8 papers
AD-MPCC: Adaptive Differentiable Model Predictive Contouring Control for Autonomous Racing
Nam T. Nguyen, Binh Nguyen, Ahmad Amine +3
This paper presents Adaptive Differentiable Model Predictive Contouring Control (AD-MPCC), a framework for autonomous racing that integrates differentiable MPCC with online paramet…
Failure-Aware Iterative Learning of State-Control Invariant Sets
Ahmad Amine, Nick-Marios T. Kokolakis, Ugo Rosolia +2
In this paper, we address the problem of computing maximal state-control invariant sets for deterministic linear systems using failing trajectories. We introduce the concept of sta…
STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization
Hongrui Zheng, Zirui Zang, Ahmad Amine +2
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control traj…
Nonplanar Model Predictive Control for Autonomous Vehicles with Recursive Sparse Gaussian Process Dynamics
Ahmad Amine, Kabir Puri, Viet-Anh Le +1
This paper proposes a nonplanar model predictive control (MPC) framework for autonomous vehicles operating on nonplanar terrain. To approximate complex vehicle dynamics in such env…
SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks
Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis +3
Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe i…
PoseINN: Realtime Visual-based Pose Regression and Localization with Invertible Neural Networks
Zirui Zang, Ahmad Amine, Rahul Mangharam
Estimating ego-pose from cameras is an important problem in robotics with applications ranging from mobile robotics to augmented reality. While SOTA models are becoming increasingl…
Human-Robot Interaction using VAHR: Virtual Assistant, Human, and Robots in the Loop
Ahmad Amine, Mostafa Aldilati, Hadi Hasan +2
Robots have become ubiquitous tools in various industries and households, highlighting the importance of human-robot interaction (HRI). This has increased the need for easy and acc…
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
Tomáš Nagy, Ahmad Amine, Truong X. Nghiem +3
Driving under varying road conditions is challenging, especially for autonomous vehicles that must adapt in real-time to changes in the environment, e.g., rain, snow, etc. It is di…