相关论文: Data-Driven Approach for Uncertainty Propagation a…

Using the dynamics of information propagation on a network as our illustrative example, we present and discuss a systematic approach to quantifying heterogeneity and its propagation that borrows established tools from Uncertainty…

Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…

In this paper we analyse Belief Propagation over a Gaussian model in a dynamic environment. Recently, this has been proposed as a method to average local measurement values by a distributed protocol ("Consensus Propagation", Moallemi & Van…

This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…

Uncertainty propagation in non-linear dynamical systems has become a key problem in various fields including control theory and machine learning. In this work we focus on discrete-time non-linear stochastic dynamical systems. We present a…

This paper presents an interpretable machine learning approach that characterizes load dynamics within an operator-theoretic framework for electricity load forecasting in power grids. We represent the dynamics of load data using the Koopman…

Representing and predicting high-dimensional and spatiotemporally chaotic dynamical systems remains a fundamental challenge in dynamical systems and machine learning. Although data-driven models can achieve accurate short-term forecasts,…

This paper develops a new nonlinear filter, called Moment-based Kalman Filter (MKF), using the exact moment propagation method. Existing state estimation methods use linearization techniques or sampling points to compute approximate values…

This work proposes a data-driven approach for bifurcation analysis in nonlinear systems when the governing differential equations are not available. Specifically, regularized regression with barrier terms is used to learn a homeomorphism…

In this work, we consider a state estimation problem for large-scale nonlinear processes in the absence of first-principles process models. By exploiting process operation data, both process modeling and state estimation design are…

The Koopman operator allows for handling nonlinear systems through a (globally) linear representation. In general, the operator is infinite-dimensional - necessitating finite approximations - for which there is no overarching framework.…

Autonomous driving technologies have received notable attention in the past decades. In autonomous driving systems, identifying a precise dynamical model for motion control is nontrivial due to the strong nonlinearity and uncertainty in…

In this paper, we propose a data-driven robust safety verification framework for stochastic dynamical systems modeled as Markov decision processes with time-varying and uncertain transition probabilities. Rather than assuming access to the…

We propose a novel method for forecasting the temporal evolution of probability distributions observed at discrete time points. Extending the Dynamic Probability Density Decomposition (DPDD), we embed distributional dynamics into…

The theory of covariance control and covariance steering (CS) deals with controlling the dispersion of trajectories of a dynamical system, under the implicit assumption that accurate prior knowledge of the system being controlled is…

This paper presents a new data-driven robust predictive control law, for linear systems affected by unknown-but-bounded process disturbances. A sequence of input-state data is used to construct a suitable uncertainty representation based on…

In this paper we develop linear transfer Perron Frobenius operator-based approach for optimal stabilization of stochastic nonlinear system. One of the main highlight of the proposed transfer operator based approach is that both the theory…

Data-driven model predictive control based on Willems' fundamental lemma has proven effective for linear systems, but extending stability guarantees to nonlinear systems remains an open challenge. In this paper, we establish conditions…

In this paper, we propose a robust Kalman filtering framework for systems with probabilistic uncertainty in system parameters. We consider two cases, namely discrete time systems, and continuous time systems with discrete measurements. The…

Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equations of rotational motion. This paper demonstrates that the…