Publications

242 / 3,875 publications found.


  •  Zhang, X., Mowlavi, S., Benosman, M., Basar, T., "Policy Optimization for PDE Control with a Warm Start", American Control Conference (ACC), July 2025.
    BibTeX TR2025-105 PDF
    • @inproceedings{Zhang2025jul,
    • author = {Zhang, Xiangyuan and Mowlavi, Saviz and Benosman, Mouhacine and Basar, Tamer},
    • title = {{Policy Optimization for PDE Control with a Warm Start}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2025-105}
    • }
  •  Cardona, G., Vasile, C.-I., Di Cairano, S., "Truck Fleet Coordination for Warehouse Trailer Management by Temporal Logic with Energy Constraints", American Control Conference (ACC), July 2025.
    BibTeX TR2025-103 PDF
    • @inproceedings{Cardona2025jul,
    • author = {Cardona, Gustavo and Vasile, Cristian-Ioan and {Di Cairano}, Stefano},
    • title = {{Truck Fleet Coordination for Warehouse Trailer Management by Temporal Logic with Energy Constraints}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2025-103}
    • }
  •  Chavez Armijos, A., Berntorp, K., Di Cairano, S., "Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning", American Control Conference (ACC), July 2025.
    BibTeX TR2025-104 PDF
    • @inproceedings{ChavezArmijos2025jul,
    • author = {Chavez Armijos, Andres and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2025-104}
    • }
  •  Hu, Y., Di Cairano, S., Berntorp, K., "GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise", American Control Conference (ACC), July 2025.
    BibTeX TR2025-102 PDF
    • @inproceedings{Hu2025jul,
    • author = {Hu, Yingjie and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2025-102}
    • }
  •  Pavlasek, N., Di Cairano, S., Weiss, A., "Geostationary Satellite Station Keeping and Collocation under High-Thrust Impulsive Control", American Control Conference (ACC), July 2025.
    BibTeX TR2025-101 PDF
    • @inproceedings{Pavlasek2025jul,
    • author = {Pavlasek, Natalia and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Geostationary Satellite Station Keeping and Collocation under High-Thrust Impulsive Control}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2025-101}
    • }
  •  Shimane, Y., Di Cairano, S., Ho, K., Weiss, A., "Station-Keeping on Near-Rectilinear Halo Orbits via Full-State Targeting Model Predictive Control", American Control Conference (ACC), July 2025.
    BibTeX TR2025-100 PDF
    • @inproceedings{Shimane2025jul,
    • author = {Shimane, Yuri and {Di Cairano}, Stefano and Ho, Koki and Weiss, Avishai},
    • title = {{Station-Keeping on Near-Rectilinear Halo Orbits via Full-State Targeting Model Predictive Control}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2025-100}
    • }
  •  Dai, M., Lu, Z., Li, N., Wang, Y., "Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning", European Control Conference (ECC), June 2025.
    BibTeX TR2025-092 PDF
    • @inproceedings{Dai2025jun,
    • author = {Dai, Min and Lu, Zehui and Li, Na and Wang, Yebin},
    • title = {{Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2025,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2025-092}
    • }
  •  Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach", European Control Conference (ECC), June 2025.
    BibTeX TR2025-090 PDF
    • @inproceedings{Giacomuzzo2025jun,
    • author = {Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
    • title = {{Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2025,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2025-090}
    • }
  •  Vinod, A.P., "pycvxset: A Python package for convex set manipulation", American Control Conference (ACC), June 2025.
    BibTeX TR2025-086 PDF Software
    • @inproceedings{Vinod2025jun,
    • author = {Vinod, Abraham P.},
    • title = {{pycvxset: A Python package for convex set manipulation}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2025-086}
    • }
  •  Giammarino, V., Queeney, J., Paschalidis, I.C., "Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-065 PDF
    • @inproceedings{Giammarino2025may,
    • author = {Giammarino, Vittorio and Queeney, James and Paschalidis, Ioannis Ch.},
    • title = {{Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-065}
    • }
  •  Zhou, Z., Di Cairano, S., Wang, Y., Berntorp, K., "Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-063 PDF
    • @inproceedings{Zhou2025may,
    • author = {Zhou, Ziyi and {Di Cairano}, Stefano and Wang, Yebin and Berntorp, Karl},
    • title = {{Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-063}
    • }
  •  Lin, C., Boufounos, P.T., Ma, Y., Wang, Y., Ding, Q., Sels, D., Chien, C.-C., "Time-optimal single-scalar control on a qubit of unitary dynamics", Physical Review, April 2025.
