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cs.RO2022
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
Andrea Tagliabue, Jonathan P. How
Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algor…
cs.RO2022
Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC
Andrea Tagliabue, Yi-Hsuan Hsiao, Urban Fasel +4
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is challenging, as the small scale of the robot induces large model uncertainties, demanding robust…