Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
YANNs: Y-wise Affine Neural Networks for Exact and Efficient Representations of Piecewise Linear Functions
This work formally introduces Y-wise Affine Neural Networks (YANNs), a fully-explainable network architecture that continuously and efficiently represent piecewise affine functions with polytopic subdomains. Following fr…
Model Predictive ControlNonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding whi…
Collision AvoidanceModel Predictive ControlNavigateData-driven Model Predictive Control using MATLAB
This paper presents a comprehensive overview of data-driven model predictive control, highlighting state-of-the-art methodologies and their numerical implementation. The discussion begins with a brief review of conventio…
modelModel Predictive ControlPriority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. …
Autonomous DrivingCollision AvoidanceModel Predictive ControlPredictive Control of EV Overnight Charging with Multi-Session Flexibility
The majority of electric vehicles (EVs) are charged domestically overnight, where the precise timing of power allocation is not important to the user, thus representing a source of flexibility that can be leveraged by ch…
Model Predictive ControlSchedulingLearning Economic Model Predictive Control via Clustering and Kernel-Based Lipschitz Regression
This paper presents a novel learning economic model predictive control scheme for uncertain nonlinear systems subject to input and state constraints and unknown dynamics. We design a fast and accurate Lipschitz regressio…
Model Predictive ControlregressionModel Predictive Fuzzy Control: A Hierarchical Multi-Agent Control Architecture for Outdoor Search-and-Rescue Robots
Autonomous robots deployed in unknown search-and-rescue (SaR) environments can significantly improve the efficiency of the mission by assisting in fast localisation and rescue of the trapped victims. We propose a novel i…
Computational EfficiencyModel Predictive ControlLearning-based Homothetic Tube MPC
In this paper, we study homothetic tube model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state and input. Different from most existing wo…
Model Predictive ControlModel Tensor Planning
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy sampling schemes. We propose \emph{Model …
modelModel Predictive ControlMuJoCoDifferentiable Nonlinear Model Predictive Control
The efficient computation of parametric solution sensitivities is a key challenge in the integration of learning-enhanced methods with nonlinear model predictive control (MPC), as their availability is crucial for many l…
modelModel Predictive ControlMULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
Quadrupedal robots are increasingly deployed for load-carrying tasks across diverse terrains. While Model Predictive Control (MPC)-based methods can account for payload variations, they often depend on predefined gait sc…
Model Predictive ControlReinforcement Learning (RL)Future-Oriented Navigation: Dynamic Obstacle Avoidance with One-Shot Energy-Based Multimodal Motion Prediction
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to antic…
Model Predictive ControlMotion Planningmotion predictionNavigate+1Beyond Quadratic Costs in LQR: Bregman Divergence Control
In the past couple of decades, the use of ``non-quadratic" convex cost functions has revolutionized signal processing, machine learning, and statistics, allowing one to customize solutions to have desired structures and …
Model Predictive ControlMulti-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning
This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model Predictive Control (GC-PMPC) by designin…
Model-based Reinforcement LearningModel Predictive ControlA state reduction approach for learning-based model predictive control for train rescheduling
This paper proposes a state reduction method for learning-based model predictive control (MPC) for train rescheduling in urban rail transit systems. The state reduction integrates into a control framework where the discr…
Model Predictive ControlEvent-triggered Robust Model Predictive Control under Hard Computation Resource Constraints
Model predictive control (MPC) is capable of controlling nonlinear systems with guaranteed constraint satisfaction and stability. However, MPC requires solving optimization problems online periodically, which often excee…
Model Predictive ControlTrajectory Planning with Model Predictive Control for Obstacle Avoidance Considering Prediction Uncertainty
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 …
Collision AvoidanceModel Predictive ControlNavigateTrajectory PlanningOpportunistic Collaborative Planning with Large Vision Model Guided Control and Joint Query-Service Optimization
Navigating autonomous vehicles in open scenarios is a challenge due to the difficulties in handling unseen objects. Existing solutions either rely on small models that struggle with generalization or large models that ar…
Autonomous VehiclesModel Predictive Controlobject-detectionObject DetectionMultiple Target Tracking Using a UAV Swarm in Maritime Environments
Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of ele…
Model Predictive ControlState EstimationHybrid Reinforcement Learning and Model Predictive Control for Adaptive Control of Hydrogen-Diesel Dual-Fuel Combustion
Reinforcement Learning (RL) and Machine Learning Integrated Model Predictive Control (ML-MPC) are promising approaches for optimizing hydrogen-diesel dual-fuel engine control, as they can effectively control multiple-inp…
Model Predictive ControlReinforcement Learning (RL)