67 citations · 324 across the 46 of their papers we have counts for
9 papers · 1 filter
Distributed Motion Planning for Multi-Robot Systems under Topological Constraints
Gianpietro Battocletti, Dimitris Boskos, Dimos V. Dimarogonas +1
Efficient and distributed coordination of mobile robots is one of the main challenges in multi-robot systems. Topological constraints, often expressed as topological braids, are a…
Composite-Gradient Learning for Shared Control Authority Between Deep Reinforcement Learning and Model Predictive Control
Giray Önür, Azita Dabiri, Bart De Schutter
Integrated deep reinforcement learning (DRL) and model predictive control (MPC) methods are increasingly used to control autonomous systems by combining their complementary capabil…
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…
Integrated Online Monitoring and Adaptation of Process Model Predictive Controllers
Samuel Mallick, Laura Boca de de Giuli, Alessio La Bella +3
This paper addresses the design of an event-triggered, data-based, and performance-oriented adaption method for model predictive control (MPC). The performance of such a strategy s…