Melanie N. Zeilinger - researchr alias

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2024

A Soft Robotic Actuator System for In Vivo Modeling of Normal Pressure HydrocephalusFabian Flürenbrock, Luca Rosalia, Anthony Podgorsak, Katherina Sapozhnikov, Nina Eva Trimmel, Miriam Weisskopf, Markus Florian Oertel, Ellen T. Roche, Melanie N. Zeilinger, Leonie Korn, Marianne Schmid Daners. tbe, 71(3):998-1009, March 2024. [doi]

2023

Robust Nonlinear Reduced-Order Model Predictive ControlJohn Irvin Alora, Luis A. Pabon, Johannes Köhler, Mattia Cenedese, Edward Schmerling, Melanie N. Zeilinger, George Haller, Marco Pavone 0001. cdc 2023: 4798-4805 [doi]

Stochastic MPC With Robustness to Bounded Parameteric UncertaintyElena Arcari, Andrea Iannelli, Andrea Carron, Melanie N. Zeilinger. tac, 68(12):7601-7615, December 2023. [doi]

Bayesian Multi-Task Learning MPC for Robotic Mobile ManipulationElena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter 0001, Melanie N. Zeilinger. ral, 8(6):3222-3229, June 2023. [doi]

Guest Editorial Introduction to the IEEE Control Systems Letters Special Section on Data-Driven Analysis and ControlM. Kanat Camlibel, Martin Guay, Sophie Tarbouriech, Simone Baldi, Timm Faulwasser, Francesco Ferrante, Paolo Rapisarda, Henk J. van Waarde, Melanie N. Zeilinger. csysl, 7:1596-1597, 2023. [doi]

Chronos and CRS: Design of a miniature car-like robot and a software framework for single and multi-agent robotics and controlAndrea Carron, Sabrina Bodmer, Lukas Vogel 0003, René Zurbrügg, David Helm, Rahel Rickenbach, Simon Muntwiler, Jerome Sieber, Melanie N. Zeilinger. icra 2023: 1371-1378 [doi]

Approximate Predictive Control Barrier Functions using Neural Networks: A Computationally Cheap and Permissive Safety FilterAlexandre Didier, Robin C. Jacobs, Jerome Sieber, Kim Peter Wabersich, Melanie N. Zeilinger. eucc 2023: 1-7 [doi]

Stability and Performance Analysis of NMPC: Detectable Stage Costs and General Terminal CostsJohannes Köhler, Melanie N. Zeilinger, Lars Grüne. tac, 68(10):6114-6129, October 2023. [doi]

On Stochastic MPC Formulations with Closed-Loop Guarantees: Analysis and a Unifying FrameworkJohannes Köhler, Ferdinand Geuss, Melanie N. Zeilinger. cdc 2023: 6692-6699 [doi]

Zero-order optimization for Gaussian process-based model predictive controlAmon Lahr, Andrea Zanelli, Andrea Carron, Melanie N. Zeilinger. ejcon, 74:100862, November 2023. [doi]

Predictive safety filter using system level synthesisAntoine Leeman, Johannes Köhler, Samir Bennani, Melanie N. Zeilinger. l4dc 2023: 1180-1192 [doi]

Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties via System Level SynthesisAntoine P. Leeman, Jérôme Sieber, Samir Bennani, Melanie N. Zeilinger. cdc 2023: 4784-4791 [doi]

LQG for Constrained Linear Systems: Indirect Feedback Stochastic MPC with Kalman FilteringSimon Muntwiler, Kim Peter Wabersich, Robert Miklos, Melanie N. Zeilinger. eucc 2023: 1-7 [doi]

Physics-Informed Machine Learning for Modeling and Control of Dynamical SystemsTruong X. Nghiem, Ján Drgona, Colin N. Jones, Zoltán Nagy 0002, Roland Schwan, Biswadip Dey, Ankush Chakrabarty, Stefano Di Cairano, Joel A. Paulson, Andrea Carron, Melanie N. Zeilinger, Wenceslao Shaw-Cortez, Draguna L. Vrabie. amcc 2023: 3735-3750 [doi]

Time Dependent Inverse Optimal Control using Trigonometric Basis FunctionsRahel Rickenbach, Elena Arcari, Melanie N. Zeilinger. l4dc 2023: 1193-1204 [doi]

Homothetic Tube Model Predictive Control With Multi-Step PredictorsDanilo Saccani, Giancarlo Ferrari-Trecate, Melanie N. Zeilinger, Johannes Köhler. csysl, 7:3561-3566, 2023. [doi]

