2 citations · 3 across the 8 of their papers we have counts for
9 papers
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…
Real-Time-Feasible Collision-Free Motion Planning For Ellipsoidal Objects
Yunfan Gao, Florian Messerer, Niels van Duijkeren +2
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal obj…
Stochastic Model Predictive Control with Optimal Linear Feedback for Mobile Robots in Dynamic Environments
Yunfan Gao, Florian Messerer, Niels van Duijkeren +1
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties…
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning
Rudolf Reiter, Armin Nurkanovic, Daniele Bernadini +2
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies…
Parallelizable Parametric Nonlinear System Identification via tuning of a Moving Horizon State Estimator
Léo Simpson, Jonas Asprion, Simon Muntwiler +2
This paper introduces a novel optimization-based approach for parametric nonlinear system identification. Building upon the prediction error method framework, traditionally used fo…
Fourth-order suboptimality of nominal model predictive control in the presence of uncertainty
Florian Messerer, Katrin Baumgärtner, Sergio Lucia +1
We investigate the suboptimality resulting from the application of nominal model predictive control (MPC) to a nonlinear discrete time stochastic system. The suboptimality is defin…
Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions
Antoine P. Leeman, Johannes Köhler, Florian Messerer +3
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algori…