Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
An Improved Data Augmentation Scheme for Model Predictive Control Policy Approximation
This paper considers the problem of data generation for MPC policy approximation. Learning an approximate MPC policy from expert demonstrations requires a large data set consisting of optimal state-action pairs, sampled …
Data AugmentationModel Predictive ControlLMI-based Data-Driven Robust Model Predictive Control
Predictive control, which is based on a model of the system to compute the applied input optimizing the future system behavior, is by now widely used. If the nominal models are not given or are very uncertain, data-drive…
LEMMAModel Predictive ControlModel Predictive Control with Gaussian-Process-Supported Dynamical Constraints for Autonomous Vehicles
We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's predicti…
Autonomous VehiclesGaussian ProcessesModel Predictive ControlData-Driven Robust Backward Reachable Sets for Set-Theoretic Model Predictive Control
In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. In particular, we develop an algorithm for o…
Model Predictive ControlConBaT: Control Barrier Transformer for Safe Policy Learning
Large-scale self-supervised models have recently revolutionized our ability to perform a variety of tasks within the vision and language domains. However, using such models for autonomous systems is challenging because o…
Imitation LearningModel Predictive ControlReduced-Order Model Predictive Control of a Fish Schooling Model
We study the problem of model predictive control (MPC) for the fish schooling model proposed by Gautrais et al. (Annales Zoologici Fennici, 2008). The high nonlinearity of the model attributed to its attraction/alignment…
modelModel Predictive ControlCo-Optimization of Adaptive Cruise Control and Hybrid Electric Vehicle Energy Management via Model Predictive Mixed Integer Control
In this paper, a model predictive mixed integer control method for BYD Qin Plus DM-i (Dual Model intelligent) plug-in hybrid electric vehicle (PHEV) is proposed for co-optimization to reduce fuel consumption during car f…
energy managementManagementModel Predictive ControlData-efficient, Explainable and Safe Box Manipulation: Illustrating the Advantages of Physical Priors in Model-Predictive Control
Model-based RL/control have gained significant traction in robotics. Yet, these approaches often remain data-inefficient and lack the explainability of hand-engineered solutions. This makes them difficult to debug/integr…
Model Predictive ControlReinforcement Learning (RL)A Cooperation-Aware Lane Change Method for Automated Vehicles
Lane change for automated vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guaranteeing safety as well as a high efficiency, AVs are inclined to choose …
Model Predictive ControlMotion PlanningTrajectory PredictionDeep Model Predictive Control
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainties of unknown structure. Since the struc…
modelModel Predictive ControlPuppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely …
Deep Reinforcement LearningModel Predictive ControlNeural Laplace Control for Continuous-time Delayed Systems
Many real-world offline reinforcement learning (RL) problems involve continuous-time environments with delays. Such environments are characterized by two distinctive features: firstly, the state x(t) is observed at irreg…
Model Predictive ControlOffline RLReinforcement Learning (RL)UAV Path Planning Employing MPC- Reinforcement Learning Method Considering Collision Avoidance
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrate…
Collision AvoidanceDeep Reinforcement LearningModel Predictive Controlreinforcement-learning+2Lattice piecewise affine approximation of explicit nonlinear model predictive control with application to trajectory tracking of mobile robot
To promote the widespread use of mobile robots in diverse fields, the performance of trajectory tracking must be ensured. To address the constraints and nonlinear features associated with mobile robot systems, we apply n…
Model Predictive ControlA Model Predictive Control Framework for Improving Risk-Tolerance of Manufacturing Systems
The need for control strategies that can address dynamic system uncertainty is becoming increasingly important. In this work, we propose a Model Predictive Control by quantifying the risk of failure in our system model. …
Model Predictive ControlOnline Tool Selection with Learned Grasp Prediction Models
Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can …
Model Predictive ControlPredictionLearning-based Online Optimization for Autonomous Mobility-on-Demand Fleet Control
Autonomous mobility-on-demand systems are a viable alternative to mitigate many transportation-related externalities in cities, such as rising vehicle volumes in urban areas and transportation-related pollution. However,…
Combinatorial OptimizationModel Predictive ControlTowards a modeling, optimization and predictive control framework for fed-batch metabolic cybergenetics
Biotechnology offers many opportunities for the sustainable manufacturing of valuable products. The toolbox to optimize bioprocesses includes \textit{extracellular} process elements such as the bioreactor design and mode…
Cultural Vocal Bursts Intensity PredictionModel Predictive ControlActive Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach
The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
Autonomous VehiclesModel Predictive ControlMotion PlanningBenchmarking Model Predictive Control Algorithms in Building Optimization Testing Framework (BOPTEST)
We present a data-driven modeling and control framework for physics-based building emulators. Our approach consists of: (a) Offline training of differentiable surrogate models that accelerate model evaluations, provide c…
BenchmarkingModel Predictive Control