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Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Distributed optimization has been widely used as one of the most efficient approaches for model training with massive samples. However, large-scale learning problems with both massive samples and high-dimensional features widely exist in…
Identifying faulty lines and their accurate location is key for rapidly restoring distribution systems. This will become a greater challenge as the penetration of power electronics increases, and contingencies are seen across larger areas.…
We incorporate safety specifications into dynamic programming. Explicitly, we address the minimization problem of a Markov decision process up to a stopping time with safety constraints. To incorporate safety into dynamic programming, we…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
Dynamic security analysis is an important problem of power systems on ensuring safe operation and stable power supply even when certain faults occur. No matter such faults are caused by vulnerabilities of system components, physical…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
In this work, we propose a numerical approach for simulations of large deformations of interfaces in a level set framework. To obtain a fast and viable numerical solution in both time and space, temporal discretization is based on the…
Input sanitization mechanisms are widely used to mitigate vulnerabilities to injection attacks such as cross-site scripting. Static analysis tools and techniques commonly used to ensure that applications utilize sanitization functions.…
Safe control for control-affine systems has been extensively studied. However, due to the complexity of system dynamics, it is challenging and time-consuming to apply these methods directly to non-control-affine systems, which cover a large…
In this paper we present a dynamic programing approach to stochastic optimal control problems with dynamic, time-consistent risk constraints. Constrained stochastic optimal control problems, which naturally arise when one has to consider…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
Certification through auditing allows to ensure that critical embedded systems are secure. This entails reviewing their critical components and checking for dangerous execution paths. This latter task requires the use of specialized tools…
This paper presents a new safety specification method that is robust against errors in the probability distribution of disturbances. Our proposed distributionally robust safe policy maximizes the probability of a system remaining in a…
Existing computationally efficient methods for penalized likelihood GAM fitting employ iterative smoothness selection on working linear models (or working mixed models). Such schemes fail to converge for a non-negligible proportion of…
Optimization-based controller tuning is challenging because it requires formulating optimization problems explicitly as functions of controller parameters. Safe learning algorithms overcome the challenge by creating surrogate models from…
Dynamic program slicing can significantly reduce the code developers need to inspect by narrowing it down to only a subset of relevant program statements. However, despite an extensive body of research showing its usefulness, dynamic…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…
This paper describes a new program simplification technique called program trimming that aims to improve the scalability and precision of safety checking tools. Given a program ${\mathcal P}$, program trimming generates a new program…