This paper presents a novel method of global adaptive dynamic programming (ADP) for the
adaptive optimal control of nonlinear polynomial systems. The strategy consists of relaxing …

This paper presents an active search trajectory synthesis technique for autonomous mobile
robots with nonlinear measurements and dynamics. The presented approach uses the …

This paper presents a new model-based algorithm that computes predictive optimal controls
online and in a closed loop for traditionally challenging nonlinear systems. Examples …

The aim of this work is to present a novel sampling-based numerical scheme designed to
solve a certain class of stochastic optimal control problems, utilizing forward and backward …

The Hamilton Jacobi Bellman Equation (HJB) provides the globally optimal solution to large
classes of control problems. Unfortunately, this generality comes at a price, the calculation of …

Sum of squares (SOS) polynomials have provided a computationally tractable way to deal
with inequality constraints appearing in many control problems. It can also act as an …

The aim of this work is to present a sampling-based algorithm designed to solve various
classes of stochastic differential games. The foundation of the proposed approach lies in the …

We introduce an algorithm for the optimal control of stochastic nonlinear systems subject to
temporal logic constraints on their behavior. We compute directly on the state space of the …

In this paper we present a novel sampling-based numerical scheme designed to solve a
certain class of stochastic optimal control problems, utilizing forward and backward …

This paper presents a new method for synthesizing stochastic control Lyapunov functions for
a class of nonlinear stochastic control systems. The technique relies on a transformation of …