Robora Lab

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A Time and Place to Land: Online Learning-Based Distributed MPC for Multirotor Landing on Surface Vessel in Waves

J. Stephenson, W. S. Stewart, and M. Greeff

IEEE International Conference on Robotics and Automation, 2025, Submitted.

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Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control

B. Akbari, J. Frank, and M. Greeff

IEEE International Conference on Robotics and Automation, 2025, Submitted.

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Distributed Model Predictive Control for Cooperative Multirotor Landing on Uncrewed Surface Vessel in Waves

J. Stephenson, N. T. Duncan, and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems, 2024

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A Computationally Efficient Learning-Based Model Predictive Control for Multirotors under Aerodynamic Disturbances

B. Akbari and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems, 2024

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Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter

A. W. Hall, M. Greeff, and A. P. Schoellig

IEEE Control Systems Letters, 2023

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safe-control-gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics

Z. Yuan, A. W. Hall, S. Zhou, L. Brunke, M. Greeff, J. Panerati, and A. P. Schoellig

IEEE Robotics and Automation Letters, 2022

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Fly out the window: exploiting discrete-time flatness for fast vision-based multirotor flight

M. Greeff, S. Zhou, and A. P. Schoellig

IEEE Robotics and Automation Letters, 2022

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Safe learning in robotics: from learning-based control to safe reinforcement learning

L. Brunke, M. Greeff, A. W. Hall, Z. Yuan, S. Zhou, J. Panerati, and A. P. Schoellig

Annual Review of Control, Robotics, and Autonomous Systems, vol. 5, iss. 1, 2022.

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Exploiting differential flatness for robust learning-based tracking control using Gaussian processes

M. Greeff and A. P. Schoellig

IEEE Control Systems Letters, vol. 5, iss. 4, pp. 1121–1126, 2021.

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Learning a stability filter for uncertain differentially flat systems using Gaussian processes

M. Greeff, A. W. Hall, and A. P. Schoellig

Proc. of the IEEE Conference on Decision and Control (CDC), 2021, pp. 789-794.

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A perception-aware flatness-based model predictive controller for fast vision-based multirotor flight

M. Greeff, T. D. Barfoot, and A. P. Schoellig

Proc. of the International Federation of Automatic Control (IFAC) World Congress, 2020, p. 9412–9419.

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There’s no place like home: visual teach and repeat for emergency return of multirotor UAVs during GPS failure

M. Warren, M. Greeff, B. Patel, J. Collier, A. P. Schoellig, and T. D. Barfoot

IEEE Robotics and Automation Letters, vol. 4, iss. 1, p. 161–168, 2019.

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Flatness-based model predictive control for quadrotor trajectory tracking

M. Greeff and A. P. Schoellig

Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, p. 6740–6745.

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Publications

A Time and Place to Land: Online Learning-Based Distributed MPC for Multirotor Landing on Surface Vessel in Waves

Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control

Distributed Model Predictive Control for Cooperative Multirotor Landing on Uncrewed Surface Vessel in Waves

A Computationally Efficient Learning-Based Model Predictive Control for Multirotors under Aerodynamic Disturbances

Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter

safe-control-gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics

Fly out the window: exploiting discrete-time flatness for fast vision-based multirotor flight

Safe learning in robotics: from learning-based control to safe reinforcement learning

Exploiting differential flatness for robust learning-based tracking control using Gaussian processes

Learning a stability filter for uncertain differentially flat systems using Gaussian processes

A perception-aware flatness-based model predictive controller for fast vision-based multirotor flight

There’s no place like home: visual teach and repeat for emergency return of multirotor UAVs during GPS failure

Flatness-based model predictive control for quadrotor trajectory tracking

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