17 papers
Asynchronous Model Predictive Control Under Model Mismatch: Stability and Performance Guarantees
Changrui Liu, Anil Alan, Shengling Shi +1
Certainty-equivalence model predictive control (CE-MPC) is widely used for its simplicity and efficiency, but theoretical guarantees under asynchronous feedback remain limited. Thi…
Sharing the Control Authority Between Deep Reinforcement Learning and Model Predictive Control: Application to Multi-Class Transportation Networks
Giray Onur, Azita Dabiri, Bart De Schutter
Transportation networks, in particular multi-class transportation networks (i.e., networks with mixed vehicle types), are complex systems that are challenging to control. Recently,…
On the Value Function of Infinite-Horizon Optimal Control of Piecewise Affine Systems
Francesco Cordiano, Kanghui He, Bart De Schutter
In this paper, we study the structure of the value function in constrained infinite-time optimal control (CITOC) problems of piecewise affine (PWA) systems, with or $\ell_…
Entanglement-Free Trajectory Planning for Tethered Mobile Robots with a Slack Tether
Gianpietro Battocletti, Dimitris Boskos, Bart De Schutter
In motion planning algorithms for tethered mobile robots, the entanglement state of the tether is a critical aspect to consider during the planning phase. This is particularly impo…
Learning-Based Stochastic Optimal Control with Infinite-Horizon Probabilistic Constraints
Francesco Cordiano, Kanghui He, Bart De Schutter
In this paper, we consider stochastic optimal control problems with infinite-horizon joint chance constraints. By means of an appropriate state augmentation, we reformulate the ori…
Current Practices in Electricy Demand and Charging Scheduling for On-Road Electric Fleet Operations: An Industry-Wide Review
Joost Commandeur, Bart De Schutter, Neil Yorke-Smith
The electrification of on-road fleet logistics promises improved air quality, lower noise emissions, major climate benefits, increased energy flexibility through the use of locally…