323 citations · 407 across the 32 of their papers we have counts for
6 papers · 1 filter
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…
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia +6
Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncert…
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…