22 citations · 59 across the 22 of their papers we have counts for
4 papers · 2 filters
Adaptive Model Predictive Safety Certification for Learning-based Control -- Extended Version
Alexandre Didier, Kim P. Wabersich, Melanie N. Zeilinger
We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the…
Learning-based Moving Horizon Estimation through Differentiable Convex Optimization Layers
Simon Muntwiler, Kim P. Wabersich, Melanie N. Zeilinger
To control a dynamical system it is essential to obtain an accurate estimate of the current system state based on uncertain sensor measurements and existing system knowledge. An op…
Predictive control barrier functions: Enhanced safety mechanisms for learning-based control
Kim P. Wabersich, Melanie N. Zeilinger
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent develop…
A predictive safety filter for learning-based racing control
Ben Tearle, Kim P. Wabersich, Andrea Carron +1
The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniqu…