Publications

515 / 3,835 publications found.


  •  Quirynen, R., Safaoui, S., Di Cairano, S., "Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3449703, Vol. 33, No. 1, pp. 77-91, September 2024.
    BibTeX TR2024-123 PDF
    • @article{Quirynen2024sep,
    • author = {Quirynen, Rien and Safaoui, Sleiman and {Di Cairano}, Stefano},
    • title = {{Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2024,
    • volume = 33,
    • number = 1,
    • pages = {77--91},
    • month = sep,
    • doi = {10.1109/TCST.2024.3449703},
    • url = {https://www.merl.com/publications/TR2024-123}
    • }
  •  Roque, P., Miraldo, P., Dimarogonas, D., "Multi-Agent Formation Control using Epipolar Constraints", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2024.3444690, Vol. 9, No. 12, pp. 11002-11009, September 2024.
    BibTeX TR2024-147 PDF
    • @article{Roque2024sep,
    • author = {Roque, Pedro and Miraldo, Pedro and Dimarogonas, Dimos},
    • title = {{Multi-Agent Formation Control using Epipolar Constraints}},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2024,
    • volume = 9,
    • number = 12,
    • pages = {11002--11009},
    • month = sep,
    • doi = {10.1109/LRA.2024.3444690},
    • issn = {2377-3766},
    • url = {https://www.merl.com/publications/TR2024-147}
    • }
  •  Yan, J., Chakrabarty, A., Rupenyan, A., Lygeros, J., "MPC of Uncertain Nonlinear Systems with Meta-Learning for Fast Adaptation of Neural Predictive Models", International Conference on Automation Science and Engineering (CASE), DOI: 10.1109/​CASE59546.2024.10711717, August 2024.
    BibTeX TR2024-115 PDF
    • @inproceedings{Yan2024aug,
    • author = {Yan, Jiaqi and Chakrabarty, Ankush and Rupenyan, Alisa and Lygeros, John},
    • title = {{MPC of Uncertain Nonlinear Systems with Meta-Learning for Fast Adaptation of Neural Predictive Models}},
    • booktitle = {International Conference on Automation Science and Engineering (CASE)},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CASE59546.2024.10711717},
    • url = {https://www.merl.com/publications/TR2024-115}
    • }
  •  Chakrabarty, A., Vanfretti, L., Bortoff, S.A., Deshpande, V.M., Wang, Y., Paulson, J.A., Zhan, S., Laughman, C.R., "Assessing Building Control Performance Using Physics-Based Simulation Models and Deep Generative Networks", IEEE Conference on Control Technology and Applications (CCTA) 2024, DOI: 10.1109/​CCTA60707.2024.10666585, August 2024.
    BibTeX TR2024-113 PDF
    • @inproceedings{Chakrabarty2024aug,
    • author = {Chakrabarty, Ankush and Vanfretti, Luigi and Bortoff, Scott A. and Deshpande, Vedang M. and Wang, Ye and Paulson, Joel A. and Zhan, Sicheng and Laughman, Christopher R.},
    • title = {{Assessing Building Control Performance Using Physics-Based Simulation Models and Deep Generative Networks}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA) 2024},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CCTA60707.2024.10666585},
    • url = {https://www.merl.com/publications/TR2024-113}
    • }
  •  Park, S., Wang, Y., Qiao, H., Sakamoto, Y., Wang, B., Liu, D., "Control Co-Design for Electric Vehicles with Driving Cycle Synthesis Encoding Road Traffic and Driver Characteristics", IEEE Conference on Control Technology and Applications (CCTA) 2024, DOI: 10.1109/​CCTA60707.2024.10666575, August 2024.
    BibTeX TR2024-114 PDF
    • @inproceedings{Park2024aug,
    • author = {Park, Seho and Wang, Yebin and Qiao, Hongtao and Sakamoto, Yusuke and Wang, Bingnan and Liu, Dehong},
    • title = {{Control Co-Design for Electric Vehicles with Driving Cycle Synthesis Encoding Road Traffic and Driver Characteristics}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA) 2024},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CCTA60707.2024.10666575},
    • url = {https://www.merl.com/publications/TR2024-114}
    • }
  •  Vanfretti, L., Laughman, C.R., "Power System Modeling for Identification and Control Applications using Modelica and OpenIPSL", Conference on Control Technology and Applications (CCTA), August 2024.
    BibTeX TR2024-112 PDF
    • @inproceedings{Vanfretti2024aug,
    • author = {Vanfretti, Luigi and Laughman, Christopher R.},
    • title = {{Power System Modeling for Identification and Control Applications using Modelica and OpenIPSL}},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2024,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2024-112}
    • }
  •  Bortoff, S.A., Qiao, H., Laughman, C.R., "Modeling and Control of a Multi-Mode Heat Pump", IEEE Conference on Control Technology and Applications (CCTA) 2024, August 2024.
