4 papers
Go With the Flow: Fast Diffusion for Gaussian Mixture Models
George Rapakoulias, Ali Reza Pedram, Fengjiao Liu +2
Schrodinger Bridges (SBs) are diffusion processes that steer, in finite time, a given initial distribution to another final one while minimizing a suitable cost functional. Althoug…
Communication-Aware Map Compression for Online Path-Planning: A Rate-Distortion Approach
Ali Reza Pedram, Evangelos Psomiadis, Dipankar Maity +1
This paper addresses the problem of collaborative navigation in an unknown environment, where two robots, referred to in the sequel as the Seeker and the Supporter, traverse the sp…
Steering Large Agent Populations using Mean-Field Schrodinger Bridges with Gaussian Mixture Models
George Rapakoulias, Ali Reza Pedram, Panagiotis Tsiotras
The Mean-Field Schrodinger Bridge (MFSB) problem is an optimization problem aiming to find the minimum effort control policy to drive a McKean-Vlassov stochastic differential equat…
Communication-Aware Iterative Map Compression for Online Path-Planning
Evangelos Psomiadis, Ali Reza Pedram, Dipankar Maity +1
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile…