相关论文: N-MPC for Deep Neural Network-Based Collision Avoi…

This study presents a method for deep neural network nonlinear model predictive control (DNN-MPC) to reduce computational complexity, and we show its practical utility through its application in optimizing the energy management of hybrid…

In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robotics. In this technical report, safety refers to ensuring…

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…

This paper presents a model predictive control (MPC) for dynamic systems whose nonlinearity and uncertainty are modelled by deep neural networks (NNs), under input and state constraints. Since the NN output contains a high-order complex…

This paper presents a data-driven control framework for quadrotor systems that integrates a deep Koopman operator with model predictive control (DK-MPC). The deep Koopman operator is trained on sampled flight data to construct a…

We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

This paper proposes a nonplanar model predictive control (MPC) framework for autonomous vehicles operating on nonplanar terrain. To approximate complex vehicle dynamics in such environments, we develop a geometry-aware modeling approach…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input multi-output systems subject to input and state constraints. It is now a standard tool for trajectory tracking control of automated vehicles. As such…

Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…

Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…

One approach to designing decision making logic for an aircraft collision avoidance system frames the problem as a Markov decision process and optimizes the system using dynamic programming. The resulting collision avoidance strategy can be…

Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…

Data-enabled predictive control (DeePC) for linear systems utilizes data matrices of recorded trajectories to directly predict new system trajectories, which is very appealing for real-life applications. In this paper we leverage the…

A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…

We present a data-driven model predictive control (MPC) framework for systems with high state-space dimensionalities. This work is motivated by the need to exploit sensor data that appears in the form of images (e.g., 2D or 3D spatial…

To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…