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eess.SY2025
Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss incentive design for hierarchical model predictive control (MPC) systems viewed as Stackelberg games. We consider a hierarchical MPC formulation where, gi…
eess.SY2021★ 27 cited
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the…