Publications

510 / 3,802 publications found.


  •  Wang, J.-W., Nikovski, D.N., "Learning Visual Servoing for Nonholonomic Mobile Robots with Uncalibrated Cameras", The 40th ACM/SIGAPP Symposium On Applied Computing, March 2025.
    BibTeX TR2025-042 PDF
    • @inproceedings{Wang2025mar2,
    • author = {Wang, Jen-Wei and Nikovski, Daniel N.},
    • title = {{Learning Visual Servoing for Nonholonomic Mobile Robots with Uncalibrated Cameras}},
    • booktitle = {The 40th ACM/SIGAPP Symposium On Applied Computing},
    • year = 2025,
    • month = mar,
    • url = {https://www.merl.com/publications/TR2025-042}
    • }
  •  Vinod, A.P., Weiss, A., Di Cairano, S., "Projection-free computation of robust controllable sets with constrained zonotopes", Automatica, DOI: 10.1016/​j.automatica.2025.112211, Vol. 175, pp. 112211, March 2025.
    BibTeX TR2025-023 PDF Video
    • @article{Vinod2025mar,
    • author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
    • title = {{Projection-free computation of robust controllable sets with constrained zonotopes}},
    • journal = {Automatica},
    • year = 2025,
    • volume = 175,
    • pages = 112211,
    • month = mar,
    • doi = {10.1016/j.automatica.2025.112211},
    • issn = {0005-1098},
    • url = {https://www.merl.com/publications/TR2025-023}
    • }
  •  Cai, X., Queeney, J., Xu, T., Datar, A., Pan, C., Miller, M., Flather, A., Osteen, P.R., Roy, N., Xiao, X., How, J.P., "PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/​LRA.2025.3527285, Vol. 10, No. 3, pp. 2359-2366, February 2025.
    BibTeX TR2025-022 PDF
    • @article{Cai2025feb,
    • author = {Cai, Xiaoyi and Queeney, James and Xu, Tong and Datar, Aniket and Pan, Chenhui and Miller, Max and Flather, Ashton and Osteen, Philip R. and Roy, Nicholas and Xiao, Xuesu and How, Jonathan P.},
    • title = {{PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain}},
    • journal = {IEEE Robotics and Automation Letters (RA-L)},
    • year = 2025,
    • volume = 10,
    • number = 3,
    • pages = {2359--2366},
    • month = feb,
    • doi = {10.1109/LRA.2025.3527285},
    • url = {https://www.merl.com/publications/TR2025-022}
    • }
  •  Queeney, J., Paschalidis, I.C., Cassandras, C.G., "Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse", IEEE Transactions on Automatic Control, DOI: 10.1109/​TAC.2024.3454011, Vol. 70, No. 2, pp. 1236-1243, February 2025.
    BibTeX TR2025-015 PDF
    • @article{Queeney2025feb,
    • author = {Queeney, James and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
    • title = {{Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse}},
    • journal = {IEEE Transactions on Automatic Control},
    • year = 2025,
    • volume = 70,
    • number = 2,
    • pages = {1236--1243},
    • month = feb,
    • doi = {10.1109/TAC.2024.3454011},
    • url = {https://www.merl.com/publications/TR2025-015}
    • }
  •  Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
    BibTeX TR2024-136 PDF
    • @article{Vinod2025jan,
    • author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
    • title = {{Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 32,
    • number = 6,
    • pages = {2492--2499},
    • month = jan,
    • doi = {10.1109/TCST.2024.3433229},
    • url = {https://www.merl.com/publications/TR2024-136}
    • }
  •  Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
    BibTeX TR2025-010 PDF
    • @article{Greiff2025jan,
    • author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 33,
    • number = 2,
    • pages = {449--462},
    • month = jan,
    • doi = {10.1109/TCST.2024.3492813},
    • issn = {1063-6536},
    • url = {https://www.merl.com/publications/TR2025-010}
    • }
  •  Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance", AIAA SciTech, DOI: 10.2514/​6.2025-1894, January 2025, pp. 1-13.
