相关论文: Safety-Critical Model Predictive Control with Disc…

Ensuring safety under unknown and stochastic dynamics remains a significant challenge in reinforcement learning (RL). In this paper, we propose a model predictive control (MPC)-based safe RL framework, called Probabilistic Ensembles with…

Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited…

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…

Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive Control (MPC) provides a principled…

With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially for safety-critical control. In this paper, a learning-based…

Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to…

Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…

Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…

This article introduces the Pareto Control Barrier Function (PCBF) algorithm to maximize the inner safe set of dynamical systems under input constraints. Traditional Control Barrier Functions (CBFs) ensure safety by maintaining system…

A stochastic model predictive control (MPC) framework is presented in this paper for nonlinear affine systems with stability and feasibility guarantee. We first introduce the concept of stochastic control Lyapunov-barrier function (CLBF)…

Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…

This paper proposes tackling safety-critical stochastic Reinforcement Learning (RL) tasks with a sample-based, model-based approach. At the core of the method lies a Model Predictive Control (MPC) scheme that acts as function approximation,…

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…

Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…

Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-art methods leverage Control Barrier Functions (CBFs) to…

Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…

Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…

We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…

In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model…

The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…