7 citations · 21 across the 7 of their papers we have counts for
13 papers
Stochastic MPC with Realization-Adaptive Constraint Tightening
Hotae Lee, Monimoy Bujarbaruah, Francesco Borrelli
This paper presents a stochastic model predictive controller (SMPC) for linear time-invariant systems in the presence of additive disturbances. The distribution of the disturbance…
A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty
Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R. Stürz +1
We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is mod…
Learning Environment Constraints in Collaborative Robotics: A Decentralized Leader-Follower Approach
Monimoy Bujarbaruah, Yvonne R. Stürz, Conrad Holda +2
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots…
Learning How to Solve Bubble Ball
Hotae Lee, Monimoy Bujarbaruah, Francesco Borrelli
"Bubble Ball" is a game built on a 2D physics engine, where a finite set of objects can modify the motion of a bubble-like ball. The objective is to choose the set and the initial…
Learning to Play Cup-and-Ball with Noisy Camera Observations
Monimoy Bujarbaruah, Tony Zheng, Akhil Shetty +2
Playing the cup-and-ball game is an intriguing task for robotics research since it abstracts important problem characteristics including system nonlinearity, contact forces and pre…
Near-Optimal Rapid MPC using Neural Networks: A Primal-Dual Policy Learning Framework
Xiaojing Zhang, Monimoy Bujarbaruah, Francesco Borrelli
In this paper, we propose a novel framework for approximating the explicit MPC policy for linear parameter-varying systems using supervised learning. Our learning scheme guarantees…