323 citations · 407 across the 32 of their papers we have counts for
25 papers · 1 filter
Failure-Aware Iterative Learning of State-Control Invariant Sets
Ahmad Amine, Nick-Marios T. Kokolakis, Ugo Rosolia +2
In this paper, we address the problem of computing maximal state-control invariant sets for deterministic linear systems using failing trajectories. We introduce the concept of sta…
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner +3
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical system…
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…
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…
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…
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…
Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions
Kunal Garg, Ryan K. Cosner, Ugo Rosolia +2
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it i…
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications
Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray +1
Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study…
Unified Multi-Rate Control: from Low Level Actuation to High Level Planning
Ugo Rosolia, Andrew Singletary, Aaron D. Ames
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expr…
Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization
Prithvi Akella, Ugo Rosolia, Andrew Singletary +1
As control systems become increasingly more complex, there exists a pressing need to find systematic ways of verifying them. To address this concern, there has been significant wor…
Robust MPC for Linear Systems with Parametric and Additive Uncertainty: A Novel Constraint Tightening Approach
Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R Stürz +2
We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varyi…
Distributed Learning Model Predictive Control for Linear Systems
Yvonne R. Stürz, Edward L. Zhu, Ugo Rosolia +2
This paper presents a distributed learning model predictive control (DLMPC) scheme for distributed linear time invariant systems with coupled dynamics and state constraints. The pr…
Control of Unknown Nonlinear Systems with Linear Time-Varying MPC
Dimitris Papadimitriou, Ugo Rosolia, Francesco Borrelli
We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from o…
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies
Ugo Rosolia, Aaron D. Ames
In this paper we present a multi-rate control architecture for safety critical systems. We consider a high level planner and a low level controller which operate at different frequ…
Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control
Edward L. Zhu, Yvonne R. Stürz, Ugo Rosolia +1
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coup…
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia +3
Sample-based learning model predictive control (LMPC) strategies have recently attracted attention due to their desirable theoretical properties and their good empirical performanc…
Minimum Time Learning Model Predictive Control
Ugo Rosolia, Francesco Borrelli
In this paper we present a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. Our work builds on existing LMPC methodologies…
Robust Learning Model Predictive Control for Linear Systems Performing Iterative Tasks
Ugo Rosolia, Xiaojing Zhang, Francesco Borrelli
A robust Learning Model Predictive Controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task the closed-loop state, inp…
Learning Model Predictive Control for Periodic Repetitive Tasks
Nicola Scianca, Ugo Rosolia, Francesco Borrelli
We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage cost are periodically…
Sample-Based Learning Model Predictive Control for Linear Uncertain Systems
Ugo Rosolia, Francesco Borrelli
We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller bui…
Learning How to Autonomously Race a Car: a Predictive Control Approach
Ugo Rosolia, Francesco Borrelli
In this paper we present a Learning Model Predictive Controller (LMPC) for autonomous racing. We model the autonomous racing problem as a minimum time iterative control task, where…
Simple Policy Evaluation for Data-Rich Iterative Tasks
Ugo Rosolia, Xiaojing Zhang, Francesco Borrelli
A data-based policy for iterative control task is presented. The proposed strategy is model-free and can be applied whenever safe input and state trajectories of a system performin…
Adaptive MPC for Iterative Tasks
Monimoy Bujarbaruah, Xiaojing Zhang, Ugo Rosolia +1
This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled…