Publications related to Directional Real-Time Optimization Applied to a Kite-Control Simulation Benchmark

Augmented Memory: Sample-Efficient Generative Molecular Design with Reinforcement Learning

Sample efficiency is a fundamental challenge in de novo molecular design. Ideally, molecular generative models should learn to satisfy a desired objective under minimal calls to oracles (computational property predictors). This problem becomes more apparen ...

Amer Chemical Soc2024

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Denis Gillet, Man Shi, Jianwei Li

Path-following control is a critical technology for autonomous vehicles. However, time-varying parameters, parametric uncertainties, external disturbances, and complicated environments significantly challenge autonomous driving. We propose an iterative rob ...

Ieee-Inst Electrical Electronics Engineers Inc2024

C-shells: Deployable Gridshells with Curved Beams

Mark Pauly, Francis Julian Panetta, Seiichi Eduardo Suzuki Erazo, Quentin Christian Becker, Yingying Ren, Davide Pellis

We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

2023

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Alcherio Martinoli, Cyrill Silvan Baumann

The automatic design of well-performing robotic controllers is still an unsolved problem due to the inherently large parameter space and noisy, often hard-to-define performance metrics, especially when sequential tasks need to be accomplished. Distal contr ...

2022

Level-set-based Shape Optimization on Soft Magnetic Composites with Isotropy Constraint

Yves Perriard, Adrien Jean-Michel Thabuis, Xiaotao Ren

Soft Magnetic Composites (SMCs) demonstrate excellent potentials for electromagnetic applications. The isotropy is one critical feature in designing the composite. This work presents a shape optimization algorithm for SMCs subject to isotropy and volume co ...

2022

The role of PDE-based parameterization techniques in gradient-based IGA shape optimization applications

This paper proposes a shape optimization algorithm based on the principles of Isogeometric Analysis (IGA) in which the parameterization of the geometry enters the problem formulation as an additional PDE-constraint. Inspired by the isoparametric principle ...

2021

A modular functional framework for the design and evaluation of multi-robot navigation

Alcherio Martinoli, Cyrill Silvan Baumann

In this work, we address the design of tightly integrated control, estimation, and allocation algorithms allowing a group of robots to move collectively. For doing so, we leverage a modular framework that allows us to define precisely the needed functional ...

2021

Shape optimization for a noise reduction problem by non-intrusive parametric reduced modeling

Francesca Bonizzoni, Davide Pradovera

We study a PDE-constrained optimization problem, where the shape and liner material of the nacelle of an aircraft engine are optimized in order to minimize the noise radiated by the engine. More precisely, the acoustic problem is modeled by the Helmholtz e ...

2021

Mixed Nash Equilibria in the Adversarial Examples Game

Rafaël Benjamin Pinot

This paper tackles the problem of adversarial examples from a game theoretic point of view. We study the open question of the existence of mixed Nash equilibria in the zero-sum game formed by the attacker and the classifier. While previous works usually al ...

2021

Convergence of adaptive algorithms for constrained weakly convex optimization

Volkan Cevher, Ahmet Alacaoglu, Yurii Malitskyi

We analyze the adaptive first order algorithm AMSGrad, for solving a constrained stochastic optimization problem with a weakly convex objective. We prove the

\tilde O(t^{-1/2})

rate of convergence for the squared norm of the gradient of Moreau envelope, ...

2021

Directional Real-Time Optimization Applied to a Kite-Control Simulation Benchmark

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Augmented Memory: Sample-Efficient Generative Molecular Design with Reinforcement Learning

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

C-shells: Deployable Gridshells with Curved Beams

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Level-set-based Shape Optimization on Soft Magnetic Composites with Isotropy Constraint

The role of PDE-based parameterization techniques in gradient-based IGA shape optimization applications

A modular functional framework for the design and evaluation of multi-robot navigation

Shape optimization for a noise reduction problem by non-intrusive parametric reduced modeling

Mixed Nash Equilibria in the Adversarial Examples Game

Convergence of adaptive algorithms for constrained weakly convex optimization

Augmented Memory: Sample-Efficient Generative Molecular Design with Reinforcement Learning

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Level-set-based Shape Optimization on Soft Magnetic Composites with Isotropy Constraint

The role of PDE-based parameterization techniques in gradient-based IGA shape optimization applications

A modular functional framework for the design and evaluation of multi-robot navigation

C-shells: Deployable Gridshells with Curved Beams

Shape optimization for a noise reduction problem by non-intrusive parametric reduced modeling

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Mixed Nash Equilibria in the Adversarial Examples Game

Convergence of adaptive algorithms for constrained weakly convex optimization