3 papers
On the suboptimality of stochastic MPC with varying constraint horizon
Allan Andre Do Nascimento, Andre Bertolace, Antonis Papachristodoulou +1
Enforcing stochastic state constraints over the full prediction horizon in Model Predictive Control (MPC) can be computationally demanding. Here we study stochastic MPC without ter…
A Prototyping Framework for Distributed Control of Multi-Robot Systems
Junaid Ahmed Memon, Allan Andre Do Nascimento, Kostas Margellos +1
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. U…
Model Predictive Control with Multiple Constraint Horizons
Allan Andre do Nascimento, Han Wang, Antonis Papachristodoulou +1
In this work we propose a Model Predictive Control (MPC) formulation that splits constraints in two different types. Motivated by safety considerations, the first type of constrain…