    BibTeX TR2025-008 PDF
    • @inproceedings{Elango2025jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance}},
    • booktitle = {AIAA SCITECH 2025 Forum},
    • year = 2025,
    • pages = {1--13},
    • month = jan,
    • publisher = {AIAA},
    • doi = {10.2514/6.2025-1894},
    • url = {https://www.merl.com/publications/TR2025-008}
    • }
  •  Lu, Z., Zhang, T., Wang, Y., "Torque Constraint Modeling and Reference Shaping for Servo Systems", IEEE Control Systems Letters (L-CSS), DOI: 10.1109/​LCSYS.2024.3509495, Vol. 8, pp. 2637-2642, December 2024.
    BibTeX TR2025-006 PDF
    • @article{Lu2024dec2,
    • author = {Lu, Zehui and Zhang, Tianpeng and Wang, Yebin},
    • title = {{Torque Constraint Modeling and Reference Shaping for Servo Systems}},
    • journal = {IEEE Control Systems Letters (L-CSS)},
    • year = 2024,
    • volume = 8,
    • pages = {2637--2642},
    • month = dec,
    • doi = {10.1109/LCSYS.2024.3509495},
    • url = {https://www.merl.com/publications/TR2025-006}
    • }
  •  Lu, Z., Tu, H., Fang, H., Wang, Y., Mou, S., "Integrated Optimal Control for Fast Charging and Active Thermal Management of Lithium-Ion Batteries in Extreme Ambient Temperatures", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3498812, Vol. 33, No. 2, pp. 714-728, December 2024.
    BibTeX TR2025-005 PDF
    • @article{Lu2024dec,
    • author = {Lu, Zehui and Tu, Hao and Fang, Huazhen and Wang, Yebin and Mou, Shaoshuai},
    • title = {{Integrated Optimal Control for Fast Charging and Active Thermal Management of Lithium-Ion Batteries in Extreme Ambient Temperatures}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2024,
    • volume = 33,
    • number = 2,
    • pages = {714--728},
    • month = dec,
    • doi = {10.1109/TCST.2024.3498812},
    • url = {https://www.merl.com/publications/TR2025-005}
    • }
  •  Zhong, J., Nikovski, D.N., Yerazunis, W.S., Ando, T., "Learning Time-Optimal Control of Gantry Cranes", International Conference on Machine Learning and Applications (ICMLA), December 2024.
    BibTeX TR2024-181 PDF
    • @inproceedings{Zhong2024dec,
    • author = {Zhong, Junmin and Nikovski, Daniel N. and Yerazunis, William S. and Ando, Taishi},
    • title = {{Learning Time-Optimal Control of Gantry Cranes}},
    • booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-181}
    • }
  •  Chakrabarty, A., Deshpande, V.M., Wichern, G., Berntorp, K., "Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886249, December 2024.
    BibTeX TR2024-180 PDF
    • @inproceedings{Chakrabarty2024dec,
    • author = {Chakrabarty, Ankush and Deshpande, Vedang M. and Wichern, Gordon and Berntorp, Karl},
    • title = {{Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886249},
    • url = {https://www.merl.com/publications/TR2024-180}
    • }
  •  Greiff, M., Di Cairano, S., Berntorp, K., "Bayesian Measurement Masks for GNSS Positioning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10885938, December 2024.
    BibTeX TR2024-172 PDF
    • @inproceedings{Greiff2024dec,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Bayesian Measurement Masks for GNSS Positioning}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10885938},
    • url = {https://www.merl.com/publications/TR2024-172}
    • }
  •  Vinod, A.P., Weiss, A., Di Cairano, S., "Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886451, December 2024, pp. 8125-8131.
    BibTeX TR2024-173 PDF
    • @inproceedings{Vinod2024dec,
    • author = {Vinod, Abraham P. and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {8125--8131},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886451},
    • url = {https://www.merl.com/publications/TR2024-173}
    • }
  •  Lishkova, Y., Vinod, A.P., Di Cairano, S., Weiss, A., "Divert-feasible lunar landing under navigational uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886637, December 2024, pp. 7497-7503.
