3 papers
cs.RO2026
CALOS: Control-Affine Lyapunov On-manifold Safety Layer for Safe Deep Reinforcement Learning for Quadrotors
Fabrizio Cesareo, Sebastiano Mengozzi, Nicola Mimmo +1
Deep Reinforcement Learning has demonstrated remarkable capability in quadrotor control, yet learned policies offer no guarantee of respecting safety constraints during training or…
math.OC2024
Data-Driven LQR with Finite-Time Experiments via Extremum-Seeking Policy Iteration
Guido Carnevale, Nicola Mimmo, Giuseppe Notarstefano
In this paper, we address Linear Quadratic Regulator (LQR) problems through a novel iterative algorithm named EXtremum-seeking Policy iteration LQR (EXP-LQR). The peculiarity of EX…
eess.SY2024
Bearing-based Target Localisation in Search and Rescue Scenarios
Giulia Michieletto, Nicola Mimmo, Roberto Naldi +1
This paper deals with the target localisation problem in search and rescue scenarios in which the technology is based on electromagnetic transceivers. The noise floor and the shape…