- Chakrabarty, A., Jha, D.K., Buzzard, G.T., Wang, Y., Vamvoudakis, K., "Safe Approximate Dynamic Programming via Kernelized Lipschitz Estimation", IEEE Transactions on Neural Networks and Learning Systems, DOI: 10.1109/TNNLS.2020.2978805, July 2020.
BibTeX TR2020-108 PDF- @article{Chakrabarty2020jul2,
- author = {Chakrabarty, Ankush and Jha, Devesh K. and Buzzard, Gregery T. and Wang, Yebin and Vamvoudakis, Kyriakos},
- title = {Safe Approximate Dynamic Programming via Kernelized Lipschitz Estimation},
- journal = {IEEE Transactions on Neural Networks and Learning Systems},
- year = 2020,
- month = jul,
- doi = {10.1109/TNNLS.2020.2978805},
- url = {https://www.merl.com/publications/TR2020-108}
- }
- Menner, M., Berntorp, K., Di Cairano, S., "Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning", Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2020.3000323, July 2020.
BibTeX TR2020-106 PDF- @article{Menner2020jul,
- author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
- title = {Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning},
- journal = {Transactions on Intelligent Vehicles},
- year = 2020,
- month = jul,
- doi = {10.1109/TIV.2020.3000323},
- url = {https://www.merl.com/publications/TR2020-106}
- }
- Berntorp, K., "Online Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., DOI: 10.1016/j.ifacol.2020.12.910, July 2020, pp. 13939-13944.
BibTeX TR2020-104 PDF- @inproceedings{Berntorp2020jul,
- author = {Berntorp, Karl},
- title = {Online Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {13939--13944},
- month = jul,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2020.12.910},
- url = {https://www.merl.com/publications/TR2020-104}
- }
- Quirynen, R., Feng, X., Di Cairano, S., "Inexact Adjoint-based SQP Algorithm for Real-Time Stochastic Nonlinear MPC", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., July 2020, pp. 6529-6535.
BibTeX TR2020-103 PDF- @inproceedings{Quirynen2020jul2,
- author = {Quirynen, Rien and Feng, Xuhui and Di Cairano, Stefano},
- title = {Inexact Adjoint-based SQP Algorithm for Real-Time Stochastic Nonlinear MPC},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {6529--6535},
- month = jul,
- publisher = {Elsevier},
- url = {https://www.merl.com/publications/TR2020-103}
- }
- Quirynen, R., Frey, J., Di Cairano, S., "Active-Set based Inexact Interior Point QP Solver for Model Predictive Control", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., July 2020, pp. 6522-6528.
BibTeX TR2020-105 PDF- @inproceedings{Quirynen2020jul3,
- author = {Quirynen, Rien and Frey, Jonathan and Di Cairano, Stefano},
- title = {Active-Set based Inexact Interior Point QP Solver for Model Predictive Control},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {6522--6528},
- month = jul,
- publisher = {Elsevier},
- url = {https://www.merl.com/publications/TR2020-105}
- }
- Muralidharan, V., Weiss, A., Kalabic, U., "Tracking neighboring quasi-satellite orbits around Phobos", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., DOI: 10.1016/j.ifacol.2020.12.1952, July 2020, pp. 14906–14911.
BibTeX TR2020-102 PDF- @inproceedings{Muralidharan2020jul,
- author = {Muralidharan, Vivek and Weiss, Avishai and Kalabic, Uros},
- title = {Tracking neighboring quasi-satellite orbits around Phobos},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {14906–14911},
- month = jul,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2020.12.1952},
- url = {https://www.merl.com/publications/TR2020-102}
- }
- Maske, H., Chu, T., Kalabic, U., "Control of traffic light timing using decentralized deep reinforcement learning", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., DOI: 10.1016/j.ifacol.2020.12.1980, July 2020, pp. 14936-14941.
BibTeX TR2020-101 PDF- @inproceedings{Maske2020jul,
- author = {Maske, Harshal and Chu, Tianshu and Kalabic, Uros},
- title = {Control of traffic light timing using decentralized deep reinforcement learning},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {14936--14941},
- month = jul,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2020.12.1980},
- url = {https://www.merl.com/publications/TR2020-101}
- }
- Aguilar Marsillach, D., Di Cairano, S., Weiss, A., "Fail-safe Rendezvous Control on Elliptic Orbits using Reachable Sets", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147957, July 2020, pp. 4920-4925.
