19 citations · 86 across the 27 of their papers we have counts for
15 papers · 1 filter
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…
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…
Safe Control and Learning Using Generalized Action Governor
Peiyuan Fang, Weiqi Zhang, Lu Xiong +7
This paper introduces the Generalized Action Governor (AG), a supervisory scheme that augments a nominal closed-loop system with the capability to enforce state and input constrain…
Robust Action Governor for Uncertain Piecewise Affine Systems with Non-convex Constraints and Safe Reinforcement Learning
Yutong Li, Nan Li, H. Eric Tseng +3
The action governor is an add-on scheme to a nominal control loop that monitors and adjusts the control actions to enforce safety specifications expressed as pointwise-in-time stat…
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…
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 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…
Chance-Constrained Controller State and Reference Governor
Nan Li, Anouck Girard, Ilya Kolmanovsky
The controller state and reference governor (CSRG) is an add-on scheme for nominal closed-loop systems with dynamic controllers which supervises the controller internal state and t…
Action Governor for Discrete-Time Linear Systems with Non-Convex Constraints
Nan Li, Kyoungseok Han, Anouck Girard +3
This paper introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does…
Spacecraft Relative Motion Planning Using Chained Chance-Constrained Admissible Sets
Andrew W. Berning, Nan I. Li, Anouck Girard +3
With the increasing interest in proximity and docking operations, there is a growing interest in spacecraft relative motion control. This paper extends a previously proposed constr…
Co-optimization of Speed and Gearshift Control for Battery Electric Vehicles Using Preview Information
Kyoungseok Han, Nan Li, Ilya Kolmanovsky +4
This paper addresses the co-optimization of speed and gearshift control for battery electric vehicles using short-range traffic information. To achieve greater electric motor effic…
A Reference Governor for Nonlinear Systems with Disturbance Inputs Based on Logarithmic Norms and Quadratic Programming
Nan Li, Ilya Kolmanovsky, Anouck Girard
This note describes a reference governor design for a continuous-time nonlinear system with an additive disturbance. The design is based on predicting the response of the nonlinear…
Detection-averse optimal and receding-horizon control for Markov decision processes
Nan Li, Ilya Kolmanovsky, Anouck Girard
In this paper, we consider a Markov decision process (MDP), where the ego agent has a nominal objective to pursue while needs to hide its state from detection by an adversary. Afte…
Game-Theoretic Modeling of Multi-Vehicle Interactions at Uncontrolled Intersections
Nan Li, Yu Yao, Ilya Kolmanovsky +2
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven…