3 papers
cs.RO2022
Adaptive Model Predictive Control by Learning Classifiers
Rel Guzman, Rafael Oliveira, Fabio Ramos
Stochastic model predictive control has been a successful and robust control framework for many robotics tasks where the system dynamics model is slightly inaccurate or in the pres…
cs.RO2022
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty
Rel Guzman, Rafael Oliveira, Fabio Ramos
We propose an adaptive optimisation approach for tuning stochastic model predictive control (MPC) hyper-parameters while jointly estimating probability distributions of the transit…
cs.LG2020
Heteroscedastic Bayesian Optimisation for Stochastic Model Predictive Control
Rel Guzman, Rafael Oliveira, Fabio Ramos
Model predictive control (MPC) has been successful in applications involving the control of complex physical systems. This class of controllers leverages the information provided b…