277 citations · 564 across the 48 of their papers we have counts for
10 papers · 1 filter
Dual Ensemble Kalman Filter for Stochastic Optimal Control
Anant A. Joshi, Amirhossein Taghvaei, Prashant G. Mehta +1
In this paper, stochastic optimal control problems in continuous time and space are considered. In recent years, such problems have received renewed attention from the lens of rein…
A Survey of Feedback Particle Filter and related Controlled Interacting Particle Systems (CIPS)
Amirhossein Taghvaei, Prashant G. Mehta
In this survey, we describe controlled interacting particle systems (CIPS) to approximate the solution of the optimal filtering and the optimal control problems. Part I of the surv…
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +3
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems conti…
A Sensory Feedback Control Law for Octopus Arm Movements
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by bi…
Controlled Interacting Particle Algorithms for Simulation-based Reinforcement Learning
Anant Joshi, Amirhossein Taghvaei, Prashant G. Mehta +1
This paper is concerned with optimal control problems for control systems in continuous time, and interacting particle system methods designed to construct approximate control solu…
Optimal Transportation Methods in Nonlinear Filtering: The feedback particle filter
Amirhossein Taghvaei, Prashant G. Mehta
Feedback particle filter (FPF) is a Monte-Carlo (MC) algorithm to approximate the solution of a stochastic filtering problem. In contrast to conventional particle filters, the Baye…
Energy Shaping Control of a CyberOctopus Soft Arm
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +7
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications…
An Optimal Transport Formulation of the Ensemble Kalman Filter
Amirhossein Taghvaei, Prashant G. Mehta
Controlled interacting particle systems such as the ensemble Kalman filter (EnKF) and the feedback particle filter (FPF) are numerical algorithms to approximate the solution of the…
Bio-inspired Learning of Sensorimotor Control for Locomotion
Tixian Wang, Amirhossein Taghvaei, Prashant G. Mehta
This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is pres…
Q-learning for POMDP: An application to learning locomotion gaits
Tixian Wang, Amirhossein Taghvaei, Prashant G. Mehta
This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio…