Luigi Pannocchi — accepted AI-conference papers

2022

Watch and Learn: Learning to control feedback linearizable systems from expert demonstrations

Alimzhan Sultangazin, Luigi Pannocchi, Lucas Fraile, Paulo Tabuada

ICRA 2022poster

In this paper, we revisit the problem of learning a stabilizing controller from a finite number of demonstrations by an expert. By focusing on feedback linearizable systems, we show how to combine expert demonstrations into a stabilizing controller, provided that demonstrations are sufficiently long…

Cited by 6 Source ↗Scholar ↗

2021

Trust your supervisor: quadrotor obstacle avoidance using controlled invariant sets

Luigi Pannocchi, Tzanis Anevlavis, Paulo Tabuada

IROS 2021poster

Supervision of a nominal controller, to enforce safety, is concerned with appropriately modifying the generated control inputs, if needed, in order to keep a control system within a set of safe states. An integral component in supervision is a controlled invariant set contained in the set of safe st…

Cited by 3 Source ↗Scholar ↗