4 papers
Reinforcement Learning with Distributed MPC for Fuel-Efficient Platoon Control with Discrete Gear Transitions
Samuel Mallick, Gianpietro Battocletti, Dimitris Boskos +2
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this conte…
Model Predictive Control for Cooperative Docking Between Autonomous Surface Vehicles with Disturbance Rejection
Gianpietro Battocletti, Dimitris Boskos, Bart De Schutter
Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the sa…
Efficient Computation of a Continuous Topological Model of the Configuration Space of Tethered Mobile Robots
Gianpietro Battocletti, Dimitris Boskos, Bart De Schutter
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete r…
Learning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection
Samuel Mallick, Gianpietro Battocletti, Qizhang Dong +2
Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizi…