43 citations · 44 across the 9 of their papers we have counts for
10 papers
The Separation Principle and the Dual-Certainty Equivalence Gap in Model Predictive Control
Tren Baltussen, Nathan P. Lawrence, Alexander Katriniok +2
Dual control addresses the trade-off between exploitation and exploration, where control inputs both regulate the system and generate informative data for estimation and identifica…
Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging
Alexander Katriniok, Erfan Shakhesi, W. P. M. H. Heemels
In this paper, we present conditions under which the terminal ingredients, defined by discrete-time control barrier function (DTCBF) certificates, guarantee recursive feasibility i…
Safe, Learning-Based MPC for Highway Driving under Lane-Change Uncertainty: A Distributionally Robust Approach
Mathijs Schuurmans, Alexander Katriniok, Christopher Meissen +2
We present a case study applying learning-based distributionally robust model predictive control to highway motion planning under stochastic uncertainty of the lane change behavior…
Control-sharing Control Barrier Functions for Intersection Automation under Input Constraints
Alexander Katriniok
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agen…
Fully Distributed Model Predictive Control of Connected Automated Vehicles in Intersections: Theory and Vehicle Experiments
Alexander Katriniok, Benedikt Rosarius, Petri Mähönen
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road in…
Real-Time Distributed Automation Of Road Intersections
Fabio Molinari, Alexander Katriniok, Joerg Raisch
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V…
Learning-Based Risk-Averse Model Predictive Control for Adaptive Cruise Control with Stochastic Driver Models
Mathijs Schuurmans, Alexander Katriniok, Hongtei Eric Tseng +1
We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle a…
Nonconvex Consensus ADMM for Cooperative Lane Change Maneuvers of Connected Automated Vehicles
Alexander Katriniok
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations whe…
A Stochastic Model Predictive Control Approach for Driver-Aided Intersection Crossing With Uncertain Driver Time Delay
Alexander Katriniok, Stefan Kojchev, Erjen Lefeber +1
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersectio…
Nonlinear Model Predictive Control for Distributed Motion Planning in Road Intersections Using PANOC
Alexander Katriniok, Pantelis Sopasakis, Mathijs Schuurmans +1
The coordination of highly automated vehicles (or agents) in road intersections is an inherently nonconvex and challenging problem. In this paper, we propose a distributed motion p…