7 citations · 13 across the 15 of their papers we have counts for
3 papers · 1 filter
Control of Uncertain PWA Systems using Difference-of-Convex Decompositions
Siddharth H. Nair, Yvonne R. Stürz
In this report, we analyze and design feedback policies for discrete-time Piecewise-Affine (PWA) systems with uncertainty in both the affine dynamics and the polytopic partition. T…
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…
Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle mot…