75 citations · 309 across the 47 of their papers we have counts for
10 papers · 1 filter
Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators
Marvin Becker, Philipp Caspers, Tom Hattendorf +3
In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP)…
Online convex optimization for constrained control of linear systems using a reference governor
Marko Nonhoff, Johannes Köhler, Matthias A. Müller
In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost f…
A moving horizon state and parameter estimation scheme with guaranteed robust convergence
Julian D. Schiller, Matthias A. Müller
We propose a moving horizon estimation scheme for joint state and parameter estimation for nonlinear uncertain discrete-time systems. We establish robust exponential convergence of…
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence
Marvin Becker, Johannes Köhler, Sami Haddadin +1
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpred…
On the relation between dynamic regret and closed-loop stability
Marko Nonhoff, Matthias A. Müller
In this work, we study the relations between bounded dynamic regret and the classical notion of asymptotic stability for the case of a priori unknown and time-varying cost function…
Configuration-Constrained Tube MPC
Mario E. Villanueva, Matthias A. Müller, Boris Houska
This paper is about robust Model Predictive Control (MPC) for linear systems with additive and multiplicative uncertainty. A novel class of configuration-constrained polytopic robu…
Linearly discounted economic MPC without terminal conditions for periodic optimal operation
Lukas Schwenkel, Alexander Hadorn, Matthias A. Müller +1
In this work, we study economic model predictive control (MPC) in situations where the optimal operating behavior is periodic. In such a setting, the performance of a standard econ…
Sample-based observability of linear discrete-time systems
Isabelle Krauss, Victor G. Lopez, Matthias A. Müller
In this work, sample-based observability of linear discrete-time systems is studied. That is, we consider the case where the system output measurements are not available at every t…
On a Continuous-Time Version of Willems' Lemma
Victor G. Lopez, Matthias A. Müller
In this paper, a method to represent every input-output trajectory of a continuous-time linear system in terms of previously collected data is presented. This corresponds to a cont…
A Lyapunov function for robust stability of moving horizon estimation
Julian D. Schiller, Simon Muntwiler, Johannes Köhler +2
We provide a novel robust stability analysis for moving horizon estimation (MHE) using a Lyapunov function. Additionally, we introduce linear matrix inequalities (LMIs) to verify t…