7 papers
Parallel Dynamic Programming for Conic Linear Quadratic Control
Luyao Zhang, Gabriel Bravo-Palacios, Brian Plancher +1
Linear Quadratic (LQ) control problems are at the heart of linear control theory and Model Predictive Control (MPC). While performant, standard approaches to solving such problems…
Contingency Planning for Safety-Critical Autonomous Vehicles: A Review and Perspectives
Lei Zheng, Luyao Zhang, Peiqi Yu +4
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adv…
Wasserstein Distributionally Robust Nash Equilibrium Seeking with Heterogeneous Data: A Lagrangian Approach
Zifan Wang, Georgios Pantazis, Sergio Grammatico +2
We study a class of distributionally robust games where agents are allowed to heterogeneously choose their risk aversion with respect to distributional shifts of the uncertainty. I…
Nash equilibrium seeking for a class of quadratic-bilinear Wasserstein distributionally robust games
Georgios Pantazis, Reza Rahimi Baghbadorani, Sergio Grammatico
We consider a class of Wasserstein distributionally robust Nash equilibrium problems, where agents construct heterogeneous data-driven Wasserstein ambiguity sets using private samp…
Non-Euclidean Enriched Contraction Theory for Monotone Operators and Monotone Dynamical Systems
Diego Deplano, Sergio Grammatico, Mauro Franceschelli
We adopt an operator-theoretic perspective to analyze a class of nonlinear fixed-point iterations and discrete-time dynamical systems. Specifically, we study the Krasnoselskij iter…
Parallel Branch Model Predictive Control on GPUs
Luyao Zhang, Chenghuai Lin, Sergio Grammatico
We present a GPU-based solver for trajectory planning problems using branch Model Predictive Control. Building on iterative LQR methods, we adopt a multiple-shooting formulation fo…