2024
Risk-Averse Decision Making Under Uncertainty.
IEEE Trans. Autom. Control., January, 2024
2023
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms.
IEEE Trans. Autom. Control., July, 2023
On the Optimality and Convergence Properties of the Iterative Learning Model Predictive Controller.
IEEE Trans. Autom. Control., 2023
Model Predictive Control in Partially Observable Multi-Modal Discrete Environments.
IEEE Control. Syst. Lett., 2023
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces.
CoRR, 2023
Solving Recurrent MIPs with Semi-supervised Graph Neural Networks.
CoRR, 2023
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
2022
Robust Learning Model-Predictive Control for Linear Systems Performing Iterative Tasks.
IEEE Trans. Autom. Control., 2022
Unified Multirate Control: From Low-Level Actuation to High-Level Planning.
IEEE Trans. Autom. Control., 2022
Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models.
IEEE Robotics Autom. Lett., 2022
MLNav: Learning to Safely Navigate on Martian Terrains.
IEEE Robotics Autom. Lett., 2022
Interactive Multi-Modal Motion Planning With Branch Model Predictive Control.
IEEE Robotics Autom. Lett., 2022
Iterative Model Predictive Control for Piecewise Systems.
IEEE Control. Syst. Lett., 2022
Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions.
IEEE Control. Syst. Lett., 2022
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems.
IEEE Control. Syst. Lett., 2022
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing.
CoRR, 2022
Corrigendum to "Robust MPC for LPV Systems via a Novel Optimization-Based Constraint Tightening" [Automatica 143C (2022) 110459].
Autom., 2022
Robust MPC for LPV systems via a novel optimization-based constraint tightening.
Autom., 2022
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022
2021
Decentralized Task and Path Planning for Multi-Robot Systems.
IEEE Robotics Autom. Lett., 2021
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies.
IEEE Control. Syst. Lett., 2021
A Robust Scenario MPC Approach for Uncertain Multi-Modal Obstacles.
IEEE Control. Syst. Lett., 2021
CEM-GD: Cross-Entropy Method with Gradient Descent Planner for Model-Based Reinforcement Learning.
CoRR, 2021
Learning Performance Bounds for Safety-Critical Systems.
CoRR, 2021
Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach.
CoRR, 2021
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions.
Proceedings of the Algorithmic Foundations of Robotics XIV, 2021
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty.
Proceedings of the 2021 American Control Conference, 2021
Constrained Risk-Averse Markov Decision Processes.
Proceedings of the Thirty-Fifth AAAI Conference on Artificial Intelligence, 2021
2020
Learning How to Autonomously Race a Car: A Predictive Control Approach.
IEEE Trans. Control. Syst. Technol., 2020
Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks.
IEEE Robotics Autom. Lett., 2020
Unified Multi-Rate Control: from Low Level Actuation to High Level Planning.
CoRR, 2020
Reactive motion planning with probabilistic safety guarantees.
CoRR, 2020
On the Optimality and Convergence Properties of the Learning Model Predictive Controller.
CoRR, 2020
Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization.
CoRR, 2020
Robust MPC for LTI Systems with Parametric and Additive Uncertainty: A Novel Constraint Tightening Approach.
CoRR, 2020
Output-Lifted Learning Model Predictive Control for Flat Systems.
CoRR, 2020
Learning Model Predictive Control for Periodic Repetitive Tasks.
Proceedings of the 18th European Control Conference, 2020
Reactive motion planning with probabilisticsafety guarantees.
Proceedings of the 4th Conference on Robot Learning, 2020
Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020
Distributed Learning Model Predictive Control for Linear Systems.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020
Control of Unknown Nonlinear Systems with Linear Time-Varying MPC.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020
2019
Minimum Time Learning Model Predictive Control.
CoRR, 2019
Robust Learning Model Predictive Control for Linear Systems.
CoRR, 2019
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations.
CoRR, 2019
Sample-Based Learning Model Predictive Control for Linear Uncertain Systems.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019
Simple Policy Evaluation for Data-Rich Iterative Tasks.
Proceedings of the 2019 American Control Conference, 2019
2018
Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework.
IEEE Trans. Autom. Control., 2018
Data-Driven Predictive Control for Autonomous Systems.
Annu. Rev. Control. Robotics Auton. Syst., 2018
A Stochastic MPC Approach with Application to Iterative Learning.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018
Adaptive MPC for Iterative Tasks.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018
2017
Autonomous Vehicle Control: A Nonconvex Approach for Obstacle Avoidance.
IEEE Trans. Control. Syst. Technol., 2017
Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System.
CoRR, 2017
Robust learning model predictive control for iterative tasks: Learning from experience.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017
Repetitive learning model predictive control: An autonomous racing example.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017
Autonomous racing using learning Model Predictive Control.
Proceedings of the 2017 American Control Conference, 2017
A decentralized algorithm for control of autonomous agents coupled by feasibility constraints.
Proceedings of the 2017 American Control Conference, 2017
2016
Learning Model Predictive Control for Iterative Tasks.
CoRR, 2016