Publications

277 / 4,075 publications found.


  •  Zhou, T., Wang, Y., Umat, A., Tiwari, A., Di Cairano, S., "Fast Adaptive Planning for Autonomous Tractor-Trailer Systems via Iterative LQR Steering", IEEE Conference on Automation and Science Engineering, August 2026.
    BibTeX TR2026-118 PDF
    • @inproceedings{Zhou2026aug,
    • author = {Zhou, Tianyu and Wang, Yebin and Umat, Akhil and Tiwari, Astha and {Di Cairano}, Stefano},
    • title = {{Fast Adaptive Planning for Autonomous Tractor-Trailer Systems via Iterative LQR Steering}},
    • booktitle = {IEEE Conference on Automation and Science Engineering},
    • year = 2026,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2026-118}
    • }
  •  Pavlasek, N., Acikmese, B., Di Cairano, S., Weiss, A., "Nonlinear Model Predictive Control for High-Thrust Geostationary Station Keeping using Averaged Dynamics", World Congress of the International Federation of Automatic Control (IFAC), August 2026.
    BibTeX TR2026-117 PDF
    • @inproceedings{Pavlasek2026aug,
    • author = {Pavlasek, Natalia and Acikmese, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Nonlinear Model Predictive Control for High-Thrust Geostationary Station Keeping using Averaged Dynamics}},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2026,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2026-117}
    • }
  •  Botvinick-Greenhouse, J., Ali, W.H., Benosman, M., Mowlavi, S., "AB-PINNs: Adaptive-Basis Physics-Informed Neural Networks for Residual-Driven Domain Decomposition", Machine Learning: Science and Technology, DOI: 10.1088/​2632-2153/​ae8638, Vol. 7, No. 045025, July 2026.
    BibTeX TR2026-116 PDF Software
    • @article{Botvinick-Greenhouse2026jul,
    • author = {Botvinick-Greenhouse, Jonah and Ali, Wael H. and Benosman, Mouhacine and Mowlavi, Saviz},
    • title = {{AB-PINNs: Adaptive-Basis Physics-Informed Neural Networks for Residual-Driven Domain Decomposition}},
    • journal = {Machine Learning: Science and Technology},
    • year = 2026,
    • volume = 7,
    • number = 045025,
    • month = jul,
    • doi = {10.1088/2632-2153/ae8638},
    • url = {https://www.merl.com/publications/TR2026-116}
    • }
  •  Chakrabarty, A., Nikovski, D.N., "Quantifying Similarity Between Nonlinear Systems From Data Using Matrix Profiles", International Conference on Control, Decision, and Information Technologies (CoDIT), July 2026.
    BibTeX TR2026-108 PDF
    • @inproceedings{Chakrabarty2026jul,
    • author = {{Chakrabarty, Ankush and Nikovski, Daniel N.}},
    • title = {{Quantifying Similarity Between Nonlinear Systems From Data Using Matrix Profiles}},
    • booktitle = {International Conference on Control, Decision, and Information Technologies (CoDIT)},
    • year = 2026,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2026-108}
    • }
  •  Schperberg, A., Tanaka, Y., Di Cairano, S., Hong, D., "MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll", Robotics Science and Systems, July 2026.
    BibTeX TR2026-110 PDF Video
    • @inproceedings{Schperberg2026jul,
    • author = {Schperberg, Alexander and Tanaka, Yusuke and {Di Cairano}, Stefano and Hong, Dennis},
    • title = {{MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll}},
    • booktitle = {Robotics Science and Systems},
    • year = 2026,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2026-110}
    • }
  •  Bhaskar, A., Tokekar, P., Di Cairano, S., Schperberg, A., "MIRROR: Multisensory Implicit Rejection-sampled RObotic policy", ICML 2026 Workshop on Structured Probabilistic Inference & Generative Modeling, July 2026.
