8 papers
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
Sabrina Bodmer, Danilo Saccani, Melanie N. Zeilinger +1
A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cann…
Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms
Péter Antal, Andrea Carron, Melanie Zeilinger +2
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accur…
Bridging RL and MPC for mixed-integer optimal control with application to Formula 1 race strategies
Joschua Wüthrich, Romir Damle, Giona Fieni +3
We propose a hybrid reinforcement learning (RL) and model predictive control (MPC) framework for mixed-integer optimal control, where discrete variables enter the cost and dynamics…
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…
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…
Real-Time Online Learning for Model Predictive Control using a Spatio-Temporal Gaussian Process Approximation
Lars Bartels, Amon Lahr, Andrea Carron +1
Learning-based model predictive control (MPC) can enhance control performance by correcting for model inaccuracies, enabling more precise state trajectory predictions than traditio…