相关论文: Networked Online Learning for Control of Safety-Cr…

Gaussian Processes (GPs) are a generic modelling tool for supervised learning. While they have been successfully applied on large datasets, their use in safety-critical applications is hindered by the lack of good performance guarantees. To…

The paper deals with the problem of output regulation of nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. We borrow from the adaptive internal model design technique recently proposed in [1]…

Due to its state-of-the-art estimation performance complemented by rigorous and non-conservative uncertainty bounds, Gaussian process regression is a popular tool for enhancing dynamical system models and coping with their inaccuracies.…

One major challenge for autonomous attitude takeover control for on-orbit servicing of spacecraft is that an accurate dynamic motion model of the combined vehicles is highly nonlinear, complex and often costly to identify online, which…

Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites. Trajectory tracking control of these vehicles is a substantial aspect for an…

Data-driven models are subject to model errors due to limited and noisy training data. Key to the application of such models in safety-critical domains is the quantification of their model error. Gaussian processes provide such a measure…

Learning time-series models is useful for many applications, such as simulation and forecasting. In this study, we consider the problem of actively learning time-series models while taking given safety constraints into account. For…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

This paper proposes a framework for multi-robot systems to perform simultaneous learning and coverage of a domain of interest characterized by an unknown and potentially time-varying density function. To overcome the limitations of Gaussian…

Learning dynamical models from data is not only fundamental but also holds great promise for advancing principle discovery, time-series prediction, and controller design. Among various approaches, Gaussian Process State-Space Models…

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…

This paper demonstrates the applicability of the combination of concurrent learning as a tool for parameter estimation and non-parametric Gaussian Process for online disturbance learning. A control law is developed by using both techniques…

Cooperative online scalar field mapping is an important task for multi-robot systems. Gaussian process regression is widely used to construct a map that represents spatial information with confidence intervals. However, it is difficult to…

The performance of learning-based control techniques crucially depends on how effectively the system is explored. While most exploration techniques aim to achieve a globally accurate model, such approaches are generally unsuited for systems…

Integrating measurements and historical data can enhance control systems through learning-based techniques, but ensuring performance and safety is challenging. Robust model predictive control strategies, like stochastic model predictive…

This article addresses the output regulation problem for a class of nonlinear systems using a data-driven approach. An output feedback controller is proposed that integrates a traditional control component with a data-driven learning…

Despite the recent success of artificial neural networks, more biologically plausible learning methods may be needed to resolve the weaknesses of backpropagation trained models such as catastrophic forgetting and adversarial attacks.…

In this work, an adaptive predictive control scheme for linear systems with unknown parameters and bounded additive disturbances is proposed. In contrast to related adaptive control approaches that robustly consider the parametric…

Industrial control systems are critical to the operation of industrial facilities, especially for critical infrastructures, such as refineries, power grids, and transportation systems. Similar to other information systems, a significant…

Safety is a critical issue in learning-based robotic and autonomous systems as learned information about their environments is often unreliable and inaccurate. In this paper, we propose a risk-aware motion control tool that is robust…