Sebastien Nicolas Gros

About

Current research

My main current research concerns safe Reinforcement Learning and Data-Driven MPC. I currently have 6 PhD students working on connected topics. This work is strongly connected to the industry, with large industrial partners such as Equinor, DNV, Konsberg, but also smaller ones focusing on energy.

I also co-supervise several PhD projects related to the Artificial Pancreas problem, and multi-rotor wind turbine control. Finally, I supervise and co-supervise several industrial PhD projects based at Volvo (Sweden), focusing on powertrain control, 2nd life of batteries, and traffic management.

To access my publications, please consult:

MSc thesis / Specialization projects for 2023-2024

AI-driven Battery System Integration for Domestic Consumption

The green transition of the European energy system will require storage capacities in various forms. Strongly decentralized energy storage, placed directly at the consumers end, have a high value because they allow for reducing the energy and power flows in the transmission and distribution infrastructures. This form of energy storage is currently commercially developed by several companies in Scandinavia. One bottleneck of domestic energy storage is the high investment cost of batteries. It is therefore critical to exploit domestic energy storages in an optimal way, so as to maximize their value for the consumers.

The optimal usage of domestic energy storage is a complex task. Indeed, the domestic energy demand can be forecasted, but not accurately predicted. Besides, the prices of electric energy (spot prices) are only known in a day-ahead fashion. If domestic energy production is available (typically PV), that production is also difficult to predict accurately. In addition, energy storage is best used if it operates not only based on the spot prices, but also on various flexibility markets. However, this creates fairly complex requirements on the energy storage management system.

In this project, we will work with the company Pixii to investigate the optimal use of battery storage using data-driven and AI-driven approaches. The selection of the tools we will use will be done together with the MSc candidate.

This project aims to be either an MSc thesis or a specialization project followed by an MSc thesis.

Required skills and useful experience:

· Programming skills in Python

· AI, Numerical Optimal Control, MPC

Contact: Prof. Sebastien Gros (sebastien.gros@ntnu.no)

AI for Energy Management in Buildings

Managing the energy consumption of buildings more efficiently will have a high benefit for the cost and safety of energy in the future power system. In particular, the energy demand of buildings presents opportunities for delivering flexible power and energy consumption to the power system, which can have a high value if exploited optimally.

However, important difficulties exist in achieving this optimal exploitation. Buildings are all different, they are very costly and difficult to model using first-principles, and they can have very stochastic responses. These issues call for using data-driven, AI-based methods for energy management. However, it can be difficult to have a sufficiently large and rich data set to use black-box AI for energy management in buildings. This calls for dedicated AI methods where prior and physical knowledge can be embedded.

In this project, we will work with SINTEF on experimental buildings and test several dedicated AI methods for creating Digital Twins for decision making and AI-driven control techniques for energy management in buildings. The selection of the tools we will use will be done together with the MSc candidate. The tasks will involve:

· Understanding the AI tools

· Understanding the data and control of the selected test building

· Testing the AI tools on the real building

Required skills and useful experience:

· Programming skills in Python

· AI, MPC, Numerical Optimal Control

The student will working the research group of Prof. Sebastien Gros (sebastien.gros@ntnu.no). The work will be part of research activities carried out with SINTEF.

Contact: Dirk Reinhardt (dirk.p.reinhardt@ntnu.no)

AI for Energy Management in Houses

Intelligent energy consumption for buildings has become necessary to utilize energy resources efficiently and economically. The recent energy crisis and high price variations have brought this topic to more social focus lately. However, optimally managing the energy consumption in houses is a complex topic. Developing control models for homes must be automated to achieve optimal residential consumption. In that context, reliable data-driven control techniques are necessary to solve this problem.

Here at ITK, we have developed our own set of methods to perform data-driven MPC for energy management in houses. These solutions can be tested and refined via experiments on a real smart home that ITK operates. This project will extend an earlier MSc project on the topic and bring the ITK methods to a higher level of maturity. The tasks will involve:

· Understanding the data-driven MPC tools in use at ITK

· Understanding the data and control system of the ITK smart house

· Validating the data-driven Digital Twin of the house and the resulting MPC scheme

· Testing the data-driven MPC on the ITK smart house

This project aims at being either a MSc thesis, or a specialization project followed with a M.Sc. thesis. The student will working the research group of Prof. Sebastien Gros (sebastien.gros@ntnu.no). The work will be part of the research project MAIDOM.

