Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon

1 code implementation • 20 Sep 2023 • Federico Pizarro Bejarano, Lukas Brunke, Angela P. Schoellig

In experiments with a Crazyflie 2. 0 drone, we show that, in addition to preserving the desired safety guarantees, the proposed MPSF reduces chattering by more than a factor of 4 compared to previous MPSF formulations.

Model Predictive Control

What is the Impact of Releasing Code with Publications? Statistics from the Machine Learning, Robotics, and Control Communities

1 code implementation • 19 Aug 2023 • SiQi Zhou, Lukas Brunke, Allen Tao, Adam W. Hall, Federico Pizarro Bejarano, Jacopo Panerati, Angela P. Schoellig

Open-sourcing research publications is a key enabler for the reproducibility of studies and the collective scientific progress of a research community.