Publications

224 / 3,757 publications found.


  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644645, June 2024, pp. 299-305.
    BibTeX TR2024-078 PDF
    • @inproceedings{Nayak2024jun,
    • author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and Di Cairano, Stefano and Vinod, Abraham P.}},
    • title = {Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {299--305},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644645},
    • url = {https://www.merl.com/publications/TR2024-078}
    • }
  •  Vinod, A.P., Yamazaki, S., Chakrabarty, A., Yoshikawa, N., Di Cairano, S., "Aircraft Approach Management using Reachability and Dynamic Programming", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644902, June 2024, pp. 318-324.
    BibTeX TR2024-079 PDF
    • @inproceedings{Vinod2024jun,
    • author = {{Vinod, Abraham P. and Yamazaki, Sachiyo and Chakrabarty, Ankush and Yoshikawa, Nobuyuki and Di Cairano, Stefano}},
    • title = {Aircraft Approach Management using Reachability and Dynamic Programming},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {318--324},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644902},
    • url = {https://www.merl.com/publications/TR2024-079}
    • }
  •  Johnson, R.S., Di Cairano, S., Sanfelice, R., "Robust Parameter Estimation for Hybrid Dynamical Systems with Linear Parametric Uncertainty", Automatica, DOI: 10.1016/​j.automatica.2024.111766, June 2024.
    BibTeX TR2024-076 PDF
    • @article{Johnson2024jun,
    • author = {Johnson, Ryan S. and Di Cairano, Stefano and Sanfelice, Ricardo}},
    • title = {Robust Parameter Estimation for Hybrid Dynamical Systems with Linear Parametric Uncertainty},
    • journal = {Automatica},
    • year = 2024,
    • month = jun,
    • doi = {10.1016/j.automatica.2024.111766},
    • url = {https://www.merl.com/publications/TR2024-076}
    • }
  •  Giammarino, V., Queeney, J., Paschalidis, I.C., "Adversarial Imitation Learning from Visual Observations using Latent Information", Transactions on Machine Learning Research (TMLR), June 2024.
    BibTeX TR2024-068 PDF
    • @article{Giammarino2024jun,
    • author = {Giammarino, Vittorio and Queeney, James and Paschalidis, Ioannis Ch.},
    • title = {Adversarial Imitation Learning from Visual Observations using Latent Information},
    • journal = {Transactions on Machine Learning Research (TMLR)},
    • year = 2024,
    • month = jun,
    • issn = {2835-8856},
    • url = {https://www.merl.com/publications/TR2024-068}
    • }
  •  Reiter, R., Quirynen, R., Diehl, M., Di Cairano, S., "Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3400571, May 2024.
    BibTeX TR2024-056 PDF
    • @article{Reiter2024may2,
    • author = {Reiter, Rudolf and Quirynen, Rien and Diehl, Moritz and Di Cairano, Stefano}},
    • title = {Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2024,
    • month = may,
    • doi = {10.1109/TCST.2024.3400571},
    • url = {https://www.merl.com/publications/TR2024-056}
    • }
  •  Schperberg, A., Tanaka, Y., Mowlavi, S., Xu, F., Balaji, B., Hong, D., "OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-054 PDF
    • @inproceedings{Schperberg2024may,
    • author = {{Schperberg, Alexander and Tanaka, Yusuke and Mowlavi, Saviz and Xu, Feng and Balaji, Bharathan and Hong, Dennis}},
    • title = {OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • publisher = {IEEE},
    • url = {https://www.merl.com/publications/TR2024-054}
    • }
  •  Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA57147.2024.10611255, May 2024.
    BibTeX TR2024-055 PDF
    • @inproceedings{Sinhmar2024may,
    • author = {Sinhmar, Himani and Greiff, Marcus and Di Cairano, Stefano and }},
    • title = {Practical and Safe Navigation Function Based Motion Planning of UAVs},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10611255},
    • url = {https://www.merl.com/publications/TR2024-055}
    • }
  •  Lin, C., Wang, Y., Vetterling, W., Jha, D.K., Quirynen, R., "Path Generation based on Electrostatic Equipotential Curves", IEEE Access, DOI: 10.1109/​ACCESS.2024.3389962, Vol. 12, pp. 55019-55032, May 2024.
    BibTeX TR2024-049 PDF
    • @article{Lin2024may,
    • author = {Lin, Chungwei and Wang, Yebin and Vetterling, William and Jha, Devesh K. and Quirynen, Rien}},
    • title = {Path Generation based on Electrostatic Equipotential Curves},
    • journal = {IEEE Access},
    • year = 2024,
    • volume = 12,
    • pages = {55019--55032},
    • month = may,
    • doi = {10.1109/ACCESS.2024.3389962},
    • url = {https://www.merl.com/publications/TR2024-049}
    • }
  •  Queeney, J., Ozcan, E.C., Paschalidis, I.C., Cassandras, C.G., "Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees", Transactions on Machine Learning Research (TMLR), April 2024.
