593 citations · 845 across the 62 of their papers we have counts for
83 papers
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria for Autonomous Racing
Edward L. Zhu, Francesco Borrelli
Dynamic games can be an effective approach for modeling interactive behavior between multiple competitive agents in autonomous racing and they provide a theoretical framework for s…
Data-Driven Optimization for Deposition with Degradable Tools
Tony Zheng, Monimoy Bujarbaruah, Francesco Borrelli
We present a data-driven optimization approach for robotic controlled deposition with a degradable tool. Existing methods make the assumption that the tool tip is not changing or i…
Increasing Electric Vehicles Utilization in Transit Fleets using Learning, Predictions, Optimization, and Automation
Jacopo Guanetti, Yeojun Kim, Xu Shen +4
This work presents a novel hierarchical approach to increase Battery Electric Buses (BEBs) utilization in transit fleets. The proposed approach relies on three key components. A le…
Energy-Efficient Lane Changes Planning and Control for Connected Autonomous Vehicles on Urban Roads
Eunhyek Joa, Hotae Lee, Eric Yongkeun Choi +1
This paper presents a novel energy-efficient motion planning algorithm for Connected Autonomous Vehicles (CAVs) on urban roads. The approach consists of two components: a decision-…
Learning for Online Mixed-Integer Model Predictive Control with Parametric Optimality Certificates
Luigi Russo, Siddharth H. Nair, Luigi Glielmo +1
We propose a supervised learning framework for computing solutions of multi-parametric Mixed Integer Linear Programs (MILPs) that arise in Model Predictive Control. Our approach al…
Robust Output-Lifted Learning Model Predictive Control
Siddharth H. Nair, Francesco Borrelli
We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nom…