9 citations · 13 across the 4 of their papers we have counts for
4 papers
Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain Systems
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In this work, we consider the problem of designing a safety filter for a nonlinear uncertain control system. Our goal is to augment an arbitrary controller with a safety filter suc…
RLO-MPC: Robust Learning-Based Output Feedback MPC for Improving the Performance of Uncertain Systems in Iterative Tasks
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon opt…
Evaluating Input Perturbation Methods for Interpreting CNNs and Saliency Map Comparison
Lukas Brunke, Prateek Agrawal, Nikhil George
Input perturbation methods occlude parts of an input to a function and measure the change in the function's output. Recently, input perturbation methods have been applied to genera…
Learning Model Predictive Control for Competitive Autonomous Racing
Lukas Brunke
The goal of this thesis is to design a learning model predictive controller (LMPC) that allows multiple agents to race competitively on a predefined race track in real-time. This t…