    BibTeX TR2025-048 PDF
    • @article{Lin2025apr2,
    • author = {Lin, Chungwei and Boufounos, Petros T. and Ma, Yanting and Wang, Yebin and Ding, Qi and Sels, Dries and Chien, Chih-Chun},
    • title = {{Time-optimal single-scalar control on a qubit of unitary dynamics}},
    • journal = {Physical Review},
    • year = 2025,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2025-048}
    • }
  •  Vinod, A.P., Weiss, A., Di Cairano, S., "Projection-free computation of robust controllable sets with constrained zonotopes", Automatica, DOI: 10.1016/​j.automatica.2025.112211, Vol. 175, pp. 112211, March 2025.
    BibTeX TR2025-023 PDF Video
    • @article{Vinod2025mar,
    • author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
    • title = {{Projection-free computation of robust controllable sets with constrained zonotopes}},
    • journal = {Automatica},
    • year = 2025,
    • volume = 175,
    • pages = 112211,
    • month = mar,
    • doi = {10.1016/j.automatica.2025.112211},
    • issn = {0005-1098},
    • url = {https://www.merl.com/publications/TR2025-023}
    • }
  •  Cai, X., Queeney, J., Xu, T., Datar, A., Pan, C., Miller, M., Flather, A., Osteen, P.R., Roy, N., Xiao, X., How, J.P., "PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/​LRA.2025.3527285, Vol. 10, No. 3, pp. 2359-2366, February 2025.
    BibTeX TR2025-022 PDF
    • @article{Cai2025feb,
    • author = {Cai, Xiaoyi and Queeney, James and Xu, Tong and Datar, Aniket and Pan, Chenhui and Miller, Max and Flather, Ashton and Osteen, Philip R. and Roy, Nicholas and Xiao, Xuesu and How, Jonathan P.},
    • title = {{PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain}},
    • journal = {IEEE Robotics and Automation Letters (RA-L)},
    • year = 2025,
    • volume = 10,
    • number = 3,
    • pages = {2359--2366},
    • month = feb,
    • doi = {10.1109/LRA.2025.3527285},
    • url = {https://www.merl.com/publications/TR2025-022}
    • }
  •  Queeney, J., Paschalidis, I.C., Cassandras, C.G., "Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse", IEEE Transactions on Automatic Control, DOI: 10.1109/​TAC.2024.3454011, Vol. 70, No. 2, pp. 1236-1243, February 2025.
    BibTeX TR2025-015 PDF
    • @article{Queeney2025feb,
    • author = {Queeney, James and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
    • title = {{Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse}},
    • journal = {IEEE Transactions on Automatic Control},
    • year = 2025,
    • volume = 70,
    • number = 2,
    • pages = {1236--1243},
    • month = feb,
    • doi = {10.1109/TAC.2024.3454011},
    • url = {https://www.merl.com/publications/TR2025-015}
    • }
  •  Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
    BibTeX TR2024-136 PDF
    • @article{Vinod2025jan,
    • author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
    • title = {{Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 32,
    • number = 6,
    • pages = {2492--2499},
    • month = jan,
    • doi = {10.1109/TCST.2024.3433229},
    • url = {https://www.merl.com/publications/TR2024-136}
    • }
  •  Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
    BibTeX TR2025-010 PDF
    • @article{Greiff2025jan,
    • author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 33,
    • number = 2,
    • pages = {449--462},
    • month = jan,
    • doi = {10.1109/TCST.2024.3492813},
    • issn = {1063-6536},
    • url = {https://www.merl.com/publications/TR2025-010}
    • }
  •  Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance", AIAA SciTech, DOI: 10.2514/​6.2025-1894, January 2025, pp. 1-13.
