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eess.SY2026
RCOA Extension and Applications
Ricardo Tapia, Iman Soltani
The Relaxed Convex Obstacle Avoidance (RCOA) formulation is the first approach to enable a fully convex optimal control problem (OCP) for obstacle avoidance. Convergence analysis o…
eess.SY2025
A Convex Obstacle Avoidance Formulation
Ricardo Tapia, Iman Soltani
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-cr…
eess.SY2025
Design and Simulation of Vehicle Motion Tracking System using a Youla Controller Output Observation System
Rongfei Li, Francis Assadian. Iman Soltani
This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supp…