Journal Publications
K. Y. Chee, T. Z. Jiahao and M. A. Hsieh Abstract: In this letter, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop performance. However, the presence of uncertainties in complex … Read more
T. Salam, V. Edwards, and M. A. Hsieh Abstract: This letter studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these environments, inform robot awareness within these scenarios. The proposed approach is an online environmental feature … Read more
Using control to shape stochastic escape and switching dynamics Dhanushka Kularatne, Eric Forgoston, and M. Ani Hsieh Abstract: We present a strategy to control the mean stochastic switching times of general dynamical systems with multiple equilibrium states subject to Gaussian white noise. The control can either enhance or abate the probability of escape from the … Read more
Coordination of multiple AGVs: a quadratic optimization method Valerio Digani, M. Ani Hsieh, Lorenzo Sabattini, and Cristian Secchi Abstract: This paper presents an optimization strategy to coordinate a fleet of Automated Guided Vehicles (AGVs) traveling on ad-hoc pre-defined roadmaps. Specifically, the objective is to maximize traffic throughput of AGVs navigating in an automated warehouse by minimizing the time AGVs spend … Read more
Going With The Flow: A Graph Based Approach to Optimal Path Planning in General Flows Dhanushka Kularatne, Subhrajit Bhattacharya, and M. Ani Hsieh Abstract: Autonomous surface and underwater vehicles (ASVs and AUVs) used for ocean monitoring are typically deployed for long periods of time and must operate with limited energy budgets. Coupled with the increased … Read more