KNODE-MPC: A Knowledge-based Data-driven Predictive Control Framework for Aerial Robots

10 September 2021

Papers citing "KNODE-MPC: A Knowledge-based Data-driven Predictive Control Framework for Aerial Robots"

37 / 37 papers shown

Title
Action Flow Matching for Continual Robot Learning Alejandro Murillo-Gonzalez Lantao Liu CLL 35 0 0 25 Apr 2025
External-Wrench Estimation for Aerial Robots Exploiting a Learned Model Ayham Alharbat Gabriele Ruscelli Roberto Diversi Abeje Mersha 32 0 0 10 Apr 2025
Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm Amin Vahidi-Moghaddam Keyi Zhu Kaixiang Zhang Ziyou Song Zhaojian Li 25 0 0 09 Apr 2025
Energy-Efficient Autonomous Aerial Navigation with Dynamic Vision Sensors: A Physics-Guided Neuromorphic Approach Sourav Sanyal Amogh Joshi M. Nagaraj Rohan Kumar Manna Kaushik Roy 80 1 0 09 Feb 2025
Flying Quadrotors in Tight Formations using Learning-based Model Predictive Control K. Y. Chee Pei-An Hsieh George J. Pappas M. Hsieh 26 1 0 13 Oct 2024
Traffic expertise meets residual RL: Knowledge-informed model-based residual reinforcement learning for CAV trajectory control Zihao Sheng Zilin Huang Sikai Chen 33 8 0 30 Aug 2024
Knowledge-based Neural Ordinary Differential Equations for Cosserat Rod-based Soft Robots Tom Z. Jiahao Ryan Adolf Cynthia Sung M. Ani Hsieh 38 0 0 14 Aug 2024
Real-Time Neuromorphic Navigation: Integrating Event-Based Vision and Physics-Driven Planning on a Parrot Bebop2 Quadrotor Amogh Joshi Sourav Sanyal Kaushik Roy 44 5 0 01 Jul 2024
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models Hersh Sanghvi Spencer Folk Camillo J. Taylor 40 3 0 25 Jun 2024
Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs With Parameter Auto-Tuning Yongjian Zhu Hao Cheng Feitian Zhang AI4CE 32 1 0 29 Apr 2024
MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints Maria Krinner Angel Romero L. Bauersfeld M. Zeilinger Andrea Carron Davide Scaramuzza 39 15 0 26 Mar 2024
N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images Martin Jacquet Kostas Alexis 32 9 0 20 Feb 2024
Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds Yuliang Gu Sheng Cheng N. Hovakimyan 35 2 0 27 Jan 2024
DiffTune-MPC: Closed-Loop Learning for Model Predictive Control Ran Tao Sheng Cheng Xiaofeng Wang Shenlong Wang N. Hovakimyan 22 5 0 18 Dec 2023
PIAug -- Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation Parv Maheshwari Wenshan Wang S. Triest Matthew Sivaprakasam Shubhra Aich John G. Rogers Jason M. Gregory Sebastian A. Scherer 27 12 0 01 Nov 2023
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers Khai Nguyen Sam Schoedel Anoushka Alavilli Brian Plancher Zachary Manchester 24 22 0 25 Oct 2023
Neural Potential Field for Obstacle-Aware Local Motion Planning Muhammad Alhaddad Konstantin Mironov A. Staroverov Aleksandr I. Panov 17 4 0 25 Oct 2023
ASV Station Keeping under Wind Disturbances using Neural Network Simulation Error Minimization Model Predictive Control Jalil Chavez-Galaviz Jianwen Li Ajinkya Chaudhary N. Mahmoudian 20 4 0 11 Oct 2023
Learning the References of Online Model Predictive Control for Urban Self-Driving Yubin Wang Zeng Peng Yusen Xie Yulin Li Hakim Ghazzai Jun Ma 8 0 0 30 Aug 2023
Safety Filter Design for Neural Network Systems via Convex Optimization Shaoru Chen K. Y. Chee Nikolai Matni M. A. Hsieh George J. Pappas 23 3 0 16 Aug 2023
Enhancing Sample Efficiency and Uncertainty Compensation in Learning-based Model Predictive Control for Aerial Robots K. Y. Chee T. Silva M. A. Hsieh George J. Pappas 20 4 0 01 Aug 2023
EV-Planner: Energy-Efficient Robot Navigation via Event-Based Physics-Guided Neuromorphic Planner Sourav Sanyal Rohan Kumar Manna Kaushik Roy 34 10 0 21 Jul 2023
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain M. Sombolestan Quan Nguyen 19 16 0 08 Jul 2023
SO(2)-Equivariant Downwash Models for Close Proximity Flight Henry Smith Ajay Shankar Jennifer Gielis J. Blumenkamp A. Prorok 29 7 0 30 May 2023
Residual Dynamics Learning for Trajectory Tracking for Multi-rotor Aerial Vehicles Geesara Kulathunga Hany Hamed Alexandr Klimchik 24 5 0 25 May 2023
Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction Jinjie Li Liang Han Haoyang Yu Yuheng Lin Qingdong Li Z. Ren 26 8 0 16 Apr 2023
$$\mathcal{L}_1$Quad: $\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees$ $\mathcal{L}_1$ Quad: $\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees Zhuohuan Wu She-Min Cheng Pan Zhao Aditya Gahlawat K. Ackerman Arun Lakshmanan Chunming Yang Jiahao Yu N. Hovakimyan 11 1 0 14 Feb 2023
Learning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles K. Y. Chee M. Hsieh Nikolai Matni 13 3 0 24 Nov 2022
Weighted Maximum Likelihood for Controller Tuning Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza 27 14 0 20 Oct 2022
Learning Globally Smooth Functions on Manifolds J. Cerviño Luiz F. O. Chamon B. Haeffele René Vidal Alejandro Ribeiro 27 5 0 01 Oct 2022
RAMP-Net: A Robust Adaptive MPC for Quadrotors via Physics-informed Neural Network Sourav Sanyal Kaushik Roy PINN 32 22 0 19 Sep 2022
LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations K. Y. Chee M. A. Hsieh 18 3 0 16 Sep 2022
Adaptive Asynchronous Control Using Meta-learned Neural Ordinary Differential Equations Achkan Salehi Steffen Rühl Stéphane Doncieux AI4CE 13 2 0 25 Jul 2022
Online Dynamics Learning for Predictive Control with an Application to Aerial Robots Tom Z. Jiahao K. Y. Chee M. A. Hsieh 22 21 0 19 Jul 2022
Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms Tim Salzmann Elia Kaufmann Jon Arrizabalaga Marco Pavone Davide Scaramuzza Markus Ryll 16 86 0 15 Mar 2022
Data-Driven MPC for Quadrotors G. Torrente Elia Kaufmann Philip Föhn Davide Scaramuzza 83 208 0 10 Feb 2021
Combining Machine Learning with Knowledge-Based Modeling for Scalable Forecasting and Subgrid-Scale Closure of Large, Complex, Spatiotemporal Systems Alexander Wikner Jaideep Pathak Brian Hunt M. Girvan T. Arcomano I. Szunyogh Andrew Pomerance Edward Ott AI4CE 62 70 0 10 Feb 2020