Model Predictive Control for Multi-Agent Systems Under Limited Communication and Time-Varying Network TopologyDanilo Saccani, Lorenzo Fagiano, Melanie N. Zeilinger, Andrea Carron. cdc 2023: 3764-3769 [doi]

Robust adaptive MPC using control contraction metricsAndrás Sasfi, Melanie N. Zeilinger, Johannes Köhler. automatica, 155:111169, September 2023. [doi]

Error Analysis of Regularized Trigonometric Linear Regression With Unbounded Sampling: A Statistical Learning ViewpointAnna Scampicchio, Elena Arcari, Melanie N. Zeilinger. csysl, 7:3066-3071, 2023. [doi]

A Lyapunov Function for Robust Stability of Moving Horizon EstimationJulian D. Schiller, Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger, Matthias Albrecht Müller. tac, 68(12):7466-7481, December 2023. [doi]

Predictive Control Barrier Functions: Enhanced Safety Mechanisms for Learning-Based ControlKim Peter Wabersich, Melanie N. Zeilinger. tac, 68(5):2638-2651, May 2023. [doi]

Cautious Bayesian MPC: Regret Analysis and Bounds on the Number of Unsafe Learning EpisodesKim Peter Wabersich, Melanie N. Zeilinger. tac, 68(8):4896-4903, August 2023. [doi]

2022

Fusion of Machine Learning and MPC under Uncertainty: What Advances Are on the Horizon?Ali Mesbah 0002, Kim Peter Wabersich, Angela P. Schoellig, Melanie N. Zeilinger, Sergio Lucia, Thomas A. Badgwell, Joel A. Paulson. amcc 2022: 342-357 [doi]

A System Level Approach to Regret Optimal ControlAlexandre Didier, Jerome Sieber, Melanie N. Zeilinger. csysl, 6:2792-2797, 2022. [doi]

Contextual Tuning of Model Predictive Control for Autonomous RacingLukas P. Fröhlich, Christian Küttel, Elena Arcari, Lukas Hewing, Melanie N. Zeilinger, Andrea Carron. iros 2022: 10555-10562 [doi]

On-Policy Model Errors in Reinforcement LearningLukas P. Fröhlich, Maksym Lefarov, Melanie N. Zeilinger, Felix Berkenkamp. iclr 2022: [doi]

A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning ProblemsDavid Kiessling, Andrea Zanelli, Armin Nurkanovic, Joris Gillis, Moritz Diehl, Melanie N. Zeilinger, Goele Pipeleers, Jan Swevers. cdc 2022: 1196-1203 [doi]

Recursively Feasible Stochastic Predictive Control Using an Interpolating Initial State ConstraintJohannes Köhler, Melanie N. Zeilinger. csysl, 6:2743-2748, 2022. [doi]

State space models vs. multi-step predictors in predictive control: Are state space models complicating safe data-driven designs?Johannes Köhler, Kim Peter Wabersich, Julian Berberich, Melanie N. Zeilinger. cdc 2022: 491-498 [doi]

Learning-based Moving Horizon Estimation through Differentiable Convex Optimization LayersSimon Muntwiler, Kim Peter Wabersich, Melanie N. Zeilinger. l4dc 2022: 153-165 [doi]

Near-Optimal Multi-Agent Learning for Safe Coverage ControlManish Prajapat, Matteo Turchetta, Melanie N. Zeilinger, Andreas Krause 0001. nips 2022: [doi]

A System Level Approach to Tube-Based Model Predictive ControlJerome Sieber, Samir Bennani, Melanie N. Zeilinger. csysl, 6:776-781, 2022. [doi]

System level disturbance reachable sets and their application to tube-based MPCJerome Sieber, Andrea Zanelli, Samir Bennani, Melanie N. Zeilinger. ejcon, 68:100680, 2022. [doi]

Probabilistic Model Predictive Safety Certification for Learning-Based ControlKim Peter Wabersich, Lukas Hewing, Andrea Carron, Melanie N. Zeilinger. tac, 67(1):176-188, 2022. [doi]

A Soft Constrained MPC Formulation Enabling Learning From Trajectories With Constraint ViolationsKim Peter Wabersich, Raamadaas Krishnadas, Melanie N. Zeilinger. csysl, 6:980-985, 2022. [doi]

2021

Bayesian multi-task learning using finite-dimensional models: A comparative studyElena Arcari, Anna Scampicchio, Andrea Carron, Melanie N. Zeilinger. cdc 2021: 2218-2225 [doi]