    BibTeX TR2024-174 PDF
    • @inproceedings{Lishkova2024dec,
    • author = {Lishkova, Yana and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Divert-feasible lunar landing under navigational uncertainty}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {7497--7503},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886637},
    • url = {https://www.merl.com/publications/TR2024-174}
    • }
  •  Greiff, M., Berntorp, K., "Asynchronous Variational-Bayes Kalman Filtering", IEEE Conference on Decision and Control (CDC), December 2024.
    BibTeX TR2024-177 PDF
    • @inproceedings{Greiff2024dec2,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {{Asynchronous Variational-Bayes Kalman Filtering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-177}
    • }
  •  Yin, J., Tsiotras, P., Berntorp, K., "Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding", IEEE Conference on Decision and Control (CDC), December 2024.
    BibTeX TR2024-179 PDF
    • @inproceedings{Yin2024dec,
    • author = {Yin, Ji and Tsiotras, Panagiotis and Berntorp, Karl},
    • title = {{Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-179}
    • }
  •  Tang, W.-T., Chakrabarty, A., Paulson, J.A., "TR-BEACON: Shedding Light on Efficient Behavior Discovery in High-Dimensional Spaces with Bayesian Novelty Search over Trust Regions", Advances in Neural Information Processing Systems (NeurIPS), December 2024.
    BibTeX TR2024-167 PDF
    • @inproceedings{Tang2024dec,
    • author = {Tang, Wei-Ting and Chakrabarty, Ankush and Paulson, Joel A.},
    • title = {{TR-BEACON: Shedding Light on Efficient Behavior Discovery in High-Dimensional Spaces with Bayesian Novelty Search over Trust Regions}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-167}
    • }
  •  Nikovski, D.N., Zhong, J., Yerazunis, W.S., "Memory-Based Learning of Global Control Policies from Local Controllers", 21st International Conference on Informatics in Control, Automation and Robotics (ICINCO'24), November 2024.
    BibTeX TR2024-158 PDF
    • @inproceedings{Nikovski2024nov,
    • author = {Nikovski, Daniel N. and Zhong, Junmin and Yerazunis, William S.},
    • title = {{Memory-Based Learning of Global Control Policies from Local Controllers}},
    • booktitle = {21st International Conference on Informatics in Control, Automation and Robotics (ICINCO'24)},
    • year = 2024,
    • month = nov,
    • url = {https://www.merl.com/publications/TR2024-158}
    • }
  •  Shimane, Y., Ho, K., Weiss, A., "Autonomous Horizon-Based Optical Navigation on Near-Planar Cislunar Libration Point Orbits", 4th Space Imaging Workshop, October 2024, pp. SIW24-27.
    BibTeX TR2024-139 PDF
    • @inproceedings{Shimane2024oct,
    • author = {Shimane, Yuri and Ho, Koki and Weiss, Avishai},
    • title = {{Autonomous Horizon-Based Optical Navigation on Near-Planar Cislunar Libration Point Orbits}},
    • booktitle = {4th Space Imaging Workshop},
    • year = 2024,
    • pages = {SIW24--27},
    • month = oct,
    • url = {https://www.merl.com/publications/TR2024-139}
    • }
  •  Romero, O., Benosman, M., Pappas, G., "From Convexity to Strong Convexity and Beyond: Bridging The Gap In Convergence Rates", IEEE Conference on Decision and Control (CDC), September 2024.
    BibTeX TR2024-131 PDF
    • @inproceedings{Romero2024sep,
    • author = {Romero, Orlando and Benosman, Mouhacine and Pappas, George},
    • title = {{From Convexity to Strong Convexity and Beyond: Bridging The Gap In Convergence Rates}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2024-131}
    • }
  •  Quirynen, R., Safaoui, S., Di Cairano, S., "Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3449703, Vol. 33, No. 1, pp. 77-91, September 2024.
