相关论文: Safe Learning-based Tracking Control for Quadrotor…

Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, the…

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…

This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…

We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…

While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this problem by introducing a model predictive safety certification…

In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…

This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of disturbances prevents convergence to a unique docking state, so…

The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…

The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…

Learning-based methods have been successful in solving complex control tasks without significant prior knowledge about the system. However, these methods typically do not provide any safety guarantees, which prevents their use in…

Reinforcement learning has been successfully used to solve difficult tasks in complex unknown environments. However, these methods typically do not provide any safety guarantees during the learning process. This is particularly problematic,…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…

Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…

The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of…

In this paper, we present Quantum-Inspired Model Predictive Control (QIMPC), an approach that uses Variational Quantum Circuits (VQCs) to learn control polices in MPC problems. The viability of the approach is tested in five experiments: A…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

Learning-based control methods for industrial processes leverage the repetitive nature of the underlying process to learn optimal inputs for the system. While many works focus on linear systems, real-world problems involve nonlinear…

Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…