Search Results for author: John Baras

Found 10 papers, 4 papers with code

Time-Robust Path Planning with Piece-Wise Linear Trajectory for Signal Temporal Logic Specifications

no code implementations15 Mar 2024 Nhan-Khanh Le, Erfaun Noorani, Sandra Hirche, John Baras

We study time-robust path planning for synthesizing robots' trajectories that adhere to spatial-temporal specifications expressed in Signal Temporal Logic (STL).

Distributed Optimal Formation Control for an Uncertain Multiagent System in the Plane

no code implementations14 Jan 2023 Clinton Enwerem, John Baras, Danilo Romero

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors.

Risk-Sensitive Reinforcement Learning with Exponential Criteria

no code implementations18 Dec 2022 Erfaun Noorani, Christos Mavridis, John Baras

While reinforcement learning has shown experimental success in a number of applications, it is known to be sensitive to noise and perturbations in the parameters of the system, leading to high variance in the total reward amongst different episodes in slightly different environments.

reinforcement-learning Reinforcement Learning (RL)

Multi-Resolution Online Deterministic Annealing: A Hierarchical and Progressive Learning Architecture

1 code implementation15 Dec 2022 Christos Mavridis, John Baras

This simulates an annealing process and defines a robust and interpretable heuristic method to gradually increase the complexity of the learning architecture in a task-agnostic manner, giving emphasis to regions of the data space that are considered more important according to a predefined criterion.

Decision Making

Annealing Optimization for Progressive Learning with Stochastic Approximation

1 code implementation6 Sep 2022 Christos Mavridis, John Baras

We develop an online prototype-based learning algorithm based on annealing optimization that is formulated as an online gradient-free stochastic approximation algorithm.

reinforcement-learning Reinforcement Learning (RL) +1

Learning Swarm Interaction Dynamics from Density Evolution

no code implementations5 Dec 2021 Christos Mavridis, Amoolya Tirumalai, John Baras

We describe the dynamics of the swarm based on pairwise interactions according to a Cucker-Smale flocking model, and express the swarm's density evolution as the solution to a system of mean-field hydrodynamic equations.

Towards the One Learning Algorithm Hypothesis: A System-theoretic Approach

1 code implementation4 Dec 2021 Christos Mavridis, John Baras

We approach the design of such a learning architecture from a system-theoretic viewpoint, developing a closed-loop system with three main components: (i) a multi-resolution analysis pre-processor, (ii) a group-invariant feature extractor, and (iii) a progressive knowledge-based learning module.

Online Deterministic Annealing for Classification and Clustering

1 code implementation11 Feb 2021 Christos Mavridis, John Baras

Inherent in virtually every iterative machine learning algorithm is the problem of hyper-parameter tuning, which includes three major design parameters: (a) the complexity of the model, e. g., the number of neurons in a neural network, (b) the initial conditions, which heavily affect the behavior of the algorithm, and (c) the dissimilarity measure used to quantify its performance.

Classification Clustering +1

Collaborative Beamforming Under Localization Errors: A Discrete Optimization Approach

no code implementations27 Mar 2020 Erfaun Noorani, Yagiz Savas, Alec Koppel, John Baras, Ufuk Topcu, Brian M. Sadler

In particular, we formulate a discrete optimization problem to choose only a subset of agents to transmit the message signal so that the variance of the signal-to-noise ratio (SNR) received by the base station is minimized while the expected SNR exceeds a desired threshold.

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