相关论文: Trajectory control using an information engine

Trajectory analysis is essential in many applications. In this paper, we address the problem of representing motion trajectories in a highly informative way, and consequently utilize it for analyzing trajectories. Our approach first…

The goal of this paper is to solve a class of stochastic optimal control problems numerically, in which the state process is governed by an It\^o type stochastic differential equation with control process entering both in the drift and the…

Fundamental limits on the controllability of quantum mechanical systems are discussed in the light of quantum information theory. It is shown that the amount of entropy-reduction that can be extracted from a quantum system by feedback…

Traffic navigation services have gained widespread adoption in recent years. The route recommendations generated by these services often leads to severe congestion on urban streets, raising concerns from neighboring residents and city…

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…

Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an important problem remains open: enforcing state constraints…

The standard feedback model of reinforcement learning requires revealing the reward of every visited state-action pair. However, in practice, it is often the case that such frequent feedback is not available. In this work, we take a first…

Closed-loop or feedback control ratchets use information about the state of the system to operate with the aim of maximizing the performance of the system. In this paper we investigate the effects of a time delay in the feedback for a…

While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the…

This paper addresses the problem of designing recommendation systems for social networks and e-commerce platforms from a control-theoretic perspective. We treat the design of recommendation systems as a state-feedback infinite-horizon…

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…

Intelligent behavior in life-like systems often arises from the ability to gather, process, and act on information. While active matter provides a framework for studying life-like dynamics, it typically omits internal information-processing…

Heat engines are fundamental physical objects to develop nonequilibrium thermodynamics. The thermodynamic performance of the heat engine is determined by the choice of cycle and time-dependence of parameters. Here, we propose a systematic…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

A quantum trajectory describes the evolution of a quantum system undergoing indirect measurement. In the discrete-time setting, the state of the system is updated by applying Kraus operators according to the measurement results. From an…

We examine a strange chaotic attractor and its unstable periodic orbits in case of one degree of freedom nonlinear oscillator with non symmetric potential. We propose an efficient method of chaos control stabilizing these orbits by a…

The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…

We consider the problem of learning good trajectories for manipulation tasks. This is challenging because the criterion defining a good trajectory varies with users, tasks and environments. In this paper, we propose a co-active online…

Animals move smoothly and reliably in unpredictable environments. Models of sensorimotor control have assumed that sensory information from the environment leads to actions, which then act back on the environment, creating a single,…

We propose to use a correlated noise bath to drive an optically trapped Brownian particle that mimics active biological matter. Thanks to the flexibility and precision of our setup, we are able to control the different parameters that drive…