16 citations · 89 across the 50 of their papers we have counts for
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Box-iLQR: Constraint-Aware Feedback via Finite-Barrier Trajectory Optimization
Abhijeet, Suman Chakravorty
Iterative Linear Quadratic Regulator (iLQR) and Differential Dynamic Programming (DDP) are attractive trajectory-optimization methods because their backward recursions provide both…
An Efficient iLQR Algorithm for Optimal Control with Bounded States and Inputs: Application to Spacecraft Maneuvers
Abhijeet, Suman Chakravorty
This paper presents a constrained iterative Linear Quadratic Regulator (Box-iLQR) method for nonlinear aerospace optimal-control problems with bounded states and controls. Logarith…
A Sequential Quadratic Programming Perspective on Optimal Control
Abhijeet, Suman Chakravorty
This paper investigates the performance of Newton's method, iterative Linear Quadratic Regulator (iLQR), and Differential Dynamic Programming (DDP) in solving discrete-time optimal…
Safe Optimal Control using Log Barrier Constrained iLQR
Abhijeet, Suman Chakravorty
This paper presents a constrained iterative Linear Quadratic Regulator (iLQR) framework for nonlinear optimal control problems with box constraints on both states and control input…
Optimal Control with Lyapunov Stability Guarantees for Space Applications
Abhijeet, Mohamed Naveed Gul Mohamed, Aayushman Sharma +1
This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem int…
A Sequential Quadratic Programming Perspective on Optimal Control
Abhijeet, Suman Chakravorty
This paper offers a unified perspective on different approaches to the solution of optimal control problems through the lens of constrained sequential quadratic programming. In par…
Convexity in Optimal Control Problems
Abhijeet, Mohamed Naveed Gul Mohamed, Aayushman Sharma +1
This paper investigates the central role played by the Hamiltonian in continuous-time nonlinear optimal control problems. We show that the strict convexity of the Hamiltonian in th…
An Optimal Solution to Infinite Horizon Nonholonomic and Discounted Nonlinear Control Problems
Mohamed Naveed Gul Mohamed, Abhijeet, Aayushman Sharma +2
This paper considers the infinite horizon optimal control problem for nonlinear systems. Under the condition of nonlinear controllability of the system to any terminal set containi…
On Data-Driven Model Identification for Nonlinear Optimal Control
Aayushman Sharma, Suman Chakravorty
In this paper, we study the use of nonlinear model identification techniques for the optimal control of nonlinear systems, also known as model-based Reinforcement Learning. We show…
An Optimal Solution to Infinite Horizon Nonlinear Control Problems
Mohamed Naveed Gul Mohamed, Raman Goyal, Suman Chakravorty
In this paper, we consider the infinite horizon optimal control problem for nonlinear systems. Under the conditions of controllability of the linearized system around the origin, a…
D2C 2.0: Decoupled Data-Based Approach for Learning to Control Stochastic Nonlinear Systems via Model-Free ILQR
Karthikeya S Parunandi, Aayushman Sharma, Suman Chakravorty +1
In this paper, we propose a structured linear parameterization of a feedback policy to solve the model-free stochastic optimal control problem. This parametrization is corroborated…
Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes (Extended Report)
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell
We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intrac…
A Separation-based Approach to Data-based Control for Large-Scale Partially Observed Systems
Dan Yu, Mohammadhussein Rafieisakhaei, Suman Chakravorty
This paper studies the partially observed stochastic optimal control problem for systems with state dynamics governed by partial differential equations (PDEs) that leads to an extr…