Related papers: Nonlinear Model Predictive Control Framework For C…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…

This work proposes a moving target defense (MTD) strategy to detect coordinated cyber-physical attacks (CCPAs) against power grids. A CCPA consists of a physical attack, such as disconnecting a transmission line, followed by a coordinated…

In this paper we propose game theoretic Medium Access Control (MAC) strategies for data dissemination scenarios. In particular, we use energy-based utility functions that inherently imply power-awareness, while we consider network coding…

Extended target tracking estimates the centroid and shape of the target in space and time. In various situations where extended target tracking is applicable, the presence of multiple targets can lead to interference, particularly when they…

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 novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…

For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…

In this article a stabilizing feedback control is computed for a semilinear parabolic partial differential equation utilizing a nonlinear model predictive (NMPC) method. In each level of the NMPC algorithm the finite time horizon open loop…

Real-time cybersecurity and privacy applications require reliable verification methods and system design tools to ensure their correctness. Many of these reactive real-time applications embedded in various infrastructures, such as airports,…

Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…

Game theory provides the gold standard for analyzing adversarial engagements, offering strong optimality guarantees. However, these guarantees often become brittle when assumptions such as perfect information are violated. Reinforcement…

This paper addresses the active target defense differential game where an Attacker missile pursues a Target aircraft. A Defender missile is fired by the Target's wingman in order to intercept the Attacker before it reaches the aircraft.…

This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…

With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…

Temporal action detection (TAD) aims to detect the semantic labels and boundaries of action instances in untrimmed videos. Current mainstream approaches are multi-step solutions, which fall short in efficiency and flexibility. In this…

We study a multi-body asset-guarding game in missile defense where teams of interceptor missiles collaborate to defend a non-manuevering asset against a group of threat missiles. We approach the problem in two steps. We first formulate an…

A multirate nonlinear model predictive control (NMPC) strategy is proposed for systems with dynamics and control inputs evolving on different timescales. The proposed multirate formulation of the system model and receding horizon optimal…