61 citations
7 papers
LQG for Constrained Linear Systems: Indirect Feedback Stochastic MPC with Kalman Filtering
Simon Muntwiler, Kim P. Wabersich, Robert Miklos +1
We present an output feedback stochastic model predictive control (SMPC) approach for linear systems subject to Gaussian disturbances and measurement noise and probabilistic constr…
Online convex optimization for constrained control of linear systems using a reference governor
Marko Nonhoff, Johannes Köhler, Matthias A. Müller
In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost f…
How Bad is Selfish Driving? Bounding the Inefficiency of Equilibria in Urban Driving Games
Alessandro Zanardi, Pier Giuseppe Sessa, Nando Käslin +3
We consider the interaction among agents engaging in a driving task and we model it as general-sum game. This class of games exhibits a plurality of different equilibria posing the…
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence
Marvin Becker, Johannes Köhler, Sami Haddadin +1
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpred…
Robust adaptive MPC using control contraction metrics
András Sasfi, Melanie N. Zeilinger, Johannes Köhler
We present a robust adaptive model predictive control (MPC) framework for nonlinear continuous-time systems with bounded parametric uncertainty and additive disturbance. We utilize…
Categorification of Negative Information using Enrichment
Andrea Censi, Emilio Frazzoli, Jonathan Lorand +1
In many engineering applications it is useful to reason about "negative information". For example, in planning problems, providing an optimal solution is the same as giving a feasi…