Zewen Yang, Xiaobing Dai, Akshat Dubey, Yansong Wu, Xiao Chen, Ebenezer Oladimeji Awotoro and Sandra Hirche
Whom to Trust? Selective Online Learning in Multi-Agent Systems with Prior-Aware Gaussian Process Regression
This paper introduces a novel approach to advancing distributed cooperative learning in multi-agent systems (MASs) using Gaussian Process (GP) regression. The primary contribution lies in the development of a prior-aware selective distributed GPs (Pri-GP) algorithm, which allows agents to selectively collaborate by requesting predictions from neighboring agents based on their trustworthiness. This selective learning mechanism ensures that agents can avoid relying on neighbors with potentially flawed prior knowledge, thereby improving prediction accuracy, particularly in scenarios where an agent's prior information is incorrect or outdated. Moreover, Pri-GP eliminates the need for costly variance calculations typically required for determining aggregation weights. We also extend this framework to the online-Pri-GP algorithm, which integrates real-time learning strategies, demonstrating superior performance in dynamical systems by achieving lower prediction errors. Additionally, we provide a prediction error bound within the Pri-GP framework, offering a guarantee of the aggregated predictions. Simulation results demonstrate that Pri-GP and online-Pri-GP outperform existing distributed GPs approaches in function approximation and system identification.
2026

Nicolas Kantor Nagel, Satoshi Endo, and Sandra Hirche
Blended Fuzzy Gain-Scheduled Hill-Huxley Model: Torque Prediction in FES-Driven Wrist Contractions
IEEE International Conference on Cyborg and Bionic Systems (CBS)
2026

Hanna, Sami Leon Noel Aziz;Hoischen, Nicolas;Hirche, Sandra;Lederer, Armin
On the Existence of Quadratic Control Lyapunov Functions for Koopman-Operator based Bilinear Systems
2026

Lefringhausen, Robert; Springer, Theodor; Hirche, Sandra
Learning Dynamics from Infrequent Output Measurements for Uncertainty-Aware Optimal Control
2026 IFAC World Congress
2026

Onoue, Keisuke; Endo, Satoshi; Ikeda, Kazushi; Hirche, Sandra
Robust Bayesian Optimisation for Reliable FES Calibration
2026 48th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
IEEE
2026

Shao, Fan;Endo, Satoshi;Hirche, Sandra;Ficuciello, Fanny
Interactive Force-Impedance Control
IEEE Robotics and Automation Letters
2026
1-8

Lederer, Armin;Begzadi, Azra;Hirche, Sandra;Cortés, Jorge;Herbert, Sylvia
Safe Event-triggered Gaussian Process Learning for Barrier-Constrained Control
IEEE Transactions on Automatic Control
2026
1-8

Zhang, Zengjie;Liu, Qingchen;Mamduhi, Mohammad H.;Hirche, Sandra
Average Communication Rate for Networked Event-Triggered Stochastic Control Systems
IEEE Transactions on Control of Network Systems
2025
12
3
1894-1905

Zhao, Xinshi;Liu, Di;Baldi, Simone;Hirche, Sandra
Lyapunov-Based Inverse Reinforcement Learning of Vehicle-Following Dynamics From Traffic Data
IEEE Transactions on Intelligent Transportation Systems
2026
1-15

Evangelisti, Giulio;Santina, Cosimo Della;Hirche, Sandra
Exponentially Stable Projector-Based Control of Lagrangian Systems With Gaussian Processes
IEEE Transactions on Automatic Control
2026
Feb
1-14