6 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…
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…
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…
Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent Systems under STL Specifications
Maico H. W. Engelaar, Zengjie Zhang, Eleftherios E. Vlahakis +3
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on…
Risk-Aware MPC for Stochastic Systems with Runtime Temporal Logics
Maico H. W. Engelaar, Zengjie Zhang, Mircea Lazar +1
This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically a…