3 papers
eess.SY2026
Dynamically Feasible Planning and Control in Complex Environments: a Scalable Systematic Approach
Miguel Castroviejo-Fernandez, Ilya Kolmanovsky
In this article we present a method to generate safe sets for linear discrete-time systems subject to non-convex constraints that can be represented as a union of polytopes. It is…
eess.SY2026
Distributionally Robust Planning with Adaptive Control
Astghik Hakobyan, Amaras Nazarians, Aditya Gahlawat +2
Safe operation of autonomous systems requires robustness to both model uncertainty and uncertainty in the environment. We propose DRP-AC, a hierarchical framework fo…
eess.SY2026
Robust Adaptive MPC in the Presence of Nonlinear Time-Varying Uncertainties: An Uncertainty Compensation Approach
Ran Tao, Pan Zhao, Ilya Kolmanovsky +1
This paper introduces an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with nonlinear time-varying uncertainties. The f…