Plug-and-Play Distributed Safety Verification for Linear Control Systems With Bounded UncertaintiesAndrea Carron, Kim Peter Wabersich, Melanie N. Zeilinger. tcns, 8(3):1501-1512, 2021. [doi]

Scalable Model Predictive Control for Autonomous Mobility-on-Demand SystemsAndrea Carron, Francesco Seccamonte, Claudio Ruch, Emilio Frazzoli, Melanie N. Zeilinger. tcst, 29(2):635-644, 2021. [doi]

Adaptive Model Predictive Safety Certification for Learning-based ControlAlexandre Didier, Kim Peter Wabersich, Melanie N. Zeilinger. cdc 2021: 809-815 [doi]

Cautious Bayesian Optimization for Efficient and Scalable Policy SearchLukas P. Fröhlich, Melanie N. Zeilinger, Edgar D. Klenske. l4dc 2021: 227-240 [doi]

Volume Control of Low-Cost Ventilator with Automatic Set-Point AdaptationLukas Hewing, Marcel Menner, Nikolaos Tachatos, Marianne Schmid Daners, Cosima du Pasquier, Thomas S. Lumpe, Kristina Shea, Andrea Carron, Melanie N. Zeilinger. eucc 2021: 781-786 [doi]

PrefaceAli Jadbabaie, John Lygeros, George J. Pappas, Pablo A. Parrilo, Benjamin Recht, Claire J. Tomlin, Melanie N. Zeilinger. l4dc 2021: 1-5 [doi]

Data-Driven Investigation of Gait Patterns in Individuals Affected by Normal Pressure HydrocephalusKiran Kuruvithadam, Marcel Menner, William R. Taylor, Melanie N. Zeilinger, Lennart Stieglitz, Marianne Schmid Daners. sensors, 21(19):6451, 2021. [doi]

Interaction-Aware Motion Prediction for Autonomous Driving: A Multiple Model Kalman Filtering SchemeVasileios Lefkopoulos, Marcel Menner, Alexander Domahidi, Melanie N. Zeilinger. ral, 6(1):80-87, 2021. [doi]

Constrained Inverse Optimal Control With Application to a Human Manipulation TaskMarcel Menner, Peter Worsnop, Melanie N. Zeilinger. tcst, 29(2):826-834, 2021. [doi]

Inverse Learning for Data-Driven Calibration of Model-Based Statistical Path PlanningMarcel Menner, Karl Berntorp, Melanie N. Zeilinger, Stefano Di Cairano. tiv, 6(1):131-145, 2021. [doi]

Data-Driven Distributed Stochastic Model Predictive Control with Closed-Loop Chance Constraint SatisfactionSimon Muntwiler, Kim Peter Wabersich, Lukas Hewing, Melanie N. Zeilinger. eucc 2021: 210-215 [doi]

Knee Compliance Reduces Peak Swing Phase Collision Forces in a Lower-Limb Exoskeleton Leg: A Test Bench EvaluationStefan O. Schrade, Marcel Menner, Camila Shirota, Peter Winiger, Alex Stutz, Melanie N. Zeilinger, Olivier Lambercy, Roger Gassert. tbe, 68(2):535-544, 2021. [doi]

Design, Optimal Guidance and Control of a Low-cost Re-usable Electric Model RocketLukas Spannagl, Elias Hampp, Andrea Carron, Jerome Sieber, Carlo Alberto Pascucci, Aldo U. Zgraggen, Alexander Domahidi, Melanie N. Zeilinger. iros 2021: 6344-6351 [doi]

A Predictive Safety Filter for Learning-Based Racing ControlBen Tearle, Kim Peter Wabersich, Andrea Carron, Melanie N. Zeilinger. ral, 6(4):7635-7642, 2021. [doi]

A predictive safety filter for learning-based control of constrained nonlinear dynamical systemsKim Peter Wabersich, Melanie N. Zeilinger. automatica, 129:109597, 2021. [doi]

2020

Dual Stochastic MPC for Systems with Parametric and Structural UncertaintyElena Arcari, Lukas Hewing, Max Schlichting, Melanie N. Zeilinger. l4dc 2020: 894-903 [doi]

Noisy-Input Entropy Search for Efficient Robust Bayesian OptimizationLukas P. Fröhlich, Edgar D. Klenske, Julia Vinogradska, Christian Daniel, Melanie N. Zeilinger. aistats 2020: 2262-2272 [doi]