Required skills and useful experience:

· Programming skills in Python

· Numerical Optimal Control, MPC

Contact: Dirk Reinhardt (dirk.p.reinhardt@ntnu.no)

Social Media of Domestic Energy

The IoT is quicly entering our homes. Data from the IoT regarding domestic energy consumption are of high value for the society. Several companies are building software tools for integrating the data flow of IoT devices for energy, with various objectives in mind. ITK has also developed an in-house software to achieve that integration. An important component missing in the existing solutions is to provide advance data analytics and inform the users on their energy consumption and on how to improve it. Indeed, the current industrial solutions are basic, and provide incorrect feedback to the users. In this project, we will aim at improving the existing software with onboarding solutions, and develop advance data analytic methods for domestic consumers. The end ambition is to create a social media of energy with exciting vizualisations, where users can compare their performance, and compete in a friendly way to improve it.

The software tool will be based on Python, and use advance numerical optimization techniques to select the correct system to use for a given house and its design.

This project aims to be either an M.Sc. thesis or a specialization project followed by an MSc thesis. The student will work with Prof. Sebastien Gros's research group and real house data.

Contact: Prof. Sebastien Gros (sebastien.gros@ntnu.no)

Cybernetics of Indoor Farming

Small-scale to large-scale indoor farming has been widely adopted across the globe in recent years as a sustainable food production method. It is an area of tremendous innovation and economic activity during the post covid period. Indoor farming, especially vertical farming has a wide range of benefits, for example a healthy source of food, low environmental impacts, local sourcing, and all-year-around production. Still, in the very early phase of development, vertical farming offers a great opportunity for us to contribute to making the system efficient to feed the world with a minimal environmental footprint. From this perspective, such highly controlled environment farming allows us cyberneticians to use various tools at our disposal to make them optimal.

This project is planned as a joint specialization project and master thesis. The students will be working in the research group of Prof. Sebastien Gros (sebastien.gros@ntnu.no). During the project phase, the students are expected to do the following tasks:

· Design and build two fully integrated hydroponics units with all the necessary sensors and communication channels.

· Integrate hydroponic system with a data acquisition and monitoring software framework.

A good example on building an automated hydroponics system can be found in https://www.youtube.com/watch?v=nyqykZK2Ev4&t=11s . The students will be provided with a basic design and possibly with most of the necessary electronics and mechanical structure to start building the units immediately upon starting the project.

During the master thesis, the students could utilize these hydroponics units for exploring the scope of optimization and control in indoor farming. There is a wide range of problems to explore in this area. We might focus on problems like stress analysis on plants upon varying different climatic conditions. But this is open for students to be more creative and explore different aspects of the problem during the thesis.

Required skills:

· Programming skills in C++, Python

· Electronics, hardware Integration, and Communications.

Contact: Akhil S Anand (akhil.s.anand@ntnu.no)

AI-driven optimization of wave energy converters

Ocean waves represent a substantial source of renewable energy and will be part of the solution when transitioning to emission-free energy systems world-wide. The Swedish company CorPower Ocean (https://corpowerocean.com/), one of the leading companies in wave energy conversion, is currently in the demonstration phase with a system that partly uses technology originating from NTNU. It utilizes the combination of innovative mechanical solutions and optimal control methods to maximize power output while ensuring survival.

Optimal model-based operation of wave energy converters (WEC) requires sufficiently accurate representation of the physical system. Numerical models are inevitably affected by model uncertainties due to approximations and simplifications. The performance of model-based estimation, prediction, and control algorithms is directly linked with the overall power output of the WEC, which makes the improvement of the model accuracy an important task.

The goal of this master thesis is the development and evaluation of learning algorithms for uncertain model parameters. For this task, both the estimation of first-principle model parameters and phenomenological representations may be investigated. A simulation environment is provided for evaluation of the developed learning algorithms.

