571 citations · 1.3k across the 123 of their papers we have counts for
4 papers · 1 filter
Constrained Inverse Optimal Control with Application to a Human Manipulation Task
Marcel Menner, Peter Worsnop, Melanie N. Zeilinger
This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a conve…
A predictive safety filter for learning-based control of constrained nonlinear dynamical systems
Kim P. Wabersich, Melanie N. Zeilinger
The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, i…
Stochastic Model Predictive Control for Linear Systems using Probabilistic Reachable Sets
Lukas Hewing, Melanie N. Zeilinger
In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to…
Linear model predictive safety certification for learning-based control
Kim P. Wabersich, Melanie N. Zeilinger
While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this proble…