25 citations · 67 across the 17 of their papers we have counts for
7 papers · 1 filter
Projection-free computation of robust controllable sets with constrained zonotopes
Abraham P. Vinod, Avishai Weiss, Stefano Di Cairano
We study the problem of computing robust controllable sets for discrete-time linear systems with additive uncertainty. We propose a tractable and scalable approach to inner- and ou…
Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning
Rien Quirynen, Sleiman Safaoui, Stefano Di Cairano
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate fra…
Robust Parameter Estimation for Hybrid Dynamical Systems
Ryan S. Johnson, Stefano Di Cairano, Ricardo G. Sanfelice
We consider the problem of estimating a vector of unknown constant parameters for a class of hybrid dynamical systems -- that is, systems whose state variables exhibit both continu…
Tailored Presolve Techniques in Branch-and-Bound Method for Fast Mixed-Integer Optimal Control Applications
Rien Quirynen, Stefano Di Cairano
Mixed-integer model predictive control (MI-MPC) can be a powerful tool for modeling hybrid control systems. In case of a linear-quadratic objective in combination with linear or pi…
A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control
Pedro Hespanhol, Rien Quirynen, Stefano Di Cairano
Mixed-integer model predictive control (MI-MPC) requires the solution of a mixed-integer quadratic program (MIQP) at each sampling instant under strict timing constraints, where pa…
MPC on manifolds with an application to the control of spacecraft attitude on SO(3)
Uroš Kalabić, Rohit Gupta, Stefano Di Cairano +2
We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamic…
ADMM for Convex Quadratic Programs: Q-Linear Convergence and Infeasibility Detection
Arvind U. Raghunathan, Stefano Di Cairano
In this paper, we analyze the convergence of Alternating Direction Method of Multipliers (ADMM) on convex quadratic programs (QPs) with linear equality and bound constraints. The A…