4 papers
Online Adaptation for Flying Quadrotors in Tight Formations
Pei-An Hsieh, Kong Yao Chee, M. Ani Hsieh
The task of flying in tight formations is challenging for teams of quadrotors because the complex aerodynamic wake interactions can destabilize individual team members as well as t…
Flying Quadrotors in Tight Formations using Learning-based Model Predictive Control
Kong Yao Chee, Pei-An Hsieh, George J. Pappas +1
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are com…
Safety Filter Design for Neural Network Systems via Convex Optimization
Shaoru Chen, Kong Yao Chee, Nikolai Matni +2
With the increase in data availability, it has been widely demonstrated that neural networks (NN) can capture complex system dynamics precisely in a data-driven manner. However, th…
Enhancing Sample Efficiency and Uncertainty Compensation in Learning-based Model Predictive Control for Aerial Robots
Kong Yao Chee, Thales C. Silva, M. Ani Hsieh +1
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despit…