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eess.SY2025
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…
eess.SY2025
Optimality and Suboptimality of MPPI Control in Stochastic and Deterministic Settings
Hannes Homburger, Florian Messerer, Moritz Diehl +1
Model predictive path integral (MPPI) control has recently received a lot of attention, especially in the robotics and reinforcement learning communities. This letter aims to make…
eess.SY2025
Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification
Rudolf Reiter, Jasper Hoffmann, Dirk Reinhardt +6
The fields of MPC and RL consider two successful control techniques for Markov decision processes. Both approaches are derived from similar fundamental principles, and both are wid…