341 citations · 769 across the 30 of their papers we have counts for
5 papers · 1 filter
Optimality Conditions for Model Predictive Control: Rethinking Predictive Model Design
Akhil S Anand, Arash Bahari Kordabad, Mario Zanon +1
Optimality is a critical aspect of Model Predictive Control (MPC), especially in economic MPC. However, achieving optimality in MPC presents significant challenges, and may even be…
Computation of Input Disturbance Sets for Constrained Output Reachability
Sampath Kumar Mulagaleti, Alberto Bemporad, Mario Zanon
Linear models with additive unknown-but-bounded input disturbances are extensively used to model uncertainty in robust control systems design. Typically, the disturbance set is eit…
A Parallel Decomposition Scheme for Solving Long-Horizon Optimal Control Problems
Sungho Shin, Timm Faulwasser, Mario Zanon +1
We present a temporal decomposition scheme for solving long-horizon optimal control problems. In the proposed scheme, the time domain is decomposed into a set of subdomains with pa…
A Feasibility-Enforcing Primal-Decomposition SQP Algorithm for Optimal Vehicle Coordination
Mario Zanon, Robert Hult, Sebastien Gros +1
In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an…
Optimal Scheduling of Downlink Communication for a Multi-Agent System with a Central Observation Post
Mario Zanon, Themistoklis Charalambous, Henk Wymeersch +1
In this paper, we consider a set of agents, which may receive an observation of their state by a central observa- tion post via a shared wireless network. The aim of this work is t…