Learning-Based Model Predictive Control: Toward Safe Learning in ControlLukas Hewing, Kim Peter Wabersich, Marcel Menner, Melanie N. Zeilinger. arcras, 3:269-296, 2020. [doi]

Cautious Model Predictive Control Using Gaussian Process RegressionLukas Hewing, Juraj Kabzan, Melanie N. Zeilinger. tcst, 28(6):2736-2743, 2020. [doi]

Scenario-Based Probabilistic Reachable Sets for Recursively Feasible Stochastic Model Predictive ControlLukas Hewing, Melanie N. Zeilinger. csysl, 4(2):450-455, 2020. [doi]

Recursively feasible stochastic model predictive control using indirect feedbackLukas Hewing, Kim Peter Wabersich, Melanie N. Zeilinger. automatica, 119:109095, 2020. [doi]

Performance Analysis of Stochastic Model Predictive Control with Direct and Indirect FeedbackLukas Hewing, Melanie N. Zeilinger. cdc 2020: 672-678 [doi]

On Simulation and Trajectory Prediction with Gaussian Process DynamicsLukas Hewing, Elena Arcari, Lukas P. Fröhlich, Melanie N. Zeilinger. l4dc 2020: 424-434 [doi]

Using Human Ratings for Feedback Control: A Supervised Learning Approach With Application to Rehabilitation RoboticsMarcel Menner, Lukas Neuner, Lars Lünenburger, Melanie N. Zeilinger. trob, 36(3):789-801, 2020. [doi]

Bayesian model predictive control: Efficient model exploration and regret bounds using posterior samplingKim Peter Wabersich, Melanie N. Zeilinger. l4dc 2020: 455-464 [doi]

2019

Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic ArmAndrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Marco Hutter 0001, Melanie N. Zeilinger. ral, 4(4):3758-3765, 2019. [doi]

A General Safety Framework for Learning-Based Control in Uncertain Robotic SystemsJaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger, Shahab Kaynama, Jeremy H. Gillula, Claire J. Tomlin. tac, 64(7):2737-2752, 2019. [doi]

Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart GridsCaroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie N. Zeilinger. tsg, 10(3):2334-2344, 2019. [doi]

Bayesian Optimization for Policy Search in High-Dimensional Systems via Automatic Domain SelectionLukas P. Fröhlich, Edgar D. Klenske, Christian G. Daniel, Melanie N. Zeilinger. iros 2019: 757-764 [doi]

Learning-Based Model Predictive Control for Autonomous RacingJuraj Kabzan, Lukas Hewing, Alexander Liniger, Melanie N. Zeilinger. ral, 4(4):3363-3370, 2019. [doi]

Inverse Learning for Human-Adaptive Motion PlanningMarcel Menner, Karl Berntorp, Melanie N. Zeilinger, Stefano Di Cairano. cdc 2019: 809-815 [doi]

2018

On a Correspondence between Probabilistic and Robust Invariant Sets for Linear SystemsLukas Hewing, Andrea Carron, Kim Peter Wabersich, Melanie N. Zeilinger. eucc 2018: 1642-1647 [doi]

Stochastic Model Predictive Control for Linear Systems Using Probabilistic Reachable SetsLukas Hewing, Melanie N. Zeilinger. cdc 2018: 5182-5188 [doi]

Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race CarsLukas Hewing, Alexander Liniger, Melanie N. Zeilinger. eucc 2018: 1341-1348 [doi]

A User Comfort Model and Index Policy for Personalizing Discrete Controller DecisionsMarcel Menner, Melanie N. Zeilinger. eucc 2018: 1759-1765 [doi]

Convex Formulations and Algebraic Solutions for Linear Quadratic Inverse Optimal Control ProblemsMarcel Menner, Melanie N. Zeilinger. eucc 2018: 2107-2112 [doi]

Scalable synthesis of safety certificates from data with application to learning-based controlKim Peter Wabersich, Melanie N. Zeilinger. eucc 2018: 1691-1697 [doi]

Linear Model Predictive Safety Certification for Learning-Based ControlKim Peter Wabersich, Melanie N. Zeilinger. cdc 2018: 7130-7135 [doi]

2013

Robust distributed model predictive control of linear systemsChristian Conte, Melanie N. Zeilinger, Manfred Morari, Colin Neil Jones. eucc 2013: 2764-2769 [doi]

2008

Real-time suboptimal model predictive control using a combination of explicit MPC and online optimizationMelanie N. Zeilinger, Colin Neil Jones, Manfred Morari. cdc 2008: 4718-4723 [doi]

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