This project is planned as a joint specialization project and master thesis. The students will be working in the research group of Prof. Sebastien Gros (sebastien.gros@ntnu.no) in collaboration with CorPower Ocean. The following points should be addressed during the project/thesis:

· Literature overview

· Development of learning algorithms

· Evaluation of the learning algorithms on simulations

Contact: akhil.s.anand@ntnu.no , gabriel.forstner@corpowerocean.com

Research

For an overview of my research, please consult:

Publications

2023

Lundby, Erlend Torje Berg; Rasheed, Adil; Halvorsen, Ivar Johan; Reinhardt, Dirk Peter; Gros, Sebastien Nicolas; Gravdahl, Jan Tommy. (2023) Deep active learning for nonlinear system identification. arXiv.org
Academic article
Davari Benam, Karim; Fougner, Anders Lyngvi; Gros, Sebastien Nicolas. (2023) Design and Implementation of the Dual-Hormone Artificial Pancreas in Animal Studies – A Model Predictive Control Approach with Intraperitoneal Hormone Injections. Doktoravhandlinger ved NTNU (2023:438)
Doctoral dissertation
Cai, Wenqi; Kordabad, Arash Bahari; Gros, Sebastien. (2023) Energy management in residential microgrid using model predictive control-based reinforcement learning and Shapley value. Engineering Applications of Artificial Intelligence
Academic article
Bøhn, Eivind Eigil; Gros, Sebastien Nicolas; Moe, Signe; Johansen, Tor Arne. (2023) Optimization of the model predictive control meta-parameters through reinforcement learning. Engineering Applications of Artificial Intelligence
Academic article
Bahari Kordabad, Arash; Gros, Sebastien Nicolas. (2023) Lyapunov-based robust optimal control for time-delay systems with application in milling process. International Journal of Dynamics and Control
Academic article
Seel, Katrine; Bemporad, Alberto; Gros, Sebastien Nicolas; Gravdahl, Jan Tommy. (2023) Variance-Based Exploration for Learning Model Predictive Control. IEEE Access
Academic article
Langholz, Jana; Davari Benam, Karim; Sharan, Bindu; Gros, Sebastien Nicolas; Fougner, Anders Lyngvi. (2023) Fully Automated Bi-Hormonal Intraperitoneal Artificial Pancreas Using a Two-Layer PID Control Scheme. IEEE conference proceedings
Academic chapter/article/Conference paper
Davari Benam, Karim; Gros, Sebastien Nicolas; Fougner, Anders Lyngvi. (2023) Estimation and Prediction of Glucose Appearance Rate for Use in a Fully Closed-Loop Dual-Hormone Intraperitoneal Artificial Pancreas. IEEE Transactions on Biomedical Engineering
Academic article
Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Cai, Wenqi; Gros, Sebastien Nicolas. (2023) Learning-based state estimation and control using MHE and MPC schemes with imperfect models. European Journal of Control
Academic article
De Schutter, Jochem; Leuthold, Rachel; Bronnenmeyer, Thilo; Malz, Elena; Gros, Sebastien Nicolas; Diehl, Moritz. (2023) AWEbox: An Optimal Control Framework for Single- and Multi-Aircraft Airborne Wind Energy Systems. Energies
Academic article
Al Ahdab, Mohamad; Davari Benam, Karim; Khoshamadi, Hasti; Fougner, Anders Lyngvi; Gros, Sebastien Nicolas. (2023) Sensor Fusion for Glucose Monitoring Systems. IFAC-PapersOnLine
Academic article

