arXiv subjects

Yuma Shida

Publications and source records attributed to Yuma Shida.

4 recordsLinked to original sources

arXiv2026

Avoiding Semi-Infinite Programming in Distributionally Robust Control Based on Mean-Variance Metrics

Conventional stochastic control methods have several limitations. They focus on optimizing the average performance and, in some cases, performance variability; however, their problem settings still require an explicit specification of the probability distributions that determine the system's stochastic behavior. Distributionally robust control (DRC) methods have recently been developed to address these challenges. However, many DRC approaches involve handling infinitely many inequalities. For instance, DRC problems based on the Wasserstein distance are commonly obtained by solving semi-infinite programming (SIP) problems. Our proposed method eliminates the need for SIP when solving discrete-time, discounted, distributionally robust optimal control problems. By introducing a penalty term based on a specific distributional distance, we establish upper bounds, and under appropriate conditions, demonstrate the equivalence between distributionally robust optimization problems and mean-variance minimization problems. This reformulation reduces the original DRC problem to a discounted mean-variance cost optimization problem. In linear-quadratic regulator settings, the corresponding control laws are obtained by solving the Riccati equation. Numerical experiments demonstrate that the theoretical maximum value of the discounted cumulative cost for the proposed method is lower than that for the conventional method.

math.OC↗

arXiv2025

Explicit Reformulation of Discrete Distributionally Robust Optimization Problems

Distributionally robust optimization (DRO) is an effective framework for controlling real-world systems with various uncertainties, typically modeled using distributional uncertainty balls. However, DRO problems often involve infinitely many inequality constraints, rendering exact solutions computationally expensive. In this study, we propose a discrete DRO (DDRO) method that significantly simplifies the problem by reducing it to a single trivial constraint. Specifically, the proposed method utilizes two types of distributional uncertainty balls to reformulate the DDRO problem into a single-layer smooth convex program, significantly improving tractability. Furthermore, we provide practical guidance for selecting the appropriate ball sizes. The original DDRO problem is further reformulated into two optimization problems: one minimizing the mean and standard deviation, and the other minimizing the conditional value at risk (CVaR). These formulations account for the choice of ball sizes, thereby enhancing the practical applicability of the method. The proposed method was applied to a distributionally robust patrol-agent design problem, identifying a Pareto front in which the mean and standard deviation of the mean hitting time varied by up to 3% and 14%, respectively, while achieving a CVaR reduction of up to 13%.

math.OC↗

arXiv2024

Discrete Distributionally Robust Optimal Control with Explicitly Constrained Optimization

Distributionally robust optimal control (DROC) is gaining interest. This study presents a reformulation method for discrete DROC (DDROC) problems to design optimal control policies under a worst-case distributional uncertainty. The reformulation of DDROC problems impacts both the utility of tractable improvements in continuous DROC problems and the inherent discretization modeling of DROC problems. DROC is believed to have tractability issues; namely, infinite inequalities emerge over the distribution space. Therefore, investigating tractable reformulation methods for these DROC problems is crucial. One such method utilizes the strong dualities of the worst-case expectations. However, previous studies demonstrated that certain non-trivial inequalities remain after the reformulation. To enhance the tractability of DDROC, the proposed method reformulates DDROC problems into one-layer smooth convex programming with only a few trivial inequalities. The proposed method is applied to a DDROC version of a patrol-agent design problem.

math.OC↗

arXiv2024

Reinforcement Learning of Multi-robot Task Allocation for Multi-object Transportation with Infeasible Tasks

Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks of objects with unknown weights remains challenging. Moreover, the presence of infeasible tasks (untransportable objects) can lead to robot stoppage (deadlock). This paper proposes a framework for dynamic task allocation that involves storing task experiences for each task in a scalable manner with respect to the number of robots. First, these experiences are broadcasted from the cloud server to the entire robot system. Subsequently, each robot learns the exclusion levels for each task based on those task experiences, enabling it to exclude infeasible tasks and reset its task priorities. Finally, individual transportation, cooperative transportation, and the temporary exclusion of tasks considered infeasible are achieved. The scalability and versatility of the proposed method were confirmed through numerical experiments with an increased number of robots and objects, including unlearned weight objects. The effectiveness of the temporary deadlock avoidance was also confirmed by introducing additional robots within an episode. The proposed method enables the implementation of task allocation strategies that are feasible for different numbers of robots and various transport tasks without prior consideration of feasibility.

cs.RO↗