4 papers
Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering
Zekun Xing, Ramkrishna Chaudhari, Marion Leibold +2
Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-cas…
Sampling-based Stochastic Data-driven Predictive Control under Data Uncertainty - Extended Version
Johannes Teutsch, Sebastian Kerz, Dirk Wollherr +1
We present a stochastic constrained output-feedback data-driven predictive control scheme for linear time-invariant systems subject to bounded additive disturbances. The approach u…
Active Fault Identification and Robust Control for Unknown Bounded Faults via Volume-Based Costs
Annalena Daniels, Johannes Teutsch, Fabian Kleindienst +2
This paper proposes a novel framework for active fault diagnosis and parameter estimation in linear systems operating in closed-loop, subject to unknown but bounded faults. The app…
Grasping in Uncertain Environments: A Case Study For Industrial Robotic Recycling
Annalena Daniels, Sebastian Kerz, Salman Bari +2
Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Wa…