2022

Gros, Sebastien; Zanon, Mario. (2022) Learning for MPC with stability & safety guarantees. Automatica
Academic article
Sawant, Shambhuraj Vijaysinh; Gros, Sebastien Nicolas. (2022) Bridging the gap between QP-based and MPC-based Reinforcement Learning. IFAC-PapersOnLine
Academic article
Wang, Kai; Gros, Sebastien Nicolas. (2022) Solving Mission-Wide Chance-Constrained Optimal Control Using Dynamic Programming. IEEE Conference on Decision and Control. Proceedings
Academic article
Nejatbakhsh Esfahani, Hossein; Gros, Sebastien Nicolas. (2022) Policy Gradient Reinforcement Learning for Uncertain Polytopic LPV Systems based on MHE-MPC. IFAC-PapersOnLine
Academic article
Zanon, Mario; Gros, Sebastien. (2022) A new dissipativity condition for asymptotic stability of discounted economic MPC. Automatica
Academic article
Bahari Kordabad, Arash; Gros, Sebastien. (2022) Q-learning of the storage function in Economic Nonlinear Model Predictive Control. Engineering Applications of Artificial Intelligence
Academic article
Hult, Robert; Zanon, Mario; Gros, Sebastien; Falcone, Paolo. (2022) A Semidistributed Interior Point Algorithm for Optimal Coordination of Automated Vehicles at Intersections. IEEE Transactions on Control Systems Technology
Academic article
Ganesan, Anan; Gros, Sebastien Nicolas; Murgovski, Nikolce. (2022) Numerical Strategies for Mixed-Integer Optimization of Power-Split and Gear Selection in Hybrid Electric Vehicles. IEEE transactions on intelligent transportation systems (Print)
Academic article
Bahari Kordabad, Arash; Wisniewski, Rafael; Gros, Sebastien. (2022) Safe Reinforcement Learning Using Wasserstein Distributionally Robust MPC and Chance Constraint. IEEE Access
Academic article
Seel, Katrine; Kordabad, Arash Bahari; Gros, Sebastien; Gravdahl, Jan Tommy. (2022) Convex Neural Network-Based Cost Modifications for Learning Model Predictive Control. IEEE Open Journal of Control Systems
Academic article
Martinsen, Andreas Bell; Lekkas, Anastasios; Gros, Sebastien. (2022) Reinforcement learning-based NMPC for tracking control of ASVs: Theory and experiments. Control Engineering Practice
Academic article
Davari Benam, Karim; Khoshamadi, Hasti; Pérez, Laura Lema; Gros, Sebastien; Fougner, Anders Lyngvi. (2022) A Nonlinear State Observer for the Bi-Hormonal Intraperitoneal Artificial Pancreas. IEEE conference proceedings
Academic chapter/article/Conference paper
Zanon, Mario; Gros, Sebastien; Palladino, Michele. (2022) Stability-constrained Markov Decision Processes using MPC. Automatica
Academic article
Gros, Sebastien; Zanon, Mario. (2022) Economic MPC of Markov Decision Processes: Dissipativity in undiscounted infinite-horizon optimal control. Automatica
Academic article
Davari Benam, Karim; Khoshamadi, Hasti; Åm, Marte Kierulf; Stavdahl, Øyvind; Gros, Sebastien; Fougner, Anders Lyngvi. (2022) Identifiable Prediction Animal Model for the Bi-Hormonal Intraperitoneal Artificial Pancreas. Journal of Process Control
Academic article
Lacombe, Remi; Gros, Sebastien Nicolas; Murgovski, Nikolce; Kulcsár, Balázs. (2022) Distributed Eco-Driving Control of a Platoon of Electric Vehicles Through Riccati Recursion. IEEE transactions on intelligent transportation systems (Print)
Academic article
Zhang, Huang; Su, Yang; Ataf, Faisal; Wik, Torsten; Gros, Sebastien Nicolas. (2022) Interpretable Battery Cycle Life Range Prediction Using Early Cell Degradation Data. IEEE Transactions on Transportation Electrification
Academic article

2021

Lacombe, Remi; Gros, Sebastien; Murgovski, Nikolce; Kulcsár, Balázs. (2021) Bilevel Optimization for Bunching Mitigation and Eco-Driving of Electric Bus Lines. IEEE transactions on intelligent transportation systems (Print)
Academic article
Bae, Sangjun; Gros, Sebastien; Kulcsár, Balázs. (2021) Can AI Abuse Personal Information in an EV Fast-Charging Market?. IEEE transactions on intelligent transportation systems (Print)
Academic article
Malz, Elena C.; Walter, Viktor; Göransson, Lisa; Gros, Sebastien. (2021) The value of airborne wind energy to the electricity system. Wind Energy
Academic article
Wang, Kai; Gros, Sebastien. (2021) Recursive Feasibility of Stochastic Model Predictive Control with Mission-Wide Probabilistic Constraints. IEEE conference proceedings
Academic chapter/article/Conference paper
Bøhn, Eivind Eigil; Gros, Sebastien; Moe, Signe; Johansen, Tor Arne. (2021) Optimization of the Model Predictive Control Update Interval Using Reinforcement Learning. IFAC-PapersOnLine
Academic article
Maree, Johannes Philippus; Gros, Sebastien; Lakshmanan, Venkatachalam. (2021) Low-complexity Risk-averse MPC for EMS. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Martinsen, Andreas Bell; Lekkas, Anastasios; Gros, Sebastien. (2021) Optimal Model-Based Trajectory Planning With Static Polygonal Constraints. IEEE Transactions on Control Systems Technology
Academic article
Zanon, Mario; Gros, Sebastien. (2021) Safe reinforcement learning using robust MPC. IEEE Transactions on Automatic Control
Academic article
Löschenbrand, Markus; Gros, Sebastien; Lakshmanan, Venkatachalam. (2021) Generating scenarios from probabilistic short-term load forecasts via non-linear Bayesian regression. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Maree, Johannes Philippus; Gros, Sebastien; Walnum, Harald Taxt. (2021) Adaptive control and identification for heating demand-response in buildings. IEEE conference proceedings
Academic chapter/article/Conference paper
Blindheim, Simon; Gros, Sebastien; Johansen, Tor Arne. (2021) Risk-Based Model Predictive Control for Autonomous Ship Emergency Management. IFAC-PapersOnLine
Academic article
Bøhn, Eivind Eigil; Gros, Sebastien; Moe, Signe; Johansen, Tor Arne. (2021) Reinforcement Learning of the Prediction Horizon in Model Predictive Control. IFAC-PapersOnLine
Academic article
Lekkas, Anastasios; Gros, Sebastien; Martinsen, Andreas Bell. (2021) Optimization-based Planning and Control for Autonomous Surface Vehicles. Norges teknisk-naturvitenskapelige universitet Norges teknisk-naturvitenskapelige universitet
Doctoral dissertation
Nejatbakhsh Esfahani, Hossein; Aminian, Behdad; Grøtli, Esten Ingar; Gros, Sebastien. (2021) Backstepping-based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Gros, Sebastien. (2021) Verification of Dissipativity and Evaluation of Storage Function in Economic Nonlinear MPC using Q-Learning . IFAC-PapersOnLine
Academic article
Cai, Wenqi; Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Gros, Sebastien. (2021) Optimal Management of the Peak Power Penalty for Smart Grids Using MPC-based Reinforcement Learning. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Cai, Wenqi; Gros, Sebastien. (2021) MPC-based Reinforcement Learning for Economic Problems with Application to Battery Storage. IEEE conference proceedings
Academic chapter/article/Conference paper
Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Gros, Sebastien. (2021) Approximate Robust NMPC using Reinforcement Learning. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Lekkas, Anastasios M.; Gros, Sebastien. (2021) Reinforcement Learning based on Scenario-tree MPC for ASVs. IEEE conference proceedings
Academic chapter/article/Conference paper
Gros, Sebastien; Zanon, Mario. (2021) Bias Correction in Reinforcement Learning via the Deterministic Policy Gradient Method for MPC-Based Policies. IEEE conference proceedings
Academic chapter/article/Conference paper
Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Gros, Sebastien. (2021) Reinforcement Learning based on MPC/MHE for Unmodeled and Partially Observable Dynamics. IEEE conference proceedings
Academic chapter/article/Conference paper
Cai, Wenqi; Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Lekkas, Anastasios M.; Gros, Sebastien. (2021) MPC-based Reinforcement Learning for a Simplified Freight Mission of Autonomous Surface Vehicles. IEEE conference proceedings
Academic chapter/article/Conference paper
Gros, Sebastien; Zanon, Mario. (2021) Reinforcement Learning based on MPC and the Stochastic Policy Gradient Method. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Cai, Wenqi; Gros, Sebastien. (2021) Multi-agent Battery Storage Management using MPC-based Reinforcement Learning. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Gros, Sebastien. (2021) Bias Correction in Deterministic Policy Gradient Using Robust MPC. IEEE conference proceedings
Chapter
Zanon, Mario; Gros, Sebastien. (2021) On the Similarity between Two Popular Tube MPC Formulations. IEEE conference proceedings
Academic chapter/article/Conference paper

