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09/18/2023
Distributionally Time-Varying Online Stochastic Optimization under Polyak-Łojasiewicz Condition with Application in Conditional Value-at-Risk Statistical Learning
In this work, we consider a sequence of stochastic optimization problems...
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04/04/2023
Distributed Block Coordinate Moving Horizon Estimation for 2D Visual-Inertial-Odometry SLAM
This paper presents a Visual Inertial Odometry Landmark-based Simultaneo...
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02/21/2023
Regret Analysis of Online LQR Control via Trajectory Prediction and Tracking: Extended Version
In this paper, we propose and analyze a new method for online linear qua...
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02/01/2023
The Attractor of the Replicator Dynamic in Zero-Sum Games
In this paper we characterise the long-run behaviour of the replicator d...
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09/30/2022
The Replicator Dynamic, Chain Components and the Response Graph
In this paper we examine the relationship between the flow of the replic...
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09/21/2022
The graph structure of two-player games
In this paper we analyse two-player games by their response graphs. The ...
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06/01/2022
A Logistic Regression Approach to Field Estimation Using Binary Measurements
In this letter, we consider the problem of field estimation using binary...
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05/10/2022
Robust Data-Driven Output Feedback Control via Bootstrapped Multiplicative Noise
We propose a robust data-driven output feedback control algorithm that e...
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04/22/2022
MITL Verification Under Timing Uncertainty
A Metric Interval Temporal Logic (MITL) verification algorithm is presen...
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02/25/2022
Probabilistic Data Association for Semantic SLAM at Scale
With advances in image processing and machine learning, it is now feasib...
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11/09/2021
Modular Decomposition of Hierarchical Finite State Machines
In this paper we develop an analogue of the graph-theoretic `modular dec...
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11/01/2021
Safe Learning of Linear Time-Invariant Systems
We consider safety in simultaneous learning and control of discrete-time...
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04/19/2021
Sampling Polynomial Trajectories for LTL Verification
This paper concerns the verification of continuous-time polynomial splin...
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04/16/2021
An expressiveness hierarchy of Behavior Trees and related architectures
In this paper we provide a formal framework for comparing the expressive...
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03/02/2021
Safe Learning of Uncertain Environments for Nonlinear Control-Affine Systems
In many learning based control methodologies, learning the unknown dynam...
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11/28/2020
Approximate Midpoint Policy Iteration for Linear Quadratic Control
We present a midpoint policy iteration algorithm to solve linear quadrat...
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08/28/2020
On modularity in reactive control architectures, with an application to formal verification
Modularity is a central principle throughout the design process for cybe...
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08/27/2020
A principled analysis of Behavior Trees and their generalisations
As complex autonomous robotic systems become more widespread, the goals ...
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06/02/2020
Online Stochastic Convex Optimization: Wasserstein Distance Variation
Distributionally-robust optimization is often studied for a fixed set of...
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05/15/2019
Predictive Online Convex Optimization
We incorporate future information in the form of the estimated value of ...
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02/19/2019
Implementing Homomorphic Encryption Based Secure Feedback Control for Physical Systems
This paper is about an encryption based approach to the secure implement...
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12/11/2018