21 citations · 50 across the 18 of their papers we have counts for
5 papers · 1 filter
Riccati-ZORO: An efficient algorithm for heuristic online optimization of internal feedback laws in robust and stochastic model predictive control
Florian Messerer, Yunfan Gao, Jonathan Frey +1
We present Riccati-ZORO, an algorithm for tube-based optimal control problems (OCP). Tube OCPs predict a tube of trajectories to capture predictive uncertainty. The tube induces a…
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…
Semi-Infinite Programming for Collision-Avoidance in Optimal and Model Predictive Control
Yunfan Gao, Florian Messerer, Niels van Duijkeren +2
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the ro…
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…