PhD Thesis Comments are welcome!
Journal Publications
Iterative Model Predictive Control for Piecewise Systems
U. Rosolia and A. D. Ames
IEEE Control Systems Letters (2022)
Multi-rate control design under input constraints via fixed-time barrier functions
K. Garg, R. K. Cosner, U. Rosolia, A. D. Ames, and D. Panagou
IEEE Control Systems Letters (2022)
Robust learning model predictive control for linear systems performing iterative tasks
U. Rosolia, X. Zhang, and F. Borrelli
IEEE Transaction on Automatic Control (2021).
Decentralized Task and Path Planning for Multi-Robot Systems
Y. Chen, U. Rosolia, and A. D. Ames
Robotics and Automation Letters (2021)
Minimum Time Learning Model Predictive Control
U. Rosolia and F. Borrelli
International Journal of Robust and Nonlinear Control (2020)
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies
U. Rosolia and A. D. Ames
IEEE Control Systems Letters (2020)
A Robust Scenario MPC Approach for Uncertain Multi-modal Obstacles
I. Batkovic, U. Rosolia, M. Zanon, and P. Falcone
IEEE Control Systems Letters (2020)
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks
B. Thananjeyan*, A. Balakrishna*, U. Rosolia, F. Li, R. McAllister, J. Gonzalez, S. Levine, F. Borrelli, and K. Goldberg
Robotics and Automation Letters (2020)
Learning How to Autonomously Race a Car: a Predictive Control Approach
U. Rosolia and F. Borrelli
IEEE Transaction on Control System Technology (2019)
Learning Model Predictive Control for Iterative Task. A Data-Driven Control Framework
U. Rosolia and F. Borrelli
IEEE Transaction on Automatic Control (2018)
Data-Driven Predictive Control for Autonomous Systems
U. Rosolia, X. Zhang, and F. Borrelli
Annual Review of Control, Robotics, and Autonomous Systems (2018).
Autonomous vehicle control: A nonconvex approach for obstacle avoidance
U. Rosolia, S. Bruyne, and A. G. Alleyne
IEEE Transactions on Control Systems Technology (2017)
NLMPC for Real Time Path Following and Collision Avoidance
U. Rosolia, F. Braghin, A.G. Alleyne, and E. Sabbioni
SAE International Journal of Passenger Cars-Electronic and Electrical Systems (2015)
* indicates equal contribution.
Conference Publications
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications U. Rosolia, M. Ahmadi, R. M. Murray, and A. D. Ames IEEE 60th Conference on Decision and Control (CDC), 2021.
Learning unstable dynamics with one minute of data: A differentiation-based gaussian process approach I. D. J. Rodriguez, U. Rosolia, A. D. Ames, and Y. Yue IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty M. Bujarbaruah, U. Rosolia, Y. R. Stürz, and F. Borrelli 2021 American Control Conference (ACC), 2021.
Constrained Risk-Averse Markov Decision Processes
M. Ahmadi, U. Rosolia, M. D. Ingham, R. M. Murray and A. D. Ames
35th AAAI Conference of Artificial Inteligence (AAAI), 2021.
Reactive motion planning with probabilistics safety guarantees
Y. Chen, U. Rosolia, C. Fan, A. D. Ames, and R. Murray
Conference on Robot Learning (CoRL), 2020.
Control of Unknown Nonlinear Systems with Linear Time-Varying MPC
D. Papadimitriou, U. Rosolia, and F. Borrelli
IEEE 59th Conference on Decision and Control (CDC), 2020.
Distributed Learning Model Predictive Control for Linear Systems
Y. R. Stürz, E. L. Zhu, U. Rosolia, K. H. Johansson, and F. Borrelli
IEEE 59th Conference on Decision and Control (CDC), 2020.
Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control
E. L. Zhu, Y. R. Stürz, U. Rosolia, and F. Borrelli.
IEEE 59th Conference on Decision and Control (CDC), 2020.
ABC-LMPC: Safe Sample-Based LMPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
B. Thananjeyan*, A. Balakrishna*, U. Rosolia, J. E. Gonzalez, A. D. Ames, and K. Goldberg
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020.
Learning Model Predictive Control for Periodic Repetitive Tasks
N. Scianca, U. Rosolia, and F. Borrelli
European Control Conference (ECC), 2020.
Sample-Based Learning Model Predictive Control for Linear Uncertain Systems
U. Rosolia and F. Borrelli
Conference of Decision and Control (CDC), 2019.
Simple Policy Evaluation for Data-Rich Iterative Tasks
U. Rosolia, X. Zhang, and F. Borrelli
IEEE American Control Conference (ACC), 2019.
A Stochastic MPC Approach with Application to Iterative Learning Control
U. Rosolia, X. Zhang, and F. Borrelli
IEEE Conference on Decision and Control (CDC), 2018
Adaptive MPC for Iterative Tasks
M. Bujarbaruah, X. Zhang, U. Rosolia, and F. Borrelli
IEEE Conference on Decision and Control (CDC), 2018.
Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System
U. Rosolia and F. Borrelli
IFAC World Congress, 2017
Robust Learning Model Predictive Control for Uncertain Iterative Tasks: Learning From Experience
U. Rosolia, X. Zhang, and F. Borrelli
IEEE Conference on Decision and Control (CDC), 2017.
Repetitive Learning Model Predictive Control: An Autonomous Racing Example
M. Brunner, U. Rosolia, J. Gonzales, and F. Borrelli
IEEE Conference on Decision and Control (CDC), 2017.
Autonomous racing using learning Model Predictive Control
U. Rosolia, A. Carvalho, and F. Borrelli
IEEE American Control Conference (ACC) 2017.
A decentralized algorithm for control of autonomous agents coupled by feasibility constraints
U. Rosolia, A. G. Alleyne, F. Braghin, E. Sabbioni, and S. De Bryune
IEEE American Control Conference (ACC), 2017.
A Cooperative Driving NLMPC for Real Time Collision Avoidance
U. Rosolia, F. Braghin, E. Sabbioni, A.G. Alleyne, and S. De Bruyne
American Society of Mechanical Engineers (ASME) 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2015
* indicates equal contribution.