8 citations · 21 across the 18 of their papers we have counts for
27 papers
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…
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…
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…