61 citations · 243 across the 64 of their papers we have counts for
11 papers · 1 filter
Distribution Steering for Discrete-Time Linear Systems with General Disturbances using Characteristic Functions
Vignesh Sivaramakrishnan, Joshua Pilipovsky, Meeko M. K. Oishi +1
We propose to solve a constrained distribution steering problem, i.e., steering a stochastic linear system from an initial distribution to some final, desired distribution subject…
Shaping Large Population Agent Behaviors Through Entropy-Regularized Mean-Field Games
Yue Guan, Mi Zhou, Ali Pakniyat +1
Mean-field games (MFG) were introduced to efficiently analyze approximate Nash equilibria in large population settings. In this work, we consider entropy-regularized mean-field gam…
Batch Belief Trees for Motion Planning Under Uncertainty
Dongliang Zheng, Panagiotis Tsiotras
In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, buildi…
Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering
Ji Yin, Zhiyuan Zhang, Evangelos Theodorou +1
This paper presents a novel control approach for autonomous systems operating under uncertainty. We combine Model Predictive Path Integral (MPPI) control with Covariance Steering (…
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Sea…
Belief Space Planning: A Covariance Steering Approach
Dongliang Zheng, Jack Ridderhof, Panagiotis Tsiotras +1
A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems…
Stochastic Entry Guidance
Jack Ridderhof, Panagiotis Tsiotras, Breanna J. Johnson
In this paper, closed-loop entry guidance in a randomly perturbed atmosphere, using bank angle control, is posed as a stochastic optimal control problem. The entry trajectory, as w…
LES: Locally Exploitative Sampling for Robot Path Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally,…
Multi-Agent Consensus Subject to Communication and Privacy Constraints
Dipankar Maity, Panagiotis Tsiotras
We consider a multi-agent consensus problem in the presence of adversarial agents. The adversaries are able to listen to the inter-agent communications and try to estimate the stat…
Information-Theoretic Abstractions for Resource-Constrained Agents via Mixed-Integer Linear Programming
Daniel T. Larsson, Dipankar Maity, Panagiotis Tsiotras
In this paper, a mixed-integer linear programming formulation for the problem of obtaining task-relevant, multi-resolution, graph abstractions for resource-constrained agents is pr…
Chance-Constrained Covariance Steering in a Gaussian Random Field via Successive Convex Programming
Jack Ridderhof, Panagiotis Tsiotras
The problem of optimizing affine feedback laws that explicitly steer the mean and covariance of an uncertain system state in the presence of a Gaussian random field is considered.…