37 citations · 151 across the 85 of their papers we have counts for
27 papers · 1 filter
Control of Markov Jump Linear Systems with Uncertain Lumpable Cluster Observations
Carlos A. F. Persiani, Ram Padmanabhan, Melkior Ornik +1
In this paper, we consider the control of Markov jump linear systems when the active system mode is not exactly known. We rather assume that this true mode is only known to belong…
Viscosity-Informed Generative Actor-Critic for High-Dimensional Stochastic Optimal Control
Alen E. Golpashin, Gokul Puthumanaillam, Melkior Ornik +1
We introduce a method for approximating viscosity solutions of stationary degenerate elliptic Hamilton--Jacobi--Bellman equations on bounded domains arising in stochastic exit-time…
Finite-time Reachability for Constrained, Partially Uncontrolled Nonlinear Systems
Ram Padmanabhan, Melkior Ornik
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control a…
The Continuous p-Dispersion Problem in Three Dimensions
Sanjay Manoj, Melkior Ornik
The Continuous p-Dispersion Problem (CpDP) with boundary constraints asks for the placement of a fixed number of points in a compact subset of Euclidean space such that the minimum…
Ignore Drift, Embrace Simplicity: Constrained Nonlinear Control through Driftless Approximation
Ram Padmanabhan, Melkior Ornik
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, genera…
Conformal Contraction for Robust Nonlinear Control with Distribution-Free Uncertainty Quantification
Sihang Wei, Melkior Ornik, Hiroyasu Tsukamoto
We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control input…
Mode-Prefix-Based Control of Switched Linear Systems with Applications to Fault Tolerance
Ram Padmanabhan, Antoine Aspeel, Necmiye Ozay +1
In this paper, we consider the problem of designing prefix-based optimal controllers for switched linear systems over finite horizons. This problem arises in fault-tolerant control…
Approximate Energetic Resilience of Nonlinear Systems under Partial Loss of Control Authority
Ram Padmanabhan, Melkior Ornik
In this paper, we quantify the resilience of nonlinear dynamical systems by studying the increased energy used by all inputs of a system that suffers a partial loss of control auth…
Energetic Resilience of Linear Driftless Systems
Ram Padmanabhan, Melkior Ornik
When a malfunction causes a control system to lose authority over a subset of its actuators, achieving a task may require spending additional energy in order to compensate for the…
Online Learning and Control Synthesis for Reachable Paths of Unknown Nonlinear Systems
Yiming Meng, Taha Shafa, Jesse Wei +1
In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and…
Optimizing a Model-Agnostic Measure of Graph Counterdeceptiveness via Reattachment
Anakin Dey, Sam Ruggerio, Manav Vora +1
Recognition of an adversary's objective is a core problem in physical security and cyber defense. Prior work on target recognition focuses on developing optimal inference strategie…
Welfare Maximization Algorithm for Solving Budget-Constrained Multi-Component POMDPs
Manav Vora, Pranay Thangeda, Michael N. Grussing +1
Partially Observable Markov Decision Processes (POMDPs) provide an efficient way to model real-world sequential decision making processes. Motivated by the problem of maintenance a…
Optimal Routing of Modular Agents on a Graph
Karan Jagdale, Melkior Ornik
Motivated by an emerging framework of Autonomous Modular Vehicles, we consider the abstract problem of optimally routing two modules, i.e., vehicles that can attach to or detach fr…
Multi-agent Multi-target Path Planning in Markov Decision Processes
Farhad Nawaz, Melkior Ornik
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in mini…
Online Guaranteed Reachable Set Approximation for Systems with Changed Dynamics and Control Authority
Hamza El-Kebir, Ani Pirosmanishvili, Melkior Ornik
This work presents a method of efficiently computing inner and outer approximations of forward reachable sets for nonlinear control systems with changed dynamics and diminished con…
Reachability of Nonlinear Systems with Unknown Dynamics
Taha Shafa, Melkior Ornik
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics…
The Maximax Minimax Quotient Theorem
Jean-Baptiste Bouvier, Melkior Ornik
We present an optimization problem emerging from optimal control theory and situated at the intersection of fractional programming and linear max-min programming on polytopes. A na…
Space Exploration Architecture and Design Framework for Commercialization
Hao Chen, Melkior Ornik, Koki Ho
The trend of space commercialization is changing the decision-making process for future space exploration architectures, and there is a growing need for a new decision-making frame…
Guaranteed Reachability for Systems with Unknown Dynamics
Melkior Ornik
The problem of computing the reachable set for a given system is a quintessential question in nonlinear control theory. While previous work has yielded a plethora of approximate an…
Incentive Design for Temporal Logic Objectives
Yagiz Savas, Vijay Gupta, Melkior Ornik +2
We study the problem of designing an optimal sequence of incentives that a principal should offer to an agent so that the agent's optimal behavior under the incentives realizes the…
Deception in Supervisory Control
Mustafa O. Karabag, Melkior Ornik, Ufuk Topcu
The use of deceptive strategies is important for an agent that attempts not to reveal his intentions in an adversarial environment. We consider a setting in which a supervisor prov…
Least Inferable Policies for Markov Decision Processes
Mustafa O. Karabag, Melkior Ornik, Ufuk Topcu
In a variety of applications, an agent's success depends on the knowledge that an adversarial observer has or can gather about the agent's decisions. It is therefore desirable for…
Graph-Based Controller Synthesis for Safety-Constrained, Resilient Systems
Matija Bucic, Melkior Ornik, Ufuk Topcu
Resilience to damage, component degradation, and adversarial action is a critical consideration in design of autonomous systems. In addition to designing strategies that seek to pr…
Entropy Maximization for Markov Decision Processes Under Temporal Logic Constraints
Yagiz Savas, Melkior Ornik, Murat Cubuktepe +2
We study the problem of synthesizing a policy that maximizes the entropy of a Markov decision process (MDP) subject to a temporal logic constraint. Such a policy minimizes the pred…