By enabling constraint-aware online model adaptation, predictive control using Gaussian process (GP) regression has exhibited impressive performance in real-world applications and received considerable attention the learning-based community. Yet, solving resulting optimal problem real-time generally remains a major challenge, due to i) increased number of augmented states optimization problem, ...

The following problem has been known since the 80's. Let $\Gamma$ be an Abelian group of order $m$ (denoted $|\Gamma|=m$), and let $t$ $m_i$, $1 \leq i t$, positive integers such that $\sum_{i=1}^t m_i=m-1$. Determine when $\Gamma^*=\Gamma\setminus\{0\}$, set non-zero elements $\Gamma$, can partitioned into disjoint subsets $S_i$, $|S_i|=m_i$ $\sum_{s\in S_i}s=0$ for every $i$, t$. It is easy t...