Showing cs.ROShow all
2 papers · 1 filter
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…