Part of book/report

Langholz, Jana; Davari Benam, Karim; Sharan, Bindu; Gros, Sebastien Nicolas; Fougner, Anders Lyngvi. (2023) Fully Automated Bi-Hormonal Intraperitoneal Artificial Pancreas Using a Two-Layer PID Control Scheme. IEEE conference proceedings
Academic chapter/article/Conference paper
Davari Benam, Karim; Khoshamadi, Hasti; Pérez, Laura Lema; Gros, Sebastien; Fougner, Anders Lyngvi. (2022) A Nonlinear State Observer for the Bi-Hormonal Intraperitoneal Artificial Pancreas. IEEE conference proceedings
Academic chapter/article/Conference paper
Wang, Kai; Gros, Sebastien. (2021) Recursive Feasibility of Stochastic Model Predictive Control with Mission-Wide Probabilistic Constraints. IEEE conference proceedings
Academic chapter/article/Conference paper
Maree, Johannes Philippus; Gros, Sebastien; Lakshmanan, Venkatachalam. (2021) Low-complexity Risk-averse MPC for EMS. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Löschenbrand, Markus; Gros, Sebastien; Lakshmanan, Venkatachalam. (2021) Generating scenarios from probabilistic short-term load forecasts via non-linear Bayesian regression. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Maree, Johannes Philippus; Gros, Sebastien; Walnum, Harald Taxt. (2021) Adaptive control and identification for heating demand-response in buildings. IEEE conference proceedings
Academic chapter/article/Conference paper
Nejatbakhsh Esfahani, Hossein; Aminian, Behdad; Grøtli, Esten Ingar; Gros, Sebastien. (2021) Backstepping-based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Cai, Wenqi; Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Gros, Sebastien. (2021) Optimal Management of the Peak Power Penalty for Smart Grids Using MPC-based Reinforcement Learning. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Cai, Wenqi; Gros, Sebastien. (2021) MPC-based Reinforcement Learning for Economic Problems with Application to Battery Storage. IEEE conference proceedings
Academic chapter/article/Conference paper
Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Gros, Sebastien. (2021) Approximate Robust NMPC using Reinforcement Learning. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Lekkas, Anastasios M.; Gros, Sebastien. (2021) Reinforcement Learning based on Scenario-tree MPC for ASVs. IEEE conference proceedings
Academic chapter/article/Conference paper
Gros, Sebastien; Zanon, Mario. (2021) Bias Correction in Reinforcement Learning via the Deterministic Policy Gradient Method for MPC-Based Policies. IEEE conference proceedings
Academic chapter/article/Conference paper
Nejatbakhsh Esfahani, Hossein; Bahari Kordabad, Arash; Gros, Sebastien. (2021) Reinforcement Learning based on MPC/MHE for Unmodeled and Partially Observable Dynamics. IEEE conference proceedings
Academic chapter/article/Conference paper
Cai, Wenqi; Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Lekkas, Anastasios M.; Gros, Sebastien. (2021) MPC-based Reinforcement Learning for a Simplified Freight Mission of Autonomous Surface Vehicles. IEEE conference proceedings
Academic chapter/article/Conference paper
Gros, Sebastien; Zanon, Mario. (2021) Reinforcement Learning based on MPC and the Stochastic Policy Gradient Method. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Cai, Wenqi; Gros, Sebastien. (2021) Multi-agent Battery Storage Management using MPC-based Reinforcement Learning. IEEE conference proceedings
Academic chapter/article/Conference paper
Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Gros, Sebastien. (2021) Bias Correction in Deterministic Policy Gradient Using Robust MPC. IEEE conference proceedings
Chapter
Zanon, Mario; Gros, Sebastien. (2021) On the Similarity between Two Popular Tube MPC Formulations. IEEE conference proceedings
Academic chapter/article/Conference paper

Report

Davari Benam, Karim; Fougner, Anders Lyngvi; Gros, Sebastien Nicolas. (2023) Design and Implementation of the Dual-Hormone Artificial Pancreas in Animal Studies – A Model Predictive Control Approach with Intraperitoneal Hormone Injections. Doktoravhandlinger ved NTNU (2023:438)
Doctoral dissertation
Lekkas, Anastasios; Gros, Sebastien; Martinsen, Andreas Bell. (2021) Optimization-based Planning and Control for Autonomous Surface Vehicles. Norges teknisk-naturvitenskapelige universitet Norges teknisk-naturvitenskapelige universitet
Doctoral dissertation

Teaching

Courses

TK8115 - Numerical Optimal Control

Media

2023

Academic lecture

Bahari Kordabad, Arash; Gros, Sebastien Nicolas. (2023) Continuous-time Chance-constrained Stochastic Model Predictive Control using Multiple Shooting and CVaR. 2023 European Control Conference (ECC) 2023-06-13 - 2023-06-16
Academic lecture

Bahari Kordabad, Arash; Reinhardt, Dirk Peter; Anand, Akhil; Gros, Sebastien Nicolas. (2023) Reinforcement Learning for MPC: Fundamentals and Current Challenges. IFAC World Congress 2023 2023-07-09 - 2023-07-14
Academic lecture

