Presents a successive convexification framework that enforces continuous-time STL specifications in trajectory optimization via GMSR robustness and prox-convex solving.
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Parallelizing LQR computation through endpoint-explicit riccati recursion
19 Pith papers cite this work. Polarity classification is still indexing.
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Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
The paper introduces diagnostic certificates that separately assess state-space coverage, lifted-feature nondegeneracy, and regression-spectrum quality for Koopman and EDMDc identification, with theoretical guarantees on the smallest singular value under a population spectral gap.
Timed reward machines extend reward machines with timing constraints, allowing model-free RL algorithms to learn policies that satisfy precise temporal requirements on standard benchmarks.
SODA uses differential algebra and adaptive Gaussian mixtures to solve chance-constrained nonlinear trajectory optimization problems for space missions with non-Gaussian uncertainties.
Parallel dynamic programming variant of Riccati recursion inside ADMM enables up to 5x speedup for conic LQ control problems on multi-core CPUs.
A new free parametrization of L2-bounded LTI systems creates L2RU SSM layers that enforce stability by design, allowing unconstrained nonlinear controller optimization with guarantees via small-gain theorem.
A nonlinear operator maps user-chosen control costs to families of inverse-optimal universal stabilizers with proven Lipschitz continuity and semiglobal practical stability under approximation.
An enhanced JR-decomposition is proposed to relax standard restrictions and enable energy-conforming splitting for port-Hamiltonian MNA circuit models, illustrated by a numerical example.
A new cooperative localization algorithm based on overlapping covariance intersection is fully distributed, provably recursively consistent, and scalable to ultra large-scale multi-agent systems without performance loss from ignored cross-correlations.
A mixed formulation for Cosserat rod dynamics is cast as an infinite-dimensional nonlinear port-Hamiltonian system and discretized with structure-preserving finite elements to yield energy-momentum consistent time integration.
Two general-purpose methods transcribe multi-dimensional Gaussian chance constraints for trajectory optimization with reduced conservatism, paired with a quadratic-complexity risk estimator that remains accurate in high dimensions.
Reddit analysis finds MAHA users show strong cross-theme belief bundling and network coherence unlike anti-MAHA users, with pandemic-era shifts from anti-fluoride/mask to anti-vaccine to broader anti-science engagement.
A port-Hamiltonian modeling, ISS control, and energy-conserving simulation framework for grid-forming SVGs that outperforms PI control and standard integrators in numerical tests.
Koopman operators identified from Bekker-Wong terramechanics simulations enable short-horizon prediction and constrained MPC for stable tracking of aggressive maneuvers by off-road vehicles on deformable terrain.
A filter line search SQP algorithm reduces iterations and computation time for nonconvex SOS programs compared to prior methods.
Overlapping Schwarz decomposition for nonlinear OCPs achieves local linear convergence with rate improving exponentially with overlap size, based on exponential decay of sensitivity for primal and dual solutions.
Replicates SPARK humanoid safety filters and stress-tests them under crowding, noise, and delays, showing trade-offs in goal tracking versus collision reduction.
A workshop report catalogues challenges and solution pathways for verification, engineering, and architecting reliable autonomous systems.
citing papers explorer
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Successive Convexification for Trajectory Optimization with Continuous-time Satisfaction of Signal Temporal Logic Specifications
Presents a successive convexification framework that enforces continuous-time STL specifications in trajectory optimization via GMSR robustness and prox-convex solving.
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Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
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Diagnostic Certificates of Data Quality and Regression Identifiability for Koopman Identification
The paper introduces diagnostic certificates that separately assess state-space coverage, lifted-feature nondegeneracy, and regression-spectrum quality for Koopman and EDMDc identification, with theoretical guarantees on the smallest singular value under a population spectral gap.
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About Time: Model-free Reinforcement Learning with Timed Reward Machines
Timed reward machines extend reward machines with timing constraints, allowing model-free RL algorithms to learn policies that satisfy precise temporal requirements on standard benchmarks.