BibTeX TR2020-098 PDF- @inproceedings{AguilarMarsillach2020jul,
- author = {Aguilar Marsillach, Daniel and Di Cairano, Stefano and Weiss, Avishai},
- title = {Fail-safe Rendezvous Control on Elliptic Orbits using Reachable Sets},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- pages = {4920--4925},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC45564.2020.9147957},
- issn = {2378-5861},
- isbn = {978-1-5386-8266-1},
- url = {https://www.merl.com/publications/TR2020-098}
- }
- Chakrabarty, A., Berntorp, K., Di Cairano, S., "Learning-based Parameter-Adaptive Reference Governors", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147615, July 2020, pp. 956-961.
BibTeX TR2020-092 PDF- @inproceedings{Chakrabarty2020jul,
- author = {Chakrabarty, Ankush and Berntorp, Karl and Di Cairano, Stefano},
- title = {Learning-based Parameter-Adaptive Reference Governors},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- pages = {956--961},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC45564.2020.9147615},
- url = {https://www.merl.com/publications/TR2020-092}
- }
- Hansen, E., Wang, Y., "Improving Path Accuracy for Autonomous Parking Systems: An Optimal Control Approach", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147980, July 2020, pp. 5243-5249.
BibTeX TR2020-099 PDF- @inproceedings{Hansen2020jul,
- author = {Hansen, Emma and Wang, Yebin},
- title = {Improving Path Accuracy for Autonomous Parking Systems: An Optimal Control Approach},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- pages = {5243--5249},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC45564.2020.9147980},
- url = {https://www.merl.com/publications/TR2020-099}
- }
- Quirynen, R., Berntorp, K., Kambam, K., Di Cairano, S., "Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147820, July 2020.
BibTeX TR2020-096 PDF- @inproceedings{Quirynen2020jul,
- author = {Quirynen, Rien and Berntorp, Karl and Kambam, Karthik and Di Cairano, Stefano},
- title = {Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- month = jul,
- doi = {10.23919/ACC45564.2020.9147820},
- url = {https://www.merl.com/publications/TR2020-096}
- }
- Sahin, Y.E., Quirynen, R., Di Cairano, S., "Autonomous Vehicle Decision-Making and Monitoring based on Signal Temporal Logic and Mixed-Integer Programming", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147917, July 2020.
BibTeX TR2020-095 PDF- @inproceedings{Sahin2020jul,
- author = {Sahin, Yunus Emre and Quirynen, Rien and Di Cairano, Stefano},
- title = {Autonomous Vehicle Decision-Making and Monitoring based on Signal Temporal Logic and Mixed-Integer Programming},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- month = jul,
- doi = {10.23919/ACC45564.2020.9147917},
- url = {https://www.merl.com/publications/TR2020-095}
- }
- Danielson, C., Berntorp, K., Di Cairano, S., Weiss, A., "Motion-Planning for Unicycles using the Invariant-Set Motion-Planner", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147919, June 2020, pp. 1235-1240.
BibTeX TR2020-089 PDF- @inproceedings{Danielson2020jun2,
- author = {Danielson, Claus and Berntorp, Karl and Di Cairano, Stefano and Weiss, Avishai},
- title = {Motion-Planning for Unicycles using the Invariant-Set Motion-Planner},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- pages = {1235--1240},
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ACC45564.2020.9147919},
- issn = {2378-5861},
- isbn = {978-1-5386-8266-1},
- url = {https://www.merl.com/publications/TR2020-089}
- }
- Danielson, C., Di Cairano, S., "A Reference Governor for Wheel-Slip Prevention in Railway Vehicles with Pneumatic Brakes", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147647, June 2020.
BibTeX TR2020-087 PDF- @inproceedings{Danielson2020jun,
- author = {Danielson, Claus and Di Cairano, Stefano},
- title = {A Reference Governor for Wheel-Slip Prevention in Railway Vehicles with Pneumatic Brakes},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ACC45564.2020.9147647},
- url = {https://www.merl.com/publications/TR2020-087}
- }
- Tian, N., Fang, H., Wang, Y., "Real-Time Optimal Lithium-Ion Battery Charging Based on Explicit Model Predictive Control", IEEE Transactions on Industrial Informatics, DOI: 10.1109/TII.2020.2983176, June 2020.