Bahari Kordabad, Arash; Gros, Sebastien Nicolas. (2023) Bias Correction of Discounted Optimal Steady-State using Cost Modification. 2023 European Control Conference (ECC) 2023-06-13 - 2023-06-16
Academic lecture

Gros, Sebastien Nicolas. (2023) Reinforcement Learning for MPC, where are we?. IFAC IFAC World Congress , Tokyo 2023-07-09 - 2023-07-09
Academic lecture

Langholz, Jana; Davari Benam, Karim; Sharan, Bindu; Gros, Sebastien Nicolas; Fougner, Anders Lyngvi. (2023) Fully Automated Bi-Hormonal Intraperitoneal Artificial Pancreas Using a Two-Layer PID Control Scheme. European Control Association European Control Conference (ECC) , Bucharest 2023-06-13 - 2023-06-16
Academic lecture

Mohamad Al, Ahdab; Davari Benam, Karim; Khoshamadi, Hasti; Fougner, Anders Lyngvi; Gros, Sebastien Nicolas. (2023) Sensor Fusion for Glucose Monitoring Systems. International Federation of Automatic Control IFAC World Congress , Yokohama 2023-07-09 - 2023-07-14

2022

Academic lecture

Khoshamadi, Hasti; Davari Benam, Karim; Pérez, Laura Lema; Gros, Sebastien; Fougner, Anders Lyngvi. (2022) A Nonlinear State Observer for the Bi-Hormonal Intraperitoneal Artificial Pancreas. IEEE Engineering in Medicine & Biology Society (EMBS) The 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC 2022) , Glasgow, Scotland 2022-07-11 - 2022-07-15
Academic lecture

Bahari Kordabad, Arash; Nejatbakhsh Esfahani, Hossein; Cai, Wenqi; Gros, Sebastien. (2022) Quasi-Newton Iteration in Deterministic Policy Gradient . 2022 American Control Conference (ACC 2022-06-08 - 2022-06-10
Academic lecture

Bahari Kordabad, Arash; Gros, Sebastien. (2022) Functional Stability of Discounted Markov Decision Processes Using Economic MPC Dissipativity Theory . 2022 European Control Conference (ECC) 2022-07-12 - 2022-07-15
Academic lecture

Wang, Kai; Gros, Sebastien Nicolas. (2022) Solving Mission-Wide Chance-Constrained Optimal Control Using Dynamic Programming. 61th IEEE Conference on Decision and Control (CDC) 2022-12-06 - 2022-12-09
Academic lecture

Sawant, Shambhuraj Vijaysinh; Gros, Sebastien Nicolas. (2022) Bridging the gap between QP-based and MPC-based Reinforcement Learning. 6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022 , Cluj-Napoca 2022-07-13 - 2022-07-15
Academic lecture

Gros, Sebastien Nicolas. (2022) Learning for MPC: fundamentals and novel results. Lectures at Xidian University , Online 2022-12-13 - 2022-12-13
Academic lecture

Gros, Sebastien Nicolas. (2022) Combining Reinforcement Learning and MPC. AdCONIP 2022-08-07 - 2022-08-09
Lecture

Gros, Sebastien Nicolas. (2022) Reinforcement Learning and MPC: an ideal combination?. Mitsubishi Electric Research Laboratory Invited talks at MERL 2022-04-12 - 2022-04-12
Lecture

Gros, Sebastien Nicolas. (2022) Reinforcement Learning and MPC. MPC Chinese School 2022-07-15 - 2022-07-20
Popular scientific lecture

Nejatbakhsh Esfahani, Hossein; Gros, Sebastien Nicolas. (2022) Policy Gradient Reinforcement Learning for Uncertain Polytopic LPV Systems based on MHE-MPC. 6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022 2022-07-13 - 2022-07-15
Poster

Davari Benam, Karim; Khoshamadi, Hasti; Gros, Sebastien; Fougner, Anders Lyngvi. (2022) The Bihormonal Intraperitoneal Artificial Pancreas Achieves Fully Closed Loop Control in Anaesthetized Animals. Kenes Advanced Technologies & Treatments for Diabetes , Barcelona 2022-04-27 - 2022-04-30

2021

Academic lecture

Gros, Sebastien; Zanon, Mario. (2021) Reinforcement Learning based on MPC and the Stochastic Policy Gradient Method. American Control Conference 2021-05-24 - 2021-05-30
Academic lecture

