341 citations · 769 across the 30 of their papers we have counts for
7 papers · 1 filter
Towards Safe Reinforcement Learning Using NMPC and Policy Gradients: Part I - Stochastic case
Sebastien Gros, Mario Zanon
We present a methodology to deploy the stochastic policy gradient method, using actor-critic techniques, when the optimal policy is approximated using a parametric optimization pro…
Towards Safe Reinforcement Learning Using NMPC and Policy Gradients: Part II - Deterministic Case
Sebastien Gros, Mario Zanon
In this paper, we present a methodology to deploy the deterministic policy gradient method, using actor-critic techniques, when the optimal policy is approximated using a parametri…
Safe Reinforcement Learning Using Robust MPC
Mario Zanon, Sébastien Gros
Reinforcement Learning (RL) has recently impressed the world with stunning results in various applications. While the potential of RL is now well-established, many critical aspects…
Practical Reinforcement Learning of Stabilizing Economic MPC
Mario Zanon, Sébastien Gros, Alberto Bemporad
Reinforcement Learning (RL) has demonstrated a huge potential in learning optimal policies without any prior knowledge of the process to be controlled. Model Predictive Control (MP…
Data-driven Economic NMPC using Reinforcement Learning
Sébastien Gros, Mario Zanon
Reinforcement Learning (RL) is a powerful tool to perform data-driven optimal control without relying on a model of the system. However, RL struggles to provide hard guarantees on…
Real-Time Constrained Trajectory Planning and Vehicle Control for Proactive Autonomous Driving With Road Users
Ivo Batkovic, Mario Zanon, Mohammad Ali +1
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle…
A Parallel Decomposition Scheme for Solving Long-Horizon Optimal Control Problems
Sungho Shin, Timm Faulwasser, Mario Zanon +1
We present a temporal decomposition scheme for solving long-horizon optimal control problems. In the proposed scheme, the time domain is decomposed into a set of subdomains with pa…