Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems

Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks

On the Hybrid Minimum Principle On Lie Groups and the Exponential Gradient HMP Algorithm

This paper provides a geometrical derivation of the Hybrid Minimum Principle (HMP) for autonomous hybrid systems whose state manifolds constitute Lie groups $(G,\star)$ which are left invariant under the controlled dynamics of the system, and whose switching manifolds are defined as smooth embedded time invariant submanifolds of $G$. The analysis is expressed in terms of extremal (i.e. optimal) trajectories on the cotangent bundle of the state manifold $G$. The Hybrid Maximum Principle (HMP) algorithm introduced in \cite{Shaikh} is extended to the so-called Exponential Gradient algorithm. The convergence analysis for the algorithm is based upon the LaSalle Invariance Principle and simulation results illustrate their efficacy

Model-Based Reinforcement Learning for Stochastic Hybrid Systems

Optimal control of general nonlinear systems is a central challenge in automation. Enabled by powerful function approximators, data-driven approaches to control have recently successfully tackled challenging robotic applications. However, such methods often obscure the structure of dynamics and control behind black-box over-parameterized representations, thus limiting our ability to understand closed-loop behavior. This paper adopts a hybrid-system view of nonlinear modeling and control that lends an explicit hierarchical structure to the problem and breaks down complex dynamics into simpler localized units. We consider a sequence modeling paradigm that captures the temporal structure of the data and derive an expectation-maximization (EM) algorithm that automatically decomposes nonlinear dynamics into stochastic piecewise affine dynamical systems with nonlinear boundaries. Furthermore, we show that these time-series models naturally admit a closed-loop extension that we use to extract local polynomial feedback controllers from nonlinear experts via behavioral cloning. Finally, we introduce a novel hybrid relative entropy policy search (Hb-REPS) technique that incorporates the hierarchical nature of hybrid systems and optimizes a set of time-invariant local feedback controllers derived from a local polynomial approximation of a global state-value function

WavePacket: A Matlab package for numerical quantum dynamics. III: Quantum-classical simulations and surface hopping trajectories

WavePacket is an open-source program package for numerical simulations in quantum dynamics. Building on the previous Part I [Comp. Phys. Comm. 213, 223-234 (2017)] and Part II [Comp. Phys. Comm. 228, 229-244 (2018)] which dealt with quantum dynamics of closed and open systems, respectively, the present Part III adds fully classical and mixed quantum-classical propagations to WavePacket. In those simulations classical phase-space densities are sampled by trajectories which follow (diabatic or adiabatic) potential energy surfaces. In the vicinity of (genuine or avoided) intersections of those surfaces trajectories may switch between surfaces. To model these transitions, two classes of stochastic algorithms have been implemented: (1) J. C. Tully's fewest switches surface hopping and (2) Landau-Zener based single switch surface hopping. The latter one offers the advantage of being based on adiabatic energy gaps only, thus not requiring non-adiabatic coupling information any more. The present work describes the MATLAB version of WavePacket 6.0.2 which is essentially an object-oriented rewrite of previous versions, allowing to perform fully classical, quantum-classical and quantum-mechanical simulations on an equal footing, i.e., for the same physical system described by the same WavePacket input. The software package is hosted and further developed at the Sourceforge platform, where also extensive Wiki-documentation as well as numerous worked-out demonstration examples with animated graphics are available