    BibTeX TR2026-096 PDF
    • @inproceedings{Bhaskar2026jul,
    • author = {Bhaskar, Amisha and Tokekar, Pratap and {Di Cairano}, Stefano and Schperberg, Alexander},
    • title = {{MIRROR: Multisensory Implicit Rejection-sampled RObotic policy}},
    • booktitle = {ICML 2026 Workshop on Structured Probabilistic Inference \& Generative Modeling},
    • year = 2026,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2026-096}
    • }
  •  Folorunsho, S., Hayner, C., Di Cairano, S., Vinod, A.P., "Coordinated aerial inspection of infrastructure with heterogeneous drones", World Congress of the International Federation of Automatic Control (IFAC), July 2026.
    BibTeX TR2026-101 PDF Software
    • @inproceedings{Folorunsho2026jul,
    • author = {Folorunsho, Samuel and Hayner, Christopher and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Coordinated aerial inspection of infrastructure with heterogeneous drones}},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2026,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2026-101}
    • }
  •  Lin, X., Nayak, S., Di Cairano, S., Vinod, A.P., "Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2026.3697045, Vol. 34, No. 5, pp. 2821-2829, June 2026.
    BibTeX TR2026-078 PDF Video
    • @article{Lin2026jun,
    • author = {Lin, Xiaoshan and Nayak, Siddharth and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2026,
    • volume = 34,
    • number = 5,
    • pages = {2821--2829},
    • month = jun,
    • doi = {10.1109/TCST.2026.3697045},
    • url = {https://www.merl.com/publications/TR2026-078}
    • }
  •  Wang, X., Ren, Z., Li, N., Dong, B., "Scalable Physics-Informed Multi-Agent Reinforcement Learning for Building Energy System Control", Advances in Applied Energy, DOI: 10.1016/​j.adapen.2026.100285, Vol. 23, June 2026.
    BibTeX TR2026-106 PDF
    • @article{Wang2026apr5,
    • author = {{Wang, Xuezheng and Ren, Zhaolin and Li, Na and Dong, Bing}},
    • title = {{Scalable Physics-Informed Multi-Agent Reinforcement Learning for Building Energy System Control}},
    • journal = {Advances in Applied Energy},
    • year = 2026,
    • volume = 23,
    • month = jun,
    • doi = {10.1016/j.adapen.2026.100285},
    • issn = {2666-7924},
    • url = {https://www.merl.com/publications/TR2026-106}
    • }
  •  Buckner, S., Elango, P., "GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
    BibTeX TR2026-068 PDF
    • @inproceedings{Buckner2026jun,
    • author = {Buckner, Samuel and Elango, Purnanand},
    • title = {{GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2026,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2026-068}
    • }
  •  Schperberg, A., Wang, Y., Di Cairano, S., "Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
    BibTeX TR2026-072 PDF Video
    • @inproceedings{Schperberg2026jun,
    • author = {Schperberg, Alexander and Wang, Yeping and {Di Cairano}, Stefano},
    • title = {{Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2026,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2026-072}
    • }
  •  Velentzas, I.G., Tomita, K., "LIDIA: Localizing In the Dark with Illumination-Awareness toward Perception-Aware Planning", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
    BibTeX TR2026-071 PDF
    • @inproceedings{Velentzas2026jun,
    • author = {{Velentzas, I.G. and Tomita, K.}},
    • title = {{LIDIA: Localizing In the Dark with Illumination-Awareness toward Perception-Aware Planning}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2026,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2026-071}
    • }
  •  Leung, J., Di Cairano, S., "Invariant-set motion-planner for unicycle dynamics under closed-loop feedback linearization", American Control Conference (ACC), May 2026, pp. 1103-1109.
    BibTeX TR2026-064 PDF
    • @inproceedings{Leung2026may2,
    • author = {Leung, Jordan and {Di Cairano}, Stefano},
    • title = {{Invariant-set motion-planner for unicycle dynamics under closed-loop feedback linearization}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2026,
    • pages = {1103--1109},
    • month = may,
    • url = {https://www.merl.com/publications/TR2026-064}
    • }
  •  Leung, J., Vinod, A.P., "A set-based approach for stable MPC with Minkowski cost functions", American Control Conference (ACC), May 2026, pp. 571-577.