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Non-linear stochastic trajectory optimisation
SODA uses differential algebra and adaptive Gaussian mixtures to solve chance-constrained nonlinear trajectory optimization problems for space missions with non-Gaussian uncertainties.
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Parallel Dynamic Programming for Conic Linear Quadratic Control
Parallel dynamic programming variant of Riccati recursion inside ADMM enables up to 5x speedup for conic LQ control problems on multi-core CPUs.
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Free Parametrization of L_2-Bounded Structured State-Space Controllers for Nonlinear Control with Stability Guarantees
A new free parametrization of L2-bounded LTI systems creates L2RU SSM layers that enforce stability by design, allowing unconstrained nonlinear controller optimization with guarantees via small-gain theorem.
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Families of Control-Cost-Parametrized Inverse-Optimal Universal Stabilizers
A nonlinear operator maps user-chosen control costs to families of inverse-optimal universal stabilizers with proven Lipschitz continuity and semiglobal practical stability under approximation.
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Structure-Preserving Operator Splitting via JR-Decomposition for Circuit Models
An enhanced JR-decomposition is proposed to relax standard restrictions and enable energy-conforming splitting for port-Hamiltonian MNA circuit models, illustrated by a numerical example.
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Consistent Distributed Cooperative Localization for Ultra Large-Scale Multi-agent Systems
A new cooperative localization algorithm based on overlapping covariance intersection is fully distributed, provably recursively consistent, and scalable to ultra large-scale multi-agent systems without performance loss from ignored cross-correlations.
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Mixed formulation and structure-preserving discretization of Cosserat rod dynamics in a port-Hamiltonian framework
A mixed formulation for Cosserat rod dynamics is cast as an infinite-dimensional nonlinear port-Hamiltonian system and discretized with structure-preserving finite elements to yield energy-momentum consistent time integration.
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Chance constraints transcription and failure risk estimation for stochastic trajectory optimisation
Two general-purpose methods transcribe multi-dimensional Gaussian chance constraints for trajectory optimization with reduced conservatism, paired with a quadratic-complexity risk estimator that remains accurate in high dimensions.
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The Structure and Dynamics of the Online MAHA-sphere
Reddit analysis finds MAHA users show strong cross-theme belief bundling and network coherence unlike anti-MAHA users, with pandemic-era shifts from anti-fluoride/mask to anti-vaccine to broader anti-science engagement.
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Port-Hamiltonian Control and Structure-Preserving Algorithm for Grid-Forming SVGs
A port-Hamiltonian modeling, ISS control, and energy-conserving simulation framework for grid-forming SVGs that outperforms PI control and standard integrators in numerical tests.
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Koopman Operator Framework for Modeling and Control of Off-Road Vehicle on Deformable Terrain
Koopman operators identified from Bekker-Wong terramechanics simulations enable short-horizon prediction and constrained MPC for stable tracking of aggressive maneuvers by off-road vehicles on deformable terrain.
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On the Practical Implementation of a Sequential Quadratic Programming Algorithm for Nonconvex Sum-of-squares Problems
A filter line search SQP algorithm reduces iterations and computation time for nonconvex SOS programs compared to prior methods.
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On the Convergence of Overlapping Schwarz Decomposition for Nonlinear Optimal Control
Overlapping Schwarz decomposition for nonlinear OCPs achieves local linear convergence with rate improving exponentially with overlap size, based on exponential decay of sensitivity for primal and dual solutions.
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Adversarial Stress Testing of SPARK Humanoid Safety Filters
Replicates SPARK humanoid safety filters and stress-tests them under crowding, noise, and delays, showing trade-offs in goal tracking versus collision reduction.
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Engineering Reliable Autonomous Systems: Challenges and Solutions
A workshop report catalogues challenges and solution pathways for verification, engineering, and architecting reliable autonomous systems.