3 papers
eess.SY2026
Interaction-Aware Predictive Environmental Control Barrier Function for Emergency Lane Change
Ying Shuai Quan, Paolo Falcone, Jonas Sjöberg
Safety-critical motion planning in mixed traffic remains challenging for autonomous vehicles, especially when it involves interactions between the ego vehicle (EV) and surrounding…
eess.SY2025
Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
Francesco Prignoli, Ying Shuai Quan, Mohammad Jeddi +2
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (…
math.OC2025
Blocked Cholesky factorization updates of the Riccati recursion using hyperbolic Householder transformations
Pieter Pas, Panagiotis Patrinos
Newton systems in quadratic programming (QP) methods are often solved using direct Cholesky or LDL factorizations. When the linear systems in successive iterations differ by a low-…