- Bonzanini, A.D., Mesbah, A., Di Cairano, S., "On the Stability Properties of Perception-aware Chance-constrained MPC in Uncertain Environments", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682990, December 2021.
BibTeX TR2021-145 PDF- @inproceedings{Bonzanini2021dec,
- author = {Bonzanini, Angelo Domenico and Mesbah, Ali and Di Cairano, Stefano},
- title = {On the Stability Properties of Perception-aware Chance-constrained MPC in Uncertain Environments},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- month = dec,
- doi = {10.1109/CDC45484.2021.9682990},
- url = {https://www.merl.com/publications/TR2021-145}
- }
- Johnson, R.S., Di Cairano, S., Sanfelice, R., "Parameter Estimation using Hybrid Gradient Descent", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9682794, December 2021.
BibTeX TR2021-146 PDF- @inproceedings{Johnson2021dec,
- author = {Johnson, Ryan S. and Di Cairano, Stefano and Sanfelice, Ricardo},
- title = {Parameter Estimation using Hybrid Gradient Descent},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- month = dec,
- doi = {10.1109/CDC45484.2021.9682794},
- url = {https://www.merl.com/publications/TR2021-146}
- }
- Menner, M., Berntorp, K., Di Cairano, S., "Automated Controller Calibration by Kalman Filtering", arXiv, November 2021.
BibTeX arXiv- @article{Menner2021nov,
- author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
- title = {Automated Controller Calibration by Kalman Filtering},
- journal = {arXiv},
- year = 2021,
- month = nov,
- url = {https://arxiv.org/abs/2111.10832}
- }
- Chen, D., Danielson, C., Di Cairano, S., "A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/j.ifacol.2021.11.245, October 2021, pp. 650-656.
BibTeX TR2021-133 PDF- @inproceedings{Chen2021oct,
- author = {Chen, Di and Danielson, Claus and Di Cairano, Stefano},
- title = {A Predictive Controller for Drivability and Comfort in Multi-Motor Electric Vehicles},
- booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
- year = 2021,
- pages = {650--656},
- month = oct,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2021.11.245},
- url = {https://www.merl.com/publications/TR2021-133}
- }
- Srinivasan, M., Chakrabarty, A., Quirynen, R., yoshikawa, N., Mariyama, T., Di Cairano, S., "Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/j.ifacol.2021.11.237, October 2021, pp. 598-604.
BibTeX TR2021-134 PDF Video- @inproceedings{Srinivasan2021oct,
- author = {Srinivasan, Mohit and Chakrabarty, Ankush and Quirynen, Rien and yoshikawa, nobuyuki and Mariyama, Toshisada and Di Cairano, Stefano},
- title = {Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs},
- booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
- year = 2021,
- pages = {598--604},
- month = oct,
- doi = {10.1016/j.ifacol.2021.11.237},
- url = {https://www.merl.com/publications/TR2021-134}
- }
- Menner, M., Di Cairano, S., "Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles", IEEE Vehicle Power and Propulsion Conference, DOI: 10.1109/VPPC53923.2021.9699361, October 2021, pp. 1-6.
BibTeX TR2021-132 PDF- @inproceedings{Menner2021oct,
- author = {Menner, Marcel and Di Cairano, Stefano},
- title = {Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles},
- booktitle = {IEEE Vehicle Power and Propulsion Conference},
- year = 2021,
- pages = {1--6},
- month = oct,
- doi = {10.1109/VPPC53923.2021.9699361},
- url = {https://www.merl.com/publications/TR2021-132}
- }
- Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/SMC52423.2021.9659186, October 2021, pp. 3238-3244.
BibTeX TR2021-126 PDF Video- @inproceedings{Chakrabarty2021oct,
- author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and Di Cairano, Stefano},
- title = {Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC},
- booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
- year = 2021,
- pages = {3238--3244},
- month = oct,
- doi = {10.1109/SMC52423.2021.9659186},
- url = {https://www.merl.com/publications/TR2021-126}
- }
- Ravikumar, S., Quirynen, R., Bhagat, A., Zeino, E., Di Cairano, S., "Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9658675, August 2021, pp. 814-819.
BibTeX TR2021-089 PDF- @inproceedings{Ravikumar2021aug,
- author = {Ravikumar, Shreejith and Quirynen, Rien and Bhagat, Akshay and Zeino, Eyad and Di Cairano, Stefano},
- title = {Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- pages = {814--819},
- month = aug,
- doi = {10.1109/CCTA48906.2021.9658675},
- url = {https://www.merl.com/publications/TR2021-089}
- }
- Greiff, M., Berntorp, K., Di Cairano, S., Kim, K.J., "Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9659142, August 2021.
BibTeX TR2021-090 PDF- @inproceedings{Greiff2021aug,
- author = {Greiff, Marcus and Berntorp, Karl and Di Cairano, Stefano and Kim, Kyeong Jin},
- title = {Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- month = aug,
- doi = {10.1109/CCTA48906.2021.9659142},
- url = {https://www.merl.com/publications/TR2021-090}
- }
- Menner, M., Berntorp, K., Di Cairano, S., "A Kalman Filter for Online Calibration of Optimal Controllers", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA48906.2021.9658684, August 2021, pp. 441-446.
