- Vijayshankar, S., Chakrabarty, A., Grover, P., Nabi, S., "Co-Design of Reduced-Order Models and Observers from Thermo-Fluid Data", IFAC Journal of Systems and Control, DOI: 10.1016/j.ifacsc.2021.100181, Vol. 19, pp. 100181, January 2022.
BibTeX TR2022-009 PDF- @article{Vijayshankar2022jan,
- author = {Vijayshankar, Sanjana and Chakrabarty, Ankush and Grover, Piyush and Nabi, Saleh},
- title = {{Co-Design of Reduced-Order Models and Observers from Thermo-Fluid Data}},
- journal = {IFAC Journal of Systems and Control},
- year = 2022,
- volume = 19,
- pages = 100181,
- month = jan,
- doi = {10.1016/j.ifacsc.2021.100181},
- url = {https://www.merl.com/publications/TR2022-009}
- }
- Jeon, W., Chakrabarty, A., Zemouche, A., Rajamani, R., "Simultaneous State Estimation and Tire Model Learning for Autonomous Vehicle Applications", IEEE/ASME Transactions on Mechatronics, DOI: 10.1109/TMECH.2021.3081035, Vol. 26, No. 4, pp. 1941-1950, January 2022.
BibTeX TR2022-003 PDF- @article{Jeon2022jan,
- author = {Jeon, Woongsun and Chakrabarty, Ankush and Zemouche, Ali and Rajamani, Rajesh},
- title = {{Simultaneous State Estimation and Tire Model Learning for Autonomous Vehicle Applications}},
- journal = {IEEE/ASME Transactions on Mechatronics},
- year = 2022,
- volume = 26,
- number = 4,
- pages = {1941--1950},
- month = jan,
- doi = {10.1109/TMECH.2021.3081035},
- url = {https://www.merl.com/publications/TR2022-003}
- }
- Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683770, December 2021, pp. 635-640.
BibTeX TR2021-151 PDF- @inproceedings{Berntorp2021dec,
- author = {Berntorp, Karl and Chakrabarty, Ankush and {Di Cairano}, Stefano},
- title = {{Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {635--640},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683770},
- url = {https://www.merl.com/publications/TR2021-151}
- }
- Quirynen, R., Di Cairano, S., "Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683714, December 2021, pp. 993-999.
BibTeX TR2021-147 PDF- @inproceedings{Quirynen2021dec,
- author = {Quirynen, Rien and {Di Cairano}, Stefano},
- title = {{Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {993--999},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683714},
- url = {https://www.merl.com/publications/TR2021-147}
- }
- Raghunathan, A., "Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682847, December 2021, pp. 968-973.
BibTeX TR2021-150 PDF- @inproceedings{Raghunathan2021dec,
- author = {Raghunathan, Arvind},
- title = {{Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {968--973},
- month = dec,
- doi = {10.1109/CDC45484.2021.9682847},
- issn = {2576-2370},
- isbn = {978-1-6654-3659-5},
- url = {https://www.merl.com/publications/TR2021-150}
- }
- Vinod, A.P., Weiss, A., Di Cairano, S., "Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683322, December 2021, pp. 6620-6625.
BibTeX TR2021-148 PDF- @inproceedings{Vinod2021dec,
- author = {Vinod, Abraham P. and Weiss, Avishai and {Di Cairano}, Stefano},
- title = {{Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {6620--6625},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683322},
- url = {https://www.merl.com/publications/TR2021-148}
- }
- Bonzanini, A.D., Mesbah, A., Di Cairano, S., "On the Stability Properties of Perception-aware Chance-constrained MPC in Uncertain Environments", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682990, December 2021.
BibTeX TR2021-145 PDF- @inproceedings{Bonzanini2021dec,
- author = {Bonzanini, Angelo Domenico and Mesbah, Ali and {Di Cairano}, Stefano},
- title = {{On the Stability Properties of Perception-aware Chance-constrained MPC in Uncertain Environments}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- month = dec,
- doi = {10.1109/CDC45484.2021.9682990},
- url = {https://www.merl.com/publications/TR2021-145}
- }
- Johnson, R.S., Di Cairano, S., Sanfelice, R., "Parameter Estimation using Hybrid Gradient Descent", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682794, December 2021.
BibTeX TR2021-146 PDF- @inproceedings{Johnson2021dec,
- author = {Johnson, Ryan S. and {Di Cairano}, Stefano and Sanfelice, Ricardo},
- title = {{Parameter Estimation using Hybrid Gradient Descent}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- month = dec,
- doi = {10.1109/CDC45484.2021.9682794},
- url = {https://www.merl.com/publications/TR2021-146}
- }
- Chen, D., Danielson, C., Di Cairano, S., "A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/j.ifacol.2021.11.245, October 2021, pp. 650-656.
