13 citations · 13 across the 6 of their papers we have counts for
4 papers · 1 filter
LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference
Maitham F. AL-Sunni, Timeea-Andreea Radu, Hassan Almubarak +4
Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matter…
LLA-MPC on Embedded Hardware: Rapid Adaptive Control with Thousands of Parallel Models
Henry Z. Liao, Maitham F. AL-Sunni, John M. Dolan
We present a generalized implementation of Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a learning-free framework for real-time, rapid adaptive system iden…
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng +1
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidl…
Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
Haoru Xue, Edward L. Zhu, John M. Dolan +1
This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in…