82 citations · 486 across the 90 of their papers we have counts for
96 papers
Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments
Robin Inho Kee, Taehyeun Kim, Anouck Girard +1
This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This…
Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control
Xiao Li, Tianhao Wei, Changliu Liu +2
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinea…
A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspective
Zhuoren Li, Guizhe Jin, Ran Yu +8
Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic decision-making tasks, has emerged as a promising approach to addressing motion p…
Learning Hamiltonian Dynamics with Bayesian Data Assimilation
Taehyeun Kim, Tae-Geun Kim, Anouck Girard +1
In this paper, we develop a neural network-based approach for time-series prediction in unknown Hamiltonian dynamical systems. Our approach leverages a surrogate model and learns t…
Constrained Control for Autonomous Spacecraft Rendezvous: Learning-Based Time Shift Governor
Taehyeun Kim, Robin Inho Kee, Ilya Kolmanovsky +1
This paper develops a Time Shift Governor (TSG)-based control scheme to enforce constraints during rendezvous and docking (RD) missions in the setting of the Two-Body problem. As a…
CIKAN: Constraint Informed Kolmogorov-Arnold Networks for Autonomous Spacecraft Rendezvous using Time Shift Governor
Taehyeun Kim, Anouck Girard, Ilya Kolmanovsky
The paper considers a Constrained-Informed Neural Network (CINN) approximation for the Time Shift Governor (TSG), which is an add-on scheme to the nominal closed-loop system used t…
Safe Adaptive Cruise Control Under Perception Uncertainty: A Deep Ensemble and Conformal Tube Model Predictive Control Approach
Xiao Li, Anouck Girard, Ilya Kolmanovsky
Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper co…
Newton Methods in Generalized Nash Equilibrium Problems with Applications to Game-Theoretic Model Predictive Control
Mushuang Liu, Ilya Kolmanovsky
We prove input-to-state stability (ISS) of perturbed Newton-type methods for generalized equations arising from Nash equilibrium (NE) and generalized NE (GNE) problems. This ISS pr…
Time Shift Governor for Constrained Control of Spacecraft Orbit and Attitude Relative Motion in Bicircular Restricted Four-Body Problem
Taehyeun Kim, Ilya Kolmanovsky, Anouck Girard
This paper considers constrained spacecraft rendezvous and docking (RVD) in the setting of the Bicircular Restricted Four-Body Problem (BCR4BP), while accounting for attitude dynam…
Autonomous Driving With Perception Uncertainties: Deep-Ensemble Based Adaptive Cruise Control
Xiao Li, H. Eric Tseng, Anouck Girard +1
Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep…
Data-Driven Predictive Control with Adaptive Disturbance Attenuation for Constrained Systems
Nan Li, Ilya Kolmanovsky, Hong Chen
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control…
Input-to-State Stability of Newton Methods for Generalized Equations in Nonlinear Optimization
Torbjørn Cunis, Ilya Kolmanovsky
We show that Newton methods for generalized equations are input-to-state stable with respect to disturbances such as due to inexact computations. We then use this result to obtain…
Nonlinear Model Predictive Detumbling of Small Satellites with a Single-axis Magnetorquer
Kota Kondo, Ilya Kolmanovsky, Yasuhiro Yoshimura +3
Various actuators are used in spacecraft to achieve attitude stabilization, including thrusters, momentum wheels, and control moment gyros. Small satellites, however, have stringen…
Less Conservative Robust Reference Governors and Their Applications
Miguel Castroviejo-Fernandez, Huayi Li, Andrés Cotorruelo +2
The applications of reference governors to systems with unmeasured set-bounded disturbances can lead to conservative solutions. This conservatism can be reduced by estimating the d…
Minimum-Time Trajectory Optimization With Data-Based Models: A Linear Programming Approach
Nan Li, Ehsan Taheri, Ilya Kolmanovsky +1
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-contro…
System-level Safety Guard: Safe Tracking Control through Uncertain Neural Network Dynamics Models
Xiao Li, Yutong Li, Anouck Girard +1
The Neural Network (NN), as a black-box function approximator, has been considered in many control and robotics applications. However, difficulties in verifying the overall system…
Decision-Making for Autonomous Vehicles with Interaction-Aware Behavioral Prediction and Social-Attention Neural Network
Xiao Li, Kaiwen Liu, H. Eric Tseng +2
Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to bet…
A Comparison between Markov Chain and Koopman Operator Based Data-Driven Modeling of Dynamical Systems
Saeid Tafazzol, Nan Li, Ilya Kolmanovsky +1
Markov chain-based modeling and Koopman operator-based modeling are two popular frameworks for data-driven modeling of dynamical systems. They share notable similarities from a com…
Interaction-Aware Decision-Making for Autonomous Vehicles in Forced Merging Scenario Leveraging Social Psychology Factors
Xiao Li, Kaiwen Liu, H. Eric Tseng +2
Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios su…
Constrained reaction wheel desaturation and attitude control of spacecraft with four reaction wheels
Miguel Castroviejo-Fernandez, Ilya Kolmanovsky
The paper addresses a problem of constrained spacecraft attitude stabilization with simultaneous reaction wheel (RW) desaturation. The spacecraft has a reaction wheel array (RWA) c…
A Unified Safety Protection and Extension Governor
Nan Li, Yutong Li, Ilya Kolmanovsky
In this paper, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that is able to keep the system s…
Scheduling Dosage of Proton Pump Inhibitors Using Constrained Optimization With Gastric Acid Secretion Model
Yutong Li, Nan Li, Anouck Girard +1
Dosage schedule of the Proton Pump Inhibitors (PPIs) is critical for gastric acid disorder treatment. In this paper, we develop a constrained optimization based approach for schedu…
On Complexity Bounds for the Maximal Admissible Set of Linear Time-Invariant Systems
Hamid R. Ossareh, Ilya Kolmanovsky
Given a dynamical system with constrained outputs, the maximal admissible set (MAS) is defined as the set of all initial conditions such that the output constraints are satisfied f…
Reference Governor for Constrained Spacecraft Orbital Transfers
Simone Semeraro, Ilya Kolmanovsky, Emanuele Garone
The paper considers the application of feedback control to orbital transfer maneuvers subject to constraints on the spacecraft thrust and on avoiding the collision with the primary…