相关论文: On Koopman-based surrogate models for non-holonomi…

Evolutionary illumination is a recent technique that allows producing many diverse, optimal solutions in a map of manually defined features. To support the large amount of objective function evaluations, surrogate model assistance was…

Models that balance accuracy against computational costs are advantageous when designing dynamic systems with optimization studies, as several hundred predictive function evaluations might be necessary to identify the optimal solution. The…

Many physics and engineering applications demand Partial Differential Equations (PDE) property evaluations that are traditionally computed with resource-intensive high-fidelity numerical solvers. Data-driven surrogate models provide an…

We introduce two novel generalizations of the Koopman operator method of nonlinear dynamic modeling. Each of these generalizations leads to greatly improved predictive performance without sacrificing a unique trait of Koopman methods: the…

We develop two deep learning surrogate autoregressive models for the prediction of the temporal evolution of two-dimensional ideal magnetohydrodynamic (MHD) Kelvin-Helmholtz instabilities across a range of magnetic field strengths. Using…

In the development of model predictive controllers for PDE-constrained problems, the use of reduced order models is essential to enable real-time applicability. Besides local linearization approaches, Proper Orthogonal Decomposition (POD)…

A world model creates a surrogate world to train a controller and predict safety violations by learning the internal dynamic model of systems. However, the existing world models rely solely on statistical learning of how observations change…

Vertical equilibrium (VE) models have been introduced as computationally efficient alternatives to traditional mass and momentum balance equations for fluid flow in porous media. Since VE models are only accurate in regions where phase…

Simulation models are widely used in practice to facilitate decision-making in a complex, dynamic and stochastic environment. But they are computationally expensive to execute and optimize, due to lack of analytical tractability. Simulation…

Advanced autonomous driving systems require accurate vehicle dynamics modeling. However, identifying a precise dynamics model remains challenging due to strong nonlinearities and the coupled longitudinal and lateral dynamic characteristics.…

Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods…

In this paper, a computationally efficient data-driven hybrid automaton model is proposed to capture unknown complex dynamical system behaviors using multiple neural networks. The sampled data of the system is divided by valid partitions…

Dynamical systems are ubiquitous and are often modeled using a non-linear system of governing equations. Numerical solution procedures for many dynamical systems have existed for several decades, but can be slow due to high-dimensional…

In this paper, we propose a data-enabled moving horizon estimation (MHE) approach for a class of nonlinear systems without explicit modeling, by leveraging Koopman operator theory and Willems fundamental lemma. Specifically, the nonlinear…

Contrary to on-road autonomous navigation, off-road autonomy is complicated by various factors ranging from sensing challenges to terrain variability. In such a milieu, data-driven approaches have been commonly employed to capture intricate…

Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…

We consider the task of data-driven identification of dynamical systems, specifically for systems whose behavior at large frequencies is non-standard, as encoded by a non-trivial relative degree of the transfer function or, alternatively, a…

In climate systems, physiological models, optics, and many more, surrogate models are developed to reconstruct chaotic dynamical systems. We introduce four data-driven measures using global attractor properties to evaluate the quality of…

Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…

The requirement for identifying accurate system representations has not only been a challenge to fulfill, but it has compromised the scalability of formal methods, as the resulting models are often too complex for effective decision making…