相关论文: ComTraQ-MPC: Meta-Trained DQN-MPC Integration for …

Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…

This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…

In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

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…

In dynamic and uncertain environments, robotic path planning demands accurate spatiotemporal environment understanding combined with robust decision-making under partial observability. However, current deep reinforcement learning-based path…

This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…

Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…

A finite horizon optimal tracking problem is considered for linear dynamical systems subject to parametric uncertainties in the state-space matrices and exogenous disturbances. A suboptimal solution is proposed using a model predictive…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

Trains are a corner stone of public transport and play an important role in daily life. A challenging task in train operation is to avoid skidding and sliding during fast changes of traction conditions, which can, for example, occur due to…

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our…

Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…

Model predictive control (MPC) has become the de facto standard action space for local planning and learning-based control in many continuous robotic control tasks, including autonomous driving. MPC solves a long-horizon cost optimization…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

Data-enabled predictive control (DeePC) has emerged as a powerful technique to control complex systems without the need for extensive modeling efforts. However, relying solely on offline collected data trajectories to represent the system…

In this paper, we propose a combined Magnitude Saturated Adaptive Control (MSAC)-Model Predictive Control (MPC) approach to linear quadratic tracking optimal control problems with parametric uncertainties and input saturation. The proposed…