk-Minimizing Two-Player Zero-Sum Stochastic Differential Game via Path Integral Control
Apurva Patil, Yujing Zhou, David Fridovich-Keil +1
This paper addresses a continuous-time risk-minimizing two-player zero-sum stochastic differential game (SDG), in which each player aims to minimize its probability of failure. Fai…
Optimal Sampling-based Motion Planning in Gaussian Belief Space for Minimum Sensing Navigation
Vrushabh Zinage, Ali Reza Pedram, Takashi Tanaka
In this paper, we consider the motion planning problem in Gaussian belief space for minimum sensing navigation. Despite the extensive use of sampling-based algorithms and their rig…
Incentivizing Truth-Telling in MPC-based Load Frequency Control
Takashi Tanaka, Vijay Gupta
We present a mechanism for socially efficient implementation of model predictive control (MPC) algorithms for load frequency control (LFC) in the presence of self-interested power…
Optimal Output Feedback Architecture for Triangular LQG Problems
Takashi Tanaka, Pablo A. Parrilo
Distributed control problems under some specific information constraints can be formulated as (possibly infinite dimensional) convex optimization problems. The underlying motivatio…