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In this paper, we revisit the computation of controlled invariant sets for linear discrete-time systems through a trajectory-based viewpoint. We begin by introducing the notion of convex feasible points, which provides a new…
It remains a huge challenge to design effective and efficient trackers under complex scenarios, including occlusions, illumination changes and pose variations. To cope with this problem, a promising solution is to integrate the temporal…
This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type…
Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…
Multi-Target Multi-Camera (MTMC) vehicle tracking is an essential task of visual traffic monitoring, one of the main research fields of Intelligent Transportation Systems. Several offline approaches have been proposed to address this task;…
Model predictive control (MPC) for tracking is a recently introduced approach, which extends standard MPC formulations by incorporating an artificial reference as an additional optimization variable, in order to track external and…
Multi-camera tracking plays a pivotal role in various real-world applications. While end-to-end methods have gained significant interest in single-camera tracking, multi-camera tracking remains predominantly reliant on heuristic techniques.…
We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of…
Model Predictive Control (MPC) is among the most widely adopted and reliable methods for robot control, relying critically on an accurate dynamics model. However, existing dynamics models used in the gradient-based MPC are limited by…
This paper proposes a novel multi-objective control framework for linear time-invariant systems in which performance and robustness can be achieved in a complementary way instead of a trade-off. In particular, a state-space solution is…
An output feedback model predictive control (MPC) framework with adaptive tubes is proposed for linear time-invariant systems subject to parametric and additive uncertainties. An adaptive observer provides point estimates of the system…
We introduce a self-supervised representation learning method based on the task of temporal alignment between videos. The method trains a network using temporal cycle consistency (TCC), a differentiable cycle-consistency loss that can be…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…
Multi-Target Multi-Camera Tracking (MTMCT) has broad applications and forms the basis for numerous future city-wide systems (e.g. traffic management, crash detection, etc.). However, the challenge of matching vehicle trajectories across…
Multiple object tracking (MOT) is a task in computer vision that aims to detect the position of various objects in videos and to associate them to a unique identity. We propose an approach based on Constraint Programming (CP) whose goal is…
In response to the continuously changing feedstock supply and market demand for products with different specifications, the processes need to be operated at time-varying operating conditions and targets (e.g., setpoints) to improve the…
We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a…
This paper presents a time-optimal Model Predictive Control (MPC) scheme for linear discrete-time systems subject to multiplicative uncertainties represented by interval matrices. To render the uncertainty propagation computationally…