7 citations · 11 across the 3 of their papers we have counts for
3 papers
Predictive Control for Autonomous Driving with Uncertain, Multi-modal Predictions
Siddharth H. Nair, Hotae Lee, Eunhyek Joa +3
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predi…
Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle mot…
Multi-agent systems with CBF-based controllers -- collision avoidance and liveness from instability
Mrdjan Jankovic, Mario Santillo, Yan Wang
Assuring system stability is typically a major control design objective. In this paper, we present a system where instability provides a crucial benefit. We consider multi-agent co…