Publications associées à Robust People Tracking with Global Trajectory Optimization

Publications associées (24)

Multi-robot task allocation for safe planning against stochastic hazard dynamics

We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot optimal control pol ...

IEEE2023

Unsupervised Electrofacies Clustering Based on Parameterization of Petrophysical Properties: A Dynamic Programming Approach

François Fleuret

Electrofacies using well logs play a vital role in reservoir characterization. Often, they are sorted into clusters according to the self-similarity of input logs and do not capture the known underlying physical process. In this paper, we propose an unsupe ...

SOC PETROPHYSICISTS & WELL LOG ANALYSTS-SPWLA2023

Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Teguh Santoso Lembono, Amirreza Razmjoo Fard

paper studies exploiting action-level learning (imitation) in the optimal control problem context. Cost functions defined by the optimal control methods are similar to the goal-level learning (emulation) in animals. However, imitating the robot's or others ...

IEEE2021

Optimal Adversarial Policies in the Multiplicative Learning System With a Malicious Expert

Negar Kiyavash, Seyed Jalal Etesami

We consider a learning system based on the conventional multiplicative weight ( MW) rule that combines experts' advice to predict a sequence of true outcomes. It is assumed that one of the experts is malicious and aims to impose the maximum loss on the sys ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Kernel methods and Model predictive approaches for Learning and Control

Sanket Sanjay Diwale

Data-driven modeling and feedback control play a vital role in several application areas ranging from robotics, control theory, manufacturing to management of assets, financial portfolios and supply chains. Many such problems in one way or another are rela ...

EPFL2019

Optimal Information Collection Policies in a Markov Decision Process Framework

Thomas Alois Weber

The cost-effectiveness and value of additional information about a health technology or program may change over time because of trends affecting patient cohorts and/or the intervention. Delaying information collection even for parameters that do not change ...

2018

Control of Interbank Contagion Under Partial Information

Léo Hamed Amini

We consider a stylized core-periphery financial network in which links lead to the creation of projects in the outside economy but make banks prone to contagion risk. The controller seeks to maximize, under budget constraints, the value of the financial sy ...

Siam Publications2015

Real-Time Optimization via Directional Modifier Adaptation, with Application to Kite Control

Sean Costello

The steady advance of computational methods makes model-based optimization an increasingly attractive method for process improvement. Unfortunately, the available models are often inaccurate. The traditional remedy is to update the model parameters, but th ...

EPFL2015

Measuring and Synthesizing Systems in Probabilistic Environments

Barbara Jobstmann

The traditional synthesis question given a specification asks for the automatic construction of a system that satisfies the specification, whereas often there exists a preference order among the different systems that satisfy the given specification. Under ...

Assoc Computing Machinery2015

Modeling an America's Cup Regatta as a Sequential Stochastic Game

Jean-Benoît Rossel

The main objective of this thesis is to model a regatta in the America’s Cup, and more precisely the first leg of the race, where the two competing sailboats have to move upwind. During the race, each crew attempts to be the first to reach the end of this ...

EPFL2013

Robust Data-Driven Dynamic Programming

Daniel Kuhn, Grani Adiwena Hanasusanto

In stochastic optimal control the distribution of the exogenous noise is typically unknown and must be inferred from limited data before dynamic programming (DP)-based solution schemes can be applied. If the conditional expectations in the DP recursions ar ...

2013

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Auke Ijspeert, Yannick Morel

Motion control of bio-inspired mobile robotic platforms can prove a challenging problem. In particular, models for the considered type of systems may prove nonlinear, uncertain, and fairly complicated. To address these issues, use of an output predictor-ba ...

Amer Soc Mechanical Engineers2013

Directional Input Adaptation in Parametric Optimal Control Problems

Dominique Bonvin, Benoît Chachuat, Saurabh Anand Deshpande

This paper deals with input adaptation in dynamic processes in order to guarantee feasible and optimal operation despite the presence of uncertainty. The proposed adaptation consists in using the nominal optimal inputs and adding appropriately designed inp ...

Society for Industrial and Applied Mathematics2012

On the Use of Models for Real-Time Optimization

Dominique Bonvin

The operation of dynamic processes can be optimized using models that predict the system behavior well, in particular its optimality features. In practice, however, process models are often structurally inaccurate, and on-line adaptation is typically requi ...

2012

Multiple Object Tracking using K-Shortest Paths Optimization

Pascal Fua, François Fleuret, Engin Türetken

Multi-object tracking can be achieved by detecting objects in individual frames and then linking detections across frames. Such an approach can be made very robust to the occasional detection failure: If an object is not detected in a frame but is in previ ...

Institute of Electrical and Electronics Engineers2011

Modifier Adaptation for Run-to-Run Optimization of Transient Processes

Dominique Bonvin, Grégory François, Sean Costello

Dynamic optimization can be used to determine optimal input profiles for dynamic processes. Due to plant-model mismatch and disturbances, the optimal inputs determined through model-based optimization will, in general, not be optimal for the plant. Modifie ...

2011

Selective Input Adaptation in Parametric Optimal Control Problems with Path Constraints

Dominique Bonvin, Benoît Chachuat, Saurabh Anand Deshpande

This paper is concerned with input adaptation in dynamic processes in order to guarantee feasible and optimal operation despite the presence of uncertainty. For optimal control problems having mixed control-state constraints, two sets of directions can be ...

2010

Selective Input Adaptation in Parametric Optimal Control Problems involving Terminal Constraints

Dominique Bonvin, Benoît Chachuat, Saurabh Anand Deshpande

This paper is concerned with input adaptation in dynamic processes in order to guarantee feasible and optimal operation despite the presence of uncertainty. For optimal control problems having terminal constraints, two sets of directions can be distinguish ...

2010

Pedestrian localization, tracking and behavior analysis from multiple cameras

Video surveillance is currently undergoing a rapid growth. However, while thousands of cameras are being installed in public places all over the world, computer programs that could reliably detect and track people in order to analyze their behavior are not ...

EPFL2010

Decremental state space relaxation strategies and initialization heuristics for solving the orienteering problem with time windows with dynamic programming

Matteo Salani

We present an exact optimization algorithm for the Orienteering Problem with Time Windows (OPTW). The algorithm is based on bi-directional and bounded dynamic programming with decremental state space relaxation. We compare different strategies proposed in ...

2009