    BibTeX TR2024-037 PDF
    • @article{Queeney2024apr,
    • author = {Queeney, James and Ozcan, Erhan Can and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
    • title = {Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees},
    • journal = {Transactions on Machine Learning Research (TMLR)},
    • year = 2024,
    • month = apr,
    • issn = {2835-8856},
    • url = {https://www.merl.com/publications/TR2024-037}
    • }
  •  Srinivas, N., Vinod, A.P., Di Cairano, S., Weiss, A., "Lunar Landing with Feasible Divert using Controllable Sets", AIAA SciTech, DOI: 10.2514/​6.2024-0324, January 2024, pp. AIAA 2024-0324.
    BibTeX TR2024-004 PDF
    • @inproceedings{Srinivas2024jan,
    • author = {Srinivas, Neeraj and Vinod, Abraham P. and Di Cairano, Stefano and Weiss, Avishai},
    • title = {Lunar Landing with Feasible Divert using Controllable Sets},
    • booktitle = {AIAA SCITECH 2024 Forum},
    • year = 2024,
    • pages = {AIAA 2024--0324},
    • month = jan,
    • doi = {10.2514/6.2024-0324},
    • url = {https://www.merl.com/publications/TR2024-004}
    • }
  •  Bonzanini, A.D., Mesbah, A., Di Cairano, S., "Perception-Aware Model Predictive Control for Constrained Control in Unknown Environments", Automatica, DOI: 10.1016/​j.automatica.2023.111418, December 2023.
    BibTeX TR2023-147 PDF
    • @article{Bonzanini2023dec,
    • author = {Bonzanini, Angelo Domenico and Mesbah, Ali and Di Cairano, Stefano},
    • title = {Perception-Aware Model Predictive Control for Constrained Control in Unknown Environments},
    • journal = {Automatica},
    • year = 2023,
    • month = dec,
    • doi = {10.1016/j.automatica.2023.111418},
    • url = {https://www.merl.com/publications/TR2023-147}
    • }
  •  Mowlavi, S., Benosman, M., "Dual Parametric and State Estimation for Partial Differential Equations", IEEE Conference on Decision and Control, DOI: 10.1109/​CDC49753.2023.10384246, December 2023, pp. 8156-8161.
    BibTeX TR2023-145 PDF
    • @inproceedings{Mowlavi2023dec,
    • author = {Mowlavi, Saviz and Benosman, Mouhacine},
    • title = {Dual Parametric and State Estimation for Partial Differential Equations},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2023,
    • pages = {8156--8161},
    • month = dec,
    • publisher = {IEEE},
    • doi = {10.1109/CDC49753.2023.10384246},
    • issn = {2576-2370},
    • isbn = {979-8-3503-0125-0},
    • url = {https://www.merl.com/publications/TR2023-145}
    • }
  •  Queeney, J., Benosman, M., "Risk-Averse Model Uncertainty for Distributionally Robust Safe Reinforcement Learning", Advances in Neural Information Processing Systems (NeurIPS), A. Oh and T. Neumann and A. Globerson and K. Saenko and M. Hardt and S. Levine, Eds., December 2023, pp. 1659-1680.
    BibTeX TR2023-143 PDF
    • @inproceedings{Queeney2023dec,
    • author = {{Queeney, James and Benosman, Mouhacine}},
    • title = {Risk-Averse Model Uncertainty for Distributionally Robust Safe Reinforcement Learning},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2023,
    • editor = {A. Oh and T. Neumann and A. Globerson and K. Saenko and M. Hardt and S. Levine},
    • pages = {1659--1680},
    • month = dec,
    • publisher = {Curran Associates, Inc.},
    • url = {https://www.merl.com/publications/TR2023-143}
    • }
  •  Greiff, M., Di Cairano, S., Kim, K.J., Berntorp, K., "A System-Level Cooperative Multi-Agent GNSS Positioning Solution", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2023.3307339, Vol. 32, No. 1, pp. 158-173, October 2023.
    BibTeX TR2023-135 PDF
    • @article{Greiff2023oct,
    • author = {Greiff, Marcus and Di Cairano, Stefano and Kim, Kyeong Jin and Berntorp, Karl},
    • title = {A System-Level Cooperative Multi-Agent GNSS Positioning Solution},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2023,
    • volume = 32,
    • number = 1,
    • pages = {158--173},
    • month = oct,
    • doi = {10.1109/TCST.2023.3307339},
    • url = {https://www.merl.com/publications/TR2023-135}
    • }
  •  Sholokhov, A., Liu, Y., Mansour, H., Nabi, S., "Physics-Informed Neural ODE (PINODE): Embedding Physics into Models using Collocation Points", Nature Scientific Reports, DOI: 10.1038/​s41598-023-36799-6, Vol. 13, No. 1, pp. 10166, October 2023.
