2 papers
cs.RO2026
CALOS: Control-Affine Lyapunov On-manifold Safety Layer for Safe Deep Reinforcement Learning for Quadrotors
Fabrizio Cesareo, Sebastiano Mengozzi, Nicola Mimmo +1
Deep Reinforcement Learning has demonstrated remarkable capability in quadrotor control, yet learned policies offer no guarantee of respecting safety constraints during training or…
eess.SY2025
Physics-Informed Neural Networks for Nonlinear Output Regulation
Sebastiano Mengozzi, Giovanni B. Esposito, Michelangelo Bin +3
This work addresses the full-information output regulation problem for nonlinear systems, assuming the states of both the plant and the exosystem are known. In this setting, perfec…