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05/26/2023
Data-Driven Optimization for Deposition with Degradable Tools
We present a data-driven optimization approach for robotic controlled de...
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07/13/2022
Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation
We study a human-robot collaborative transportation task in presence of ...
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03/07/2021
Decentralized 2-Robot Transportation with Local and Indirect Sensing
In this paper, we propose a leader-follower hierarchical strategy for tw...
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11/20/2020
Learning How to Solve Bubble Ball
"Bubble Ball" is a game built on a 2D physics engine, where a finite set...
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09/09/2020
Traction Adaptive Motion Planning at the Limits of Handling
In this paper we address the problem of motion planning and control at t...
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07/19/2020
Learning to Play Cup-and-Ball with Noisy Camera Observations
Playing the cup-and-ball game is an intriguing task for robotics researc...
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06/09/2020
Learning to Satisfy Unknown Constraints in Iterative MPC
We propose a control design method for linear time-invariant systems tha...
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12/09/2019
Exploiting Model Sparsity in Adaptive MPC: A Compressed Sensing Viewpoint
This paper proposes an Adaptive Stochastic Model Predictive Control (MPC...
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11/22/2019
Learning Robustness with Bounded Failure: An Iterative MPC Approach
We propose an approach to design a Model Predictive Controller (MPC) for...
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09/11/2019
Generalized Policy Iteration for Optimal Control in Continuous Time
This paper proposes the Deep Generalized Policy Iteration (DGPI) algorit...
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06/19/2019
Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks
In this paper, we propose a novel framework for approximating the explic...
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03/11/2019