Zero-order optimization for Gaussian process-based model predictive control. - Amon Lahr; Andrea Zanelli; Andrea Carron; Melanie N. Zeilinger (Eur. J. Control, 2023)

Towards safe and tractable Gaussian process-based MPC: Efficient sampling within a sequential quadratic programming framework. - Manish Prajapat; Amon Lahr; Johannes Köhler 001; Andreas Krause 001; Melanie N. Zeilinger (CDC, 2024)

Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados. - Jonathan Frey; Yunfan Gao; Florian Messerer; Amon Lahr; Melanie N. Zeilinger; Moritz Diehl (ECC, 2024)

Probabilistic ODE solvers for integration error-aware numerical optimal control. - Amon Lahr; Filip Tronarp; Nathanael Bosch; Jonathan Schmidt 001; Philipp Hennig; Melanie N. Zeilinger (L4DC, 2024)

Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions. - Antoine P. Leeman; Johannes Köhler 001; Florian Messerer; Amon Lahr; Moritz Diehl; Melanie N. Zeilinger (CoRR, 2024)

L4acados: Learning-based models for acados, applied to Gaussian process-based predictive control. - Amon Lahr; Joshua Näf; Kim Peter Wabersich; Jonathan Frey; Pascal Siehl; Andrea Carron; Moritz Diehl; Melanie N. Zeilinger (CoRR, 2024)

Inverse Optimal Control With Constraint Relaxation. - Rahel Rickenbach; Amon Lahr; Melanie N. Zeilinger (IEEE Control. Syst. Lett., 2025)

Gaussian processes for dynamics learning in model predictive control. - Anna Scampicchio; Elena Arcari; Amon Lahr; Melanie N. Zeilinger (CoRR, 2025)

Finite-Sample-Based Reachability for Safe Control with Gaussian Process Dynamics. - Manish Prajapat; Johannes Köhler 001; Amon Lahr; Andreas Krause 001; Melanie N. Zeilinger (CoRR, 2025)

Optimal kernel regression bounds under energy-bounded noise. - Amon Lahr; Johannes Köhler 001; Anna Scampicchio; Melanie N. Zeilinger (CoRR, 2025)

A robust and adaptive MPC formulation for Gaussian process models. - Mathieu Dubied; Amon Lahr; Melanie N. Zeilinger; Johannes Köhler 001 (CoRR, 2025)