25 citations · 51 across the 7 of their papers we have counts for
7 papers
ExAMPC: the Data-Driven Explainable and Approximate NMPC with Physical Insights
Jean Pierre Allamaa, Panagiotis Patrinos, Tong Duy Son
Amidst the surge in the use of Artificial Intelligence (AI) for control purposes, classical and model-based control methods maintain their popularity due to their transparency and…
Learning Based NMPC Adaptation for Autonomous Driving using Parallelized Digital Twin
Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer +1
In this work, we focus on the challenge of transferring an autonomous driving controller from simulation to the real world (i.e. Sim2Real). We propose a data-efficient method for o…
Real-time MPC with Control Barrier Functions for Autonomous Driving using Safety Enhanced Collocation
Jean Pierre Allamaa, Panagiotis Patrinos, Toshiyuki Ohtsuka +1
The autonomous driving industry is continuously dealing with safety-critical scenarios, and nonlinear model predictive control (NMPC) is a powerful control strategy for handling su…
Reinforcement Learning from Simulation to Real World Autonomous Driving using Digital Twin
Kevin Voogd, Jean Pierre Allamaa, Javier Alonso-Mora +1
Reinforcement learning (RL) is a promising solution for autonomous vehicles to deal with complex and uncertain traffic environments. The RL training process is however expensive, u…
Safety Envelope for Orthogonal Collocation Methods in Embedded Optimal Control
Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer +1
Orthogonal collocation methods are direct approaches for solving optimal control problems (OCP). A high solution accuracy is achieved with few optimization variables, making it mor…
Sim2real for Autonomous Vehicle Control using Executable Digital Twin
Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer +1
In this work, we propose a sim2real method to transfer and adapt a nonlinear model predictive controller (NMPC) from simulation to the real target system based on executable digita…
Real-time Nonlinear MPC Strategy with Full Vehicle Validation for Autonomous Driving
Jean Pierre Allamaa, Petr Listov, Herman Van der Auweraer +2
In this paper, we present the development and deployment of an embedded optimal control strategy for autonomous driving applications on a Ford Focus road vehicle. Non-linear model…