BibTeX TR2020-090 PDF- @article{Tian2020jun,
- author = {Tian, Ning and Fang, Huazhen and Wang, Yebin},
- title = {Real-Time Optimal Lithium-Ion Battery Charging Based on Explicit Model Predictive Control},
- journal = {IEEE Transactions on Industrial Informatics},
- year = 2020,
- month = jun,
- doi = {10.1109/TII.2020.2983176},
- url = {https://www.merl.com/publications/TR2020-090}
- }
- Quirynen, R., Hespanhol, P., "Adjoint-based SQP Method with Block-wise quasi-Newton Jacobian Updates for Nonlinear Optimal Control", Journal of Optimization Methods and Software, DOI: 10.1080/10556788.2019.1653869, June 2020.
BibTeX TR2020-086 PDF- @article{Quirynen2020jun,
- author = {Quirynen, Rien and Hespanhol, Pedro},
- title = {Adjoint-based SQP Method with Block-wise quasi-Newton Jacobian Updates for Nonlinear Optimal Control},
- journal = {Journal of Optimization Methods and Software},
- year = 2020,
- month = jun,
- doi = {10.1080/10556788.2019.1653869},
- url = {https://www.merl.com/publications/TR2020-086}
- }
- Kalabic, U., Grover, P., Aeron, S., "Optimization-based incentivization and control scheme for autonomous traffic", IEEE Intelligent Vehicle Symposium, DOI: 10.1109/IV47402.2020.9304641, June 2020.
BibTeX TR2020-079 PDF- @inproceedings{Kalabic2020jun,
- author = {Kalabic, Uros and Grover, Piyush and Aeron, Shuchin},
- title = {Optimization-based incentivization and control scheme for autonomous traffic},
- booktitle = {IEEE Intelligent Vehicle Symposium},
- year = 2020,
- month = jun,
- doi = {10.1109/IV47402.2020.9304641},
- url = {https://www.merl.com/publications/TR2020-079}
- }
- Jha, D.K., Kolaric, P., Raghunathan, A., Lewis, F., Benosman, M., Romeres, D., Nikovski, D.N., "Local Policy Optimization for Trajectory-Centric Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), Ayanna Howard, Eds., May 2020, pp. 5094-5100.
BibTeX TR2020-062 PDF- @inproceedings{Jha2020may,
- author = {Jha, Devesh K. and Kolaric, Patrik and Raghunathan, Arvind and Lewis, Frank and Benosman, Mouhacine and Romeres, Diego and Nikovski, Daniel N.},
- title = {Local Policy Optimization for Trajectory-Centric Reinforcement Learning},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2020,
- editor = {Ayanna Howard},
- pages = {5094--5100},
- month = may,
- publisher = {IEEE},
- isbn = {978-1-7281-7395-5},
- url = {https://www.merl.com/publications/TR2020-062}
- }
- Bortoff, S.A., "Modeling Contact and Collisions for Robotic Assembly Control", American Modelica Conference 2020, DOI: 10.3384/ECP2016954, March 2020, pp. 54-63.
BibTeX TR2020-032 PDF- @inproceedings{Bortoff2020mar,
- author = {Bortoff, Scott A.},
- title = {Modeling Contact and Collisions for Robotic Assembly Control},
- booktitle = {American Modelica Conference 2020},
- year = 2020,
- pages = {54--63},
- month = mar,
- doi = {10.3384/ECP2016954},
- url = {https://www.merl.com/publications/TR2020-032}
- }
- Laughman, C.R., Bortoff, S.A., "Nonlinear State Estimation with FMI: Tutorial and Applications", American Modelica Conference 2020, Tiller, M. and Tummescheit, H. and Vanfretti, L. and Laughman, C. and Wetter, M., Eds., DOI: 10.3384/ECP20169186, March 2020, pp. 186-195.
