4 papers
Autonomous Driving with Priority-Ordered STL Specifications Under Multimodal Uncertainty
Taha Bouzid, Shuhao Qi, Mircea Lazar +1
Autonomous vehicles must plan trajectories that satisfy multiple requirements, such as safety, traffic-rule compliance, and passenger comfort. However, in safety-critical scenarios…
Situation-Aware Interactive MPC Switching for Autonomous Driving
Shuhao Qi, Qiling Aori, Luyao Zhang +2
Autonomous driving in interactive traffic scenarios remains challenging because of the mutual influence among vehicles and the inherent uncertainty of surrounding agents. Several m…
Stochastic MPC for Finite Gaussian Mixture Disturbances with Guarantees
Maico H. W. Engelaar, Micha P. P. Swaanen, Mircea Lazar +1
This paper presents a stochastic model predictive control (SMPC) algorithm for linear systems subject to additive Gaussian mixture disturbances, with the goal of satisfying chance…
imuQP: An Inverse-Matrix-Updates-Based Fast QP Solver Suitable for Real-Time MPC
Victor Truong Thinh Lam, Mircea Lazar
This paper presents a new fast active-set quadratic programming (QP) solver based on inverse matrix updates, which is suitable for real-time model predictive control (MPC). This QP…