相关论文: Probabilistic model predictive safety certificatio…

Prior work has looked at applying reinforcement learning and imitation learning approaches to autonomous driving scenarios, but either the safety or the efficiency of the algorithm is compromised. With the use of control barrier functions…

Many sequential decision-making problems that are currently automated, such as those in manufacturing or recommender systems, operate in an environment where there is either little uncertainty, or zero risk of catastrophe. As companies and…

This paper is concerned with solving chance-constrained finite-horizon optimal control problems, with a particular focus on the recursive feasibility issue of stochastic model predictive control (SMPC) in terms of mission-wide probability…

Artificial intelligence (AI) and reinforcement learning (RL) have shown significant promise in wireless systems, enabling dynamic spectrum allocation, traffic management, and large-scale Internet of Things (IoT) coordination. However, their…

This paper presents a learning- and scenario-based model predictive control (MPC) design approach for systems modeled in linear parameter-varying (LPV) framework. Using input-output data collected from the system, a state-space LPV model…

In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with…

This paper proposes an iterative distributionally robust model predictive control (MPC) scheme to solve a risk-constrained infinite-horizon optimal control problem. In each iteration, the algorithm generates a trajectory from the starting…

This thesis studies advanced probabilistic models, including both their theoretical foundations and practical applications, for different semi-supervised learning (SSL) tasks. The proposed probabilistic methods are able to improve the…

The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimization, explicit constraint handling,…

Reinforcement learning (RL) is attracting increasing interests in autonomous driving due to its potential to solve complex classification and control problems. However, existing RL algorithms are rarely applied to real vehicles for two…

The development of control methods based on data has seen a surge of interest in recent years. When applying data-driven controllers in real-world applications, providing theoretical guarantees for the closed-loop system is of crucial…

Guaranteeing safe behaviour of reinforcement learning (RL) policies poses significant challenges for safety-critical applications, despite RL's generality and scalability. To address this, we propose a new approach to apply verification…

Safe reinforcement learning (RL) is a standard paradigm for safety-critical decision making. However, real-world safety constraints can be complex, subjective, and even hard to explicitly specify. Existing works on constraint inference rely…

We present a model predictive control (MPC) framework for nonlinear stochastic systems that ensures safety guarantee with high probability. Unlike most existing stochastic MPC schemes, our method adopts a set-erosion that converts the…

We present a simulation-based approach for generating barrier certificate functions for safety verification of cyber-physical systems (CPS) that contain neural network-based controllers. A linear programming solver is utilized to find a…

In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to consider a time-consistent, dynamic risk evaluation of the…

In model-based reinforcement learning for safety-critical control systems, it is important to formally certify system properties (e.g., safety, stability) under the learned controller. However, as existing methods typically apply formal…

The airworthiness and safety of a non-pedigreed autopilot must be verified, but the cost to formally do so can be prohibitive. We can bypass formal verification of non-pedigreed components by incorporating Runtime Safety Assurance (RTSA) as…

Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…

Model-based Reinforcement Learning (MBRL) has shown many desirable properties for intelligent control tasks. However, satisfying safety and stability constraints during training and rollout remains an open question. We propose a new…