Paul N Beuchat

Challenges and opportunities of using differential-drive robots with project-based learning pedagogies

PN Beuchat, GJ Bradford, G Buskes

Conference Proceedings  |  2022  |  IFAC-PapersOnLine

A master's level subject with one open-ended project spanning the full duration of the subject can offer powerful experiential lea..

Accelerated Point-Wise Maximum Approach to Approximate Dynamic Programming

PN Beuchat, J Warrington, J Lygeros

Journal article  |  2022  |  IEEE Transactions on Automatic Control

In this article, we describe an approximate dynamic programming (ADP) approach to compute lower bounds on the optimal value functi..

Data-enabled predictive control for quadcopters

Ezzat Elokda, Jeremy Coulson, Paul N Beuchat, John Lygeros, Florian Dorfler

Journal article  |  2021  |  INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

We study the application of a data-enabled predictive control (DeePC) algorithm for position control of real-world nano-quadcopter..

Evaluating Outcomes in Two Engineering 'Clinic' Subjects

GJ Bradford, PN Beuchat, G Buskes

Conference Proceedings  |  2021  |  9th Research in Engineering Education Symposium and 32nd Australasian Association for Engineering Education Conference, REES AAEE 2021: Engineering Education Research Capability Development

CONTEXT Project-Based Learning (PBL) is seen as a key pedagogical approach to address a widely acknowledged skills gap existing be..

Performance Guarantees for Model-Based Approximate Dynamic Programming in Continuous Spaces

PN Beuchat, A Georghiou, J Lygeros

Journal article  |  2020  |  IEEE Transactions on Automatic Control

We study both the value function and Q-function formulation of the linear programming approach to approximate dynamic programming...

Generalized Dual Dynamic Programming for Infinite Horizon Problems in Continuous State and Action Spaces

J Warrington, PN Beuchat, J Lygeros

Journal article  |  2019  |  IEEE Transactions on Automatic Control

We describe a nonlinear generalization of dual dynamic programming (DP) theory and its application to value function estimation fo..

Enabling optimization-based localization for IoT devices

PN Beuchat, H Hesse, A Domahidi, J Lygeros

Journal article  |  2019  |  IEEE Internet of Things Journal

In this paper, we propose an embedded optimization approach for the localization of Internet of Things (IoT) devices making use of..

Nonlinear control of quadcopters via approximate dynamic programming

A Romero, PN Beuchat, YR Sturz, RS Smith, J Lygeros

Conference Proceedings  |  2019  |  2019 18th European Control Conference, ECC 2019

While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as..

A Teaching System for Hands-on Quadcopter Control

PN Beuchat, YR Stürz, J Lygeros

Journal article  |  2019  |  IFAC-PapersOnLine

Quadcopters, popular in consumer and commercial applications, are a perfect testing ground for both basic and advanced control tec..

Optimization based self-localization for IoT wireless sensor networks

P Beuchat, H Hesse, A Domahidi, J Lygeros

Conference Proceedings  |  2018  |  IEEE World Forum on Internet of Things, WF-IoT 2018 - Proceedings

In this paper we propose an embedded optimization framework for the simultaneous self-localization of all sensors in wireless sens..