    BibTeX TR2023-136 PDF
    • @article{Sholokhov2023oct,
    • author = {Sholokhov, Aleksei and Liu, Yuying and Mansour, Hassan and Nabi, Saleh},
    • title = {Physics-Informed Neural ODE (PINODE): Embedding Physics into Models using Collocation Points},
    • journal = {Nature Scientific Reports},
    • year = 2023,
    • volume = 13,
    • number = 1,
    • pages = 10166,
    • month = oct,
    • doi = {10.1038/s41598-023-36799-6},
    • url = {https://www.merl.com/publications/TR2023-136}
    • }
  •  Shimane, Y., Miraldo, P., Berntorp, K., Greiff, M., Elango, P., Weiss, A., "High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software", International Astronautical Congress (IAC), October 2023, pp. IAC-23,C1,5,9,x78805.
    BibTeX TR2023-128 PDF
    • @inproceedings{Shimane2023oct,
    • author = {Shimane, Yuri and Miraldo, Pedro and Berntorp, Karl and Greiff, Marcus and Elango, Purnanand and Weiss, Avishai},
    • title = {High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software},
    • booktitle = {International Astronautical Congress (IAC)},
    • year = 2023,
    • pages = {IAC--23,C1,5,9,x78805},
    • month = oct,
    • url = {https://www.merl.com/publications/TR2023-128}
    • }
  •  Quirynen, R., Di Cairano, S., "Tailored Presolve Techniques in Branch-and-Bound Method for Fast Mixed-Integer Optimal Control Applications", Optimal Control Applications and Methods, DOI: 10.1002/​oca.3030, Vol. 44, No. 6, pp. 3139-3167, August 2023.
    BibTeX TR2023-110 PDF
    • @article{Quirynen2023aug2,
    • author = {Quirynen, Rien and Di Cairano, Stefano},
    • title = {Tailored Presolve Techniques in Branch-and-Bound Method for Fast Mixed-Integer Optimal Control Applications},
    • journal = {Optimal Control Applications and Methods},
    • year = 2023,
    • volume = 44,
    • number = 6,
    • pages = {3139--3167},
    • month = aug,
    • doi = {10.1002/oca.3030},
    • url = {https://www.merl.com/publications/TR2023-110}
    • }
  •  Iqbal, H., Di Cairano, S., Berntorp, K., "Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253020, August 2023.
    BibTeX TR2023-101 PDF
    • @inproceedings{Iqbal2023aug,
    • author = {Iqbal, Hassan and Di Cairano, Stefano and Berntorp, Karl},
    • title = {Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253020},
    • url = {https://www.merl.com/publications/TR2023-101}
    • }
  •  Menner, M., Berntorp, K., "Gaussian Processes with State-Dependent Noise for Stochastic Control", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10252506, August 2023.
    BibTeX TR2023-100 PDF
    • @inproceedings{Menner2023aug2,
    • author = {Menner, Marcel and Berntorp, Karl},
    • title = {Gaussian Processes with State-Dependent Noise for Stochastic Control},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10252506},
    • url = {https://www.merl.com/publications/TR2023-100}
    • }
  •  Menner, M., Di Cairano, S., Hamada, M., Gushima, K., "MPC-based Pedestrian Routing for Congestion Balancing", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10252891, August 2023.
    BibTeX TR2023-099 PDF
    • @inproceedings{Menner2023aug,
    • author = {Menner, Marcel and Di Cairano, Stefano and Hamada, Masaki and Gushima, Kota},
    • title = {MPC-based Pedestrian Routing for Congestion Balancing},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10252891},
    • url = {https://www.merl.com/publications/TR2023-099}
    • }
  •  Suda, T., Shimane, Y., Elango, P., Weiss, A., "DEEP REINFORCEMENT LEARNING FOR STATION KEEPING ON NEAR RECTILINEAR HALO ORBITS", AIAA/AAS Astrodynamics Specialist Conference, August 2023.
    BibTeX TR2023-098 PDF
    • @inproceedings{Suda2023aug,
    • author = {Suda, Takumi and Shimane, Yuri and Elango, Purnanand and Weiss, Avishai},
    • title = {DEEP REINFORCEMENT LEARNING FOR STATION KEEPING ON NEAR RECTILINEAR HALO ORBITS},
    • booktitle = {AIAA/AAS Astrodynamics Specialist Conference},
    • year = 2023,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2023-098}
    • }
  •  Greiff, M., Di Cairano, S., Mansour, H., Berntorp, K., "A Generalized GraphEM for Sparse Time-Varying Dynamical Systems", World Congress of the International Federation of Automatic Control (IFAC), Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita, Eds., DOI: 10.1016/​j.ifacol.2023.10.630, July 2023, pp. 5957-5962.
    BibTeX TR2023-086 PDF
    • @inproceedings{Greiff2023jul2,
    • author = {Greiff, Marcus and Di Cairano, Stefano and Mansour, Hassan and Berntorp, Karl},
    • title = {A Generalized GraphEM for Sparse Time-Varying Dynamical Systems},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • editor = {Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita},
    • pages = {5957--5962},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2023.10.630},
    • issn = {2405-8963},
    • url = {https://www.merl.com/publications/TR2023-086}
    • }