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math.OC2025
Probabilistic Safety under Arbitrary Disturbance Distributions using Piecewise-Affine Control Barrier Functions
Matisse Teuwen, Mathijs Schuurmans, Panagiotis Patrinos
We propose a simple safety filter design for stochastic discrete-time systems based on piecewise affine probabilistic control barrier functions, providing an appealing balance betw…
math.OC2025
Risk-Sensitive Model Predictive Control for Interaction-Aware Planning -- A Sequential Convexification Algorithm
Renzi Wang, Mathijs Schuurmans, Panagiotis Patrinos
This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot i…