90 citations · 123 across the 10 of their papers we have counts for
10 papers
An MPC framework for efficient navigation of mobile robots in cluttered environments
Johannes Köhler, Daniel Zhang, Raffaele Soloperto +2
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortes…
Adaptive Economic Model Predictive Control: Performance Guarantees for Nonlinear Systems
Maximilian Degner, Raffaele Soloperto, Melanie N. Zeilinger +2
We consider the problem of optimizing the economic performance of nonlinear constrained systems subject to uncertain time-varying parameters and bounded disturbances. In particular…
Control Strategies for Recommendation Systems in Social Networks
Ben Sprenger, Giulia De Pasquale, Raffaele Soloperto +2
A closed-loop control model to analyze the impact of recommendation systems on opinion dynamics within social networks is introduced. The core contribution is the development and f…
Adaptive Economic Model Predictive Control for linear systems with performance guarantees
Maximilian Degner, Raffaele Soloperto, Melanie N. Zeilinger +2
We present a model predictive control (MPC) formulation to directly optimize economic criteria for linear constrained systems subject to disturbances and uncertain model parameters…
Collision Avoidance Safety Filter for an Autonomous E-Scooter using Ultrasonic Sensors
Robin Strässer, Marc Seidel, Felix Brändle +4
In this paper, we propose a collision avoidance safety filter for autonomous electric scooters to enable safe operation of such vehicles in pedestrian areas. In particular, we empl…
Convergence guarantees for adaptive model predictive control with kinky inference
Riccardo Zuliani, Raffaele Soloperto, John Lygeros
We analyze the convergence properties of a robust adaptive model predictive control algorithm used to control an unknown nonlinear system. We show that by employing a standard quad…
Safe Exploration and Escape Local Minima with Model Predictive Control under Partially Unknown Constraints
Raffaele Soloperto, Ali Mesbah, Frank Allgöwer
In this paper, we propose a novel model predictive control (MPC) framework for output tracking that deals with partially unknown constraints. The MPC scheme optimizes over a learni…
A robust adaptive model predictive control framework for nonlinear uncertain systems
Johannes Köhler, Peter Kötting, Raffaele Soloperto +2
In this paper, we present a tube-based framework for robust adaptive model predictive control (RAMPC) for nonlinear systems subject to parametric uncertainty and additive disturban…
A computationally efficient robust model predictive control framework for uncertain nonlinear systems -- extended version
Johannes Köhler, Raffaele Soloperto, Matthias A. Müller +1
In this paper, we present a nonlinear robust model predictive control (MPC) framework for general (state and input dependent) disturbances. This approach uses an online constructed…
Linear robust adaptive model predictive control: Computational complexity and conservatism -- extended version
Johannes Köhler, Elisa Andina, Raffaele Soloperto +2
In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed appro…