4 papers · 1 filter
SHIELD: Scalable Optimal Control with Certification using Duality and Convexity
Hansung Kim, Siddharth H. Nair, Francesco Borrelli
We present SHIELD, a hierarchical algorithm that reduces both the decision-variable dimension and the constraint set in -regularized convex programs. From strong convexity…
Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictions
Hansung Kim, Siddharth H. Nair, Francesco Borrelli
We propose a hierarchical architecture designed for scalable real-time Model Predictive Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key…
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…
Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
Haoru Xue, Edward L. Zhu, John M. Dolan +1
This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in…