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eess.SY2026
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…
cs.RO2026
SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks
Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis +3
Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe i…