M$ Base Controller

Research on controllers focuses on designing algorithms to effectively manage and optimize the behavior of dynamic systems, ranging from robotic manipulators and aerial vehicles to complex software systems and industrial processes. Current efforts emphasize developing training-free and data-driven approaches, leveraging techniques like diffusion models, Bayesian optimization, and neural networks to improve controller performance, robustness, and adaptability in diverse scenarios. These advancements are significant for enhancing the autonomy, safety, and efficiency of various applications, from autonomous navigation and robotic surgery to federated learning and industrial automation.

Papers

October 21, 2024

Spiking Neural Networks as a Controller for Emergent Swarm Agents
Kevin Zhu, Connor Mattson, Shay Snyder, Ricardo Vega, Daniel S. Brown, Maryam Parsa, Cameron Nowzari
Non Humanoid Robot Spiking Neural Network Emergent Behavior Low Cost Resilient Swarm M$ Base Controller

May 23, 2024

Video Diffusion Models are Training-free Motion Interpreter and Controller
Zeqi Xiao, Yifan Zhou, Shuai Yang, Xingang Pan
Video Diffusion Model Training Free M$ Base Controller Motion Aware Temporal Focus

April 17, 2024

Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
Dongjae Lee, Sunwoo Hwang, Jeonghyun Byun, Seung Jae Lee, H. Jin Kim
Aerial Robot M$ Base Controller Omnidirectional Micro Aerial Vehicle Tiltrotor Design

February 20, 2024

Formal Synthesis of Controllers for Safety-Critical Autonomous Systems: Developments and Challenges
Xiang Yin, Bingzhao Gao, Xiao Yu
Technical Challenge M$ Base Controller Controller Synthesis Critical Autonomous System Analysis by Synthesis

February 4, 2024

Controller Synthesis from Noisy-Input Noisy-Output Data
Lidong Li, Andrea Bisoffi, Claudio De Persis, Nima Monshizadeh
Linear System M$ Base Controller Controller Synthesis Noisy Input Input Output Multi Input Multi Output Output Feedback

January 10, 2024

Why Change Your Controller When You Can Change Your Planner: Drag-Aware Trajectory Generation for Quadrotor Systems
Hanli Zhang, Anusha Srikanthan, Spencer Folk, Vijay Kumar, Nikolai Matni
Physic Informed Trajectory Generation Aerodynamic Force M$ Base Controller Visual Planner Trajectory Generator Quadrotor System

December 19, 2023

Optimistic Policy Gradient in Multi-Player Markov Games with a Single Controller: Convergence Beyond the Minty Property
Ioannis Anagnostides, Ioannis Panageas, Gabriele Farina, Tuomas Sandholm
Policy Gradient Early Stage Convergence Markov Game M$ Base Controller Based Potential Game Optimistic Policy Gradient

December 14, 2023

OMG: Towards Open-vocabulary Motion Generation via Mixture of Controllers
Han Liang, Jiacheng Bao, Ruichi Zhang, Sihan Ren, Yuecheng Xu, Sibei Yang, Xin Chen, Jingyi Yu, Lan Xu
Zero Shot Mixture Component Motion Generation M$ Base Controller Text to Motion Generation Zero Shot Open Vocabulary

November 20, 2023

Unraveling the Control Engineer's Craft with Neural Networks
Braghadeesh Lakshminarayanan, Federico Dettù, Cristian R. Rojas, Simone Formentin
Neural Network Data Driven Neural Architecture M$ Base Controller Traditional CrAFT Controller Tuning Control Engineering

November 2, 2023

A Bayesian optimization framework for the automatic tuning of MPC-based shared controllers
Anne van der Horst, Bas Meere, Dinesh Krishnamoorthy, Saray Bakker, Bram van de Vrande, Henry Stoutjesdijk, Marco Alonso, Elena Torta
Predictive Control Automatic Tuning M$ Base Controller Image Guided Simulation Based Optimization

November 1, 2023

MetisFL: An Embarrassingly Parallelized Controller for Scalable & Efficient Federated Learning Workflows
Dimitris Stripelis, Chrysovalantis Anastasiou, Patrick Toral, Armaghan Asghar, Jose Luis Ambite
Federated Learning Potential Scalability M$ Base Controller

October 30, 2023

Lyapunov-Based Dropout Deep Neural Network (Lb-DDNN) Controller
Saiedeh Akbari, Emily J. Griffis, Omkar Sudhir Patil, Warren E. Dixon
Structured Dropout M$ Base Controller Adaptive Controller Dropout Regularization

