相关论文: MPC-based Imitation Learning for Safe and Human-li…

As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system. Risk-aware behavior needs to naturally develop in order to…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to…

With the evolution of various advanced driver assistance system (ADAS) platforms, the design of autonomous driving system is becoming more complex and safety-critical. The autonomous driving system simultaneously activates multiple ADAS…

With a growing interest in data-driven control techniques, Model Predictive Control (MPC) provides an opportunity to exploit the surplus of data reliably, particularly while taking safety and stability into account. In many real-world and…

In this work, we propose a Model Predictive Control (MPC)-based Reinforcement Learning (RL) method for Autonomous Surface Vehicles (ASVs). The objective is to find an optimal policy that minimizes the closed-loop performance of a simplified…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…

Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

Automated vehicles are gradually entering people's daily life to provide a comfortable driving experience for the users. The generic and user-agnostic automated vehicles have limited ability to accommodate the different driving styles of…

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically…

Simulation is an appealing option for validating the safety of autonomous vehicles. Generative Adversarial Imitation Learning (GAIL) has recently been shown to learn representative human driver models. These human driver models were learned…

To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…

Autonomous driving systems need to handle complex scenarios such as lane following, avoiding collisions, taking turns, and responding to traffic signals. In recent years, approaches based on end-to-end behavioral cloning have demonstrated…

Sampling-based model predictive control (MPC) has found significant success in optimal control problems with non-smooth system dynamics and cost function. Many machine learning-based works proposed to improve MPC by a) learning or…

This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…

This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…

We propose a general model-free strategy for feedback control design of turbulent flows. This strategy called 'machine learning control' (MLC) is capable of exploiting nonlinear mechanisms in a systematic unsupervised manner. It relies on…