Safe data-driven control for human-centric systems

Project Information

CO-MAN

Grant agreement ID: 864686

DOI 10.3030/864686

EC signature date 2 April 2020

Start date 1 September 2020

End date 31 August 2025

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 999 975,00

EU contribution € 1 999 975,00

Coordinated by

TECHNISCHE UNIVERSITAET MUENCHEN
Germany

Publications

Conference proceedings (15)

Localized active learning of Gaussian process state space models

Author(s): Capone, Alexandre; Umlauft, Jonas; Beckers, Thomas; Lederer, Armin; Hirche, Sandra
Published in: Proceedings of Machine Learning Research, Issue 1, 2020
Publisher: Proceedings of Machine Learning Research

Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes

Author(s): Zewen Yang, Stefan Sosnowski, Qingchen Liu, Junjie Jiao, Armin Lederer, Sandra Hirche
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683522

Safe Reinforcement Learning via Confidence-Based Filters

Author(s): S. Curi; A. Lederer; S. Hirche; A. Krause
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992470

Cooperative Visual Pursuit Control with Learning of Position Dependent Target Motion via Gaussian Process

Author(s): Junya Yamauchi, Marco Omainska, Thomas Beckers, Takeshi Hatanaka, Sandra Hirche, Masayuki Fujita
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683432

Distributed Bayesian Online Learning for Cooperative Manipulation

Author(s): Pablo Budde gen. Dohmann, Armin Lederer, Marcel Disemond, Sandra Hirche
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683772

Adaptive Low-Pass Filtering using Sliding Window Gaussian Processes

Author(s): A. J. Ordóñez-Conejo; A. Lederer; S. Hirche
Published in: Proceedings of the European Control Conference, Issue 20, 2022, ISBN 978-3-9071-4407-7
Publisher: IEEE
DOI: 10.23919/ecc55457.2022.9838285

Networked Online Learning for Control of Safety-Critical Resource-Constrained Systems based on Gaussian Processes

Author(s): A. Lederer; M. Zhang; S. Tesfazgi; S. Hirche
Published in: 2022 IEEE Conference on Control Technology and Applications (CCTA), Issue 6, 2022, ISBN 978-1-6654-7338-5
Publisher: IEEE
DOI: 10.1109/ccta49430.2022.9966043

Design of Interval Observers for Uncertain Linear Impulsive Systems

Author(s): Kwassi H. Degue, Denis Efimov, Jerome Le Ny, Sandra Hirche
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683676

Gaussian Process-Based Real-Time Learning for Safety Critical Applications

Author(s): Armin Lederer, Alejandro José Ordóñez Conejo, Korbinian Maier, Wenxin Xiao, Jonas Umlauft
Published in: Proceedings of Machine Learning Research, 2021
Publisher: Proceedings of Machine Learning Research

Physically Consistent Learning of Conservative Lagrangian Systems with Gaussian Processes

Author(s): G. Evangelisti; S. Hirche
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9993123

Smart Forgetting for Safe Online Learning with Gaussian Processes

Author(s): Jonas Umlauft, Thomas Beckers, Alexandre Capone, Armin Lederer, Sandra Hirche
Published in: Proceedings of Machine Learning Research, 2020
Publisher: Proceedings of Machine Learning Research

Safe Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes

Author(s): Beckers, Thomas; Hirche, Sandra; Colombo, Leonardo
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683423

Gaussian Process Uniform Error Bounds with Unknown Hyperparameters for Safety-Critical Applications

Author(s): A. Capone; A. Lederer; S. Hirche
Published in: Proceedings of the 39th International Conference on Machine Learning, Issue 39, 2022, ISBN 1622609-2624
Publisher: PMLR Proceedings

EMG-Based Volitional Torque Estimation in Functional Electrical Stimulation Control

Author(s): H. Kavianirad; S. Endo; T. Keller; S. Hirche
Published in: 2022 IEEE-EMBS Conference on Biomedical Engineering and Sciences (IECBES), Issue 7, 2022, ISBN 978-1-6654-9469-4
Publisher: IEEE
DOI: 10.1109/iecbes54088.2022.10079376

The Impact of Data on the Stability of Learning-Based Control

Author(s): Armin Lederer, Alexandre Capone, Thomas Beckers, Jonas Umlauft, Sandra Hirche
Published in: Proceedings of Machine Learning Research, Issue 144, 2021, Page(s) 623-635, ISSN 2640-3498
Publisher: Cambridge MA: JMLR
DOI: 10.48550/arxiv.2011.10596

Peer reviewed articles (7)

SAFE TRAJECTORY TRACKING FOR UNDERACTUATED VEHICLES WITH PARTIALLY UNKNOWN DYNAMICS

Author(s): T. Beckers; Leonardo J. Colombo; S. Hirche
Published in: AIMS Journal, Issue 2022, Volume 14, Issue 4, 2022, ISSN 1941-4889
Publisher: American Institute of Mathematical Sciences
DOI: 10.3934/jgm.2022018

Data Selection for Multi-Task Learning Under Dynamic Constraints

Author(s): Alexandre Capone; Armin Lederer; Jonas Umlauft; Sandra Hirche
Published in: IEEE Control Systems Letters, Issue 1, 2021, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3006279

Prediction with Approximated Gaussian Process Dynamical Models

Author(s): Thomas Beckers, Sandra Hirche
Published in: IEEE Transactions on Automatic Control, 2021, ISSN 1558-2523
Publisher: IEEE
DOI: 10.1109/tac.2021.3131988

Cooperative Control of Uncertain Multiagent Systems via Distributed Gaussian Processes

Author(s): A. Lederer; Z. Yang; J. Jiao; S. Hirche
Published in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 5, 2022, Page(s) 3091 - 3098, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3205424

Gaussian process-based visual pursuit control with unknown target motion learning in three dimensions

Author(s): Marco Omainska; Junya Yamauchi; Thomas Beckers; Takeshi Hatanaka; Sandra Hirche; Masayuki Fujita; Masayuki Fujita
Published in: SICE Journal of Control, Measurement, and System Integration, Issue 2, 2021
Publisher: Taylor&Francis
DOI: 10.1080/18824889.2021.1936855

Backstepping tracking control using Gaussian processes with event-triggered online learning

Author(s): Jiao, Junjie; Capone, Alexandre; Hirche, Sandra
Published in: IEEE Control Systems Letters, Issue Volume 6, 2022, Page(s) 3176 - 3181, ISSN 2475-1456
Publisher: 2475-1456
DOI: 10.1109/lcsys.2022.3183530

How Training Data Impacts Performance in Learning-Based Control

Author(s): Armin Lederer; Alexandre Capone; Jonas Umlauft; Sandra Hirche
Published in: IEEE Control Systems Letters, Issue 2, 2020, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3006725