Related papers: Data-driven Spatio-temporal Prediction of High-dim…
In recent years, the success of the Koopman operator in dynamical systems analysis has also fueled the development of Koopman operator-based control frameworks. In order to preserve the relatively low data requirements for an approximation…
We describe a method to extract from experimental data the important dynamical modes in spatio-temporal patterns in a system driven out of thermodynamic equilibrium. Using a novel optical technique for controlling fluid flow, we create an…
Koopman operator theory shows how nonlinear dynamical systems can be represented as an infinite-dimensional, linear operator acting on a Hilbert space of observables of the system. However, determining the relevant modes and eigenvalues of…
The Koopman operator approach provides a powerful linear description of nonlinear dynamical systems in terms of the evolution of observables. While the operator is typically infinite-dimensional, it is crucial to develop finite-dimensional…
Online optimal control of quadrupedal robots would enable them to plan their movement in novel scenarios. Linear Model Predictive Control (LMPC) has emerged as a practical approach for real-time control. In LMPC, an optimization problem…
Real-world time series are characterized by intrinsic non-stationarity that poses a principal challenge for deep forecasting models. While previous models suffer from complicated series variations induced by changing temporal distribution,…
We construct a data-driven dynamical system model for a macroscopic variable the Reynolds number of a high-dimensionally chaotic fluid flow by training its scalar time-series data. We use a machine-learning approach, the reservoir computing…
PyKoopman is a Python package for the data-driven approximation of the Koopman operator associated with a dynamical system. The Koopman operator is a principled linear embedding of nonlinear dynamics and facilitates the prediction,…
The Koopman autoencoder, a data-driven technique, has gained traction for modeling nonlinear dynamics using deep learning methods in recent years. Given the linear characteristics inherent to the Koopman operator, controlling its…
The Koopman operator is a mathematical tool that allows for a linear description of non-linear systems, but working in infinite dimensional spaces. Dynamic Mode Decomposition and Extended Dynamic Mode Decomposition are amongst the most…
This paper describes a method for learning low-dimensional approximations of nonlinear dynamical systems, based on neural-network approximations of the underlying Koopman operator. Extended Dynamic Mode Decomposition (EDMD) provides a…
Buoyancy-induced (Rayleigh-Benard) convection of a fluid between two horizontal plates is a central paradigm for studying the transition to complex spatiotemporal dynamics in sustained nonequilibrium systems. To improve the analysis of…
In this paper, we propose a data-driven approach for uncertainty propagation and reachability analysis in a dynamical system. The proposed approach relies on the linear lifting of a nonlinear system using linear Perron-Frobenius (P-F) and…
This work explores the relationship between state space methods and Koopman operator-based methods for predicting the time-evolution of nonlinear dynamical systems. We demonstrate that extended dynamic mode decomposition with dictionary…
Classic turbulence models often struggle to accurately predict complex flows. Although data-driven techniques have addressed these shortcomings, most existing research has concentrated on two-dimensional (2D) cases. This study bridges this…
This paper addresses the data-driven identification of latent dynamical representations of partially-observed systems, i.e., dynamical systems for which some components are never observed, with an emphasis on forecasting applications,…
This paper presents a unified and scalable framework for predictive and safe autonomous navigation in dynamic transportation environments by integrating model predictive control (MPC) with distributed Koopman operator learning.…
Finding an embedding space for a linear approximation of a nonlinear dynamical system enables efficient system identification and control synthesis. The Koopman operator theory lays the foundation for identifying the nonlinear-to-linear…
Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…
In this work, we propose to apply the recently developed Koopman operator techniques to explore the global phase space of a nonlinear system from time-series data. In particular, we address the problem of identifying various invariant…