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In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…
We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the true parameters are contained within an a priori known set…
Swarm aerial robots are required to maintain close proximity to successfully traverse narrow areas in cluttered environments. However, this movement is affected by the downwash effect generated from other quadrotors in the swarm. This…
Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous flight stacks require extensive design and parameter tuning,…
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently…
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…
We propose a novel Stochastic Model Predictive Control (MPC) for uncertain linear systems subject to probabilistic constraints. The proposed approach leverages offline learning to extract key features of affine disturbance feedback…
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…
The development of Adaptive Cruise Control (ACC) systems aims to enhance the safety and comfort of vehicles by automatically regulating the speed of the vehicle to ensure a safe gap from the preceding vehicle. However, conventional ACC…
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…
In this paper, we present the use of Reinforcement Learning (RL) based on Robust Model Predictive Control (RMPC) for the control of an Autonomous Surface Vehicle (ASV). The RL-MPC strategy is utilized for obstacle avoidance and target…
Model Predictive Control (MPC) is an optimal control algorithm with strong stability and robustness guarantees. Despite its popularity in robotics and industrial applications, the main challenge in deploying MPC is its high computation…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
Accurately representing surface weather at the sub-kilometer scale is crucial for optimal decision-making in a wide range of applications. This motivates the use of statistical techniques to provide accurate and calibrated probabilistic…
Early fault detection and fault prognosis are crucial to ensure efficient and safe operations of complex engineering systems such as the Spallation Neutron Source (SNS) and its power electronics (high voltage converter modulators).…
Model predictive control (MPC) has become one of the well-established modern control methods for three-phase inverters with an output LC filter, where a high-quality voltage with low total harmonic distortion (THD) is needed. Although it is…
Driving simulators are increasingly used in research and development. However, simulators often cause motion sickness due to downscaled motion and unscaled veridical visuals. In this paper, a motion cueing algorithm is proposed that reduces…