37 citations · 151 across the 85 of their papers we have counts for
19 papers · 1 filter
Lexicographic Multi-Objective Stochastic Shortest Path with Mixed Max-Sum Costs
Zhiquan Zhang, Omar Muhammetkulyyev, Tichakorn Wongpiromsarn +1
We study the Stochastic Shortest Path (SSP) problem for autonomous systems with mixed max-sum cost aggregations under Linear Temporal Logic constraints. Classical SSP formulations…
Intervention Strategies for Fairness and Efficiency at Autonomous Single-Intersection Traffic Flows
Salman Ghori, Ania Adil, Melkior Ornik +1
Intersections present significant challenges in traffic management, where ensuring safety and efficiency is essential for effective flow. However, these goals are often achieved at…
Flares and superflares on the southern active binary CC Eri
M. Leitzinger, P. Odert, R. Greimel +15
Flares and CMEs are known to be the dominating high-energy phenomena on cool stars. Superflares were thoroughly investigated using broadband photometry predominantly from Kepler, K…
Reachable Predictive Control: A Novel Control Algorithm for Nonlinear Systems with Unknown Dynamics and its Practical Applications
Taha Shafa, Yiming Meng, Melkior Ornik
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure…
Online Learning of Deceptive Policies under Intermittent Observation
Gokul Puthumanaillam, Ram Padmanabhan, Jose Fuentes +7
In supervisory control settings, autonomous systems are not monitored continuously. Instead, monitoring often occurs at sporadic intervals within known bounds. We study the problem…
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…
Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing
Gokul Puthumanaillam, Aditya Penumarti, Manav Vora +5
Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-…
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…
Enhancing Robot Navigation Policies with Task-Specific Uncertainty Managements
Gokul Puthumanaillam, Paulo Padrao, Jose Fuentes +2
Robots navigating complex environments must manage uncertainty from sensor noise, environmental changes, and incomplete information, with different tasks requiring varying levels o…
Characterizing the Robustness of Black-Box LLM Planners Under Perturbed Observations with Adaptive Stress Testing
Neeloy Chakraborty, John Pohovey, Melkior Ornik +1
Large language models (LLMs) have recently demonstrated success in decision-making tasks including planning, control, and prediction, but their tendency to hallucinate unsafe and u…
Virtual Force-Based Routing of Modular Agents on a Graph
Adam Casselman, Manav Vora, Melkior Ornik
Modular vehicles present a novel area of academic and industrial interest in the field of multi-agent systems. Modularity allows vehicles to connect and disconnect with each other…
Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities
Siddharth A. Dinkar, Ram Padmanabhan, Anna Clarke +2
In this paper, we present an analysis of the Unscented Transform Controller (UTC), a technique to control nonlinear systems motivated as a dual to the Unscented Kalman Filter (UKF)…
Target Prediction Under Deceptive Switching Strategies via Outlier-Robust Filtering of Partially Observed Incomplete Trajectories
Yiming Meng, Dongchang Li, Melkior Ornik
Motivated by a study on deception and counter-deception, this paper addresses the problem of identifying an agent's target as it seeks to reach one of two targets in a given enviro…
Sum-of-Squares Data-driven Robustly Stabilizing and Contracting Controller Synthesis for Polynomial Nonlinear Systems
Hamza El-Kebir, Melkior Ornik
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares progr…
Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability
Zhiquan Zhang, Gokul Puthumanaillam, Manav Vora +1
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, s…
TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-Language Models
Gokul Puthumanaillam, Paulo Padrao, Jose Fuentes +6
Predicting the near-term behavior of a reactive agent is crucial in many robotic scenarios, yet remains challenging when observations of that agent are sparse or intermittent. Visi…
The Lazy Student's Dream: ChatGPT Passing an Engineering Course on Its Own
Gokul Puthumanaillam, Timothy Bretl, Melkior Ornik
This paper presents a comprehensive investigation into the capability of Large Language Models (LLMs) to successfully complete a semester-long undergraduate control systems course.…
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…