Author

A. Dabiri

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#machine learning Preprint Sep 2026

Composite-Gradient Learning for Shared Control Authority Between Deep Reinforcement Learning and Model Predictive Control

Integrated deep reinforcement learning (DRL) and model predictive control (MPC) methods are increasingly used to control autonomous systems by combining their complementary capabilities. DRL learns control policies through interaction with the environment. MPC uses a system model to optimize control inputs while accoun...

Giray Önür, A. Dabiri, B. de Schutter · 0 citations

Preprint Aug 2026

Stochastic Nonlinear Model Predictive Control with Gaussian Mixture Uncertainty Propagation

We propose a novel Stochastic Nonlinear Model Predictive Control (SNMPC) framework for nonlinear systems with additive noise. Building on recent advances in nonlinear uncertainty propagation, we show that the state distribution of the system can be tractably approximated over time by Gaussian mixture distributions, wit...

Konstantinos Prattis, Luca Laurenti, A. Dabiri · 0 citations

Preprint Aug 2026

Sharing the Control Authority Between Deep Reinforcement Learning and Model Predictive Control: Application to Multi-Class Transportation Networks

Transportation networks, in particular multi-class transportation networks (i.e., networks with mixed vehicle types), are complex systems that are challenging to control. Recently, Deep Reinforcement Learning (DRL), which learns control policies from interactions with the environment, and Model Predictive Control (MPC)...

G. Onur, A. Dabiri, B. D. Schutter · 0 citations