7 papers · 1 filter
Stochastic MPC with Online-optimized Policies and Closed-loop Guarantees
Marcell Bartos, Alexandre Didier, Jerome Sieber +2
This paper proposes a stochastic model predictive control method for linear systems affected by additive Gaussian disturbances that optimizes over disturbance feedback matrices onl…
Distributed Predictive Control Barrier Functions: Towards Scalable Safety Certification in Modular Multi-Agent Systems
Jonas Ohnemus, Alexandre Didier, Ahmed Aboudonia +2
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables…
Approximate predictive control barrier function for discrete-time systems
Alexandre Didier, Melanie N. Zeilinger
We propose integrating an approximation of a predictive control barrier function (PCBF) in a safety filter framework, resulting in a prediction horizon independent formulation. The…
Computationally Efficient System Level Tube-MPC for Uncertain Systems
Jerome Sieber, Alexandre Didier, Melanie N. Zeilinger
Tube-based model predictive control (MPC) is one of the principal robust control techniques for constrained linear systems affected by additive disturbances. While tube-based metho…
A multiobjective approach to robust predictive control barrier functions for discrete-time systems
Alexandre Didier, Melanie N. Zeilinger
We present an optimisation-based approach to ensure robust asymptotic stability stability of a desired set in the state space of nonlinear dynamical systems, while optimising a gen…
Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
Jelena Trisovic, Alexandre Didier, Simon Muntwiler +1
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We…