Related papers: Path Integral Control for Partially Observed Syste…
This paper proposes a novel framework for addressing the challenge of autonomous overtaking and obstacle avoidance, which incorporates the overtaking path planning into Gaussian Process-based model predictive control (GPMPC). Compared with…
The Feynman path integral for the generalized harmonic oscillator is reviewed, and it is shown that the path integral can be used to find a complete set of wave functions for the oscillator. Harmonic oscillators with different…
We introduce the rigorous limit process connecting finite dimensional sparse optimal control problems with ODE constraints, modeling parsimonious interventions on the dynamics of a moving population divided into leaders and followers, to an…
We study the controllability of a closed control-affine quantum system driven by two or more external fields. We provide a sufficient condition for controllability in terms of existence of conical intersections between eigenvalues of the…
We bring a control perspective to the problem of identifying paths of measures for sampling via dynamic measure transport (DMT). We highlight the fact that commonly used paths may be poor choices for DMT and connect existing methods for…
We propose a natural, parameter-free, discrete-variable formulation of Feynman path integrals. We show that for discrete-variable quantum systems, Feynman path integrals take the form of walks on the graph whose weighted adjacency matrix is…
Model Predictive Path Integral (MPPI) control has proven to be a powerful tool for the control of uncertain systems (such as systems subject to disturbances and systems with unmodeled dynamics). One important limitation of the baseline MPPI…
Background: Path integrals are a powerful tool for solving problems in quantum theory that are not amenable to a treatment by perturbation theory. Most path integral computations require an analytic continuation to imaginary time. While…
The essential feature of weak measurements on quantum systems is the reduction of measurement back-action to negligible levels. To observe the non-classical features of weak measurements, it is therefore more important to avoid additional…
Both dynamic and static approaches are proposed and investigated for controlling the optical phase of a p-polarized light wave that is guided through a surface-patterned metallic structure with subwavelength features. For dynamic control,…
We consider amortized Bayesian inference for nonlinear inverse problems in settings where only samples from the joint distribution of parameters and observations are available. Classical methods such as Markov chain Monte Carlo require…
This paper deals with the analysis of the internal control with constraint of positive kind of a parabolic PDE with nonlinear diffusion when the time horizon is large enough. The minimal controllability time will be strictly positive. We…
In this paper, we investigate the exact controllability properties of an advection-diffusion equation on a bounded domain, using time- and space-dependent velocity fields as the control parameters. This partial differential equation (PDE)…
Many complex systems are described by Langevin-type equations in which the noise exhibits long-range correlations and couples to the system in a state-dependent, multiplicative manner, leading to heterogeneous non-Markovian diffusion. Here,…
We consider the problem of estimating the parameters of a vehicle dynamics model for predictive control in driving applications. Instead of solely using the instantaneous parameters estimated from the vehicle signals, we combine this with…
For distinguishable particles it is well known that Brownian motion and a Feynman-Kac functional can be used to calculate the path integral (for imaginary times) for a general class of scalar potentials. In order to treat identical…
We study pathwise invariances of centred random fields that can be controlled through the covariance. A result involving composition operators is obtained in second-order settings, and we show that various path properties including…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
We consider the form of the path integral that follows from canonical quantization and apply it to the first order form of the Einstein-Hilbert action in $d > 2$ dimensions. We show that this is inequivalent to what is obtained from…
We discuss the formulation of spin observables associated to a non-relativistic spinning particles in terms of grassmanian differential operators. We use as configuration space variables for the pseudo-classical description of this system…