    BibTeX TR2026-062 PDF
    • @inproceedings{Leung2026may,
    • author = {Leung, Jordan and Vinod, Abraham P.},
    • title = {{A set-based approach for stable MPC with Minkowski cost functions}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2026,
    • pages = {571--577},
    • month = may,
    • url = {https://www.merl.com/publications/TR2026-062}
    • }
  •  Silvestre, D., Vinod, A.P., "Robust Controllable Set Computation using Constrained Convex Generators", American Control Conference (ACC), May 2026, pp. 253-259.
    BibTeX TR2026-063 PDF
    • @inproceedings{Silvestre2026may,
    • author = {Silvestre, Daniel and Vinod, Abraham P.},
    • title = {{Robust Controllable Set Computation using Constrained Convex Generators}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2026,
    • pages = {253--259},
    • month = may,
    • url = {https://www.merl.com/publications/TR2026-063}
    • }
  •  Tandi, K., Ali, W.H., Rapp, J., Mansour, H., "Single View Camera-Based Dynamic Airflow Sensing", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), May 2026.
    BibTeX TR2026-038 PDF
    • @inproceedings{Tandi2026may,
    • author = {Tandi, Kevin and Ali, Wael H. and Rapp, Joshua and Mansour, Hassan},
    • title = {{Single View Camera-Based Dynamic Airflow Sensing}},
    • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
    • year = 2026,
    • month = may,
    • url = {https://www.merl.com/publications/TR2026-038}
    • }
  •  Wang, Z., Hu, H., Deng, X., Mowlavi, S., Nakahira, Y., "OpInf-LLM: Parametric PDE Solving with LLMs via Operator Inference", International Conference on Learning Representations (ICLR) Workshop on AI and Partial Differential Equations (AI&PDE), April 2026.
    BibTeX TR2026-043 PDF
    • @inproceedings{Wang2026apr2,
    • author = {Wang, Zhuoyuan and Hu, Hanjiang and Deng, Xiyu and Mowlavi, Saviz and Nakahira, Yorie},
    • title = {{OpInf-LLM: Parametric PDE Solving with LLMs via Operator Inference}},
    • booktitle = {International Conference on Learning Representations (ICLR) Workshop on AI and Partial Differential Equations (AI\&PDE)},
    • year = 2026,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2026-043}
    • }
  •  Wang, Z., Romagnoli, R., Mowlavi, S., Nakahira, Y., "Physics-Informed Deep B-Spline Networks", International Conference on Learning Representations (ICLR) Workshop on AI and Partial Differential Equations (AI&PDE), April 2026.
    BibTeX TR2026-046 PDF
    • @inproceedings{Wang2026apr3,
    • author = {Wang, Zhuoyuan and Romagnoli, Raffaele and Mowlavi, Saviz and Nakahira, Yorie},
    • title = {{Physics-Informed Deep B-Spline Networks}},
    • booktitle = {International Conference on Learning Representations (ICLR) Workshop on AI and Partial Differential Equations (AI\&PDE)},
    • year = 2026,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2026-046}
    • }
  •  Li, X., Wang, Y., Jiang, Z.-P., "Adaptive Dynamic Programming with Control Barrier Function for Safety-Critical Control Applications", SCIENTIA SINICA Informationis, DOI: 10.1360/​SSI-2025-0475, Vol. 56, No. 5, April 2026.
    BibTeX TR2026-104 PDF
    • @article{Li2026apr,
    • author = {Li, Xianning and Wang, Yebin and Jiang, Zhong-Ping},
    • title = {{Adaptive Dynamic Programming with Control Barrier Function for Safety-Critical Control Applications}},
    • journal = {SCIENTIA SINICA Informationis},
    • year = 2026,
    • volume = 56,
    • number = 5,
    • month = apr,
    • doi = {10.1360/SSI-2025-0475},
    • url = {https://www.merl.com/publications/TR2026-104}
    • }
  •  Ghezzi, A., Nurkanović, A., Weiss, A., Diehl, M., Di Cairano, S., "A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications", Optimal Control Applications and Methods, DOI: 10.1002/​oca.70033, Vol. 47, No. 1, pp. 4-23, February 2026.
