Copertina

MPC-Guided Safe Reinforcement Learning and Lipschitz-Based Filtering for Structured Nonlinear Systems

Fuente: arXiv

Salvato in:

Dettagli Bibliografici
Autori principali:	Kostelac, Patrick, Wang, Xuerui, Jamshidnejad, Anahita
Natura:	Preprint
Pubblicazione:	2025
Soggetti:	Robotics Systems and Control
Accesso online:	Acceder al recurso
Tags:	Aggiungi Tag Nessun Tag, puoi essere il primo ad aggiungerne!!

Documenti analoghi

Leveraging Systems and Control Theory for Social Robotics: A Model-Based Behavioral Control Approach to Human-Robot Interaction
di: Patrício, Maria Morão, et al.
Pubblicazione: (2025)

Model Predictive Fuzzy Control: A Hierarchical Multi-Agent Control Architecture for Outdoor Search-and-Rescue Robots
di: Maxwell, Craig, et al.
Pubblicazione: (2025)

Enabling Robots to Autonomously Search Dynamic Cluttered Post-Disaster Environments
di: Rado, Karlo, et al.
Pubblicazione: (2025)

Decentralized Contingency MPC based on Safe Sets for Nonlinear Multi-agent Collision Avoidance
di: Studt, Max, et al.
Pubblicazione: (2026)

Safe On-Orbit Dislodging of Deployable Structures via Robust Adaptive MPC
di: Gao, Longsen, et al.
Pubblicazione: (2025)

Fuzzy-Logic-based model predictive control: A paradigm integrating optimal and common-sense decision making
di: Surma, Filip, et al.
Pubblicazione: (2025)

Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
di: Fang, Jeffrey, et al.
Pubblicazione: (2026)

Recursive Feasibility without Terminal Constraints via Parent-Child MPC Architecture
di: Surma, Filip, et al.
Pubblicazione: (2025)

Modeling and Control of AWOISV: A Filtered Tube-Based MPC Approach for Simultaneous Tracking of Lateral Position and Heading Angle
di: Yang, Xu, et al.
Pubblicazione: (2025)

Guiding Reinforcement Learning with Incomplete System Dynamics
di: Wang, Shuyuan, et al.
Pubblicazione: (2024)

Safe, Out-of-Distribution-Adaptive MPC with Conformalized Neural Network Ensembles
di: Contreras, Jose Leopoldo, et al.
Pubblicazione: (2024)

Guaranteed Robust Nonlinear MPC via Disturbance Feedback
di: Leeman, Antoine P., et al.
Pubblicazione: (2025)

Conformal Prediction-Based MPC for Stochastic Linear Systems
di: Vogel, Lukas, et al.
Pubblicazione: (2025)

Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking
di: Thorup, Santiago, et al.
Pubblicazione: (2026)

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
di: Borquez, Javier, et al.
Pubblicazione: (2025)

Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
di: Akmandor, Neşet Ünver, et al.
Pubblicazione: (2025)

Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters
di: Begzadić, Azra, et al.
Pubblicazione: (2025)

MPC as a Copilot: A Predictive Filter Framework with Safety and Stability Guarantees
di: Yan, Yunda, et al.
Pubblicazione: (2026)

Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
di: Butler, Brooks A., et al.
Pubblicazione: (2024)

From Shadow to Light: Toward Safe and Efficient Policy Learning Across MPC, DeePC, RL, and LLM Agents
di: Vahidi-Moghaddam, Amin, et al.
Pubblicazione: (2025)

A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
di: Benders, Dennis, et al.
Pubblicazione: (2025)

ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
di: Rickenbach, Rahel, et al.
Pubblicazione: (2025)

From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
di: Benders, Dennis, et al.
Pubblicazione: (2025)

Safe Exploration for Nonlinear Processes Using Online Gaussian Process Learning
di: Tonini, Stefano, et al.
Pubblicazione: (2026)

MPC-Inspired Reinforcement Learning for Verifiable Model-Free Control
di: Lu, Yiwen, et al.
Pubblicazione: (2023)

Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems
di: Hao, Wenjian, et al.
Pubblicazione: (2026)

Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control
di: He, Haonan, et al.
Pubblicazione: (2025)

Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
di: Bena, Ryan M., et al.
Pubblicazione: (2025)

Hierarchical Reinforcement Learning with Low-Level MPC for Multi-Agent Control
di: Studt, Max, et al.
Pubblicazione: (2025)

Risk-Aware Safe Reinforcement Learning for Control of Stochastic Linear Systems
di: Esmaeili, Babak, et al.
Pubblicazione: (2025)

Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control
di: Akbari, Babak, et al.
Pubblicazione: (2024)

DiffTune-MPC: Closed-Loop Learning for Model Predictive Control
di: Tao, Ran, et al.
Pubblicazione: (2023)

Learning Based MPC for Autonomous Driving Using a Low Dimensional Residual Model
di: Li, Yaoyu, et al.
Pubblicazione: (2024)

Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach
di: Liu, Jinhao, et al.
Pubblicazione: (2024)

Learning Maximal Safe Sets Using Hypernetworks for MPC-based Local Trajectory Planning in Unknown Environments
di: Derajić, Bojan, et al.
Pubblicazione: (2024)

Partial Attention in Deep Reinforcement Learning for Safe Multi-Agent Control
di: Mohaya, Turki Bin, et al.
Pubblicazione: (2026)

Safe Reinforcement Learning with Minimal Supervision
di: Quessy, Alexander, et al.
Pubblicazione: (2025)

Achieving multi uav best viewpoint coordination in obstructed environments
di: Baglioni, Mirko, et al.
Pubblicazione: (2024)

Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
di: Tan, Xiao, et al.
Pubblicazione: (2025)

A Switching Nonlinear Model Predictive Control Strategy for Safe Collision Handling by an Underwater Vehicle-Manipulator System
di: Polyzos, Ioannis G., et al.
Pubblicazione: (2026)