30 citations · 79 across the 14 of their papers we have counts for
7 papers · 1 filter
Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs
Torben Schiz, Pedro H. J. Nardelli, Henrik Ebel
The communication demands of distributed model prediction control (DMPC) can overwhelm even advanced wireless communication technologies as agents must exchange a significant amoun…
Excitation of control-affine systems and Koopman error bounds
Philipp Schmitz, Lea Bold, Friedrich M. Philipp +4
The Koopman operator and extended dynamic mode decomposition (EDMD) as a data-driven technique for its approximation have attracted considerable attention as a key tool for modelin…
Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
David Leprich, Mario Rosenfelder, Markus Herrmann-Wicklmayr +3
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control…
Reducing the Communication of Distributed Model Predictive Control: Autoencoders and Formation Control
Torben Schiz, Henrik Ebel
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC…
Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry
Mario Rosenfelder, Lea Bold, Hannes Eschmann +3
Advances in machine learning and the growing trend towards effortless data generation in real-world systems has led to an increasing interest for data-inferred models and data-base…
Cooperative Distributed MPC via Decentralized Real-Time Optimization: Implementation Results for Robot Formations
Gösta Stomberg, Henrik Ebel, Timm Faulwasser +1
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite…
Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential-Drive
Mario Rosenfelder, Henrik Ebel, Jasmin Krauspenhaar +1
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging f…