    BibTeX TR2026-024 PDF
    • @article{Ghezzi2026feb,
    • author = {Ghezzi, Andrea and Nurkanović, Armin and Weiss, Avishai and Diehl, Moritz and {Di Cairano}, Stefano},
    • title = {{A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications}},
    • journal = {Optimal Control Applications and Methods},
    • year = 2026,
    • volume = 47,
    • number = 1,
    • pages = {4--23},
    • month = feb,
    • doi = {10.1002/oca.70033},
    • url = {https://www.merl.com/publications/TR2026-024}
    • }
  •  Kamath, A., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming", AIAA SciTech Forum, DOI: 10.2514/​6.2026-0970, January 2026, pp. 2026-0970.
    BibTeX TR2026-015 PDF
    • @inproceedings{Kamath2026jan,
    • author = {Kamath, Abhinav and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming}},
    • booktitle = {AIAA SciTech 2026 Forum},
    • year = 2026,
    • pages = {2026--0970},
    • month = jan,
    • publisher = {AIAA},
    • doi = {10.2514/6.2026-0970},
    • url = {https://www.merl.com/publications/TR2026-015}
    • }
  •  Tomita, K., Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Powered Descent Decision Making: A Reachability-Steering Approach", AIAA SciTech Forum, DOI: 10.2514/​6.2026-0328, January 2026.
    BibTeX TR2026-014 PDF
    • @inproceedings{Kento2026jan,
    • author = {{Tomita, Kento and Elango, Purnanand and Vinod, Abraham P. and Di Cairano, Stefano and Weiss, Avishai}},
    • title = {{Powered Descent Decision Making: A Reachability-Steering Approach}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • publisher = {AIAA},
    • doi = {10.2514/6.2026-0328},
    • url = {https://www.merl.com/publications/TR2026-014}
    • }
  •  Castroviejo-Fernandez, M., Leung, J., "Relaxed barrier function based model predictive control with hard input constraints", IEEE Control Systems Letters, DOI: 10.1109/​LCSYS.2025.3645287, Vol. 9, pp. 2927-2932, December 2025.
    BibTeX TR2026-005 PDF
    • @article{Castroviejo-Fernandez2025dec,
    • author = {Castroviejo-Fernandez, Miguel and Leung, Jordan},
    • title = {{Relaxed barrier function based model predictive control with hard input constraints}},
    • journal = {IEEE Control Systems Letters},
    • year = 2025,
    • volume = 9,
    • pages = {2927--2932},
    • month = dec,
    • doi = {10.1109/LCSYS.2025.3645287},
    • issn = {2475-1456},
    • url = {https://www.merl.com/publications/TR2026-005}
    • }
  •  Joshi, A., Mowlavi, S., Benosman, M., "A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC57313.2025.11312835, December 2025.
    BibTeX TR2025-172 PDF
    • @inproceedings{Joshi2025dec,
    • author = {Joshi, Anant and Mowlavi, Saviz and Benosman, Mouhacine},
    • title = {{A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec,
    • publisher = {IEEE},
    • doi = {10.1109/CDC57313.2025.11312835},
    • issn = {2576-2370},
    • isbn = {979-8-3315-2627-6},
    • url = {https://www.merl.com/publications/TR2025-172}
    • }
  •  Uzun, S., Acikmese, B., Di Cairano, S., "Motion Planning for Information Acquisition via Continuous-time Successive Convexification", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX TR2025-170 PDF Video
    • @inproceedings{Uzun2025dec,
    • author = {Uzun, Samet and Acikmese, Behcet and {Di Cairano}, Stefano},
    • title = {{Motion Planning for Information Acquisition via Continuous-time Successive Convexification}},
    • booktitle = {IEEE Control Systems Letters},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-170}
    • }