arXiv subjects

Andrew J. Petruska

Publications and source records attributed to Andrew J. Petruska.

3 recordsLinked to original sources

arXiv2026

Observed Control - Linearly Scalable Nonlinear Model Predictive Control with Adaptive Horizons

This work highlights the duality between state estimation and model predictive control. A model predictive controller, observed control, is presented that uses this duality to efficiently compute control actions with linear prediction horizon length scalability. The proposed algorithms provide exceptional computational efficiency, adaptive time horizon lengths, and early optimization termination criteria. The use of Kalman smoothers as the backend optimization framework provides for a familiar implementation supported by strong theoretical guarantees. Additionally, a formulation is presented that separates linear model predictive control into purely reactive and anticipatory components, enabling any-time any-horizon observed control while ensuring controller stability for short time horizons. Finally, the method is extended to nonlinear systems and non-quadratic cost functions to obtain locally-optimal control of complex systems while maintaining linear prediction horizon scalability and adaptive-horizon capabilities.

math.OC↗

arXiv2025

Non-Contact Manipulation of Induced Magnetic Dipoles

Extending the field of magnetic manipulation to conductive, non-magnetic objects opens the door for a wide array of applications previously limited to hard or soft magnetic materials. Of particular interest is the recycling of space debris through the use of oscillating magnetic fields, which represent a cache of raw materials in an environment particularly suited to the low forces generated from inductive magnetic manipulation. Building upon previous work that demonstrated 3D open-loop position control by leveraging the opposing dipole moment created from induced eddy currents, this work demonstrates closed-loop position control of a semi-buoyant aluminum sphere in lab tests, and the efficacy of varying methods for force inversion is explored. The closed-loop methods represent a critical first step towards wider applications for 3-DOF position control of induced magnetic dipoles.

cs.RO↗

arXiv2024

Exposure Conscious Path Planning for Equal Exposure Corridors

While maximizing line-of-sight coverage of specific regions or agents in the environment is a well-explored path planning objective, the converse problem of minimizing exposure to the entire environment during navigation is especially interesting in the context of minimizing detection risk. This work demonstrates that minimizing line-of-sight exposure to the environment is non-Markovian, which cannot be efficiently solved optimally with traditional path planning. The optimality gap of the graph-search algorithm A* and the trade-offs in optimality vs. computation time of several approximating heuristics is explored. Finally, the concept of equal-exposure corridors, which afford polynomial time determination of all paths that do not increase exposure, is presented.

cs.RO↗