BibTeX TR2020-031 PDF- @inproceedings{Laughman2020mar,
- author = {Laughman, Christopher R. and Bortoff, Scott A.},
- title = {Nonlinear State Estimation with FMI: Tutorial and Applications},
- booktitle = {American Modelica Conference 2020},
- year = 2020,
- editor = {Tiller, M. and Tummescheit, H. and Vanfretti, L. and Laughman, C. and Wetter, M.},
- pages = {186--195},
- month = mar,
- publisher = {Linköping University Electronic Press},
- doi = {10.3384/ECP20169186},
- issn = {1650-3686},
- isbn = {978-91-7929-900-2},
- url = {https://www.merl.com/publications/TR2020-031}
- }
- Lin, C., Sels, D., Wang, Y., "Time-optimal Control of a Dissipative Qubit", Physical Review, DOI: 10.1103/PhysRevA.101.022320, Vol. 101, No. 2, pp. 022320, February 2020.
BibTeX TR2020-023 PDF- @article{Lin2020feb,
- author = {Lin, Chungwei and Sels, Dries and Wang, Yebin},
- title = {Time-optimal Control of a Dissipative Qubit},
- journal = {Physical Review},
- year = 2020,
- volume = 101,
- number = 2,
- pages = 022320,
- month = feb,
- doi = {10.1103/PhysRevA.101.022320},
- url = {https://www.merl.com/publications/TR2020-023}
- }
- Caverly, R., Di Cairano, S., Weiss, A., "Control Allocation and Quantization of a GEO Satellite with 4DOF Gimbaled Thruster Booms", AAS/AIAA Space Flight Mechanics Meeting, DOI: 10.2514/6.2020-1687, January 2020.
BibTeX TR2020-008 PDF- @inproceedings{Caverly2020jan,
- author = {Caverly, Ryan and Di Cairano, Stefano and Weiss, Avishai},
- title = {Control Allocation and Quantization of a GEO Satellite with 4DOF Gimbaled Thruster Booms},
- booktitle = {AAS/AIAA Space Flight Mechanics Meeting},
- year = 2020,
- month = jan,
- doi = {10.2514/6.2020-1687},
- url = {https://www.merl.com/publications/TR2020-008}
- }
- Muralidharan, V., Weiss, A., Kalabic, U., "Control Strategy for Long-Term Station-Keeping on Near-Rectilinear Halo Orbits", AAS/AIAA Space Flight Mechanics Meeting, DOI: 10.2514/6.2020-1459, January 2020.
BibTeX TR2020-006 PDF- @inproceedings{Muralidharan2020jan,
- author = {Muralidharan, Vivek and Weiss, Avishai and Kalabic, Uros},
- title = {Control Strategy for Long-Term Station-Keeping on Near-Rectilinear Halo Orbits},
- booktitle = {AAS/AIAA Space Flight Mechanics Meeting},
- year = 2020,
- month = jan,
- doi = {10.2514/6.2020-1459},
- url = {https://www.merl.com/publications/TR2020-006}
- }
- Ma, Y., Lu, C., Wang, Y., "Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks", ACM Transactions on Cyber-Physical Systems, DOI: 10.1145/3371500, Vol. 4, No. 4, pp. 41:1-27, January 2020.
BibTeX TR2020-002 PDF- @article{Ma2020jan,
- author = {Ma, Yehan and Lu, Chenyang and Wang, Yebin},
- title = {Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks},
- journal = {ACM Transactions on Cyber-Physical Systems},
- year = 2020,
- volume = 4,
- number = 4,
- pages = {41:1--27},
- month = jan,
- doi = {10.1145/3371500},
- url = {https://www.merl.com/publications/TR2020-002}
- }
- Romero, O., Benosman, M., "Finite-Time Convergence of Continuous-Time Optimization Algorithms via Differential Inclusions", Advances in Neural Information Processing Systems (NeurIPS) - Workshop, January 2020.
BibTeX TR2020-001 PDF- @inproceedings{Romero2020jan,
- author = {Romero, Orlando and Benosman, Mouhacine},
- title = {Finite-Time Convergence of Continuous-Time Optimization Algorithms via Differential Inclusions},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) - Workshop},
- year = 2020,
- month = jan,
- url = {https://www.merl.com/publications/TR2020-001}
- }