571 citations
Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.
- ETH ZurichCH31 papers
- Automatic Control LaboratoryCH7 papers
- Leibniz University HannoverDE3 papers
- Stanford UniversityUS3 papers
- European Space Research and Technology CentreNL2 papers
- Swiss Federal Laboratories for Materials Science and TechnologyCH2 papers
- Technical University of MunichDE2 papers
- American Institute of Aeronautics and AstronauticsUS1 paper
- Eindhoven University of TechnologyNL1 paper
- European Space AgencyFR1 paper
- Film IndependentUS1 paper
- Flanders Make (Belgium)BE1 paper
37 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…
A self-contained karma economy for the dynamic allocation of common resources
Ezzat Elokda, Saverio Bolognani, Andrea Censi +2
This paper presents karma mechanisms, a novel approach to the repeated allocation of a scarce resource among competing agents over an infinite time. Examples include deciding which…
A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning Problems
David Kiessling, Andrea Zanelli, Armin Nurkanović +5
In this paper, we propose a Feasible Sequential Linear Programming (FSLP) algorithm applied to time-optimal control problems (TOCP) obtained through direct multiple shooting discre…
Recursively feasible stochastic predictive control using an interpolating initial state constraint -- extended version
Johannes Köhler, Melanie N. Zeilinger
We present a stochastic model predictive control (SMPC) framework for linear systems subject to possibly unbounded disturbances. State of the art SMPC approaches with closed-loop c…
A Lyapunov function for robust stability of moving horizon estimation
Julian D. Schiller, Simon Muntwiler, Johannes Köhler +2
We provide a novel robust stability analysis for moving horizon estimation (MHE) using a Lyapunov function. Additionally, we introduce linear matrix inequalities (LMIs) to verify t…
Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics
Alessandro Zanardi, Gioele Zardini, Sirish Srinivasan +4
Modern applications require robots to comply with multiple, often conflicting rules and to interact with the other agents. We present Posetal Games as a class of games in which eac…
Stability and performance analysis of NMPC: Detectable stage costs and general terminal costs
Johannes Köhler, Melanie N. Zeilinger, Lars Grüne
We provide a stability and performance analysis for nonlinear model predictive control (NMPC) schemes subject to input constraints. Given an exponential stabilizability and detecta…
Analysis and Control of Autonomous Mobility-on-Demand Systems
Gioele Zardini, Nicolas Lanzetti, Marco Pavone +1
Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous…
Autonomous parafoil precision landing using convex real-time optimized guidance and control
Antoine Leeman, Valentin Preda, Irene Huertas +1
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive conve…
A System Level Approach to Tube-based Model Predictive Control
Jerome Sieber, Samir Bennani, Melanie N. Zeilinger
Robust tube-based model predictive control (MPC) methods address constraint satisfaction by leveraging an a priori determined tube controller in the prediction to tighten the const…
Game Theory to Study Interactions between Mobility Stakeholders
Gioele Zardini, Nicolas Lanzetti, Laura Guerrini +2
Increasing urbanization and exacerbation of sustainability goals threaten the operational efficiency of current transportation systems and confront cities with complex choices with…
Data-driven control of room temperature and bidirectional EV charging using deep reinforcement learning: simulations and experiments
B. Svetozarevic, C. Baumann, S. Muntwiler +3
This work presents a fully data-driven, black-box pipeline to obtain an optimal control policy for a multi-loop building control problem based on historical building and weather da…
Safe-visor Architecture for Sandboxing (AI-based) Unverified Controllers in Stochastic Cyber-Physical Systems
Bingzhuo Zhong, Abolfazl Lavaei, Hongpeng Cao +2
High performance but unverified controllers, e.g., artificial intelligence-based (a.k.a. AI-based) controllers, are widely employed in cyber-physical systems (CPSs) to accomplish c…
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis
Gioele Zardini, Andrea Censi, Emilio Frazzoli
Designing cyber-physical systems is a complex task which requires insights at multiple abstraction levels. The choices of single components are deeply interconnected and need to be…
Co-Design of Embodied Intelligence: A Structured Approach
Gioele Zardini, Dejan Milojevic, Andrea Censi +1
We consider the problem of co-designing embodied intelligence as a whole in a structured way, from hardware components such as propulsion systems and sensors to software modules su…
Co-Design to Enable User-Friendly Tools to Assess the Impact of Future Mobility Solutions
Gioele Zardini, Nicolas Lanzetti, Andrea Censi +2
The design of future mobility solutions and the design of the mobility systems they enable are closely coupled. Indeed, knowledge about the intended service of novel mobility solut…
Distributed Safe Learning using an Invariance-based Safety Framework
Andrea Carron, Jerome Sieber, Melanie N. Zeilinger
In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policie…
Data-Driven Distributed Stochastic Model Predictive Control with Closed-Loop Chance Constraint Satisfaction
Simon Muntwiler, Kim P. Wabersich, Lukas Hewing +1
Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust fo…
On the Co-Design of AV-Enabled Mobility Systems
Gioele Zardini, Nicolas Lanzetti, Mauro Salazar +3
The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their de…