1 citations · 1 across the 5 of their papers we have counts for
6 papers
Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
Jacob Knaup, Jovin D'sa, Behdad Chalaki +3
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Tr…
Recursively Feasible Stochastic Model Predictive Control for Time-Varying Linear Systems Subject to Unbounded Disturbances
Jacob W. Knaup, Panagiotis Tsiotras
Model predictive control solves a constrained optimization problem online in order to compute an implicit closed-loop control policy. Recursive feasibility -- guaranteeing that the…
Adaptive Dual Covariance Steering with Active Parameter Estimation
Jacob W. Knaup, Panagiotis Tsiotras
This work examines the optimal covariance steering problem for systems subject to unknown parameters that enter multiplicatively with the state and control, in addition to additive…
Active Learning with Dual Model Predictive Path-Integral Control for Interaction-Aware Autonomous Highway On-ramp Merging
Jacob Knaup, Jovin D'sa, Behdad Chalaki +4
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding hu…
Covariance Steering for Systems Subject to Unknown Parameters
Jacob Knaup, Panagiotis Tsiotras
This work considers the optimal covariance steering problem for systems subject to both additive noise and uncertain parameters which may enter multiplicatively with the state and…
Computationally Efficient Covariance Steering for Systems Subject to Parametric Disturbances and Chance Constraints
Jacob Knaup, Panagiotis Tsiotras
This work investigates the finite-horizon optimal covariance steering problem for discrete-time linear systems subject to both additive and multiplicative uncertainties as well as…