2 papers
eess.SY2025
Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss incentive design for hierarchical model predictive control (MPC) systems viewed as Stackelberg games. We consider a hierarchical MPC formulation where, gi…
cs.RO2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li, Jun Zeng, Akshay Thirugnanam +1
Bridging model-based safety and model-free reinforcement learning (RL) for dynamic robots is appealing since model-based methods are able to provide formal safety guarantees, while…