    BibTeX TR2024-111 PDF
    • @inproceedings{Bortoff2024aug,
    • author = {Bortoff, Scott A. and Qiao, Hongtao and Laughman, Christopher R.},
    • title = {{Modeling and Control of a Multi-Mode Heat Pump}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA) 2024},
    • year = 2024,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2024-111}
    • }
  •  Sorouifar, F., Paulson, J.A., Wang, Y., Quirynen, R., Laughman, C.R., Chakrabarty, A., "Bayesian Forecasting with Deep Generative Disturbance Models in Stochastic MPC for Building Energy Systems", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA60707.2024.10666537, August 2024.
    BibTeX TR2024-110 PDF
    • @inproceedings{Sorouifar2024aug,
    • author = {Sorouifar, Farshud and Paulson, Joel A. and Wang, Ye and Quirynen, Rien and Laughman, Christopher R. and Chakrabarty, Ankush},
    • title = {{Bayesian Forecasting with Deep Generative Disturbance Models in Stochastic MPC for Building Energy Systems}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2024,
    • month = aug,
    • doi = {10.1109/CCTA60707.2024.10666537},
    • url = {https://www.merl.com/publications/TR2024-110}
    • }
  •  Shimane, Y., Ho, K., Weiss, A., "Optimization-based Phase-Constrained Station-Keeping Control on Libration Point Orbit", AAS/AIAA Astrodynamics Specialist Conference, August 2024.
    BibTeX TR2024-109 PDF
    • @inproceedings{Shimane2024aug,
    • author = {Shimane, Yuri and Ho, Koki and Weiss, Avishai},
    • title = {{Optimization-based Phase-Constrained Station-Keeping Control on Libration Point Orbit}},
    • booktitle = {AAS/AIAA Astrodynamics Specialist Conference},
    • year = 2024,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2024-109}
    • }
  •  Patkar, A., Liu, D., Wang, Y., Youcef-Toumi, K., "Magnetic flux map acquisition using a compressed sensing method", The 19th IEEE Conference on Industrial Electronics and Applications (ICIEA 2024), DOI: 10.1109/​ICIEA61579.2024.10665180, August 2024.
    BibTeX TR2024-107 PDF
    • @inproceedings{Patkar2024aug,
    • author = {Patkar, Abhishek and Liu, Dehong and Wang, Yebin and Youcef-Toumi, Kamal},
    • title = {{Magnetic flux map acquisition using a compressed sensing method}},
    • booktitle = {The 19th IEEE Conference on Industrial Electronics and Applications (ICIEA 2024)},
    • year = 2024,
    • month = aug,
    • publisher = {IEEE},
    • doi = {10.1109/ICIEA61579.2024.10665180},
    • url = {https://www.merl.com/publications/TR2024-107}
    • }
  •  Safaoui, S., Vinod, A.P., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning", IEEE Transactions on Robotics, DOI: 10.1109/​TRO.2024.3387010, Vol. 40, pp. 2529-2542, July 2024.
    BibTeX TR2024-048 PDF Video
    • @article{Safaoui2024jul,
    • author = {Safaoui, Sleiman and Vinod, Abraham P. and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
    • title = {{Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning}},
    • journal = {IEEE Transactions on Robotics},
    • year = 2024,
    • volume = 40,
    • pages = {2529--2542},
    • month = jul,
    • doi = {10.1109/TRO.2024.3387010},
    • url = {https://www.merl.com/publications/TR2024-048}
    • }
  •  Lu, Z., Wang, Y., "A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators", Journal of Field Robotics, DOI: 10.1002/​rob.22394, July 2024.
    BibTeX TR2024-095 PDF
    • @article{Lu2024jul,
    • author = {Lu, Zehui and Wang, Yebin},
    • title = {{A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators}},
    • journal = {Journal of Field Robotics},
    • year = 2024,
    • month = jul,
    • doi = {10.1002/rob.22394},
    • url = {https://www.merl.com/publications/TR2024-095}
    • }
  •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644753, July 2024, pp. 375-381.
    BibTeX TR2024-050 PDF Video
    • @inproceedings{Huang2024jul,
    • author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Leveraging Computational Fluid Dynamics in UAV Motion Planning}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {375--381},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644753},
    • url = {https://www.merl.com/publications/TR2024-050}
    • }
  •  Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644642, July 2024, pp. 587-593.
    BibTeX TR2024-092 PDF
    • @inproceedings{Kim2024jul,
    • author = {Kim, Taewan and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {587--593},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644642},
    • url = {https://www.merl.com/publications/TR2024-092}
    • }
  •  Wang, N., Di Cairano, S., Sanfelice, R., "A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644284, July 2024.
