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Convergence Properties of Natural Gradient Descent for Minimizing KL Divergence Open
The Kullback-Leibler (KL) divergence plays a central role in probabilistic machine learning, where it commonly serves as the canonical loss function. Optimization in such settings is often performed over the probability simplex, where the …
View article: Wasserstein KL-divergence for Gaussian distributions
Wasserstein KL-divergence for Gaussian distributions Open
We introduce a new version of the KL-divergence for Gaussian distributions which is based on Wasserstein geometry and referred to as WKL-divergence. We show that this version is consistent with the geometry of the sample space ${\Bbb R}^n$…
View article: Robust Stability for Multiagent Systems with Spatio-Temporally Correlated Packet Loss
Robust Stability for Multiagent Systems with Spatio-Temporally Correlated Packet Loss Open
A problem with considering correlations in the analysis of multiagent system with stochastic packet loss is that they induce dependencies between agents that are otherwise decoupled, preventing the application of decomposition methods requ…
View article: Transformation-Free Fixed-Structure Model Reduction for LPV Systems
Transformation-Free Fixed-Structure Model Reduction for LPV Systems Open
In this paper, we propose a model reduction technique for linear parameter varying (LPV) systems based on available tools for fixed-structure controller synthesis. We start by transforming a model reduction problem into an equivalent contr…
View article: Gradient-based Cooperative Control of quasi-Linear Parameter Varying Vehicles with Noisy Gradients
Gradient-based Cooperative Control of quasi-Linear Parameter Varying Vehicles with Noisy Gradients Open
This paper extends recent results on the exponential performance analysis of gradient based cooperative control dynamics using the framework of exponential integral quadratic constraints ($α-$IQCs). A cooperative source-seeking problem is …
View article: Gradient-based Cooperative Control of quasi-Linear Parameter Varying Vehicles with Noisy Gradients
Gradient-based Cooperative Control of quasi-Linear Parameter Varying Vehicles with Noisy Gradients Open
This paper extends recent results on the exponential performance analysis of gradient based cooperative control dynamics using the framework of exponential integral quadratic constraints. A cooperative source-seeking problem is considered …
View article: A Decomposition Approach to Multi-Agent Systems with Bernoulli Packet Loss
A Decomposition Approach to Multi-Agent Systems with Bernoulli Packet Loss Open
In this paper, we extend the decomposable systems framework to multi-agent systems with Bernoulli distributed packet loss with uniform probability. The proposed sufficient analysis conditions for mean-square stability and $H_2$-performance…
View article: Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints
Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints Open
We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. As i…
View article: Finite State Markov Modeling of C-V2X Erasure Links For Performance and Stability Analysis of Platooning Applications
Finite State Markov Modeling of C-V2X Erasure Links For Performance and Stability Analysis of Platooning Applications Open
Cooperative driving systems, such as platooning, rely on communication and information exchange to create situational awareness for each agent. Design and performance of control components are therefore tightly coupled with communication c…
View article: Robust Performance Analysis of Source-Seeking Dynamics with Integral Quadratic Constraints
Robust Performance Analysis of Source-Seeking Dynamics with Integral Quadratic Constraints Open
We analyze the performance of source-seeking dynamics involving either a single vehicle or multiple flocking-vehicles embedded in an underlying strongly convex scalar field with gradient based forcing terms. For multiple vehicles under flo…
Data-Driven quasi-LPV Model Predictive Control Using Koopman Operator Techniques Open
A fast data-driven extension of the velocity-based quasi-linear parameter-varying model predictive control (qLMPC) approach is proposed for scenarios where first principles models are not available or are computationally too expensive. We …