117 citations · 251 across the 44 of their papers we have counts for
8 papers · 1 filter
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 (…