7 citations · 13 across the 15 of their papers we have counts for
7 papers · 1 filter
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…
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…
Predictive Control for Autonomous Driving with Uncertain, Multi-modal Predictions
Siddharth H. Nair, Hotae Lee, Eunhyek Joa +3
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predi…
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control
Rui Oliveira, Siddharth H. Nair, Bo Wahlberg
Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-mo…
Collision Avoidance for Dynamic Obstacles with Uncertain Predictions using Model Predictive Control
Siddharth H. Nair, Eric H. Tseng, Francesco Borrelli
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraint…
Predictive Control for Chasing a Ground Vehicle using a UAV
Jaeseung Byun, Karan P. Jain, Siddharth H. Nair +2
We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model…
Hilbert's Space-filling Curve for Regions with Holes
Siddharth H. Nair, Arpita Sinha, Leena Vachhani
The paper presents a systematic strategy for implementing Hilbert's space filling curve for use in online exploration tasks and addresses its application in scenarios wherein the s…