相关论文: MPC-based Deep Reinforcement Learning Method for S…
This paper introduces an open source simulator for packet routing in Low Earth Orbit Satellite Constellations (LSatCs) considering the dynamic system uncertainties. The simulator, implemented in Python, supports traditional Dijkstra's based…
An intelligent decision-making system enabled by Vehicle-to-Everything (V2X) communications is essential to achieve safe and efficient autonomous driving (AD), where two types of decisions have to be made at different timescales, i.e.,…
Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard computing power and nonlinear dynamics. Model Predictive Control…
This study compares Deep Reinforcement Learning (DRL) and Model Predictive Control (MPC) for Adaptive Cruise Control (ACC) design in car-following scenarios. A first-order system is used as the Control-Oriented Model (COM) to approximate…
In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…
Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…
In the coming years, the satellite broadband market will experience significant increases in the service demand, especially for the mobility sector, where demand is burstier. Many of the next generation of satellites will be equipped with…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and computationally efficient two-dimensional…
Sampling-based model-predictive control (MPC) is a promising tool for feedback control of robots with complex, non-smooth dynamics, and cost functions. However, the computationally demanding nature of sampling-based MPC algorithms has been…
Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…
Many of the challenges facing today's reinforcement learning (RL) algorithms, such as robustness, generalization, transfer, and computational efficiency are closely related to compression. Prior work has convincingly argued why minimizing…
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific information and partial awareness of the 3D environment. In…
Decision-making for engineering systems can be efficiently formulated as a Markov Decision Process (MDP) or a Partially Observable MDP (POMDP). Typical MDP and POMDP solution procedures utilize offline knowledge about the environment and…
The multi-source electromechanical coupling makes the energy management of fuel cell electric vehicles (FCEVs) relatively nonlinear and complex especially in the types of 4-wheel-drive (4WD) FCEVs. Accurate state observing for complicated…
Existing spacecraft rendezvous and docking control methods largely rely on predefined dynamic models and often exhibit limited robustness in realistic on-orbit environments. To address this issue, this paper proposes an Imitation…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
Advanced control strategies like Model Predictive Control (MPC) offer significant energy savings for HVAC systems but often require substantial engineering effort, limiting scalability. Reinforcement Learning (RL) promises greater…
As the number of spacecraft in orbit continues to increase, it is becoming more challenging for human operators to manage each mission. As a result, autonomous control methods are needed to reduce this burden on operators. One method of…