October 25, 2023

Transfer of Reinforcement Learning-Based Controllers from Model- to Hardware-in-the-Loop
Mario Picerno, Lucas Koch, Kevin Badalian, Marius Wegener, Joschka Schaub, Charles Robert Koch, Jakob Andert
Reinforcement Learning Full Model Formality Transfer Reinforcement Learning Agent Positive Reinforcement M$ Base Controller Pre Trained Reinforcement Learning Hardware in the Loop

October 15, 2023

Specialized Deep Residual Policy Safe Reinforcement Learning-Based Controller for Complex and Continuous State-Action Spaces
Ammar N. Abbas, Georgios C. Chasparis, John D. Kelleher
Deep Reinforcement Learning Safe Reinforcement Learning Complexity Level State Action Space Residual Reinforcement Learning M$ Base Controller

October 5, 2023

Roadmaps with Gaps over Controllers: Achieving Efficiency in Planning under Dynamics
Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados, Noah R. Carver, Kostas E. Bekris
Motion Planning Task Planning Mobile Robot Filling Gap Control Policy Requirement Based Roadmap M$ Base Controller Learned Controller

July 4, 2023

Stranding Risk for Underactuated Vessels in Complex Ocean Currents: Analysis and Controllers
Andreas Doering, Marius Wiggert, Hanna Krasowski, Manan Doshi, Pierre F. J. Lermusiaux, Claire J. Tomlin
General Analysis Closed Loop High Quality Risk Description M$ Base Controller Ocean Current Vessel Design

May 30, 2023

Improving the performance of Learned Controllers in Behavior Trees using Value Function Estimates at Switching Boundaries
Mart Kartasev, Petter Ögren
Reinforcement Learning System Performance Value Function Document Boundary Behavior Tree Optimal Controller M$ Base Controller Learned Controller Meta Controller

March 23, 2023

Decision-aid or Controller? Steering Human Decision Makers with Algorithms
Ruqing Xu, Sarah Dean
Practical Algorithm Human Decision Human Decision Maker M$ Base Controller Decision Support Decision Making Algorithm

March 18, 2023

Neural Operators of Backstepping Controller and Observer Gain Functions for Reaction-Diffusion PDEs
Miroslav Krstic, Luke Bhan, Yuanyuan Shi
Neural Operator M$ Base Controller PDE Model Reaction Diffusion Parabolic Partial Differential Equation PDE System PDE Backstepping

February 28, 2023

AR3n: A Reinforcement Learning-based Assist-As-Needed Controller for Robotic Rehabilitation
Shrey Pareek, Harris Nisar, Thenkurussi Kesavadas
Reinforcement Learning Positive Reinforcement M$ Base Controller Robot Assistance Handwriting Task Parameter Control Robotic Rehabilitation Adaptive Assistance

M$ Base Controller

Papers

Spiking Neural Networks as a Controller for Emergent Swarm Agents

Video Diffusion Models are Training-free Motion Interpreter and Controller

Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller

Formal Synthesis of Controllers for Safety-Critical Autonomous Systems: Developments and Challenges

Controller Synthesis from Noisy-Input Noisy-Output Data

Why Change Your Controller When You Can Change Your Planner: Drag-Aware Trajectory Generation for Quadrotor Systems

Optimistic Policy Gradient in Multi-Player Markov Games with a Single Controller: Convergence Beyond the Minty Property

OMG: Towards Open-vocabulary Motion Generation via Mixture of Controllers

Unraveling the Control Engineer's Craft with Neural Networks

A Bayesian optimization framework for the automatic tuning of MPC-based shared controllers

MetisFL: An Embarrassingly Parallelized Controller for Scalable & Efficient Federated Learning Workflows

Lyapunov-Based Dropout Deep Neural Network (Lb-DDNN) Controller

Transfer of Reinforcement Learning-Based Controllers from Model- to Hardware-in-the-Loop

Specialized Deep Residual Policy Safe Reinforcement Learning-Based Controller for Complex and Continuous State-Action Spaces

Roadmaps with Gaps over Controllers: Achieving Efficiency in Planning under Dynamics

Stranding Risk for Underactuated Vessels in Complex Ocean Currents: Analysis and Controllers

Improving the performance of Learned Controllers in Behavior Trees using Value Function Estimates at Switching Boundaries

Decision-aid or Controller? Steering Human Decision Makers with Algorithms

Neural Operators of Backstepping Controller and Observer Gain Functions for Reaction-Diffusion PDEs

AR3n: A Reinforcement Learning-based Assist-As-Needed Controller for Robotic Rehabilitation