2 papers
cs.RO2025
Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
Jacob Knaup, Jovin D'sa, Behdad Chalaki +3
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Tr…
math.OC2024
Recursively Feasible Stochastic Model Predictive Control for Time-Varying Linear Systems Subject to Unbounded Disturbances
Jacob W. Knaup, Panagiotis Tsiotras
Model predictive control solves a constrained optimization problem online in order to compute an implicit closed-loop control policy. Recursive feasibility -- guaranteeing that the…