7 papers · 1 filter
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…
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…
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…
A System Level Approach to Regret Optimal Control
Alexandre Didier, Jerome Sieber, Melanie N. Zeilinger
We present an optimisation-based method for synthesising a dynamic regret optimal controller for linear systems with potentially adversarial disturbances and known or adversarial i…
Adaptive Model Predictive Safety Certification for Learning-based Control -- Extended Version
Alexandre Didier, Kim P. Wabersich, Melanie N. Zeilinger
We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the…