arXiv AI By Yasin Sonmez, Mahmoud Khaled, Majid Zamani, Murat Arcak

Real-Time Synthesis of Robust Controlled Invariant Sets for Monotone Systems

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arXiv Machine Learning
Oct 16

Planning to Learn: Real-Time Robust Adaptive Control on the GPU with Guaranteed Future Learning

The paper introduces A‑SLS, a learning‑aware robust adaptive model predictive control framework that forecasts future parameter uncertainty and preserves correlations among disturbances, parameter errors, and estimate updates to build tight reachable sets. It presents a GPU‑accelerated solver enabling real‑time performance on high‑dimensional systems, demonstrated on a quadruped with 61 states and a Crazyflie drone that learns dynamics online to stabilize during flight.

By Anutam Srinivasan, Siddhant Panse, Glen Chou