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09/12/2023
Minimum Bitrate Neuromorphic Encoding for Continuous-Time Gauss-Markov Processes
In this work, we study minimum data rate tracking of a dynamical system ...
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06/01/2023
Optimal Sampling-based Motion Planning in Gaussian Belief Space for Minimum Sensing Navigation
In this paper, we consider the motion planning problem in Gaussian belie...
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04/02/2023
Online variable-length source coding for minimum bitrate LQG control
We propose an adaptive coding approach to achieve linear-quadratic-Gauss...
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03/13/2023
A Smoothing Algorithm for Minimum Sensing Path Plans in Gaussian Belief Space
This paper explores minimum sensing navigation of robots in environments...
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01/30/2023
Attack Impact Evaluation for Stochastic Control Systems through Alarm Flag State Augmentation
This note addresses the problem of evaluating the impact of an attack on...
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07/26/2022
Time-invariant prefix-free source coding for MIMO LQG control
In this work we consider discrete-time multiple-input multiple-output (M...
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05/17/2022
Upper Bounds for Continuous-Time End-to-End Risks in Stochastic Robot Navigation
We present an analytical method to estimate the continuous-time collisio...
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05/02/2022
Chance-Constrained Stochastic Optimal Control via Path Integral and Finite Difference Methods
This paper addresses a continuous-time continuous-space chance-constrain...
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04/01/2022
Prefix-Free Coding for LQG Control
In this work, we develop quantization and variable-length source codecs ...
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03/31/2022
Attack Impact Evaluation by Exact Convexification through State Space Augmentation
We address the attack impact evaluation problem for control system secur...
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03/23/2022
A Lower-bound for Variable-length Source Coding in LQG Feedback Control
In this letter, we consider a Linear Quadratic Gaussian (LQG) control sy...
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02/06/2022
Continuous-Time Channel Gain Control for Minimum-Information Kalman-Bucy Filtering
We consider the problem of estimating a continuous-time Gauss-Markov sou...
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10/29/2021
Upper and Lower Bounds for End-to-End Risks in Stochastic Robot Navigation
We present novel upper and lower bounds to estimate the collision probab...
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09/28/2021
Gaussian Belief Space Path Planning for Minimum Sensing Navigation
We propose a path planning methodology for a mobile robot navigating thr...
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09/27/2021
Dynamic Allocation of Visual Attention for Vision-based Autonomous Navigation under Data Rate Constraints
This paper considers the problem of task-dependent (top-down) attention ...
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09/10/2021
Simultaneous Perception-Action Design via Invariant Finite Belief Sets
Although perception is an increasingly dominant portion of the overall c...
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06/07/2021
Optimized Data Rate Allocation for Dynamic Sensor Fusion over Resource Constrained Communication Networks
This paper presents a new method to solve a dynamic sensor fusion proble...
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03/20/2021
Encrypted Value Iteration and Temporal Difference Learning over Leveled Homomorphic Encryption
We consider an architecture of confidential cloud-based control synthesi...
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01/22/2021
Rate of Prefix-free Codes in LQG Control Systems with Side Information
In this work, we study an LQG control system where one of two feedback c...
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04/06/2020
Scalable Synthesis of Minimum-Information Linear-Gaussian Control by Distributed Optimization
We consider a discrete-time linear-quadratic Gaussian control problem in...
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04/06/2020
Scalable Synthesis of Minimum-Information Linear-GaussianControl by Distributed Optimization
We consider a discrete-time linear-quadratic Gaussian control problem in...
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03/27/2020
Closed-loop Parameter Identification of Linear Dynamical Systems through the Lens of Feedback Channel Coding Theory
This paper considers the problem of closed-loop identification of linear...
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02/28/2020
Rationally Inattentive Path-Planning via RRT*
We consider a path-planning scenario for a mobile robot traveling in a c...
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02/02/2020
SARSA(0) Reinforcement Learning over Fully Homomorphic Encryption
We consider a cloud-based control architecture in which the local plants...
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06/10/2019
Sequential Source Coding for Stochastic Systems Subject to Finite Rate Constraints
In this paper, we apply a sequential source coding framework to analyze ...
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05/17/2019
Bidirectional Information Flow and the Roles of Privacy Masks in Cloud-Based Control
We consider a cloud-based control architecture for a linear plant with G...
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11/27/2017