    BibTeX TR2024-091 PDF
    • @inproceedings{Wang2024jul,
    • author = {Wang, Nan and {Di Cairano}, Stefano and Sanfelice, Ricardo},
    • title = {{A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • month = jul,
    • doi = {10.23919/ACC60939.2024.10644284},
    • url = {https://www.merl.com/publications/TR2024-091}
    • }
  •  Nikovski, D., Zhong, J., Yerazunis, W.S., "Memory-Based Global Iterative Linear Quadratic Control", International Conference on Control, Decision and Information Technologies (CoDIT), DOI: 10.1109/​CoDIT62066.2024.10708419, July 2024, pp. 1056-1061.
    BibTeX TR2024-089 PDF
    • @inproceedings{Nikovski2024jul2,
    • author = {Nikovski, Daniel and Zhong, Junmin and Yerazunis, William S.},
    • title = {{Memory-Based Global Iterative Linear Quadratic Control}},
    • booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
    • year = 2024,
    • pages = {1056--1061},
    • month = jul,
    • doi = {10.1109/CoDIT62066.2024.10708419},
    • url = {https://www.merl.com/publications/TR2024-089}
    • }
  •  Nikovski, D., Yerazunis, W.S., "Adaptive Velocity Estimators for Learning Control", International Conference on Control, Decision and Information Technologies (CoDIT), DOI: 10.1109/​CoDIT62066.2024.10708157, July 2024, pp. 1062-1067.
    BibTeX TR2024-088 PDF
    • @inproceedings{Nikovski2024jul,
    • author = {Nikovski, Daniel and Yerazunis, William S.},
    • title = {{Adaptive Velocity Estimators for Learning Control}},
    • booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
    • year = 2024,
    • pages = {1062--1067},
    • month = jul,
    • doi = {10.1109/CoDIT62066.2024.10708157},
    • url = {https://www.merl.com/publications/TR2024-088}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance", IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/​TASE.2024.3365637, pp. 1-16, June 2024.
    BibTeX TR2024-087 PDF
    • @article{Raghunathan2024jun,
    • author = {{{Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego}}},
    • title = {{{PYROBOCOP: Python-based Robotic Control \& Optimization Package for Manipulation and Collision Avoidance}}},
    • journal = {IEEE Transactions on Automation Science and Engineering},
    • year = 2024,
    • pages = {1--16},
    • month = jun,
    • doi = {10.1109/TASE.2024.3365637},
    • issn = {1545-5955},
    • url = {https://www.merl.com/publications/TR2024-087}
    • }
  •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
    BibTeX TR2024-086 PDF
    • @incollection{DiCairano2024jun,
    • author = {{{Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}}},
    • title = {{{Parametrized Maneuvers Governor for Decision Making in Automated Driving}}},
    • booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
    • year = 2024,
    • month = jun,
    • isbn = {978-3-031-82681-8},
    • url = {https://www.merl.com/publications/TR2024-086}
    • }
  •  Berntorp, K., Greiff, M., "Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590965, June 2024, pp. 725-730.
    BibTeX TR2024-082 PDF
    • @inproceedings{Berntorp2024jun,
    • author = {Berntorp, Karl and Greiff, Marcus},
    • title = {{Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {725--730},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590965},
    • url = {https://www.merl.com/publications/TR2024-082}
    • }
  •  Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590943, June 2024.
    BibTeX TR2024-081 PDF
    • @inproceedings{Greiff2024jun,
    • author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{A Robust Invariant Set Planner For Quadrotors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10590943},
    • url = {https://www.merl.com/publications/TR2024-081}
    • }
  •  Lu, Z., Wang, Y., Sakamoto, Y., Mou, S., "Distributed Co-Design of Motors and Motions for Robotic Manipulators", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590808, June 2024.
    BibTeX TR2024-083 PDF
    • @inproceedings{Lu2024jun,
    • author = {Lu, Zehui and Wang, Yebin and Sakamoto, Yusuke and Mou, Shaoshuai},
    • title = {{Distributed Co-Design of Motors and Motions for Robotic Manipulators}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590808},
    • url = {https://www.merl.com/publications/TR2024-083}
    • }
  •  Wang, Y., Berntorp, K., Menner, M., "Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590862, June 2024, pp. 699-704.
    BibTeX TR2024-084 PDF
    • @inproceedings{Wang2024jun4,
    • author = {Wang, Yanbing and Berntorp, Karl and Menner, Marcel},
    • title = {{Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {699--704},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590862},
    • url = {https://www.merl.com/publications/TR2024-084}
    • }
  •  Hall, J.F., Raghunathan, A., "Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10591164, June 2024.
    BibTeX TR2024-080 PDF
    • @inproceedings{Hall2024jun,
    • author = {Hall, Jonas F and Raghunathan, Arvind},
    • title = {{Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10591164},
    • url = {https://www.merl.com/publications/TR2024-080}
    • }
  •  Menner, M., Berntorp, K., "Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590751, June 2024, pp. 2768-2773.
    BibTeX TR2024-085 PDF
    • @inproceedings{Menner2024jun,
    • author = {Menner, Marcel and Berntorp, Karl},
    • title = {{Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {2768--2773},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590751},
    • url = {https://www.merl.com/publications/TR2024-085}
    • }