- Safaoui, S., Vinod, A.P., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning", IEEE Transactions on Robotics, DOI: 10.1109/TRO.2024.3387010, Vol. 40, pp. 2529-2542, July 2024.
BibTeX TR2024-048 PDF Video- @article{Safaoui2024jul,
- author = {Safaoui, Sleiman and Vinod, Abraham P. and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and Di Cairano, Stefano},
- title = {Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning},
- journal = {IEEE Transactions on Robotics},
- year = 2024,
- volume = 40,
- pages = {2529--2542},
- month = jul,
- doi = {10.1109/TRO.2024.3387010},
- url = {https://www.merl.com/publications/TR2024-048}
- }
- Lu, Z., Wang, Y., "A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators", Journal of Field Robotics, DOI: 10.1002/rob.22394, July 2024.
BibTeX TR2024-095 PDF- @article{Lu2024jul,
- author = {Lu, Zehui and Wang, Yebin}},
- title = {A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators},
- journal = {Journal of Field Robotics},
- year = 2024,
- month = jul,
- doi = {10.1002/rob.22394},
- url = {https://www.merl.com/publications/TR2024-095}
- }
- Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), July 2024.
BibTeX TR2024-050 PDF Video- @inproceedings{Huang2024jul,
- author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and Di Cairano, Stefano}},
- title = {Leveraging Computational Fluid Dynamics in UAV Motion Planning},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-050}
- }
- Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), July 2024.
BibTeX TR2024-092 PDF- @inproceedings{Kim2024jul,
- author = {Kim, Taewan and Vinod, Abraham P. and Di Cairano, Stefano}},
- title = {Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-092}
- }
- Wang, N., Di Cairano, S., Sanfelice, R., "A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints", American Control Conference (ACC), July 2024.
BibTeX TR2024-091 PDF- @inproceedings{Wang2024jul,
- author = {Wang, Nan and Di Cairano, Stefano and Sanfelice, Ricardo}},
- title = {A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-091}
- }
- Nikovski, D., Zhong, J., Yerazunis, W.S., "Memory-Based Global Iterative Linear Quadratic Control", International Conference on Control, Decision and Information Technologies (CoDIT), July 2024.
BibTeX TR2024-089 PDF- @inproceedings{Nikovski2024jul2,
- author = {{Nikovski, Daniel and Zhong, Junmin and Yerazunis, William S.}},
- title = {Memory-Based Global Iterative Linear Quadratic Control},
- booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-089}
- }
- Nikovski, D., Yerazunis, W.S., "Adaptive Velocity Estimators for Learning Control", International Conference on Control, Decision and Information Technologies (CoDIT), July 2024.
BibTeX TR2024-088 PDF- @inproceedings{Nikovski2024jul,
- author = {{Nikovski, Daniel and Yerazunis, William S.}},
- title = {Adaptive Velocity Estimators for Learning Control},
- booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-088}
- }
- Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance", IEEE Transactions on Automation Science and Engineering, June 2024.
BibTeX TR2024-087 PDF- @article{Raghunathan2024jun,
- author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego}},
- title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance},
- journal = {IEEE Transactions on Automation Science and Engineering},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-087}
- }
- Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
BibTeX TR2024-086 PDF- @incollection{DiCairano2024jun,
- author = {Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}},
- title = {Parametrized Maneuvers Governor for Decision Making in Automated Driving},
- booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-086}
- }
- Berntorp, K., Greiff, M., "Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", European Control Conference (ECC), June 2024.
BibTeX TR2024-082 PDF- @inproceedings{Berntorp2024jun,
- author = {Berntorp, Karl and Greiff, Marcus}},
- title = {Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-082}
- }
- Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), June 2024.
BibTeX TR2024-081 PDF- @inproceedings{Greiff2024jun,
- author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and Di Cairano, Stefano}},
- title = {A Robust Invariant Set Planner For Quadrotors},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-081}
- }
- Lu, Z., Wang, Y., Sakamoto, Y., Mou, S., "Distributed Co-Design of Motors and Motions for Robotic Manipulators", European Control Conference (ECC), June 2024.
BibTeX TR2024-083 PDF- @inproceedings{Lu2024jun,
- author = {Lu, Zehui and Wang, Yebin and Sakamoto, Yusuke and Mou, Shaoshuai}},
- title = {Distributed Co-Design of Motors and Motions for Robotic Manipulators},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-083}
- }
- Wang, Y., Berntorp, K., Menner, M., "Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data", European Control Conference (ECC), June 2024.
BibTeX TR2024-084 PDF- @inproceedings{Wang2024jun4,
- author = {Wang, Yanbing and Berntorp, Karl and Menner, Marcel}},
- title = {Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-084}
- }
- Hall, J.F., Raghunathan, A., "Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems", European Control Conference (ECC), June 2024.
BibTeX TR2024-080 PDF- @inproceedings{Hall2024jun,
- author = {Hall, Jonas F and Raghunathan, Arvind}},
- title = {Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-080}
- }
- Menner, M., Berntorp, K., "Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering", European Control Conference (ECC), June 2024.
BibTeX TR2024-085 PDF- @inproceedings{Menner2024jun,
- author = {Menner, Marcel and Berntorp, Karl}},
- title = {Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-085}
- }
- Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), June 2024.
BibTeX TR2024-078 PDF- @inproceedings{Nayak2024jun,
- author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and Di Cairano, Stefano and Vinod, Abraham P.}},
- title = {Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-078}
- }
- Vinod, A.P., Yamazaki, S., Chakrabarty, A., Yoshikawa, N., Di Cairano, S., "Aircraft Approach Management using Reachability and Dynamic Programming", American Control Conference (ACC), June 2024.
BibTeX TR2024-079 PDF- @inproceedings{Vinod2024jun,
- author = {{Vinod, Abraham P. and Yamazaki, Sachiyo and Chakrabarty, Ankush and Yoshikawa, Nobuyuki and Di Cairano, Stefano}},
- title = {Aircraft Approach Management using Reachability and Dynamic Programming},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-079}
- }
- Johnson, R.S., Di Cairano, S., Sanfelice, R., "Robust Parameter Estimation for Hybrid Dynamical Systems with Linear Parametric Uncertainty", Automatica, June 2024.
BibTeX TR2024-076 PDF- @article{Johnson2024jun,
- author = {Johnson, Ryan S. and Di Cairano, Stefano and Sanfelice, Ricardo}},
- title = {Robust Parameter Estimation for Hybrid Dynamical Systems with Linear Parametric Uncertainty},
- journal = {Automatica},
- year = 2024,
- month = jun,
- url = {https://www.merl.com/publications/TR2024-076}
- }
- Reiter, R., Quirynen, R., Diehl, M., Di Cairano, S., "Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, May 2024.
BibTeX TR2024-056 PDF- @article{Reiter2024may2,
- author = {Reiter, Rudolf and Quirynen, Rien and Diehl, Moritz and Di Cairano, Stefano}},
- title = {Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = may,
- url = {https://www.merl.com/publications/TR2024-056}
- }
- Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
BibTeX TR2024-055 PDF- @inproceedings{Sinhmar2024may,
- author = {Sinhmar, Himani and Greiff, Marcus and Di Cairano, Stefano and }},
- title = {Practical and Safe Navigation Function Based Motion Planning of UAVs},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- month = may,
- url = {https://www.merl.com/publications/TR2024-055}
- }
- Lin, C., Wang, Y., Vetterling, W., Jha, D.K., Quirynen, R., "Path Generation based on Electrostatic Equipotential Curves", IEEE Access, May 2024.
BibTeX TR2024-049 PDF- @article{Lin2024may,
- author = {Lin, Chungwei and Wang, Yebin and Vetterling, William and Jha, Devesh K. and Quirynen, Rien}},
- title = {Path Generation based on Electrostatic Equipotential Curves},
- journal = {IEEE Access},
- year = 2024,
- month = may,
- url = {https://www.merl.com/publications/TR2024-049}
- }
- Xu, W., Jones, C., Svetozarevic, B., Laughman, C.R., Chakrabarty, A., "Violation-Aware Contextual Bayesian Optimization for Controller Performance Optimization with Unmodeled Constraints", Journal of Process Control, DOI: 10.1016/j.jprocont.2024.103212, Vol. 138, April 2024.
BibTeX TR2024-046 PDF- @article{Xu2024apr,
- author = {Xu, Wenjie and Jones, Colin and Svetozarevic, Bratislav and Laughman, Christopher R. and Chakrabarty, Ankush},
- title = {Violation-Aware Contextual Bayesian Optimization for Controller Performance Optimization with Unmodeled Constraints},
- journal = {Journal of Process Control},
- year = 2024,
- volume = 138,
- month = apr,
- doi = {10.1016/j.jprocont.2024.103212},
- url = {https://www.merl.com/publications/TR2024-046}
- }
- Queeney, J., Ozcan, E.C., Paschalidis, I.C., Cassandras, C.G., "Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees", Transactions on Machine Learning Research (TMLR), April 2024.
BibTeX TR2024-037 PDF- @article{Queeney2024apr,
- author = {Queeney, James and Ozcan, Erhan Can and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
- title = {Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees},
- journal = {Transactions on Machine Learning Research (TMLR)},
- year = 2024,
- month = apr,
- issn = {2835-8856},
- url = {https://www.merl.com/publications/TR2024-037}
- }
- Jeon, W., Chakrabarty, A., Zemouche, A., Rajamani, R., "LMI-Based Neural Observer for State and Nonlinear Function Estimation", International Journal of Robust and Nonlinear Control, DOI: 10.1002/rnc.7327, April 2024.
BibTeX TR2024-036 PDF- @article{Jeon2024apr,
- author = {Jeon, Woongsun and Chakrabarty, Ankush and Zemouche, Ali and Rajamani, Rajesh},
- title = {LMI-Based Neural Observer for State and Nonlinear Function Estimation},
- journal = {International Journal of Robust and Nonlinear Control},
- year = 2024,
- month = apr,
- doi = {10.1002/rnc.7327},
- url = {https://www.merl.com/publications/TR2024-036}
- }
- Wang, Y., Hansen, E., Ahn, H., "Hierarchical planning for autonomous parking in dynamic environments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3367468, March 2024.
BibTeX TR2024-034 PDF- @article{Wang2024mar2,
- author = {Wang, Yebin and Hansen, Emma and Ahn, Heejin},
- title = {Hierarchical planning for autonomous parking in dynamic environments},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = mar,
- doi = {10.1109/TCST.2024.3367468},
- issn = {1558-0865},
- url = {https://www.merl.com/publications/TR2024-034}
- }