Search Results for author: Takashi Tanaka

Found 12 papers, 1 papers with code

Physics-Informed Representation and Learning: Control and Risk Quantification

1 code implementation17 Dec 2023 Zhuoyuan Wang, Reece Keller, Xiyu Deng, Kenta Hoshino, Takashi Tanaka, Yorie Nakahira

Optimal and safety-critical control are fundamental problems for stochastic systems, and are widely considered in real-world scenarios such as robotic manipulation and autonomous driving.

Autonomous Driving Dimensionality Reduction

Distributionally Robust Path Integral Control

no code implementations2 Oct 2023 Hyuk Park, Duo Zhou, Grani A. Hanasusanto, Takashi Tanaka

We consider a continuous-time continuous-space stochastic optimal control problem, where the controller lacks exact knowledge of the underlying diffusion process, relying instead on a finite set of historical disturbance trajectories.

Simulator-Driven Deceptive Control via Path Integral Approach

no code implementations27 Aug 2023 Apurva Patil, Mustafa O. Karabag, Takashi Tanaka, Ufuk Topcu

We study the deception problem in the continuous-state discrete-time stochastic dynamics setting and, using motivations from hypothesis testing theory, formulate a Kullback-Leibler control problem for the synthesis of deceptive policies.

Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs

no code implementations1 Aug 2023 Binghan He, Takashi Tanaka

This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information.

Encrypted Price-based Market Mechanism for Optimal Load Frequency Control

no code implementations11 Apr 2023 Jihoon Suh, Takashi Tanaka

The global trend of energy deregulation has led to the market mechanism replacing some functionality of load frequency control (LFC).

Barrier Pairs for Safety Control of Uncertain Output Feedback Systems

no code implementations10 Sep 2022 Binghan He, Takashi Tanaka

The barrier function method for safety control typically assumes the availability of full state information.

Upper Bounds for Continuous-Time End-to-End Risks in Stochastic Robot Navigation

no code implementations17 May 2022 Apurva Patil, Takashi Tanaka

We present an analytical method to estimate the continuous-time collision probability of motion plans for autonomous agents with linear controlled Ito dynamics.

Robot Navigation

Optimal Sensor Gain Control for Minimum-Information Estimation of Continuous-Time Gauss-Markov Processes

no code implementations28 Sep 2021 Vrushabh Zinage, Takashi Tanaka, Valeri Ugrinovskii

We consider the scenario in which a continuous-time Gauss-Markov process is estimated by the Kalman-Bucy filter over a Gaussian channel (sensor) with a variable sensor gain.


Simultaneous Perception-Action Design via Invariant Finite Belief Sets

no code implementations10 Sep 2021 Michael Hibbard, Takashi Tanaka, Ufuk Topcu

Although perception is an increasingly dominant portion of the overall computational cost for autonomous systems, only a fraction of the information perceived is likely to be relevant to the current task.

Point-Based Value Iteration and Approximately Optimal Dynamic Sensor Selection for Linear-Gaussian Processes

no code implementations23 Dec 2020 Michael Hibbard, Kirsten Tuggle, Takashi Tanaka

The problem of synthesizing an optimal sensor selection policy is pertinent to a variety of engineering applications ranging from event detection to autonomous navigation.

Autonomous Navigation Event Detection +1

Closed-loop Parameter Identification of Linear Dynamical Systems through the Lens of Feedback Channel Coding Theory

no code implementations27 Mar 2020 Ali Reza Pedram, Takashi Tanaka

We first establish a novel connection between a closed-loop identification problem of interest and a channel coding problem involving an additive white Gaussian noise (AWGN) channel with feedback and a certain structural constraint.

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