7 citations · 24 across the 11 of their papers we have counts for
22 papers
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions
Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia +1
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with di…
MLNav: Learning to Safely Navigate on Martian Terrains
Shreyansh Daftry, Neil Abcouwer, Tyler Del Sesto +7
We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars.…
Interactive multi-modal motion planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker +2
Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be con…
Risk-Averse Decision Making Under Uncertainty
Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham +2
A large class of decision making under uncertainty problems can be described via Markov decision processes (MDPs) or partially observable MDPs (POMDPs), with application to artific…
Learning Performance Bounds for Safety-Critical Systems
Prithvi Akella, Ugo Rosolia, Aaron D. Ames
As the complexity of control systems increases, the need for systematic methods to guarantee their efficacy grows as well. However, direct testing of these systems is oftentimes co…
Iterative Model Predictive Control for Piecewise Systems
Ugo Rosolia, Aaron D. Ames
In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller…