3 citations · 3 across the 5 of their papers we have counts for
5 papers
Robust MPC for Uncertain Linear Systems -- Combining Model Adaptation and Iterative Learning
Hannes Petrenz, Johannes Köhler, Francesco Borrelli
This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterat…
Fast Stochastic MPC using Affine Disturbance Feedback Gains Learned Offline
Hotae Lee, Francesco Borrelli
We propose a novel Stochastic Model Predictive Control (MPC) for uncertain linear systems subject to probabilistic constraints. The proposed approach leverages offline learning to…
A General 3D Road Model for Motorcycle Racing
Thomas Fork, Francesco Borrelli
We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road m…
Predictive Braking on a Nonplanar Road
Thomas Fork, Francesco Camozzi, Xiao-Yu Fu +1
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on…
Euclidean and non-Euclidean Trajectory Optimization Approaches for Quadrotor Racing
Thomas Fork, Francesco Borrelli
We present two quadrotor raceline optimization approaches which differ in using Euclidean or non-Euclidean geometry to describe vehicle position. Both approaches use high-fidelity…