30 citations · 63 across the 24 of their papers we have counts for
8 papers · 1 filter
Density Stabilization Strategies for Nonholonomic Agents on Compact Manifolds
Karthik Elamvazhuthi, Spring Berman
In this article, we consider the problem of stabilizing stochastic processes, which are constrained to a bounded Euclidean domain or a compact smooth manifold, to a given target pr…
Optimal Transport over Deterministic Discrete-time Nonlinear Systems using Stochastic Feedback Laws
Karthik Elamvazhuthi, Piyush Grover, Spring Berman
This paper considers the relaxed version of the transport problem for general nonlinear control systems, where the objective is to design time-varying feedback laws that transport…
PDE-Based Optimization for Stochastic Mapping and Coverage Strategies using Robotic Ensembles
Karthik Elamvazhuthi, Hendrik Kuiper, Spring Berman
This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exh…
Bilinear Controllability of a Class of Advection-Diffusion-Reaction Systems
Karthik Elamvazhuthi, Hendrik Kuiper, Matthias Kawski +1
In this paper, we investigate the exact controllability properties of an advection-diffusion equation on a bounded domain, using time- and space-dependent velocity fields as the co…
Mean-Field Controllability and Decentralized Stabilization of Markov Chains, Part II: Asymptotic Controllability and Polynomial Feedbacks
Shiba Biswal, Karthik Elamvazhuthi, Spring Berman
This paper, the second of a two-part series, presents a method for mean-field feedback stabilization of a swarm of agents on a finite state space whose time evolution is modeled as…
Mean-Field Controllability and Decentralized Stabilization of Markov Chains, Part I: Global Controllability and Rational Feedbacks
Karthik Elamvazhuthi, Vaibhav Deshmukh, Matthias Kawski +1
In this paper, we study the controllability and stabilizability properties of the Kolmogorov forward equation of a continuous time Markov chain (CTMC) evolving on a finite state sp…
Controllability to Equilibria of the 1-D Fokker-Planck Equation with Zero-Flux Boundary Condition
Karthik Elamvazhuthi, Hendrik Kuiper, Spring Berman
We consider the problem of controlling the spatiotemporal probability distribution of a robotic swarm that evolves according to a reflected diffusion process, using the space- and…
Coverage and Field Estimation on Bounded Domains by Diffusive Swarms
Karthik Elamvazhuthi, Chase Adams, Spring Berman
In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three cont…