PhD Dissertation

Journal Articles

Learning Robust Control for LQR systems with Multiplicative Noise via Policy Gradient

Benjamin Gravell, Peyman Mohajerin Esfahani, Tyler Summers

2020 IEEE Transactions on Automatic Control (TAC)

Published: IEEE Xplore 

Preprint: arXiv

Finite-Sample Analysis of Linear System Identification under Multiplicative Noise from Multiple Trajectory Data

Yu Xing, Benjamin Gravell, Xingkang He, Karl H. Johansson, Tyler H. Summers 

2021 Automatica (accepted)

Preprint: arXiv

Policy Iteration for Linear Quadratic Games With Stochastic Parameters

Benjamin Gravell, Karthik Ganapathy, Tyler Summers

2021 IEEE Control Systems Letters (L-CSS) / 2020 Conference on Decision and Control (CDC) Jeju Island, Republic of Korea

Published: IEEE Xplore 

Preprint: UT Dallas

Centralized Collision-free Polynomial Trajectories and Goal Assignment for Aerial Swarms

Benjamin Gravell, Tyler H. Summers

2021 IFAC Control Engineering Practice (CEP)

Published: ScienceDirect 

Preprint: arXiv

Video presentation on YouTube

Anomaly Detection Under Multiplicative Noise Model Uncertainty

Venkatraman Renganathan, Benjamin Gravell, Justin Ruths, Tyler Summers

2022 IEEE Control Systems Letters (L-CSS) / 2022 American Control Conference (accepted)

Published: TBD

Preprint: arXiv

Conference Articles

Robust Data-Driven Output Feedback Control via Bootstrapped Multiplicative Noise

Benjamin Gravell, Iman Shames, Tyler H. Summers

2022 Proceedings of Machine Learning Research (PMLR) / Learning for Dynamics and Control (L4DC) (under review)

Published: TBD

Preprint: UT Dallas

Approximate Midpoint Policy Iteration for Linear Quadratic Control

Benjamin Gravell, Tyler H. Summers

2021 Proceedings of Machine Learning Research (PMLR) / Learning for Dynamics and Control (L4DC), ETH Zurich, Switzerland

Published: PMLR

Preprint: arXiv

Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty

Sleiman Safaoui, Benjamin J. Gravell, Venkatraman Renganathan, Tyler H. Summers

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Published: IEEE Xplore

Preprint: arXiv

Stochastic Stability via Robustness of Linear Systems

Benjamin Gravell, Tyler Summers

2021 Conference on Decision and Control (CDC), Austin, TX

Published: IEEE Xplore

Preprint: UT Dallas

Robust Control Design for Linear Systems via Multiplicative Noise

Benjamin Gravell, Peyman Mohajerin Esfahani, Tyler Summers

2020 IFAC World Congress, Berlin, Germany

Published: ScienceDirect

Preprint: arXiv

Linear System Identification under Multiplicative Noise from Multiple Trajectory Data

Yu Xing, Benjamin Gravell, Xingkang He, Karl H. Johansson, Tyler H. Summers 

2020 American Control Conference (ACC), Denver, CO, USA

Published: IEEE Xplore 

Preprint (long): arXiv 

Preprint (short): KTH

Robust Learning-Based Control via Bootstrapped Multiplicative Noise

Benjamin Gravell, Tyler H. Summers

2020 Proceedings of Machine Learning Research (PMLR) / Learning for Dynamics and Control (L4DC), Berkeley, CA, USA

Published: PMLR

Preprint: arXiv

Sparse Optimal Control of Networks with Multiplicative Noise via Policy Gradient

Benjamin Gravell, Yi Guo, Tyler Summers

2019 IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Chicago, IL, USA 

Published: ScienceDirect 

Preprint: arXiv

Concurrent Goal Assignment and Collision-Free Trajectory Generation for Multiple Aerial Robots

Benjamin Gravell, Tyler Summers

2018 IFAC Networked & Autonomous Air & Space Systems (NAASS), Santa Fe, NM, USA

Published ScienceDirect 

Preprint: UT Dallas