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Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach

Mar 08, 2021
Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue

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Constrained Risk-Averse Markov Decision Processes

Dec 04, 2020
Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames

* Draft Accepted for Presentation at The Thirty-Fifth AAAI Conference on Artificial Intelligence (AAAI-21), Feb. 2-9, 2021 

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Decentralized Task and Path Planning for Multi-Robot Systems

Nov 19, 2020
Yuxiao Chen, Ugo Rosolia, Aaron D. Ames

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Reactive motion planning with probabilistics safety guarantees

Nov 06, 2020
Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard Murray

* In the Conference on Robotic Learning 2020 

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Control of Unknown Nonlinear Systems with Linear Time-Varying MPC

Apr 09, 2020
Dimitris Papadimitriou, Ugo Rosolia, Francesco Borrelli

* Fixed double citation in section 4 

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Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control

Apr 02, 2020
Edward L. Zhu, Yvonne R. Stürz, Ugo Rosolia, Francesco Borrelli

* 8 pages, 4 figures, submitted to Conference on Decision and Control 2020 

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ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions

Mar 03, 2020
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg

* First two authors contributed equally 

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Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations

Jun 03, 2019
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg

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Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System

Sep 14, 2018
Ugo Rosolia, Francesco Borrelli

* arXiv admin note: substantial text overlap with arXiv:1609.01387 

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Learning Model Predictive Control for iterative tasks. A Data-Driven Control Framework

Dec 14, 2017
Ugo Rosolia, Francesco Borrelli

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Autonomous Racing using Learning Model Predictive Control

Nov 09, 2017
Ugo Rosolia, Ashwin Carvalho, Francesco Borrelli

* Extended version of the paper accepted to ACC 

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