Related papers: Variance-Reduced Model Predictive Path Integral vi…
In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…
Sampling-based methods have become a cornerstone of contemporary approaches to Model Predictive Control (MPC), as they make no restrictions on the differentiability of the dynamics or cost function and are straightforward to parallelize.…
To infer a function value on a specific point $x$, it is essential to assign higher weights to the points closer to $x$, which is called local polynomial / multivariable regression. In many practical cases, a limited sample size may ruin…
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…
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…
This paper proposes an iterative distributionally robust model predictive control (MPC) scheme to solve a risk-constrained infinite-horizon optimal control problem. In each iteration, the algorithm generates a trajectory from the starting…
Approximating field variables and data vectors from sparse samples is a key challenge in computational science. Widely used methods such as gappy proper orthogonal decomposition and empirical interpolation rely on linear approximation…
The Metropolis-Hastings algorithm allows one to sample asymptotically from any probability distribution $\pi$. There has been recently much work devoted to the development of variants of the MH update which can handle scenarios where such…
Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate sub-optimal paths. Another direction is a coupled approach…
Metasurface inverse design is challenged by the intricate relationship between structural parameters and electromagnetic responses, as well as the high dimensionality of the optimization space. Local models, while commonly employed, quickly…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomous driving is the complexity of vehicle dynamics, which…
In a wide range of applications, we are required to rapidly solve a sequence of convex multiparametric quadratic programs (mp-QPs) on resource-limited hardwares. This is a nontrivial task and has been an active topic for decades in control…
The main challenge in controlling hybrid systems arises from having to consider an exponential number of sequences of future modes to make good long-term decisions. Model predictive control (MPC) computes a control action through a…
The multinomial probit (MNP) model is widely used to analyze categorical outcomes due to its ability to capture flexible substitution patterns among alternatives. Conventional likelihood based and Markov chain Monte Carlo (MCMC) estimators…
In many wireless application scenarios, acquiring labeled data can be prohibitively costly, requiring complex optimization processes or measurement campaigns. Semi-supervised learning leverages unlabeled samples to augment the available…
We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within…
Multi-fidelity (MF) methods are gaining popularity for enhancing surrogate modeling and design optimization by incorporating data from various low-fidelity (LF) models. While most existing MF methods assume a fixed dataset, adaptive…
Sampling methods (e.g., node-wise, layer-wise, or subgraph) has become an indispensable strategy to speed up training large-scale Graph Neural Networks (GNNs). However, existing sampling methods are mostly based on the graph structural…
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…