3 papers
eess.SY2025
Regulation-Aware Game-Theoretic Motion Planning for Autonomous Racing
Francesco Prignoli, Francesco Borrelli, Paolo Falcone +1
This paper presents a regulation-aware motion planning framework for autonomous racing scenarios. Each agent solves a Regulation-Compliant Model Predictive Control problem, where r…
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-…