593 citations · 845 across the 62 of their papers we have counts for
12 papers · 1 filter
Collaborative learning model predictive control for repetitive tasks
Paula Chanfreut, José María Maestre, Eduardo F. Camacho +1
This paper presents a cloud-based learning model predictive controller that integrates three interacting components: a set of agents, which must learn to perform a finite set of ta…
Multi-vehicle Conflict Resolution in Highly Constrained Spaces by Merging Optimal Control and Reinforcement Learning
Xu Shen, Francesco Borrelli
We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinea…
Stochastic MPC with Realization-Adaptive Constraint Tightening
Hotae Lee, Monimoy Bujarbaruah, Francesco Borrelli
This paper presents a stochastic model predictive controller (SMPC) for linear time-invariant systems in the presence of additive disturbances. The distribution of the disturbance…
Collision Avoidance for Dynamic Obstacles with Uncertain Predictions using Model Predictive Control
Siddharth H. Nair, Eric H. Tseng, Francesco Borrelli
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraint…
Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle mot…
Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation
Tony Zheng, Monimoy Bujarbaruah, Yvonne R. Stürz +1
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoi…