Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Data-driven Self-triggered Control via Trajectory Prediction
Self-triggered control, a well-documented technique for reducing the communication overhead while ensuring desired system performance, is gaining increasing popularity. However, existing methods for self-triggered contro…
Model Predictive ControlPredictionTrajectory PredictionDistributed Safe Learning and Planning for Multi-robot Systems
This paper considers the problem of online multi-robot motion planning with general nonlinear dynamics subject to unknown external disturbances. We propose dSLAP, a distributed safe learning and planning framework that a…
Active LearningCollision AvoidanceModel Predictive ControlMotion Planning+2Inverse Resource Rational Based Stochastic Driver Behavior Model
Human drivers have limited and time-varying cognitive resources when making decisions in real-world traffic scenarios, which often leads to unique and stochastic behaviors that can not be explained by perfect rationality…
modelModel Predictive ControlDecentralized Model Predictive Control for Equilibrium-based Collaborative UAV Bar Transportation
In this paper we analyze the equilibrium points of a collaborative transportation task, composed of two unmanned aerial vehicles and a payload - in this case, a bar. Moreover, centralized and decentralized linear model p…
Model Predictive ControlKoopman-Model Predictive Control with Signal Temporal Logic Specifications for Temperature Regulation of a Warm-Water Supply System
Control of warm-water supply for dialysis treatment in a hospital environment is typical of safety-critical control problems. In order to guarantee the continuity of warm-water supply satisfying physical specifications f…
Model Predictive ControlRandomized-to-Canonical Model Predictive Control for Real-world Visual Robotic Manipulation
Many works have recently explored Sim-to-real transferable visual model predictive control (MPC). However, such works are limited to one-shot transfer, where real-world data must be collected once to perform the sim-to-r…
Model Predictive ControlMPC-Based Operation Strategy for Electric Vehicle Aggregators Considering Regulation Markets
The optimal operation problem of electric vehicle aggregator (EVA) is considered. An EVA can participate in energy and regulation markets with its current and upcoming EVs, thus reducing its total cost of purchasing ener…
Model Predictive ControlThe Edge of Disaster: A Battle Between Autonomous Racing and Safety
Autonomous racing represents a uniquely challenging control environment where agents must act while on the limits of a vehicle's capability in order to set competitive lap times. This places the agent on a knife's edge, …
Autonomous RacingModel Predictive ControlStability Verification of Neural Network Controllers using Mixed-Integer Programming
We propose a framework for the stability verification of Mixed-Integer Linear Programming (MILP) representable control policies. This framework compares a fixed candidate policy, which admits an efficient parameterizatio…
Model Predictive ControlSafe, Learning-Based MPC for Highway Driving under Lane-Change Uncertainty: A Distributionally Robust Approach
We present a case study applying learning-based distributionally robust model predictive control to highway motion planning under stochastic uncertainty of the lane change behavior of surrounding road users. The dynamics…
Model Predictive ControlMotion PlanningEvent-triggered and distributed model predictive control for guaranteed collision avoidance in UAV swarms
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and…
Collision AvoidanceModel Predictive ControlA Proximal-Point Lagrangian Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control
Nonlinear model predictive control has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical s…
Model Predictive ControlA Safe Control Architecture Based on Robust Model Predictive Control for Autonomous Driving
This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC a…
Autonomous DrivingDecision MakingModel Predictive ControlSMPL: Simulated Industrial Manufacturing and Process Control Learning Environments
Traditional biological and pharmaceutical manufacturing plants are controlled by human workers or pre-defined thresholds. Modernized factories have advanced process control algorithms such as model predictive control (MP…
BenchmarkingDeep Reinforcement LearningModel Predictive Controlreinforcement-learning+2A deterministic view on explicit data-driven (M)PC
We show that the explicit realization of data-driven predictive control (DPC) for linear deterministic systems is more tractable than previously thought. To this end, we compare the optimal control problems (OCP) corresp…
Model Predictive ControlScheduling Delays and Curtailment for Household Appliances with Deterministic Load Profiles using MPC
Smart home appliances can time-shift and curtail their power demand to assist demand side management or allow operation with limited power, as in an off-grid application. This paper proposes a scheduling process to start…
ManagementModel Predictive ControlSchedulingPolicy Gradient Reinforcement Learning for Uncertain Polytopic LPV Systems based on MHE-MPC
In this paper, we propose a learning-based Model Predictive Control (MPC) approach for the polytopic Linear Parameter-Varying (LPV) systems with inexact scheduling parameters (as exogenous signals with inexact bounds), w…
Model Predictive Controlreinforcement-learningReinforcement Learning (RL)SchedulingA Holistic Robust Motion Controller Framework for Autonomous Platooning
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for a…
Model Predictive ControlMotion PlanningPositionFormation Tracking for a Multi-Auv System Based on an Adaptive Sliding Mode Method in the Water Flow Environment
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and th…
Model Predictive ControlPhysics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
Accurately modeling quadrotor's system dynamics is critical for guaranteeing agile, safe, and stable navigation. The model needs to capture the system behavior in multiple flight regimes and operating conditions, includi…
Model Predictive Control