7 citations · 13 across the 15 of their papers we have counts for
4 papers · 1 filter
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…
Learning for Online Mixed-Integer Model Predictive Control with Parametric Optimality Certificates
Luigi Russo, Siddharth H. Nair, Luigi Glielmo +1
We propose a supervised learning framework for computing solutions of multi-parametric Mixed Integer Linear Programs (MILPs) that arise in Model Predictive Control. Our approach al…
Robust Output-Lifted Learning Model Predictive Control
Siddharth H. Nair, Francesco Borrelli
We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nom…
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…