BibTeX TR2021-133 PDF- @inproceedings{Chen2021oct,
- author = {Chen, Di and Danielson, Claus and {Di Cairano}, Stefano},
- title = {{A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles}},
- booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
- year = 2021,
- pages = {650--656},
- month = oct,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2021.11.245},
- url = {https://www.merl.com/publications/TR2021-133}
- }
- Srinivasan, M., Chakrabarty, A., Quirynen, R., yoshikawa, N., Mariyama, T., Di Cairano, S., "Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/j.ifacol.2021.11.237, October 2021, pp. 598-604.
BibTeX TR2021-134 PDF Video- @inproceedings{Srinivasan2021oct,
- author = {Srinivasan, Mohit and Chakrabarty, Ankush and Quirynen, Rien and yoshikawa, nobuyuki and Mariyama, Toshisada and {Di Cairano}, Stefano},
- title = {{Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs}},
- booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
- year = 2021,
- pages = {598--604},
- month = oct,
- doi = {10.1016/j.ifacol.2021.11.237},
- url = {https://www.merl.com/publications/TR2021-134}
- }
- Menner, M., Di Cairano, S., "Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles", IEEE Vehicle Power and Propulsion Conference, DOI: 10.1109/VPPC53923.2021.9699361, October 2021, pp. 1-6.
BibTeX TR2021-132 PDF- @inproceedings{Menner2021oct,
- author = {Menner, Marcel and {Di Cairano}, Stefano},
- title = {{Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles}},
- booktitle = {IEEE Vehicle Power and Propulsion Conference},
- year = 2021,
- pages = {1--6},
- month = oct,
- doi = {10.1109/VPPC53923.2021.9699361},
- url = {https://www.merl.com/publications/TR2021-132}
- }
- Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/SMC52423.2021.9659186, October 2021, pp. 3238-3244.
BibTeX TR2021-126 PDF Video- @inproceedings{Chakrabarty2021oct,
- author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and {Di Cairano}, Stefano},
- title = {{Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC}},
- booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
- year = 2021,
- pages = {3238--3244},
- month = oct,
- doi = {10.1109/SMC52423.2021.9659186},
- url = {https://www.merl.com/publications/TR2021-126}
- }
- Amadio, F., Dalla Libera, A., Carli, R., Romeres, D., "Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation", Automatica.it, September 2021.
BibTeX TR2021-108 PDF- @inproceedings{Amadio2021sep,
- author = {Amadio, Fabio and Dalla Libera, Alberto and Carli, Ruggero and Romeres, Diego},
- title = {{Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation}},
- booktitle = {Automatica.it},
- year = 2021,
- month = sep,
- url = {https://www.merl.com/publications/TR2021-108}
- }
- Tanaka, R., Nabi, S., Nonaka, M., "Airflow Optimization for Room Air Conditioners", Building Simulation 2021 Conference, September 2021.
BibTeX TR2021-106 PDF- @inproceedings{Tanaka2021sep,
- author = {Tanaka, Ryuta and Nabi, Saleh and Nonaka, Mio},
- title = {{Airflow Optimization for Room Air Conditioners}},
- booktitle = {Building Simulation 2021 Conference},
- year = 2021,
- month = sep,
- url = {https://www.merl.com/publications/TR2021-106}
- }
- Chakrabarty, A., Benosman, M., "Safe Learning-based Observers for Unknown Nonlinear Systems using Bayesian Optimization", Automatica, DOI: 10.1016/j.automatica.2021.109860, August 2021.
BibTeX TR2021-101 PDF- @article{Chakrabarty2021aug,
- author = {Chakrabarty, Ankush and Benosman, Mouhacine},
- title = {{Safe Learning-based Observers for Unknown Nonlinear Systems using Bayesian Optimization}},
- journal = {Automatica},
- year = 2021,
- month = aug,
- doi = {10.1016/j.automatica.2021.109860},
- url = {https://www.merl.com/publications/TR2021-101}
- }
- Ravikumar, S., Quirynen, R., Bhagat, A., Zeino, E., Di Cairano, S., "Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9658675, August 2021, pp. 814-819.
BibTeX TR2021-089 PDF- @inproceedings{Ravikumar2021aug,
- author = {Ravikumar, Shreejith and Quirynen, Rien and Bhagat, Akshay and Zeino, Eyad and {Di Cairano}, Stefano},
- title = {{Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment}},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- pages = {814--819},
- month = aug,
- doi = {10.1109/CCTA48906.2021.9658675},
- url = {https://www.merl.com/publications/TR2021-089}
- }
- Greiff, M., Berntorp, K., Di Cairano, S., Kim, K.J., "Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9659142, August 2021.