    BibTeX TR2024-123 PDF
    • @article{Quirynen2024sep,
    • author = {Quirynen, Rien and Safaoui, Sleiman and {Di Cairano}, Stefano},
    • title = {{Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2024,
    • volume = 33,
    • number = 1,
    • pages = {77--91},
    • month = sep,
    • doi = {10.1109/TCST.2024.3449703},
    • url = {https://www.merl.com/publications/TR2024-123}
    • }
  •  Roque, P., Miraldo, P., Dimarogonas, D., "Multi-Agent Formation Control using Epipolar Constraints", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2024.3444690, Vol. 9, No. 12, pp. 11002-11009, September 2024.
    BibTeX TR2024-147 PDF
    • @article{Roque2024sep,
    • author = {Roque, Pedro and Miraldo, Pedro and Dimarogonas, Dimos},
    • title = {{Multi-Agent Formation Control using Epipolar Constraints}},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2024,
    • volume = 9,
    • number = 12,
    • pages = {11002--11009},
    • month = sep,
    • doi = {10.1109/LRA.2024.3444690},
    • issn = {2377-3766},
    • url = {https://www.merl.com/publications/TR2024-147}
    • }
  •  Yan, J., Chakrabarty, A., Rupenyan, A., Lygeros, J., "MPC of Uncertain Nonlinear Systems with Meta-Learning for Fast Adaptation of Neural Predictive Models", International Conference on Automation Science and Engineering (CASE), DOI: 10.1109/​CASE59546.2024.10711717, August 2024.
    BibTeX TR2024-115 PDF
    • @inproceedings{Yan2024aug,
    • author = {Yan, Jiaqi and Chakrabarty, Ankush and Rupenyan, Alisa and Lygeros, John},
    • title = {{MPC of Uncertain Nonlinear Systems with Meta-Learning for Fast Adaptation of Neural Predictive Models}},
    • booktitle = {International Conference on Automation Science and Engineering (CASE)},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CASE59546.2024.10711717},
    • url = {https://www.merl.com/publications/TR2024-115}
    • }
  •  Chakrabarty, A., Vanfretti, L., Bortoff, S.A., Deshpande, V.M., Wang, Y., Paulson, J.A., Zhan, S., Laughman, C.R., "Assessing Building Control Performance Using Physics-Based Simulation Models and Deep Generative Networks", IEEE Conference on Control Technology and Applications (CCTA) 2024, DOI: 10.1109/​CCTA60707.2024.10666585, August 2024.
    BibTeX TR2024-113 PDF
    • @inproceedings{Chakrabarty2024aug,
    • author = {Chakrabarty, Ankush and Vanfretti, Luigi and Bortoff, Scott A. and Deshpande, Vedang M. and Wang, Ye and Paulson, Joel A. and Zhan, Sicheng and Laughman, Christopher R.},
    • title = {{Assessing Building Control Performance Using Physics-Based Simulation Models and Deep Generative Networks}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA) 2024},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CCTA60707.2024.10666585},
    • url = {https://www.merl.com/publications/TR2024-113}
    • }
  •  Park, S., Wang, Y., Qiao, H., Sakamoto, Y., Wang, B., Liu, D., "Control Co-Design for Electric Vehicles with Driving Cycle Synthesis Encoding Road Traffic and Driver Characteristics", IEEE Conference on Control Technology and Applications (CCTA) 2024, DOI: 10.1109/​CCTA60707.2024.10666575, August 2024.
    BibTeX TR2024-114 PDF
    • @inproceedings{Park2024aug,
    • author = {Park, Seho and Wang, Yebin and Qiao, Hongtao and Sakamoto, Yusuke and Wang, Bingnan and Liu, Dehong},
    • title = {{Control Co-Design for Electric Vehicles with Driving Cycle Synthesis Encoding Road Traffic and Driver Characteristics}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA) 2024},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CCTA60707.2024.10666575},
    • url = {https://www.merl.com/publications/TR2024-114}
    • }