Selected Recent Publications/Preprints
K. Elamvazhuthi, D. Gadginmath, F. Pasqualetti, Score Matching Diffusion Based Feedback Control and Planning of Nonlinear Systems. (Preprint)
K. Elamvazhtuhi, Benamou-Brenier Formulation of Optimal Transport for Nonlinear Control Systems on Rd. (Preprint)
K. Elamvazhuthi, A Linear Test for Global Nonlinear Controllability. Comptes Rendus Mathématique, 2025. (Preprint)
K. Elamvazhuthi, X. Zhang, S. Oymak, F. Pasqualetti, Learning on Manifolds: Universal Approximations Properties using Geometric Controllability Conditions for Neural ODEs. Learning for Dynamics & Control, Philadelphia, PA, USA, June 2023.
K. Craig, K. Elamvazhuthi, and H. Lee, A Blob Method for Mean Field Control With Terminal Constraints. ESAIM: Control, Optimisation and Calculus of Variations, 2025
Publications by Topic
Machine Learning
S. Biswal, K. Elamvazhuthi, R. Sonthalia, Identification of Mean-Field Dynamics using Transformers. (Preprint). To appear in International Conference on Machine Learning, 2025.
K. Elamvazhuthi, B. Gharesifard, A. L. Bertozzi, and S. Osher, Neural ODE Control for Trajectory Approximation of Continuity Equation. IEEE Control Systems Letters, 2022.
K. Elamvazhuthi, X. Zhang, M. Jacobs, S. Oymak, F. Pasqualetti, A Score-based Deterministic Diffusion Algorithm with Smooth Scores for General Distributions. Proceedings of the AAAI Conference on Artificial Intelligence, 2024.
K. Elamvazhuthi, X. Zhang, S. Oymak, F. Pasqualetti, Learning on Manifolds: Universal Approximations Properties using Geometric Controllability Conditions for Neural ODEs. Learning for Dynamics & Control, Philadelphia, PA, USA, June 2023.
Optimal Transport and Control
K. Elamvazhuthi, A Linear Test for Global Nonlinear Controllability. Accepted to Comptes Rendus Mathématique, 2025. (Preprint)
K. Elamvazhuthi, M. Jacobs, Optimal Transport of Linear Systems over Equilibrium Measures. Automatica, 2025. (Preprint).
K. Craig, K. Elamvazhuthi, and H. Lee, A Blob Method for Mean Field Control With Terminal Constraints. ESAIM: Control, Optimisation and Calculus of Variations, 2025. (Preprint)
K. Elamvazhuthi, S. Liu, W. Li, and S. Osher, Dynamical optimal transport of nonlinear control-affine systems. Journal of Computational Dynamics, 2023.
K. Elamvazhuthi and P. Grover, Optimal transport over nonlinear systems via infinitesimal generators on graphs, Journal of Computational Dynamics, vol. 5,no. 1&2, p. 1, 2018.
P. Grover and K. Elamvazhuthi, Optimal perturbations for nonlinear systems using graph-based optimal transport, Communications in Nonlinear Science and Numerical Simulation, vol. 59, pp. 197–215, 2018.
K. Elamvazhuthi, P. Grover, and S. Berman, Optimal transport over deterministic discrete-time nonlinear systems using stochastic feedback laws, IEEE control systems letters, vol. 3, no. 1, pp. 168–173, 2018.
Probabilistic Density Control for Multi-agent Systems
K. Elamvazhuthi and S. Berman, Density stabilization strategies for nonholonomic agents on compact manifolds. IEEE Transactions on Automatic Control, 2024 (Preprint). [Preprint includes more detailed proofs of generators associated with the processes and an additional simulation on SO(3).]
K. Craig, K. Elamvazhuthi, M. Haberland, and O. Turanova, A blob method for inhomogeneous diffusion, with applications to multi-agent control and sampling. Mathematics of Computation.
S. Biswal, K. Elamvazhuthi, and S. Berman. Decentralized Control of Multi-Agent Systems using Local Density Feedback. IEEE Transactions on Automatic Control, 2022.
K. Elamvazhuthi, S. Biswal, and S. Berman, Controllability and decentralized stabilization of the Kolmogorov forward equation for Markov chains, Automatica, 2021.
S. Biswal, K. Elamvazhuthi, and S. Berman, Stabilization of nonlinear discrete-time systems to target measures using stochastic feedback laws. IEEE Transactions on Automatic Control, 2020.
