64 citations · 101 across the 31 of their papers we have counts for
5 papers · 1 filter
Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers
Michael Everett, Golnaz Habibi, Jonathan P. How
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety prope…
Performance Analysis of Adaptive Dynamic Tube MPC
Savva Morozov, Parker C. Lusk, Brett T. Lopez +1
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in rea…
Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)
Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online para…
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions
Aleix Paris, Brett T. Lopez, Jonathan P. How
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and pr…
Dynamic Tube MPC for Nonlinear Systems
Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
Modeling error or external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation…