相关论文: RL-based Variable Horizon Model Predictive Control…

Nonlinear receding horizon model predictive control is a powerful approach to controlling nonlinear dynamical systems. However, typical approaches that use the Jacobian, adjoint, and forward-backward passes may lose fidelity and efficacy…

This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a…

In model-predictive control (MPC), achieving the best closed-loop performance under a given computational resource is the underlying design consideration. This paper analyzes the MPC design problem with control performance and required…

Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical constraints, but they struggle to produce feasible…

Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to…

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…

Decision making in advanced driver assistance systems involves in general the estimated trajectories of the surrounding objects. Multiple object tracking refers to the process of estimating in real time these trajectories, leveraging for…

Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…

In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach…

With the increasing adoption of plug-in electric vehicles (PEVs), it is critical to develop efficient charging coordination mechanisms that minimize the cost and impact of PEV integration to the power grid. In this paper, we consider the…

Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying…

Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance…

Adaptive Horizon Model Predictive Control (AHMPC) is a scheme for varying as needed the horizon length of Model Predictive Control (MPC). Its goal is to achieve stabilization with horizons as small as possible so that MPC can be used on…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…

In recent years, drones have found increased applications in a wide array of real-world tasks. Model predictive control (MPC) has emerged as a practical method for drone flight control, owing to its robustness against modeling…

Move blocking (MB) is a widely used strategy to reduce the degrees of freedom of the Optimal Control Problem (OCP) arising in receding horizon control. The size of the OCP is reduced by forcing the input variables to be constant over…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…

This paper proposes an offline control algorithm, called Recurrent Model Predictive Control (RMPC), to solve large-scale nonlinear finite-horizon optimal control problems. It can be regarded as an explicit solver of traditional Model…