Publications associées à Controller design and value function approximation for nonlinear dynamical systems

Augmenting locomotor perception by remapping tactile foot sensation to the back

Mohamed Bouri, Olaf Blanke, Oliver Alan Kannape, Atena Fadaeijouybari, Selim Jean Habiby Alaoui

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

BioMed Central2024

Stability: a search for structure

Wouter Jongeneel

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

EPFL2024

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

A Combination Technique for Optimal Control Problems Constrained by Random PDEs

Fabio Nobile, Tommaso Vanzan

We present a combination technique based on mixed differences of both spatial approximations and quadrature formulae for the stochastic variables to solve efficiently a class of optimal control problems (OCPs) constrained by random partial differential equ ...

2024

Unlabeled Principal Component Analysis and Matrix Completion

Liangzu Peng, Yunzhen Yao

We introduce robust principal component analysis from a data matrix in which the entries of its columns have been corrupted by permutations, termed Unlabeled Principal Component Analysis (UPCA). Using algebraic geometry, we establish that UPCA is a well-de ...

Microtome Publishing2024

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Alireza Karimi, Mert Eyuboglu

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Spectral Estimators for High-Dimensional Matrix Inference

Farzad Pourkamali

A key challenge across many disciplines is to extract meaningful information from data which is often obscured by noise. These datasets are typically represented as large matrices. Given the current trend of ever-increasing data volumes, with datasets grow ...

EPFL2024

The Two Times Problem: Where Is the Problem?

Michael Herzog

Gruber et al. (2022) offered a framework how to explain "Physical time within human time", solving the 'two times problem: Here, I am asking whether such a problem exists at all. To question the question, I will appeal to neurobiological, evolutionary, and ...

Brill2024

Distributionally Robust Linear Quadratic Control

Daniel Kuhn, Cagil Kocyigit, Bahar Taskesen

Linear-Quadratic-Gaussian (LQG) control is a fundamental control paradigm that is studied in various fields such as engineering, computer science, economics, and neuroscience. It involves controlling a system with linear dynamics and imperfect observations ...

2023

Optimal containment control for a class of heterogeneous multi-agent systems with actuator faults

Tong Wang, Ju Wu

This article investigates the optimal containment control problem for a class of heterogeneous multi-agent systems with time-varying actuator faults and unmatched disturbances based on adaptive dynamic programming. Since there exist unknown input signals i ...

WILEY2023

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Orcun Karaca, Maryam Kamgarpour

We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot optimal control pol ...

IEEE2023

The multivariate Serre conjecture ring

Luc Guyot

It is well-known that for any integral domain R, the Serre conjecture ring R(X), i.e., the localization of the univariate polynomial ring R[X] at monic polynomials, is a Bezout domain of Krull dimension

Academic Press Inc Elsevier Science2023

Linear Complexity Self-Attention With 3rd Order Polynomials

Filippos Kokkinos, Grigorios Chrysos

Self-attention mechanisms and non-local blocks have become crucial building blocks for state-of-the-art neural architectures thanks to their unparalleled ability in capturing long-range dependencies in the input. However their cost is quadratic with the nu ...

Ieee Computer Soc2023

Approximation Algorithms for Allocation and Network Design

Etienne Michel François Bamas

In this thesis, we give new approximation algorithms for some NP-hard problems arising in resource allocation and network design. As a resource allocation problem, we study the Santa Claus problem (also known as the MaxMin Fair Allocation problem) in which ...

EPFL2023

Optimized numerical solutions of SIRDVW multiage model controlling SARS-CoV-2 vaccine roll out: An application to the Italian scenario

Alfio Quarteroni, Nicola Parolini, Luca Dede'

In the context of SARS-CoV-2 pandemic, mathematical modelling has played a funda-mental role for making forecasts, simulating scenarios and evaluating the impact of pre-ventive political, social and pharmaceutical measures. Optimal control theory represent ...

KEAI PUBLISHING LTD2023

Primal-Dual Contextual Bayesian Optimization for Control System Online Optimization with Time-Average Constraints

Colin Neil Jones, Yuning Jiang, Wenjie Xu, Bratislav Svetozarevic

This paper studies the problem of online performance optimization of constrained closed-loop control systems, where both the objective and the constraints are unknown black-box functions affected by exogenous time-varying contextual disturbances. A primal- ...

IEEE2023

Follow the Clairvoyant: an Imitation Learning Approach to Optimal Control

John Lygeros, Giancarlo Ferrari Trecate, Luca Furieri, Andrea Martin, Florian Dörfler

We consider control of dynamical systems through the lens of competitive analysis. Most prior work in this area focuses on minimizing regret, that is, the loss relative to an ideal clairvoyant policy that has noncausal access to past, present, and future d ...

Elsevier2023

Timing and spatial selection bias in rapid extreme event attribution

Anthony Christopher Davison, Ophélia Mireille Anna Miralles

Selection bias may arise when data have been chosen in a way that subsequent analysis does not account for. Such bias can arise in climate event attribution studies that are performed rapidly after a devastating "trigger event'', whose occurrence correspon ...

ELSEVIER2023

Time vs. Truth: Age-Distortion Tradeoffs and Strategies for Distributed Inference

Yunus Inan

In 1948, Claude Shannon laid the foundations of information theory, which grew out of a study to find the ultimate limits of source compression, and of reliable communication. Since then, information theory has proved itself not only as a quest to find the ...

EPFL2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023