13 citations · 18 across the 10 of their papers we have counts for
6 papers · 1 filter
Learning Two-agent Motion Planning Strategies from Generalized Nash Equilibrium for Model Predictive Control
Hansung Kim, Edward L. Zhu, Chang Seok Lim +1
We introduce an Implicit Game-Theoretic MPC (IGT-MPC), a decentralized algorithm for two-agent motion planning that uses a learned value function that predicts the game-theoretic i…
Energy-efficient predictive control for connected, automated driving under localization uncertainty
Eunhyek Joa, Eric Yongkeun Choi, Francesco Borrelli
This paper presents a data-driven Model Predictive Control (MPC) for energy-efficient urban road driving for connected, automated vehicles. The proposed MPC aims to minimize total…
Parking of Connected Automated Vehicles: Vehicle Control, Parking Assignment, and Multi-agent Simulation
Xu Shen, Yongkeun Choi, Alex Wong +3
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equip…
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…
Eco-driving under localization uncertainty for connected vehicles on Urban roads: Data-driven approach and Experiment verification
Eunhyek Joa, Eric Yongkeun Choi, Francesco Borrelli
This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and…
Approximate solution of stochastic infinite horizon optimal control problems for constrained linear uncertain systems
Eunhyek Joa, Francesco Borrelli
We propose a Model Predictive Control (MPC) with a single-step prediction horizon to approximate the solution of infinite horizon optimal control problems with the expected sum of…