82 citations · 486 across the 90 of their papers we have counts for
14 papers · 1 filter
Continuous Optimization-Based Drift Counteraction Optimal Control: A Spacecraft Attitude Control Case Study
Sunbochen Tang, Nan Li, Robert A. E. Zidek +1
This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence tha…
Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios
Kaiwen Liu, Nan Li, H. Eric Tseng +2
Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with…
Energy-Efficient Autonomous Driving Using Cognitive Driver Behavioral Models and Reinforcement Learning
Huayi Li, Nan Li, Ilya Kolmanovsky +1
Autonomous driving technologies are expected to not only improve mobility and road safety but also bring energy efficiency benefits. In the foreseeable future, autonomous vehicles…
Command Governors with Inexact Optimization and without Invariance
Emanuele Garone, Ilya Kolmanovsky
Reference and command governors are add-on schemes that augment nominal closed-loop systems with the capability to enforce state and control constraints. They do this by monitoring…
A Reference Governor for linear systems with polynomial constraints
Laurent Burlion, Rick Schieni, Ilya Kolmanovsky
The paper considers the application of reference governors to linear discrete-time systems with constraints given by polynomial inequalities. We propose a novel algorithm to comput…
Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing
Xiao Li, Yutong Li, Nan Li +2
In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot bo…
Reference Governor-Based Fault-Tolerant Constrained Control
Mehdi Hosseinzadeh, Ilya Kolmanovsky, Sanjoy Baruah +1
This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is…
Development, Implementation, and Experimental Outdoor Evaluation of Quadcopter Controllers for Computationally Limited Embedded Systems
Juan Paredes, Prashin Sharma, Brian Ha +4
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation…
Safe Affine Transformation-Based Guidance of a Large-Scale Multi-Quadcopter System (MQS)
Hossein Rastgoftar, Ilya Kolmanovsky
This paper studies the problem of affine transformation-based guidance of a multi-quadcopter system (MQS) in an obstacle-laden environment. Such MQSs can perform a variety of coope…
Feasibility Governor for Linear Model Predictive Control
Terrence Skibik, Dominic Liao-McPherson, Torbjørn Cunis +2
This paper introduces the Feasibility Governor (FG): an add-on unit that enlarges the region of attraction of Model Predictive Control by manipulating the reference to ensure that…
Coordinated Receding-Horizon Control of Battery Electric Vehicle Speed and Gearshift Using Relaxed Mixed Integer Nonlinear Programming
Nan Li, Kyoungseok Han, Ilya Kolmanovsky +1
In this paper, we propose an approach to coordinated receding-horizon control of vehicle speed and transmission gearshift for automated battery electric vehicles (BEVs) to achieve…
Safe Reinforcement Learning Using Robust Action Governor
Yutong Li, Nan Li, H. Eric Tseng +3
Reinforcement Learning (RL) is essentially a trial-and-error learning procedure which may cause unsafe behavior during the exploration-and-exploitation process. This hinders the ap…
Data-Driven Retrospective Cost Adaptive Control for Flight Control Application
Syed Aseem Ul Islam, Tam W. Nguyen, Ilya V. Kolmanovsky +1
Unlike fixed-gain robust control, which trades off performance with modeling uncertainty, direct adaptive control uses partial modeling information for online tuning. The present p…
Safe Learning Reference Governor: Theory and Application to Fuel Truck Rollover Avoidance
Kaiwen Liu, Nan Li, Ilya Kolmanovsky +2
This paper proposes a learning reference governor (LRG) approach to enforce state and control constraints in systems for which an accurate model is unavailable, and this approach e…