341 citations · 769 across the 30 of their papers we have counts for
9 papers · 1 filter
A Semi-Distributed Interior Point Algorithm for Optimal Coordination of Automated Vehicles at Intersections
Robert Hult, Mario Zanon, Sebastien Gros +1
In this paper, we consider the optimal coordination of automated vehicles at intersections under fixed crossing orders. We formulate the problem using direct optimal control and ex…
Data-driven synthesis of Robust Invariant Sets and Controllers
Sampath Kumar Mulagaleti, Alberto Bemporad, Mario Zanon
This paper presents a method to identify an uncertain linear time-invariant (LTI) prediction model for tube-based Robust Model Predictive Control (RMPC). The uncertain model is det…
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…
Model Predictive Control with Infeasible Reference Trajectories
Ivo Batkovic, Mohammad Ali, Paolo Falcone +1
Model Predictive Control (MPC) formulations are typically built on the requirement that a feasible reference trajectory is available. In practical settings, however, references tha…
A New Dissipativity Condition for Asymptotic Stability of Discounted Economic MPC
Mario Zanon, Sébastien Gros
Economic Model Predictive Control has recently gained popularity due to its ability to directly optimize a given performance criterion, while enforcing constraint satisfaction for…
Model Predictive Control with Environment Adaptation for Legged Locomotion
Niraj Rathod, Angelo Bratta, Michele Focchi +4
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test…
Economic MPC of Markov Decision Processes: Dissipativity in Undiscounted Infinite-Horizon Optimal Control
Sébastien Gros, Mario Zanon
Economic Model Predictive Control (MPC) dissipativity theory is central to discussing the stability of policies resulting from minimizing economic stage costs. In its current form,…
Stability-Constrained Markov Decision Processes Using MPC
Mario Zanon, Sébastien Gros, Michele Palladino
In this paper, we consider solving discounted Markov Decision Processes (MDPs) under the constraint that the resulting policy is stabilizing. In practice MDPs are solved based on s…
Fast and scalable likelihood maximization for Exponential Random Graph Models with local constraints
Nicolò Vallarano, Matteo Bruno, Emiliano Marchese +5
Exponential Random Graph Models (ERGMs) have gained increasing popularity over the years. Rooted into statistical physics, the ERGMs framework has been successfully employed for re…