Author

M. Zeilinger

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Preprint Oct 2026

Reachability-Guided Sequential Quadratic Programming-Guarded Model Predictive Path Integral for Safe Nonlinear Predictive Control

Safe robot control often requires combining long-horizon performance optimization with hard state and input constraints, but existing approaches tend to address this tradeoff partially. Sampling-based model predictive control (MPC) methods such as model predictive path integral (MPPI) are effective in handling nonlinea...

A. Didier, J. Choi, Namhoon Cho et al. · 0 citations

Preprint Aug 2026

Scalable Gaussian Process Regression via Deterministic Trigonometric Features: Uniform Bounds for Safe Model Predictive Control

This work formalizes a deterministic trigonometric feature Gaussian process (DTF-GP), a finite-dimensional kernel approximation based on discretized trigonometric features that reduces GP regression to Bayesian linear regression in feature space, and derives a high-probability uniform uncertainty bound for the proposed...

Julius Jagdt, Johanna Menn, Sebastian Trimpe et al. · 0 citations