BibTeX TR2021-090 PDF- @inproceedings{Greiff2021aug,
- author = {Greiff, Marcus and Berntorp, Karl and {Di Cairano}, Stefano and Kim, Kyeong Jin},
- title = {{Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning}},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- month = aug,
- doi = {10.1109/CCTA48906.2021.9659142},
- url = {https://www.merl.com/publications/TR2021-090}
- }
- Menner, M., Berntorp, K., Di Cairano, S., "A Kalman Filter for Online Calibration of Optimal Controllers", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9658684, August 2021, pp. 441-446.
BibTeX TR2021-091 PDF- @inproceedings{Menner2021aug,
- author = {Menner, Marcel and Berntorp, Karl and {Di Cairano}, Stefano},
- title = {{A Kalman Filter for Online Calibration of Optimal Controllers}},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- pages = {441--446},
- month = aug,
- doi = {10.1109/CCTA48906.2021.9658684},
- url = {https://www.merl.com/publications/TR2021-091}
- }
- Quirynen, R., Berntorp, K., "Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC", IFAC Conference on Nonlinear Model Predictive Control, DOI: 10.1016/j.ifacol.2021.08.527, July 2021, pp. 76-82.
BibTeX TR2021-084 PDF- @inproceedings{Quirynen2021jul,
- author = {Quirynen, Rien and Berntorp, Karl},
- title = {{Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC}},
- booktitle = {IFAC Conference on Nonlinear Model Predictive Control},
- year = 2021,
- pages = {76--82},
- month = jul,
- doi = {10.1016/j.ifacol.2021.08.527},
- url = {https://www.merl.com/publications/TR2021-084}
- }
- Dalla Libera, A., Amadio, F., Nikovski, D.N., Carli, R., Romeres, D., "Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/ECC54610.2021.9654429, June 2021.
BibTeX TR2021-068 PDF Video- @inproceedings{DallaLibera2021jun,
- author = {Dalla Libera, Alberto and Amadio, Fabio and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
- title = {{Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models}},
- booktitle = {European Control Conference (ECC)},
- year = 2021,
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ECC54610.2021.9654429},
- isbn = {978-9-4638-4236-5},
- url = {https://www.merl.com/publications/TR2021-068}
- }
- Fang, H., Haile, M., Wang, Y., "Robust Extended Kalman Filtering for Systems with Measurement Outliers", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2021.3077535, Vol. 30, No. 2, pp. 795-802, May 2021.
BibTeX TR2021-078 PDF- @article{Fang2021may,
- author = {Fang, Huazhen and Haile, Mulugeta and Wang, Yebin},
- title = {{Robust Extended Kalman Filtering for Systems with Measurement Outliers}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2021,
- volume = 30,
- number = 2,
- pages = {795--802},
- month = may,
- doi = {10.1109/TCST.2021.3077535},
- url = {https://www.merl.com/publications/TR2021-078}
- }
- Dai, S., Wang, Y., "Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48506.2021.9562101, May 2021, pp. 8135-8142.
BibTeX TR2021-062 PDF- @inproceedings{Dai2021may,
- author = {Dai, Siyu and Wang, Yebin},
- title = {{Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2021,
- pages = {8135--8142},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48506.2021.9562101},
- url = {https://www.merl.com/publications/TR2021-062}
- }
- Berntorp, K., Quirynen, R., Vaskov, S., "Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9482635, May 2021, pp. 186-191.
BibTeX TR2021-060 PDF- @inproceedings{Berntorp2021may2,
- author = {Berntorp, Karl and Quirynen, Rien and Vaskov, Sean},
- title = {{Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control}},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {186--191},
- month = may,
- doi = {10.23919/ACC50511.2021.9482635},
- url = {https://www.merl.com/publications/TR2021-060}
- }
- Aguilar Marsillach, D., Di Cairano, S., Kalabic, U., Weiss, A., "Fail-Safe Spacecraft Rendezvous on Near-Rectilinear Halo Orbits", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483328, May 2021, pp. 2980-2985.
BibTeX TR2021-054 PDF- @inproceedings{AguilarMarsillach2021may,
- author = {Aguilar Marsillach, Daniel and {Di Cairano}, Stefano and Kalabic, Uros and Weiss, Avishai},
- title = {{Fail-Safe Spacecraft Rendezvous on Near-Rectilinear Halo Orbits}},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {2980--2985},
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC50511.2021.9483328},
- issn = {2378-5861},
- isbn = {978-1-6654-4197-1},
- url = {https://www.merl.com/publications/TR2021-054}
- }
- Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483251, May 2021, pp. 160-165.
BibTeX TR2021-058 PDF- @inproceedings{Berntorp2021may,
- author = {Berntorp, Karl and Chakrabarty, Ankush and {Di Cairano}, Stefano},
- title = {{Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter}},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {160--165},
- month = may,
- doi = {10.23919/ACC50511.2021.9483251},
- url = {https://www.merl.com/publications/TR2021-058}
- }