12 citations · 22 across the 9 of their papers we have counts for
3 papers · 1 filter
Predictive Control for Autonomous Driving with Uncertain, Multi-modal Predictions
Siddharth H. Nair, Hotae Lee, Eunhyek Joa +3
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predi…
Energy-Efficient Lane Changes Planning and Control for Connected Autonomous Vehicles on Urban Roads
Eunhyek Joa, Hotae Lee, Eric Yongkeun Choi +1
This paper presents a novel energy-efficient motion planning algorithm for Connected Autonomous Vehicles (CAVs) on urban roads. The approach consists of two components: a decision-…
Output Feedback Stochastic MPC with Hard Input Constraints
Eunhyek Joa, Monimoy Bujarbaruah, Francesco Borrelli
We present an output feedback stochastic model predictive controller (SMPC) for constrained linear time-invariant systems. The system is perturbed by additive Gaussian disturbances…