3 papers
cs.RO2026
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…
cs.RO2025
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…
eess.SY2024
Multi-Objective Learning Model Predictive Control
Siddharth H. Nair, Charlott Vallon, Francesco Borrelli
Multi-Objective Learning Model Predictive Control is a novel data-driven control scheme which improves a linear system's closed-loop performance with respect to several convex cont…