Related papers: Exploring Attack Resilience in Distributed Platoon…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive Control (MPC) provides a principled…
Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
We propose Diffusion Model Predictive Control (D-MPC), a novel MPC approach that learns a multi-step action proposal and a multi-step dynamics model, both using diffusion models, and combines them for use in online MPC. On the popular D4RL…
This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…
Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods…
This paper presents a modified model predictive control (MPC) framework for real-time power system operation. The framework incorporates a diffusion model tailored for time series generation to enhance the accuracy of the load forecasting…
Owing to the rapid growth number of vehicles, urban traffic congestion has become more and more severe in the last decades. As an effective approach, Model Predictive Control (MPC) has been applied to urban traffic signal control system.…
Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…
To enhance the robustness of cooperative driving to cyberattacks, we study a controller-oriented approach to mitigate the effect of a class of False-Data Injection (FDI) attacks. By reformulating a given dynamic Cooperative Adaptive Cruise…
This paper proposes a fuel-economical distributed model predictive control design (Eco-DMPC) for a homogenous heavy-duty truck platoon. The proposed control strategy integrates a fuel-optimal control strategy for the leader truck with a…
Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning (RL) methods often yield a fixed policy that can be…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…
The combination of learning methods with Model Predictive Control (MPC) has attracted a significant amount of attention in the recent literature. The hope of this combination is to reduce the reliance of MPC schemes on accurate models, and…
While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this problem by introducing a model predictive safety certification…