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Pérez-Dattari, Rodrigo (author), Kober, J. (author)Learning from humans allows nonexperts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their learned behaviors, which is critical for avoiding failures and/or accidents. In this work, we focus on...journal article 2023
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Lavaei, Abolfazl (author), Mohajerin Esfahani, P. (author), Zamani, Majid (author)In this work, we propose a data-driven approach for the stability analysis of discrete-time homogeneous nonlinear systems with unknown models. The proposed framework is based on constructing Lyapunov functions via a set of data, collected from trajectories of unknown systems, while providing an a-priori guaranteed confidence on the stability of...conference paper 2022
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Zhang, Q. (author), Pan, W. (author), Reppa, V. (author)This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional control method with reinforcement learning to enhance control accuracy and intelligence. In the proposed...journal article 2021