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eess.SY2024
Translation of Nagumo's Foundational Work on Barrier Functions: On the Location of Integral Curves of Ordinary Differential Equations
Marcel Menner, Eugene Lavretsky
In 1942, Prof. Mitio Nagumo published his seminal paper on the location of integral curves of ordinary differential equations. Nagumo's paper provides the foundation of the set inv…
eess.SY2023
Gaussian Processes with State-Dependent Noise for Stochastic Control
Marcel Menner, Karl Berntorp
This paper considers a stochastic control framework, in which the residual model uncertainty of the dynamical system is learned using a Gaussian Process (GP). In the proposed formu…
eess.SY2023
Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles
Sean Vaskov, Rien Quirynen, Marcel Menner +1
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller…