Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Interactive Joint Planning for Autonomous Vehicles
In highly interactive driving scenarios, the actions of one agent greatly influences those of its neighbors. Planning safe motions for autonomous vehicles in such interactive environments, therefore, requires reasoning a…
Autonomous VehiclesModel Predictive ControlMotion PlanningPrediction+1Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios
Uncertainty in the behavior of other traffic participants is a crucial factor in collision avoidance for automated driving; here, stochastic metrics could avoid overly conservative decisions. This paper introduces a Stoc…
Collision AvoidanceComputational EfficiencyModel Predictive ControlOptScaler: A Collaborative Framework for Robust Autoscaling in the Cloud
Autoscaling is a critical mechanism in cloud computing, enabling the autonomous adjustment of computing resources in response to dynamic workloads. This is particularly valuable for co-located, long-running applications …
Cloud ComputingModel Predictive ControlMulti-Agent Reinforcement Learning-Based UAV Pathfinding for Obstacle Avoidance in Stochastic Environment
Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decen…
Model Predictive ControlMulti-agent Reinforcement Learningreinforcement-learningReinforcement LearningModel predictive control-based value estimation for efficient reinforcement learning
Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a…
Model Predictive Controlreinforcement-learningReinforcement LearningNeural Potential Field for Obstacle-Aware Local Motion Planning
Model predictive control (MPC) may provide local motion planning for mobile robotic platforms. The challenging aspect is the analytic representation of collision cost for the case when both the obstacle map and robot foo…
Model Predictive ControlMotion PlanningHarmonic model predictive control for tracking sinusoidal references and its application to trajectory tracking
Harmonic model predictive control (HMPC) is a recent model predictive control (MPC) formulation for tracking piece-wise constant references that includes a parameterized artificial harmonic reference as a decision variab…
modelModel Predictive ControlLGR-MPC: A user-friendly software based on Legendre-Gauss-Radau pseudo spectral method for solving Model Predictive Control problems
Active components, such as actuators, constitute a fundamental aspect of engineering systems, affording the freedom to shape system behavior as desired. However, this capability necessitates energy consumption, primarily…
Model Predictive ControlzonoLAB: A MATLAB toolbox for set-based control systems analysis using hybrid zonotopes
This paper introduces zonoLAB, a MATLAB-based toolbox for set-based control system analysis using the hybrid zonotope set representation. Hybrid zonotopes have proven to be an expressive set representation that can exact…
Model Predictive ControlSensor Attacks and Resilient Defense on HVAC Systems for Energy Market Signal Tracking
The power flexibility from smart buildings makes them suitable candidates for providing grid services. The building automation system (BAS) that employs model predictive control (MPC) for grid services relies heavily on …
Model Predictive ControlStochastic OptimizationFeasibility-Guided Safety-Aware Model Predictive Control for Jump Markov Linear Systems
In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust …
Model Predictive ControlState EstimationPhysics-informed Neural Network Modelling and Predictive Control of District Heating Systems
This paper addresses the data-based modelling and optimal control of District Heating Systems (DHSs). Physical models of such large-scale networked systems are governed by complex nonlinear equations that require a large…
Model Predictive ControlRobust Model Predictive Control for Enhanced Fast Charging on Electric Vehicles through Integrated Power and Thermal Management
This paper explores the synergies between integrated power and thermal management (iPTM) and battery charging in an electric vehicle (EV). A multi-objective model predictive control (MPC) framework is developed to optimi…
ManagementModel Predictive ControlManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these…
Model Predictive ControlRobot ManipulationAdaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being le…
Model Predictive ControlPath Following Control of Automated Vehicle Considering Uncertainties and Disturbances with Parametric Varying
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, …
Autonomous DrivingCollision AvoidanceModel Predictive ControlForking Uncertainties: Reliable Prediction and Model Predictive Control with Sequence Models via Conformal Risk Control
In many real-world problems, predictions are leveraged to monitor and control cyber-physical systems, demanding guarantees on the satisfaction of reliability and safety requirements. However, predictions are inherently u…
Model Predictive ControlK-SMPC: Koopman Operator-Based Stochastic Model Predictive Control for Enhanced Lateral Control of Autonomous Vehicles
This paper proposes Koopman operator-based Stochastic Model Predictive Control (K-SMPC) for enhanced lateral control of autonomous vehicles. The Koopman operator is a linear map representing the nonlinear dynamics in an …
Autonomous VehiclesModel Predictive ControlDATT: Deep Adaptive Trajectory Tracking for Quadrotor Control
Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Track…
Model Predictive ControlIntroducing a Deep Neural Network-based Model Predictive Control Framework for Rapid Controller Implementation
Model Predictive Control (MPC) provides an optimal control solution based on a cost function while allowing for the implementation of process constraints. As a model-based optimal control technique, the performance of MP…
Model Predictive Control