Path Integral Control of Partially Observed Systems via Fully Observable Control Approximations
Published in Elsevier Systems & Control Letters, 2025
Publications
You can also find my articles on my Google Scholar profile.
Journal Articles
Stochastic Motion Planning as Gaussian Variational Inference: Theory and Algorithms
Published in Accepted to IEEE Transactions on Robotics, 2025
Safety Verification of Stochastic Systems under Signal Temporal Logic Specifications
Published in IEEE Control Systems Letters, 2025
Efficient Iterative Proximal Variational Inference Motion Planning
Published in Elsevier Robotics and Autonomous Systems, 2024
A Gaussian variational inference approach to motion planning
Published in IEEE Robotics and Automation Letters, 2024
Covariance Steering for Nonlinear Control-affine Systems
Published in AIMS Mathematics, Accepted, 2023
What should be the input: Investigating the environment representations in sim-to-real transfer for navigation tasks
Published in Robotics and Autonomous Systems, 2022
Data-driven optimal control of nonlinear dynamics under safety constraints
Published in IEEE Control Systems Letters, 2022
Conference Papers
Data-driven optimal control under safety constraints using sparse Koopman approximation
Published in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Convex optimal control synthesis under safety constraints
Published in 2021 IEEE Conference on Decision and Control (CDC), 4615-4621, 2021
Pre-print Articles
Path Integral Control for Hybrid Dynamical Systems
Published in Arxiv (Submitted for Review), 2024
Optimal Covariance Steering of Linear Stochastic Systems with Hybrid Transitions
Published in Arxiv (Submitted for Review), 2024