593 citations · 845 across the 62 of their papers we have counts for
8 papers · 1 filter
Stochastic MPC with Multi-modal Predictions for Traffic Intersections
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) formulation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles for collision avoi…
Monocular Camera Localization for Automated Vehicles Using Image Retrieval
Eunhyek Joa, Yibo Sun, Francesco Borrelli
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and h…
Compact Cooperative Adaptive Cruise Control for Energy Saving: Air Drag Modelling and Simulation
Yeojun Kim, Jacopo Guanetti, Francesco Borrelli
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise c…
Accelerating Quadratic Optimization with Reinforcement Learning
Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato +6
First-order methods for quadratic optimization such as OSQP are widely used for large-scale machine learning and embedded optimal control, where many related problems must be rapid…
Data-Driven Strategies for Hierarchical Predictive Control in Unknown Environments
Charlott Vallon, Francesco Borrelli
This article proposes a hierarchical learning architecture for safe data-driven control in unknown environments. We consider a constrained nonlinear dynamical system and assume the…
Models and Predictive Control for Nonplanar Vehicle Navigation
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature,…