12 citations · 29 across the 6 of their papers we have counts for
9 papers
Suboptimal Stabilizing Controllers for Linearly Solvable System
Yoke Peng Leong, Matanya B. Horowitz, Joel W. Burdick
This paper presents a novel method to synthesize stochastic control Lyapunov functions for a class of nonlinear, stochastic control systems. In this work, the classical nonlinear H…
Convex Model Predictive Control for Vehicular Systems
Tiffany A. Huang, Matanya B. Horowitz, Joel W. Burdick
In this work, we present a method to perform Model Predictive Control (MPC) over systems whose state is an element of for . This is done without charts or any local…
A Convex Approach to Consensus on SO(n)
Nikolai Matni, Matanya B. Horowitz
This paper introduces several new algorithms for consensus over the special orthogonal group. By relying on a convex relaxation of the space of rotation matrices, consensus over ro…
Linearly Solvable Stochastic Control Lyapunov Functions
Yoke Peng Leong, Matanya B. Horowitz, Joel W. Burdick
This paper presents a new method for synthesizing stochastic control Lyapunov functions for a class of nonlinear stochastic control systems. The technique relies on a transformatio…
Optimal Navigation Functions for Nonlinear Stochastic Systems
Matanya B. Horowitz, Joel W. Burdick
This paper presents a new methodology to craft navigation functions for nonlinear systems with stochastic uncertainty. The method relies on the transformation of the Hamilton-Jacob…
Domain Decomposition for Stochastic Optimal Control
Matanya B. Horowitz, Ivan Papusha, Joel W. Burdick
This work proposes a method for solving linear stochastic optimal control (SOC) problems using sum of squares and semidefinite programming. Previous work had used polynomial optimi…