16 citations · 17 across the 5 of their papers we have counts for
6 papers
Sampling-Based Nonlinear MPC of Neural Network Dynamics with Application to Autonomous Vehicle Motion Planning
Iman Askari, Babak Badnava, Thomas Woodruff +2
Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predi…
Nonlinear Model Predictive Control Based on Constraint-Aware Particle Filtering/Smoothing
Iman Askari, Shen Zeng, Huazhen Fang
Nonlinear model predictive control (NMPC) has gained widespread use in many applications. Its formulation traditionally involves repetitively solving a nonlinear constrained optimi…
On Lossless Causal Compression of Periodic Signals
Jan Maximilian Montenbruck, Shen Zeng
We present and study a scheme for lossless causal compression of periodic real-valued signals. In particular, our technique compresses a vector-valued signal to a scalar-valued sig…
Sample-based Population Observers
Shen Zeng
In this paper, a first sample-based formulation of the recently considered population observers, or ensemble observers, which estimate the state distribution of dynamic populations…
Structured Optimal Feedback in Multi-Agent Systems: A Static Output Feedback Perspective
Shen Zeng, Frank Allgöwer
In this paper we demonstrate how certain structured feedback gains necessarily emerge as the optimal controller gains in two linear optimal control formulations for multi-agent sys…
Ensemble Observability of Linear Systems
Shen Zeng, Steffen Waldherr, Christian Ebenbauer +1
We address the observability problem for ensembles that are described by probability distributions. The problem is to reconstruct a probability distribution of the initial state fr…