    BibTeX TR2025-008 PDF
    • @inproceedings{Elango2025jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance}},
    • booktitle = {AIAA SCITECH 2025 Forum},
    • year = 2025,
    • pages = {1--13},
    • month = jan,
    • publisher = {AIAA},
    • doi = {10.2514/6.2025-1894},
    • url = {https://www.merl.com/publications/TR2025-008}
    • }
  •  Raghunathan, A., Linderoth, J., "Stability Analysis of Discrete-Time Linear Complementarity Systems", SIAM Journal on Optimization, DOI: 10.1137/​20M1387377, Vol. 35, No. 1, pp. 419-444, December 2024.
    BibTeX TR2025-004 PDF
    • @article{Raghunathan2024dec,
    • author = {Raghunathan, Arvind and Linderoth, Jeffrey},
    • title = {{Stability Analysis of Discrete-Time Linear Complementarity Systems}},
    • journal = {SIAM Journal on Optimization},
    • year = 2024,
    • volume = 35,
    • number = 1,
    • pages = {419--444},
    • month = dec,
    • doi = {10.1137/20M1387377},
    • url = {https://www.merl.com/publications/TR2025-004}
    • }
  •  Greiff, M., Di Cairano, S., Berntorp, K., "Bayesian Measurement Masks for GNSS Positioning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10885938, December 2024.
    BibTeX TR2024-172 PDF
    • @inproceedings{Greiff2024dec,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Bayesian Measurement Masks for GNSS Positioning}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10885938},
    • url = {https://www.merl.com/publications/TR2024-172}
    • }
  •  Ozcan, E.C., Giammarino, V., Queeney, J., Paschalidis, I.C., "A Model-Based Approach for Improving Reinforcement Learning Efficiency Leveraging Expert Observations", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10885921, December 2024, pp. 1147-1152.
    BibTeX TR2024-178 PDF
    • @inproceedings{Ozcan2024dec,
    • author = {Ozcan, Erhan Can and Giammarino, Vittorio and Queeney, James and Paschalidis, Ioannis Ch.},
    • title = {{A Model-Based Approach for Improving Reinforcement Learning Efficiency Leveraging Expert Observations}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {1147--1152},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10885921},
    • url = {https://www.merl.com/publications/TR2024-178}
    • }
  •  Vinod, A.P., Weiss, A., Di Cairano, S., "Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886451, December 2024, pp. 8125-8131.
    BibTeX TR2024-173 PDF
    • @inproceedings{Vinod2024dec,
    • author = {Vinod, Abraham P. and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {8125--8131},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886451},
    • url = {https://www.merl.com/publications/TR2024-173}
    • }
  •  Lishkova, Y., Vinod, A.P., Di Cairano, S., Weiss, A., "Divert-feasible lunar landing under navigational uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886637, December 2024, pp. 7497-7503.
    BibTeX TR2024-174 PDF
    • @inproceedings{Lishkova2024dec,
    • author = {Lishkova, Yana and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Divert-feasible lunar landing under navigational uncertainty}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {7497--7503},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886637},
    • url = {https://www.merl.com/publications/TR2024-174}
    • }
  •  Greiff, M., Berntorp, K., "Asynchronous Variational-Bayes Kalman Filtering", IEEE Conference on Decision and Control (CDC), December 2024.
    BibTeX TR2024-177 PDF
    • @inproceedings{Greiff2024dec2,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {{Asynchronous Variational-Bayes Kalman Filtering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-177}
    • }
  •  Yin, J., Tsiotras, P., Berntorp, K., "Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding", IEEE Conference on Decision and Control (CDC), December 2024.
    BibTeX TR2024-179 PDF
    • @inproceedings{Yin2024dec,
    • author = {Yin, Ji and Tsiotras, Panagiotis and Berntorp, Karl},
    • title = {{Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-179}
    • }