69 citations · 462 across the 66 of their papers we have counts for
7 papers · 1 filter
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…
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…
Linear Hamilton Jacobi Bellman Equations in High Dimensions
Matanya B. Horowitz, Anil Damle, Joel W. Burdick
The Hamilton Jacobi Bellman Equation (HJB) provides the globally optimal solution to large classes of control problems. Unfortunately, this generality comes at a price, the calcula…
Semidefinite Relaxations for Stochastic Optimal Control Policies
Matanya B. Horowitz, Joel W. Burdick
Recent results in the study of the Hamilton Jacobi Bellman (HJB) equation have led to the discovery of a formulation of the value function as a linear Partial Differential Equation…