K. Elamvazhuthi, Z. Kakish, A. Shirsat, and S. Berman, Controllability and stabilization for herding a robotic swarm using a leader: A mean-field approach, IEEE Transactions on Robotics, 2020.
K. Elamvazhuthi and S. Berman, Mean-field models in swarm robotics: A survey, Bioinspiration & Biomimetics, 2019.
K. Elamvazhuthi, H. Kuiper, M. Kawski, and S. Berman, Bilinear controllability of a class of advection–diffusion–reaction systems, IEEE Transactions on Automatic Control, 2018.
K. Elamvazhuthi, H. Kuiper, and S. Berman, Pde-based optimization for stochastic mapping and coverage strategies using robotic ensembles, Automatica, 2018.
V. Deshmukh, K. Elamvazhuthi, S. Biswal, Z. Kakish, and S. Berman, Mean-field stabilization of markov chain models for robotic swarms: Computational approaches and experimental results, IEEE Robotics and Automation Letters, 2018.
F. Zhang, A. L. Bertozzi, K. Elamvazhuthi, and S. Berman, Performance bounds on spatial coverage tasks by stochastic robotic swarms, IEEE Transactions on Automatic Control, 2017
Fluid Control
S. Biswal, H. Ji, K. Elamvazhuthi, A. Bertozzi. Optimal Boundary Control of a Model Thin-Film Fiber Coating Model , Physica D: Nonlinear Phenomena ,2023.
Conference Publications
K. Elamvazhuthi, D. Gadginmath, F. Pasqualetti, Denoising Diffusion-Based Control of Nonlinear Systems, Accepted to IEEE CDC 2024 (Preprint).
A. Shirsat, K. Elamvazhuthi, and S. Berman, Multi-robot target search using probabilistic consensus on discrete Markov chains, in 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 108–115, IEEE, 2020.
S. Biswal, K. Elamvazhuthi, H. Mittelmann, and S. Berman, Spectral gap optimization of divergence type diffusion operators, in European Control Conference (ECC), St. Petersburg, Russia, 20203.
S. Biswal, K. Elamvazhuthi, and S. Berman, Fastest mixing markov chain on a compact manifold, in 2019 IEEE 58th Conference on Decision and Control(CDC), pp. 547–554, IEEE, 20194.
K. Elamvazhuthi and S. Berman, Nonlinear generalizations of diffusion-based coverage by robotic swarms, in 2018 IEEE Conference on Decision and Control(CDC), pp. 1341–1346, IEEE, 20185.
K. Elamvazhuthi, S. Biswal, and S. Berman, Mean-field stabilization of robotic swarms to probability distributions with disconnected supports, in 2018 Annual American Control Conference (ACC), pp. 885–892, IEEE, 20186.
K. Elamvazhuthi, H. Kuiper, and S. Berman, Controllability to equilibria of the 1-d Fokker-Planck equation with zero-flux boundary condition, in 2017 IEEE 56th Annual Conference on Decision and Control (CDC), pp. 2485–2491, IEEE,20177.
K. Elamvazhuthi, M. Kawski, S. Biswal, V. Deshmukh, and S. Berman, Mean-field controllability and decentralized stabilization of Markov chains, in 2017IEEE 56th Annual Conference on Decision and Control (CDC), pp. 3131–3137,IEEE, 20178.
K. Elamvazhuthi, C. Adams, and S. Berman, Coverage and field estimation on bounded domains by diffusive swarms, in 2016 IEEE 55th Conference on Decision and Control (CDC), pp. 2867–2874, IEEE, 20169.
R. K. Ramachandran, K. Elamvazhuthi, and S. Berman, An optimal control approach to mapping gps-denied environments using a stochastic robotic swarm, in Robotics Research, pp. 477–493, Springer, 201810.
K. Elamvazhuthi, S. Wilson, and S. Berman, Confinement control of double integrators using partially periodic leader trajectories, in 2016 American Control Conference (ACC), pp. 5537–5544, IEEE, 201611.
K. Elamvazhuthi and S. Berman, Scalable formation control of multi-robot chain networks using a pde abstraction, in Distributed Autonomous Robotic Systems, pp. 357–369, Springer, 201612.
K. Elamvazhuthi and S. Berman, Optimal control of stochastic cover-age strategies for robotic swarms, in 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1822–1829, IEEE, 2015.