61 citations · 184 across the 45 of their papers we have counts for
7 papers · 1 filter
What is the Impact of Releasing Code with Publications? Statistics from the Machine Learning, Robotics, and Control Communities
Siqi Zhou, Lukas Brunke, Allen Tao +4
Open-sourcing research publications is a key enabler for the reproducibility of studies and the collective scientific progress of a research community. As all fields of science dev…
Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter
Adam W. Hall, Melissa Greeff, Angela P. Schoellig
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear appro…
Robust Predictive Output-Feedback Safety Filter for Uncertain Nonlinear Control Systems
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In real-world applications, we often require reliable decision making under dynamics uncertainties using noisy high-dimensional sensory data. Recently, we have seen an increasing n…
RLO-MPC: Robust Learning-Based Output Feedback MPC for Improving the Performance of Uncertain Systems in Iterative Tasks
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon opt…
Estimation-Based Model Predictive Control for Automatic Crosswind Stabilization of Hybrid Aerial Vehicles
Mohamed K. Helwa, Adrian Esser, Angela P. Schoellig
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several ad…
A Framework for Multi-Vehicle Navigation Using Feedback-Based Motion Primitives
Marijan Vukosavljev, Zachary Kroeze, Mireille E. Broucke +1
We present a hybrid control framework for solving a motion planning problem among a collection of heterogenous agents. The proposed approach utilizes a finite set of low-level moti…