21 citations · 50 across the 18 of their papers we have counts for
5 papers · 1 filter
Ellipsoidal partitions for improved multi-stage robust model predictive control
Moritz Heinlein, Florian Messerer, Moritz Diehl +1
Ellipsoidal tube-based model predictive control methods effectively account for the propagation of the reachable set, typically employing linear feedback policies. In contrast, sce…
Optimality and Suboptimality of MPPI Control in Stochastic and Deterministic Settings
Hannes Homburger, Florian Messerer, Moritz Diehl +1
Model predictive path integral (MPPI) control has recently received a lot of attention, especially in the robotics and reinforcement learning communities. This letter aims to make…
Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification
Rudolf Reiter, Jasper Hoffmann, Dirk Reinhardt +6
The fields of MPC and RL consider two successful control techniques for Markov decision processes. Both approaches are derived from similar fundamental principles, and both are wid…
Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC
Yunfan Gao, Florian Messerer, Jonathan Frey +2
This paper presents an implementation of robust model predictive control (MPC) for collision-free reference trajectory tracking for mobile robots. The presented approach considers…
An Inverse Optimal Control Approach for Trajectory Prediction of Autonomous Race Cars
Rudolf Reiter, Florian Messerer, Markus Schratter +2
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem…