- Mamakoukas, G., Di Cairano, S., Vinod, A.P., "Robust Model Predictive Control with Data-Driven Koopman Operators", American Control Conference (ACC), June 2022, pp. 3885-3892.
BibTeX TR2022-054 PDF Video- @inproceedings{Mamakoukas2022jun,
- author = {Mamakoukas, Giorgos and Di Cairano, Stefano and Vinod, Abraham P.},
- title = {Robust Model Predictive Control with Data-Driven Koopman Operators},
- booktitle = {American Control Conference (ACC)},
- year = 2022,
- pages = {3885--3892},
- month = jun,
- url = {https://www.merl.com/publications/TR2022-054}
- }
- Leu, J., Wang, Y., Tomizuka, M., Di Cairano, S., "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9812309, May 2022, pp. 10890-10897.
BibTeX TR2022-056 PDF- @inproceedings{Leu2022may,
- author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano},
- title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {10890--10897},
- month = may,
- doi = {10.1109/ICRA46639.2022.9812309},
- url = {https://www.merl.com/publications/TR2022-056}
- }
- Vinod, A.P., Safaoui, S., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning via filtered reinforcement learning", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9812259, May 2022, pp. 7270-7276.
BibTeX TR2022-053 PDF Video- @inproceedings{Vinod2022may,
- author = {Vinod, Abraham P. and Safaoui, Sleiman and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and Di Cairano, Stefano},
- title = {Safe multi-agent motion planning via filtered reinforcement learning},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {7270--7276},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA46639.2022.9812259},
- isbn = {978-1-7281-9681-7},
- url = {https://www.merl.com/publications/TR2022-053}
- }
- Cauligi, A., Chakrabarty, A., Di Cairano, S., Quirynen, R., "PRISM: Recurrent Neural Networks and Presolve Methods for Fast Mixed-integer Optimal Control", Learning for Dynamics and Control Conference (L4DC), April 2022, pp. 34-46.
BibTeX TR2022-039 PDF- @inproceedings{Cauligi2022apr,
- author = {Cauligi, Abhishek and Chakrabarty, Ankush and Di Cairano, Stefano and Quirynen, Rien},
- title = {PRISM: Recurrent Neural Networks and Presolve Methods for Fast Mixed-integer Optimal Control},
- booktitle = {Learning for Dynamics and Control Conference (L4DC)},
- year = 2022,
- pages = {34--46},
- month = apr,
- publisher = {Proceedings of Machine Learning Research (PMLR)},
- url = {https://www.merl.com/publications/TR2022-039}
- }
- Bortoff, S.A., Schwerdtner, P., Danielson, C., Di Cairano, S., Burns, D.J., "H-Infinity Loop-Shaped Model Predictive Control with HVAC Application", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2022.3141937, Vol. 30, No. 5, pp. 2188-2203, March 2022.
BibTeX TR2022-028 PDF- @article{Bortoff2022mar,
- author = {Bortoff, Scott A. and Schwerdtner, Paul and Danielson, Claus and Di Cairano, Stefano and Burns, Daniel J.},
- title = {H-Infinity Loop-Shaped Model Predictive Control with HVAC Application},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2022,
- volume = 30,
- number = 5,
- pages = {2188--2203},
- month = mar,
- doi = {10.1109/TCST.2022.3141937},
- issn = {1063-6536},
- url = {https://www.merl.com/publications/TR2022-028}
- }
- Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683770, December 2021, pp. 635-640.
BibTeX TR2021-151 PDF- @inproceedings{Berntorp2021dec,
- author = {Berntorp, Karl and Chakrabarty, Ankush and Di Cairano, Stefano},
- title = {Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {635--640},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683770},
- url = {https://www.merl.com/publications/TR2021-151}
- }
- Quirynen, R., Di Cairano, S., "Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683714, December 2021, pp. 993-999.
BibTeX TR2021-147 PDF- @inproceedings{Quirynen2021dec,
- author = {Quirynen, Rien and Di Cairano, Stefano},
- title = {Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {993--999},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683714},
- url = {https://www.merl.com/publications/TR2021-147}
- }
- Vinod, A.P., Weiss, A., Di Cairano, S., "Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683322, December 2021, pp. 6620-6625.
BibTeX TR2021-148 PDF- @inproceedings{Vinod2021dec,
- author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
- title = {Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {6620--6625},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683322},
- url = {https://www.merl.com/publications/TR2021-148}
- }
- Bonzanini, A.D., Mesbah, A., Di Cairano, S., "On the Stability Properties of Perception-aware Chance-constrained MPC in Uncertain Environments", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682990, December 2021.
BibTeX TR2021-145 PDF- @inproceedings{Bonzanini2021dec,
- author = {Bonzanini, Angelo Domenico and Mesbah, Ali and Di Cairano, Stefano},
- title = {On the Stability Properties of Perception-aware Chance-constrained MPC in Uncertain Environments},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- month = dec,
- doi = {10.1109/CDC45484.2021.9682990},
- url = {https://www.merl.com/publications/TR2021-145}
- }
- Johnson, R.S., Di Cairano, S., Sanfelice, R., "Parameter Estimation using Hybrid Gradient Descent", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682794, December 2021.
BibTeX TR2021-146 PDF- @inproceedings{Johnson2021dec,
- author = {Johnson, Ryan S. and Di Cairano, Stefano and Sanfelice, Ricardo},
- title = {Parameter Estimation using Hybrid Gradient Descent},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- month = dec,
- doi = {10.1109/CDC45484.2021.9682794},
- url = {https://www.merl.com/publications/TR2021-146}
- }
- Chen, D., Danielson, C., Di Cairano, S., "A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/j.ifacol.2021.11.245, October 2021, pp. 650-656.
BibTeX TR2021-133 PDF- @inproceedings{Chen2021oct,
- author = {Chen, Di and Danielson, Claus and Di Cairano, Stefano},
- title = {A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles},
- booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
- year = 2021,
- pages = {650--656},
- month = oct,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2021.11.245},
- url = {https://www.merl.com/publications/TR2021-133}
- }
- Srinivasan, M., Chakrabarty, A., Quirynen, R., yoshikawa, N., Mariyama, T., Di Cairano, S., "Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/j.ifacol.2021.11.237, October 2021, pp. 598-604.
BibTeX TR2021-134 PDF Video- @inproceedings{Srinivasan2021oct,
- author = {Srinivasan, Mohit and Chakrabarty, Ankush and Quirynen, Rien and yoshikawa, nobuyuki and Mariyama, Toshisada and Di Cairano, Stefano},
- title = {Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs},
- booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
- year = 2021,
- pages = {598--604},
- month = oct,
- doi = {10.1016/j.ifacol.2021.11.237},
- url = {https://www.merl.com/publications/TR2021-134}
- }
- Menner, M., Di Cairano, S., "Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles", IEEE Vehicle Power and Propulsion Conference, DOI: 10.1109/VPPC53923.2021.9699361, October 2021, pp. 1-6.
BibTeX TR2021-132 PDF- @inproceedings{Menner2021oct,
- author = {Menner, Marcel and Di Cairano, Stefano},
- title = {Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles},
- booktitle = {IEEE Vehicle Power and Propulsion Conference},
- year = 2021,
- pages = {1--6},
- month = oct,
- doi = {10.1109/VPPC53923.2021.9699361},
- url = {https://www.merl.com/publications/TR2021-132}
- }
- Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/SMC52423.2021.9659186, October 2021, pp. 3238-3244.
BibTeX TR2021-126 PDF Video- @inproceedings{Chakrabarty2021oct,
- author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and Di Cairano, Stefano},
- title = {Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC},
- booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
- year = 2021,
- pages = {3238--3244},
- month = oct,
- doi = {10.1109/SMC52423.2021.9659186},
- url = {https://www.merl.com/publications/TR2021-126}
- }
- Ravikumar, S., Quirynen, R., Bhagat, A., Zeino, E., Di Cairano, S., "Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9658675, August 2021, pp. 814-819.
BibTeX TR2021-089 PDF- @inproceedings{Ravikumar2021aug,
- author = {Ravikumar, Shreejith and Quirynen, Rien and Bhagat, Akshay and Zeino, Eyad and Di Cairano, Stefano},
- title = {Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- pages = {814--819},
- month = aug,
- doi = {10.1109/CCTA48906.2021.9658675},
- url = {https://www.merl.com/publications/TR2021-089}
- }
- Greiff, M., Berntorp, K., Di Cairano, S., Kim, K.J., "Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9659142, August 2021.
BibTeX TR2021-090 PDF- @inproceedings{Greiff2021aug,
- author = {Greiff, Marcus and Berntorp, Karl and Di Cairano, Stefano and Kim, Kyeong Jin},
- title = {Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- month = aug,
- doi = {10.1109/CCTA48906.2021.9659142},
- url = {https://www.merl.com/publications/TR2021-090}
- }
- Menner, M., Berntorp, K., Di Cairano, S., "A Kalman Filter for Online Calibration of Optimal Controllers", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9658684, August 2021, pp. 441-446.
BibTeX TR2021-091 PDF- @inproceedings{Menner2021aug,
- author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
- title = {A Kalman Filter for Online Calibration of Optimal Controllers},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- pages = {441--446},
- month = aug,
- doi = {10.1109/CCTA48906.2021.9658684},
- url = {https://www.merl.com/publications/TR2021-091}
- }
- Zeng, T., Guo, J., Kim, K.J., Parsons, K., Orlik, P.V., Di Cairano, S., Saad, W., "Multi-Task Federated Learning for Traffic Prediction and Its Application to Route Planning", IEEE Intelligent Vehicles Symposium, July 2021.
BibTeX TR2021-083 PDF Video- @inproceedings{Zeng2021jul,
- author = {Zeng, Tengchan and Guo, Jianlin and Kim, Kyeong Jin and Parsons, Kieran and Orlik, Philip V. and Di Cairano, Stefano and Saad, Walid},
- title = {Multi-Task Federated Learning for Traffic Prediction and Its Application to Route Planning},
- booktitle = {IEEE Intelligent Vehicles Symposium},
- year = 2021,
- month = jul,
- url = {https://www.merl.com/publications/TR2021-083}
- }
- Aguilar Marsillach, D., Di Cairano, S., Kalabic, U., Weiss, A., "Fail-Safe Spacecraft Rendezvous on Near-Rectilinear Halo Orbits", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483328, May 2021, pp. 2980-2985.
BibTeX TR2021-054 PDF- @inproceedings{AguilarMarsillach2021may,
- author = {Aguilar Marsillach, Daniel and Di Cairano, Stefano and Kalabic, Uros and Weiss, Avishai},
- title = {Fail-Safe Spacecraft Rendezvous on Near-Rectilinear Halo Orbits},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {2980--2985},
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC50511.2021.9483328},
- issn = {2378-5861},
- isbn = {978-1-6654-4197-1},
- url = {https://www.merl.com/publications/TR2021-054}
- }
- Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483251, May 2021, pp. 160-165.
BibTeX TR2021-058 PDF- @inproceedings{Berntorp2021may,
- author = {Berntorp, Karl and Chakrabarty, Ankush and Di Cairano, Stefano},
- title = {Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {160--165},
- month = may,
- doi = {10.23919/ACC50511.2021.9483251},
- url = {https://www.merl.com/publications/TR2021-058}
- }
- Bonzanini, A.D., Mesbah, A., Di Cairano, S., "Perception-Aware Chance-Constrained Model Predictive Control for Uncertain Environments", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483203, May 2021.
BibTeX TR2021-055 PDF- @inproceedings{Bonzanini2021may,
- author = {Bonzanini, Angelo Domenico and Mesbah, Ali and Di Cairano, Stefano},
- title = {Perception-Aware Chance-Constrained Model Predictive Control for Uncertain Environments},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC50511.2021.9483203},
- url = {https://www.merl.com/publications/TR2021-055}
- }
- Chen, D., Danielson, C., Masahiro, I., "Improving Passenger Comfort by Exploiting Hub Motors in Electric Vehicles: Suspension Modeling", ASME Dynamic Systems and Control Conference (DSCC), DOI: 10.1115/DSCC2020-3167, January 2021.
BibTeX TR2021-019 PDF- @inproceedings{Chen2021jan,
- author = {Chen, Di and Danielson, Claus and Masahiro, Iezawa},
- title = {Improving Passenger Comfort by Exploiting Hub Motors in Electric Vehicles: Suspension Modeling},
- booktitle = {ASME Dynamic Systems and Control Conference (DSCC)},
- year = 2021,
- month = jan,
- doi = {10.1115/DSCC2020-3167},
- url = {https://www.merl.com/publications/TR2021-019}
- }
- Hayashi, N., Weiss, A., Di Cairano, S., "Model Predictive Control Approach for Autonomous Sun-Synchronous Sub-Recurrent Orbit Control", AIAA SciTech, DOI: 10.2514/6.2021-1953, January 2021.
BibTeX TR2021-005 PDF- @inproceedings{Hayashi2021jan,
- author = {Hayashi, Naohiro and Weiss, Avishai and Di Cairano, Stefano},
- title = {Model Predictive Control Approach for Autonomous Sun-Synchronous Sub-Recurrent Orbit Control},
- booktitle = {AIAA SciTech},
- year = 2021,
- month = jan,
- publisher = {AIAA},
- doi = {10.2514/6.2021-1953},
- url = {https://www.merl.com/publications/TR2021-005}
- }
- Aguilar Marsillach, D., Di Cairano, S., Weiss, A., "Abort-Safe Spacecraft Rendezvous in case of Partial Thrust Failure", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC42340.2020.9303782, December 2020, pp. 1490-1495.
BibTeX TR2020-175 PDF- @inproceedings{AguilarMarsillach2020dec,
- author = {Aguilar Marsillach, Daniel and Di Cairano, Stefano and Weiss, Avishai},
- title = {Abort-Safe Spacecraft Rendezvous in case of Partial Thrust Failure},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2020,
- pages = {1490--1495},
- month = dec,
- publisher = {IEEE},
- doi = {10.1109/CDC42340.2020.9303782},
- url = {https://www.merl.com/publications/TR2020-175}
- }
- Ahn, H., Berntorp, K., Di Cairano, S., "Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC42340.2020.9304101, December 2020.
BibTeX TR2020-168 PDF- @inproceedings{Ahn2020dec2,
- author = {Ahn, Heejin and Berntorp, Karl and Di Cairano, Stefano},
- title = {Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2020,
- month = dec,
- doi = {10.1109/CDC42340.2020.9304101},
- url = {https://www.merl.com/publications/TR2020-168}
- }