Zanon, Mario; Gros, Sebastien. (2021) On the Similarity between Two Popular Tube MPC Formulations. European Control Conference 2021-06-29 -
Academic lecture

Bøhn, Eivind Eigil; Gros, Sebastien; Moe, Signe; Johansen, Tor Arne. (2021) Optimization of the Model Predictive Control Update Interval Using Reinforcement Learning. MICNON 2021-09-15 - 2021-09-17
Academic lecture

Maree, Phillip; Gros, Sebastien; Walnum, Harald Taxt. (2021) Adaptive Control and Identification for Heating Demand-Response in Buildings. European Control Conference 2021-06-29 - 2021-07-02
Academic lecture

Gros, Sebastien. (2021) Introduction to Reinforcement Learning and Model Predictive Control. Chinese PhD summer school 2021-06-15 - 2021-06-19
Academic lecture

Gros, Sebastien. (2021) Model Predictive Control and Reinforcement Learning: Introduction and Novel Results. Int. PhD summer School, Freiburg, Germany 2021-08-02 - 2021-08-03
Academic lecture

Nejatbakhsh Esfahani, Hossein; Aminian, Behdad; Grøtli, Esten Ingar; Gros, Sebastien. (2021) Backstepping-based Ingtegral Sliding Mode Control With Time Delay Estimation for Autonomous Underwater Vehicles. IEEE 2021 20th International Conference on Advanced Robotics (ICAR) , Ljubljana 2021-12-06 - 2021-12-10

2020

Academic lecture

Gros, Sebastien; Zanon, Mario. (2020) Reinforcement Learning for mixed-integer problems based on MPC. IFAC 2020-07-11 - 2020-07-17
Academic lecture

Lacombe, Remi; Gros, Sebastien; Murgovski, Nikolce; Kulcsár, Balázs. (2020) Hierarchical Control of Electric Bus Lines. IFAC 2020-07-11 - 2020-07-17
Academic lecture

Gros, Sebastien; Zanon, Mario. (2020) Bias Correction in Reinforcement Learning via the Deterministic Policy Gradient Method for MPC-Based Policies. American Control Conference 2020-05-24 - 2020-05-30
Academic lecture

Zanon, Mario; Faulwasser, Timm; Gros, Sebastien. (2020) Practical Economic MPC. PAMM 2020-10-06 - 2020-10-11
Academic lecture

Rastegarpour, Soroush; Ferrarini, Luca; Gros, Sebastien. (2020) Economic NMPC for Multiple Buildings Connected to a Heat Pump and Thermal and Electrical Storages. IFAC 2020-07-11 - 2020-07-17
Academic lecture

Zanon, Mario; Kungurtsev, Vyacheslav; Gros, Sebastien. (2020) Reinforcement Learning Based on Real-Time Iteration NMPC. IFAC 2020-07-11 - 2020-07-17
Academic lecture

Gros, Sebastien; Zanon, Mario; Bemporad, Alberto. (2020) Safe Reinforcement Learning via Projection on a Safe Set: How to Achieve Optimality?. IFAC 2020-07-11 - 2020-07-17
Academic lecture

Blindheim, Simon; Gros, Sebastien; Johansen, Tor Arne. (2020) Risk-Based Model Predictive Control for Autonomous Ship Emergency Management. International Federation of Automatic Control 1st virtual IFAC World Congress 2020 , Berlin 2020-07-13 - 2020-07-17
Academic lecture

Gros, Sebastien. (2020) Reinforcement Learning and Model Predictive Control: Theory and Recent Results. Chalmers University of Technology Chalmers Academic Lectures 2020-10-26 - 2020-10-30

2019

Lecture

Zanon, Mario; Gros, Sebastien; Bemporad, Alberto. (2019) Practical Reinforcement Learning of Stabilizing Economic MPC. European Control Conference 2019-06-25 - 2019-06-28
Lecture

Piprek, Patrick; Gros, Sebastien; Holzapfel, Florian. (2019) A Distributed Robust Optimal Control Framework Based on Polynomial Chaos. CEAS Specialist Conference on Guidance, Navigation & Control (EuroGNC) 2019-04-03 - 2019-04-05
Lecture

Hult, Robert; Zanon, Mario; Gros, Sebastien; Falcone, Paolo. (2019) Optimal Coordination of Automated Vehicles at Intersections with Turns. European Control Conference 2019-06-25 - 2019-06-28

Språkvelger

Sebastien Nicolas Gros