Robust Behavior Cloning Via Global Lipschitz Regularization
Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior...
Lyapunov Neural Network with Region of Attraction Search
Deep learning methods have been widely used in robotic applications, making learning-enabled control design for complex nonlinear systems a promising direction. Although deep reinforcement...
A Fisher Information based Receding Horizon Control Method for Signal Strength Model Estimation
This paper considers the problem of localizing a set of nodes in a wireless sensor network when both their positions and the parameters of the communication model are unknown. We assume that a...
Bearing-Based Formation Control with Optimal Motion Trajectory
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using...
Multi-Agent Persistent Monitoring of Targets with Uncertain States
We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves...
A Semidefinite Programming Approach to Discrete-time Infinite Horizon Persistent Monitoring
We investigate the problem of persistent monitoring, where a mobile agent has to survey multiple targets in an environment in order to estimate their internal states. These internal states evolve...
Optimal Minimax Mobile Sensor Scheduling Over a Network
We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The...
Minimax Multi-Agent Persistent Monitoring of a Network System
We investigate the problem of optimally observing a finite set of targets using a mobile agent over an infinite time horizon. The agent is tasked to move in a network-constrained structure to...
Optimal Periodic Multi-Agent Persistent Monitoring of a Finite Set of Targets with Uncertain States
We investigate the problem of persistently monitoring a finite set of targets with internal states that evolve with linear stochastic dynamics using a finite set of mobile agents. We approach the...