117 citations · 251 across the 44 of their papers we have counts for
46 papers
Simulator-Driven Deceptive Control via Path Integral Approach
Apurva Patil, Mustafa O. Karabag, Takashi Tanaka +1
We consider a setting where a supervisor delegates an agent to perform a certain control task, while the agent is incentivized to deviate from the given policy to achieve its own g…
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…
Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs
Binghan He, Takashi Tanaka
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIM…
Online variable-length source coding for minimum bitrate LQG control
Travis C. Cuvelier, Takashi Tanaka, Robert W. Heath
We propose an adaptive coding approach to achieve linear-quadratic-Gaussian (LQG) control with near-minimum bitrate prefix-free feedback. Our approach combines a recent analysis of…
Attack Impact Evaluation for Stochastic Control Systems through Alarm Flag State Augmentation
Hampei Sasahara, Takashi Tanaka, Henrik Sandberg
This note addresses the problem of evaluating the impact of an attack on discrete-time nonlinear stochastic control systems. The problem is formulated as an optimal control problem…
Barrier Pairs for Safety Control of Uncertain Output Feedback Systems
Binghan He, Takashi Tanaka
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems,…
Time-invariant prefix-free source coding for MIMO LQG control
Travis C. Cuvelier, Takashi Tanaka, Robert W. Heath
In this work we consider discrete-time multiple-input multiple-output (MIMO) linear-quadratic-Gaussian (LQG) control where the feedback consists of variable length binary codewords…
Upper Bounds for Continuous-Time End-to-End Risks in Stochastic Robot Navigation
Apurva Patil, Takashi Tanaka
We present an analytical method to estimate the continuous-time collision probability of motion plans for autonomous agents with linear controlled Ito dynamics. Motion plans genera…
Chance-Constrained Stochastic Optimal Control via Path Integral and Finite Difference Methods
Apurva Patil, Alfredo Duarte, Aislinn Smith +2
This paper addresses a continuous-time continuous-space chance-constrained stochastic optimal control (SOC) problem via a Hamilton-Jacobi-Bellman (HJB) partial differential equatio…
Time-invariant Prefix Coding for LQG Control
Travis C. Cuvelier, Takashi Tanaka, Robert W. Heath
Motivated by control with communication constraints, in this work we develop a time-invariant data compression architecture for linear-quadratic-Gaussian (LQG) control with minimum…
Attack Impact Evaluation by Exact Convexification through State Space Augmentation
Hampei Sasahara, Takashi Tanaka, Henrik Sandberg
We address the attack impact evaluation problem for control system security. We formulate the problem as a Markov decision process with a temporally joint chance constraint that fo…
A Lower-bound for Variable-length Source Coding in Linear-Quadratic-Gaussian Control with Shared Randomness
Travis C. Cuvelier, Takashi Tanaka, Robert W. Heath
In this letter, we consider a Linear Quadratic Gaussian (LQG) control system where feedback occurs over a noiseless binary channel and derive lower bounds on the minimum communicat…
Continuous-Time Channel Gain Control for Minimum-Information Kalman-Bucy Filtering
Takashi Tanaka, Vrushabh Zinage, Valery Ugrinovskii +1
We consider the problem of estimating a continuous-time Gauss-Markov source process observed through a vector Gaussian channel with an adjustable channel gain matrix. For a given (…
Dynamic Allocation of Visual Attention for Vision-based Autonomous Navigation under Data Rate Constraints
Ali Reza Pedram, Riku Funada, Takashi Tanaka
This paper considers the problem of task-dependent (top-down) attention allocation for vision-based autonomous navigation using known landmarks. Unlike the existing paradigm in whi…
Simultaneous Perception-Action Design via Invariant Finite Belief Sets
Michael Hibbard, Takashi Tanaka, Ufuk Topcu
Although perception is an increasingly dominant portion of the overall computational cost for autonomous systems, only a fraction of the information perceived is likely to be relev…
Optimal Sensor Gain Control for Minimum-Information Estimation of Continuous-Time Gauss-Markov Processes
Vrushabh Zinage, Takashi Tanaka, Valeri Ugrinovskii
We consider the scenario in which a continuous-time Gauss-Markov process is estimated by the Kalman-Bucy filter over a Gaussian channel (sensor) with a variable sensor gain. The pr…
Optimized Data Rate Allocation for Dynamic Sensor Fusion over Resource Constrained Communication Networks
Hyunho Jung, Ali Reza Pedram, Travis Craig Cuvelier +1
This paper presents a new method to solve a dynamic sensor fusion problem. We consider a large number of remote sensors which measure a common Gauss-Markov process and encoders tha…
Entropy Maximization for Partially Observable Markov Decision Processes
Yagiz Savas, Michael Hibbard, Bo Wu +2
We study the problem of synthesizing a controller that maximizes the entropy of a partially observable Markov decision process (POMDP) subject to a constraint on the expected total…
Encrypted Value Iteration and Temporal Difference Learning over Leveled Homomorphic Encryption
Jihoon Suh, Takashi Tanaka
We consider an architecture of confidential cloud-based control synthesis based on Homomorphic Encryption (HE). Our study is motivated by the recent surge of data-driven control su…
Rate of Prefix-free Codes in LQG Control Systems with Side Information
Travis C. Cuvelier, Takashi Tanaka
In this work, we study an LQG control system where one of two feedback channels is discrete and incurs a communication cost. We assume that a decoder (co-located with the controlle…
Point-Based Value Iteration and Approximately Optimal Dynamic Sensor Selection for Linear-Gaussian Processes
Michael Hibbard, Kirsten Tuggle, Takashi Tanaka
The problem of synthesizing an optimal sensor selection policy is pertinent to a variety of engineering applications ranging from event detection to autonomous navigation. We consi…
Scalable Synthesis of Minimum-Information Linear-Gaussian Control by Distributed Optimization
Murat Cubuktepe, Takashi Tanaka, Ufuk Topcu
We consider a discrete-time linear-quadratic Gaussian control problem in which we minimize a weighted sum of the directed information from the state of the system to the control in…
Closed-loop Parameter Identification of Linear Dynamical Systems through the Lens of Feedback Channel Coding Theory
Ali Reza Pedram, Takashi Tanaka
This paper considers the problem of closed-loop identification of linear scalar systems with Gaussian process noise, where the system input is determined by a deterministic state f…
Rationally Inattentive Path-Planning via RRT*
Jeb Stefan, Ali Reza Pedram, Riku Funada +1
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric…