3 citations · 4 across the 14 of their papers we have counts for
5 papers · 1 filter
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…
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…
Understanding the differences in Foundation Models: Attention, State Space Models, and Recurrent Neural Networks
Jerome Sieber, Carmen Amo Alonso, Alexandre Didier +2
Softmax attention is the principle backbone of foundation models for various artificial intelligence applications, yet its quadratic complexity in sequence length can limit its inf…
Predictive stability filters for nonlinear dynamical systems affected by disturbances
Alexandre Didier, Andrea Zanelli, Kim P. Wabersich +1
Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recur…