1 citations · 1 across the 8 of their papers we have counts for
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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…
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…
An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors
Luyao Zhang, George Pantazis, Shaohang Han +1
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules…
Automated Lane Merging via Game Theory and Branch Model Predictive Control
Luyao Zhang, Shaohang Han, Sergio Grammatico
We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle…