60 citations · 85 across the 11 of their papers we have counts for
6 papers · 1 filter
Critical slowing down for predicting controller induced loss of control in quadrotors
Jasper J. van Beers, Prashant Solanki, Erik-Jan van Kampen +1
We develop a novel forecasting scheme to anticipate controller induced loss of control (LOC) in quadrotors and evaluate it on real LOC flight data from four different quadrotors. F…
Reachability-Preserving Bellman Operator for the Discounted Reach-Cost Value Function: Uniting Hamilton-Jacobi Reachability and Reinforcement Learning
Isabelle El-Hajj, Prashant Solanki, Jasper van Beers +2
Hamilton-Jacobi (HJ) reachability provides rigorous safety and reachability guarantees for continuous-time dynamical systems, but its numerical solution suffers from the curse of d…
Unifying Hamilton-Jacobi Reachability and Reinforcement Learning
Prashant Solanki, Isabelle El-Hajj, Jasper van Beers +2
We unify Hamilton-Jacobi (HJ) reachability and Reinforcement Learning (RL) through a proposed running cost formulation. We prove that the resultant travel-cost value function is th…
Action-Increment-Constrained Policy Optimization for Smooth Online Adaptive Critic Flight Control with Actuator Rate Constraints and Low Computational Complexity (extended version with Ultimate Uniform Boundedness analysis)
Yifei Li, Erik-Jan van Kampen
Approximate Dynamic Programming (ADP) enables online control-law adaptation through adaptive critic methods. A safety challenge in applying ADP to angle-of-attack (AoA) tracking co…
Soft Actor-Critic Deep Reinforcement Learning for Fault Tolerant Flight Control
Killian Dally, Erik-Jan van Kampen
Fault-tolerant flight control faces challenges, as developing a model-based controller for each unexpected failure is unrealistic, and online learning methods can handle limited sy…
Framework for state and unknown input estimation of linear time-varying systems
Peng Lu, Erik-Jan van Kampen, Cornelis C. de Visser +1
The design of unknown-input decoupled observers and filters requires the assumption of an existence condition in the literature. This paper addresses an unknown input filtering pro…