75 citations · 218 across the 23 of their papers we have counts for
4 papers · 1 filter
V-Formation via Model Predictive Control
Radu Grosu, Anna Lukina, Scott A. Smolka +3
We present recent results that demonstrate the power of viewing the problem of V-formation in a flock of birds as one of Model Predictive Control (MPC). The V-formation-MPC marriag…
Adaptive Neighborhood Resizing for Stochastic Reachability in Multi-Agent Systems
Anna Lukina, Ashish Tiwari, Scott A. Smolka +1
We present DAMPC, a distributed, adaptive-horizon and adaptive-neighborhood algorithm for solving the stochastic reachability problem in multi-agent systems, in particular flocking…
Attacking the V: On the Resiliency of Adaptive-Horizon MPC
Scott A. Smolka, Ashish Tiwari, Lukas Esterle +3
We introduce the concept of a V-formation game between a controller and an attacker, where controller's goal is to maneuver the plant (a simple model of flocking dynamics) into a V…
Synthesizing Switching Logic to Minimize Long-Run Cost
Susmit Jha, Sanjit A. Seshia, Ashish Tiwari
Given a multi-modal dynamical system, optimal switching logic synthesis involves generating the conditions for switching between the system modes such that the resulting hybrid sys…