Author

He-You Liao

2 papers indexed here

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Preprint Oct 2026

LLA-MPC on Embedded Hardware: Rapid Adaptive Control with Thousands of Parallel Models

We present a generalized implementation of Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a learning-free framework for real-time, rapid adaptive system identification and control. The original formulation was demonstrated only in simulation, for autonomous racing with a fixed model structure. Ou...

He-You Liao, Maitham Al-Sunni, John M. Dolan · 2 citations

Preprint Oct 2026

LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference

Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matters most. We present Look-Back Adaptive Control Barrier Functions (LBA-CBF), which rank a finite bank of candidate dynamics by recent predicti...

Maitham Al-Sunni, Timeea-Andreea Radu, Hassan Almubarak et al. · 1 citation