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09/19/2023
Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
This work presents a novel Learning Model Predictive Control (LMPC) stra...
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09/13/2023
Euclidean and non-Euclidean Trajectory Optimization Approaches for Quadrotor Racing
We present two approaches to compute raceline trajectories for quadrotor...
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05/26/2023
Data-Driven Optimization for Deposition with Degradable Tools
We present a data-driven optimization approach for robotic controlled de...
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04/17/2023
Energy-Efficient Lane Changes Planning and Control for Connected Autonomous Vehicles on Urban Roads
This paper presents a novel energy-efficient motion planning algorithm f...
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02/03/2023
Reinforcement Learning and Distributed Model Predictive Control for Conflict Resolution in Highly Constrained Spaces
This work presents a distributed algorithm for resolving cooperative mul...
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01/11/2023
Facilitating Cooperative and Distributed Multi-Vehicle Lane Change Maneuvers
A distributed coordination method for solving multi-vehicle lane changes...
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11/02/2022
Multi-vehicle Conflict Resolution in Highly Constrained Spaces by Merging Optimal Control and Reinforcement Learning
We present a novel method to address the problem of multi-vehicle confli...
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08/06/2022
Collision Avoidance for Dynamic Obstacles with Uncertain Predictions using Model Predictive Control
We propose a Model Predictive Control (MPC) for collision avoidance betw...
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07/13/2022
Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation
We study a human-robot collaborative transportation task in presence of ...
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04/26/2022
A Gaussian Process Model for Opponent Prediction in Autonomous Racing
In head-to-head racing, performing tightly constrained, but highly rewar...
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04/17/2022
ParkPredict+: Multimodal Intent and Motion Prediction for Vehicles in Parking Lots with CNN and Transformer
The problem of multimodal intent and trajectory prediction for human-dri...
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09/20/2021
Stochastic MPC with Multi-modal Predictions for Traffic Intersections
We propose a Stochastic MPC (SMPC) formulation for autonomous driving at...
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09/13/2021
Monocular Camera Localization for Automated Vehicles Using Image Retrieval
We address the problem of finding the current position and heading angle...
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07/22/2021
Accelerating Quadratic Optimization with Reinforcement Learning
First-order methods for quadratic optimization such as OSQP are widely u...
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05/13/2021
Data-Driven Strategies for Hierarchical Predictive Control in Unknown Environments
This article proposes a hierarchical learning architecture for safe data...
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03/07/2021
Decentralized 2-Robot Transportation with Local and Indirect Sensing
In this paper, we propose a leader-follower hierarchical strategy for tw...
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11/20/2020
Learning How to Solve Bubble Ball
"Bubble Ball" is a game built on a 2D physics engine, where a finite set...
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11/01/2020
Collision Avoidance in Tightly-Constrained Environments without Coordination: a Hierarchical Control Approach
We present a hierarchical control approach for maneuvering an autonomous...
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07/19/2020
Learning to Play Cup-and-Ball with Noisy Camera Observations
Playing the cup-and-ball game is an intriguing task for robotics researc...
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06/20/2020
A Distributed Multi-Robot Coordination Algorithm for Navigation in Tight Environments
This work presents a distributed method for multi-robot coordination bas...
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06/09/2020
Learning to Satisfy Unknown Constraints in Iterative MPC
We propose a control design method for linear time-invariant systems tha...
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04/21/2020
ParkPredict: Motion and Intent Prediction of Vehicles in Parking Lots
We investigate the problem of predicting driver behavior in parking lots...
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04/06/2020
Control of Unknown Nonlinear Systems with Linear Time-Varying MPC
We present a Model Predictive Control (MPC) strategy for unknown input-a...
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04/02/2020
Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control
We present a decentralized trajectory optimization scheme based on learn...
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03/19/2020
Formation and Reconfiguration of Tight Multi-Lane Platoons
Advances in vehicular communication technologies are expected to facilit...
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11/22/2019
Learning Robustness with Bounded Failure: An Iterative MPC Approach
We propose an approach to design a Model Predictive Controller (MPC) for...
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07/21/2019
Hardware-In-the-Loop for Connected Automated Vehicles Testing in Real Traffic
We present a hardware-in-the-loop (HIL) simulation setup for repeatable ...
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06/19/2019
Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks
In this paper, we propose a novel framework for approximating the explic...
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05/31/2019
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations
Reinforcement learning (RL) for robotics is challenging due to the diffi...
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02/02/2019
A Hybrid Control Design for Autonomous Vehicles at Uncontrolled Intersections
As autonomous vehicles (AVs) inch closer to reality, a central requireme...
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10/21/2018
Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication
We present the design of a safe Adaptive Cruise Control (ACC) which uses...
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09/11/2018
Vehicle Localization and Control on Roads with Prior Grade Map
We propose a map-aided vehicle localization method for GPS-denied enviro...
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11/09/2017