A Primal-Dual Method for Optimal Control and Trajectory Generation in High-Dimensional Systems

Presented is a method for efficient computation of the Hamilton-Jacobi (HJ) equation for time-optimal control problems using the generalized Hopf formula. Typically, numerical methods to solve the HJ equation rely on a discrete grid of the solution space and exhibit exponential scaling with dimension. The generalized Hopf formula avoids the use of grids and numerical gradients by formulating an unconstrained convex optimization problem. The solution at each point is completely independent, and allows a massively parallel implementation if solutions at multiple points are desired. This work presents a primal-dual method for efficient numeric solution and presents how the resulting optimal trajectory can be generated directly from the solution of the Hopf formula, without further optimization. Examples presented have execution times on the order of milliseconds and experiments show computation scales approximately polynomial in dimension with very small high-order coefficients.Comment: Updated references and funding sources. To appear in the proceedings of the 2018 IEEE Conference on Control Technology and Application

New advances in H∞ control and filtering for nonlinear systems

The main objective of this special issue is to summarise recent advances in H∞ control and filtering for nonlinear systems, including time-delay, hybrid and stochastic systems. The published papers provide new ideas and approaches, clearly indicating the advances made in problem statements, methodologies or applications with respect to the existing results. The special issue also includes papers focusing on advanced and non-traditional methods and presenting considerable novelties in theoretical background or experimental setup. Some papers present applications to newly emerging fields, such as network-based control and estimation

Thermodynamic Gravity and the Schrodinger Equation

We adopt a 'thermodynamical' formulation of Mach's principle that the rest mass of a particle in the Universe is a measure of its long-range collective interactions with all other particles inside the horizon. We consider all particles in the Universe as a 'gravitationally entangled' statistical ensemble and apply the approach of classical statistical mechanics to it. It is shown that both the Schrodinger equation and the Planck constant can be derived within this Machian model of the universe. The appearance of probabilities, complex wave functions, and quantization conditions is related to the discreetness and finiteness of the Machian ensemble.Comment: Minor corrections, the version accepted by Int. J. Theor. Phy

Controlled diffusion processes

This article gives an overview of the developments in controlled diffusion processes, emphasizing key results regarding existence of optimal controls and their characterization via dynamic programming for a variety of cost criteria and structural assumptions. Stochastic maximum principle and control under partial observations (equivalently, control of nonlinear filters) are also discussed. Several other related topics are briefly sketched.Comment: Published at http://dx.doi.org/10.1214/154957805100000131 in the Probability Surveys (http://www.i-journals.org/ps/) by the Institute of Mathematical Statistics (http://www.imstat.org

Exponentially convergent data assimilation algorithm for Navier-Stokes equations

The paper presents a new state estimation algorithm for a bilinear equation representing the Fourier- Galerkin (FG) approximation of the Navier-Stokes (NS) equations on a torus in R2. This state equation is subject to uncertain but bounded noise in the input (Kolmogorov forcing) and initial conditions, and its output is incomplete and contains bounded noise. The algorithm designs a time-dependent gain such that the estimation error converges to zero exponentially. The sufficient condition for the existence of the gain are formulated in the form of algebraic Riccati equations. To demonstrate the results we apply the proposed algorithm to the reconstruction a chaotic fluid flow from incomplete and noisy data

Singularly perturbed forward-backward stochastic differential equations: application to the optimal control of bilinear systems

We study linear-quadratic stochastic optimal control problems with bilinear state dependence for which the underlying stochastic differential equation (SDE) consists of slow and fast degrees of freedom. We show that, in the same way in which the underlying dynamics can be well approximated by a reduced order effective dynamics in the time scale limit (using classical homogenziation results), the associated optimal expected cost converges in the time scale limit to an effective optimal cost. This entails that we can well approximate the stochastic optimal control for the whole system by the reduced order stochastic optimal control, which is clearly easier to solve because of lower dimensionality. The approach uses an equivalent formulation of the Hamilton-Jacobi-Bellman (HJB) equation, in terms of forward-backward SDEs (FBSDEs). We exploit the efficient solvability of FBSDEs via a least squares Monte Carlo algorithm and show its applicability by a suitable numerical example

Implicit sampling for path integral control, Monte Carlo localization, and SLAM

The applicability and usefulness of implicit sampling in stochastic optimal control, stochastic localization, and simultaneous localization and mapping (SLAM), is explored; implicit sampling is a recently-developed variationally-enhanced sampling method. The theory is illustrated with examples, and it is found that implicit sampling is significantly more efficient than current Monte Carlo methods in test problems for all three applications

Optimal Reinforcement Learning for Gaussian Systems

The exploration-exploitation trade-off is among the central challenges of reinforcement learning. The optimal Bayesian solution is intractable in general. This paper studies to what extent analytic statements about optimal learning are possible if all beliefs are Gaussian processes. A first order approximation of learning of both loss and dynamics, for nonlinear, time-varying systems in continuous time and space, subject to a relatively weak restriction on the dynamics, is described by an infinite-dimensional partial differential equation. An approximate finite-dimensional projection gives an impression for how this result may be helpful.Comment: final pre-conference version of this NIPS 2011 paper. Once again, please note some nontrivial changes to exposition and interpretation of the results, in particular in Equation (9) and Eqs. 11-14. The algorithm and results have remained the same, but their theoretical interpretation has change