Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Data-driven MPC with terminal conditions in the Koopman framework
We investigate nonlinear model predictive control (MPC) with terminal conditions in the Koopman framework using extended dynamic mode decomposition (EDMD) to generate a data-based surrogate model for prediction and optim…
Model Predictive ControlNeural Horizon Model Predictive Control -- Increasing Computational Efficiency with Neural Networks
The expansion in automation of increasingly fast applications and low-power edge devices poses a particular challenge for optimization based control algorithms, like model predictive control. Our proposed machine-learnin…
Computational EfficiencyModel Predictive ControlRUMI: Rummaging Using Mutual Information
This paper presents Rummaging Using Mutual Information (RUMI), a method for online generation of robot action sequences to gather information about the pose of a known movable object in visually-occluded environments. Fo…
Model Predictive ControlObjectPose EstimationA Conflicts-free, Speed-lossless KAN-based Reinforcement Learning Decision System for Interactive Driving in Roundabouts
Safety and efficiency are crucial for autonomous driving in roundabouts, especially in the context of mixed traffic where autonomous vehicles (AVs) and human-driven vehicles coexist. This paper introduces a learning-base…
Autonomous DrivingAutonomous VehiclesModel Predictive ControlQ-LearningA semi-centralized multi-agent RL framework for efficient irrigation scheduling
This paper proposes a Semi-Centralized Multi-Agent Reinforcement Learning (SCMARL) approach for irrigation scheduling in spatially variable agricultural fields, where management zones address spatial variability. The SCM…
ManagementModel Predictive ControlMulti-agent Reinforcement LearningSchedulingReal-world validation of safe reinforcement learning, model predictive control and decision tree-based home energy management systems
Recent advancements in machine learning based energy management approaches, specifically reinforcement learning with a safety layer (OptLayerPolicy) and a metaheuristic algorithm generating a decision tree control policy…
energy managementManagementModel Predictive Controlreinforcement-learning+2Model-Based Control of Water Treatment with Pumped Water Storage
Water treatment facilities are critical infrastructure they must accommodate dynamic demand patterns without system disruption. These patterns can be scheduled, such as daily residential irrigation, or unexpected, such a…
ManagementModel Predictive ControlSchedulingRemote Tube-based MPC for Tracking Over Lossy Networks
This paper addresses the problem of controlling constrained systems subject to disturbances in the case where controller and system are connected over a lossy network. To do so, we propose a novel framework that splits t…
Model Predictive ControlRobust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information…
Collision AvoidanceComputational EfficiencyModel Predictive ControlNavigating the Human Maze: Real-Time Robot Pathfinding with Generative Imitation Learning
This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to genera…
Imitation LearningModel Predictive ControlDesigning model predictive control strategies for grid-interactive water heaters for load shifting applications
Model predictive control (MPC) strategies allow residential water heaters to shift load in response to dynamic price signals. Crucially, the performance of such strategies is sensitive to various algorithm design choices…
energy managementManagementModel Predictive ControlMachine learning-based input-augmented Koopman modeling and predictive control of nonlinear processes
Koopman-based modeling and model predictive control have been a promising alternative for optimal control of nonlinear processes. Good Koopman modeling performance significantly depends on an appropriate nonlinear mappin…
Chemical ProcessModel Predictive ControlProSpec RL: Plan Ahead, then Execute
Imagining potential outcomes of actions before execution helps agents make more informed decisions, a prospective thinking ability fundamental to human cognition. However, mainstream model-free Reinforcement Learning (RL…
Model Predictive ControlReinforcement Learning (RL)Analysis of Functional Insufficiencies and Triggering Conditions to Improve the SOTIF of an MPC-based Trajectory Planner
Automated and autonomous driving has made a significant technological leap over the past decade. In this process, the complexity of algorithms used for vehicle control has grown significantly. Model Predictive Control (M…
Autonomous DrivingModel Predictive ControlMotion PlanningQT-TDM: Planning With Transformer Dynamics Model and Autoregressive Q-Learning
Inspired by the success of the Transformer architecture in natural language processing and computer vision, we investigate the use of Transformers in Reinforcement Learning (RL), specifically in modeling the environment'…
continuous-controlContinuous ControlModel Predictive ControlQ-Learning+1Atmospheric Density-Compensating Model Predictive Control for Targeted Reentry of Drag-Modulated Spacecraft
This paper presents an estimation and control framework that enables the targeted reentry of a drag-modulated spacecraft in the presence of atmospheric density uncertainty. In particular, an extended Kalman filter (EKF) …
Model Predictive ControlEnergy Efficient Aerial RIS: Phase Shift Optimization and Trajectory Design
Reconfigurable Intelligent Surface (RIS) technology has gained significant attention due to its ability to enhance the performance of wireless communication systems. The main advantage of RIS is that it can be strategica…
Model Predictive ControlTowards Indirect Data-Driven Predictive Control for Heating Phase of Thermoforming Process
Shaping thermoplastic sheets into three-dimensional products is challenging since overheating results in failed manufactured parts and wasted material. To this end, we propose an indirect data-driven predictive control a…
Model Predictive ControlA Simulation Benchmark for Autonomous Racing with Large-Scale Human Data
Despite the availability of international prize-money competitions, scaled vehicles, and simulation environments, research on autonomous racing and the control of sports cars operating close to the limit of handling has …
Autonomous DrivingAutonomous RacingManagementModel Predictive Control+2Economic Model Predictive Control as a Solution to Markov Decision Processes
Markov Decision Processes (MDPs) offer a fairly generic and powerful framework to discuss the notion of optimal policies for dynamic systems, in particular when the dynamics are stochastic. However, computing the optimal…
Model Predictive Control