BibTeX TR2021-091 PDF- @inproceedings{Menner2021aug,
- author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
- title = {A Kalman Filter for Online Calibration of Optimal Controllers},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2021,
- pages = {441--446},
- month = aug,
- doi = {10.1109/CCTA48906.2021.9658684},
- url = {https://www.merl.com/publications/TR2021-091}
- }
- Zeng, T., Guo, J., Kim, K.J., Parsons, K., Orlik, P.V., Di Cairano, S., Saad, W., "Multi-Task Federated Learning for Traffic Prediction and Its Application to Route Planning", IEEE Intelligent Vehicles Symposium, July 2021.
BibTeX TR2021-083 PDF Video- @inproceedings{Zeng2021jul,
- author = {Zeng, Tengchan and Guo, Jianlin and Kim, Kyeong Jin and Parsons, Kieran and Orlik, Philip V. and Di Cairano, Stefano and Saad, Walid},
- title = {Multi-Task Federated Learning for Traffic Prediction and Its Application to Route Planning},
- booktitle = {IEEE Intelligent Vehicles Symposium},
- year = 2021,
- month = jul,
- url = {https://www.merl.com/publications/TR2021-083}
- }
- Aguilar Marsillach, D., Di Cairano, S., Kalabic, U., Weiss, A., "Fail-Safe Spacecraft Rendezvous on Near-Rectilinear Halo Orbits", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483328, May 2021, pp. 2980-2985.
BibTeX TR2021-054 PDF- @inproceedings{AguilarMarsillach2021may,
- author = {Aguilar Marsillach, Daniel and Di Cairano, Stefano and Kalabic, Uros and Weiss, Avishai},
- title = {Fail-Safe Spacecraft Rendezvous on Near-Rectilinear Halo Orbits},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {2980--2985},
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC50511.2021.9483328},
- issn = {2378-5861},
- isbn = {978-1-6654-4197-1},
- url = {https://www.merl.com/publications/TR2021-054}
- }
- Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483251, May 2021, pp. 160-165.
BibTeX TR2021-058 PDF- @inproceedings{Berntorp2021may,
- author = {Berntorp, Karl and Chakrabarty, Ankush and Di Cairano, Stefano},
- title = {Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- pages = {160--165},
- month = may,
- doi = {10.23919/ACC50511.2021.9483251},
- url = {https://www.merl.com/publications/TR2021-058}
- }
- Bonzanini, A.D., Mesbah, A., Di Cairano, S., "Perception-Aware Chance-Constrained Model Predictive Control for Uncertain Environments", American Control Conference (ACC), DOI: 10.23919/ACC50511.2021.9483203, May 2021.
BibTeX TR2021-055 PDF- @inproceedings{Bonzanini2021may,
- author = {Bonzanini, Angelo Domenico and Mesbah, Ali and Di Cairano, Stefano},
- title = {Perception-Aware Chance-Constrained Model Predictive Control for Uncertain Environments},
- booktitle = {American Control Conference (ACC)},
- year = 2021,
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC50511.2021.9483203},
- url = {https://www.merl.com/publications/TR2021-055}
- }
- Chen, D., Danielson, C., Masahiro, I., "Improving Passenger Comfort by Exploiting Hub Motors in Electric Vehicles: Suspension Modeling", ASME Dynamic Systems and Control Conference (DSCC), DOI: 10.1115/DSCC2020-3167, January 2021.
BibTeX TR2021-019 PDF- @inproceedings{Chen2021jan,
- author = {Chen, Di and Danielson, Claus and Masahiro, Iezawa},
- title = {Improving Passenger Comfort by Exploiting Hub Motors in Electric Vehicles: Suspension Modeling},
- booktitle = {ASME Dynamic Systems and Control Conference (DSCC)},
- year = 2021,
- month = jan,
- doi = {10.1115/DSCC2020-3167},
- url = {https://www.merl.com/publications/TR2021-019}
- }
- Hayashi, N., Weiss, A., Di Cairano, S., "Model Predictive Control Approach for Autonomous Sun-Synchronous Sub-Recurrent Orbit Control", AIAA SciTech, DOI: 10.2514/6.2021-1953, January 2021.
BibTeX TR2021-005 PDF- @inproceedings{Hayashi2021jan,
- author = {Hayashi, Naohiro and Weiss, Avishai and Di Cairano, Stefano},
- title = {Model Predictive Control Approach for Autonomous Sun-Synchronous Sub-Recurrent Orbit Control},
- booktitle = {AIAA SciTech},
- year = 2021,
- month = jan,
- publisher = {AIAA},
- doi = {10.2514/6.2021-1953},
- url = {https://www.merl.com/publications/TR2021-005}
- }
- Aguilar Marsillach, D., Di Cairano, S., Weiss, A., "Abort-Safe Spacecraft Rendezvous in case of Partial Thrust Failure", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC42340.2020.9303782, December 2020, pp. 1490-1495.
BibTeX TR2020-175 PDF- @inproceedings{AguilarMarsillach2020dec,
- author = {Aguilar Marsillach, Daniel and Di Cairano, Stefano and Weiss, Avishai},
- title = {Abort-Safe Spacecraft Rendezvous in case of Partial Thrust Failure},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2020,
- pages = {1490--1495},
- month = dec,
- publisher = {IEEE},
- doi = {10.1109/CDC42340.2020.9303782},
- url = {https://www.merl.com/publications/TR2020-175}
- }
- Ahn, H., Berntorp, K., Di Cairano, S., "Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC42340.2020.9304101, December 2020.
BibTeX TR2020-168 PDF- @inproceedings{Ahn2020dec2,
- author = {Ahn, Heejin and Berntorp, Karl and Di Cairano, Stefano},
- title = {Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2020,
- month = dec,
- doi = {10.1109/CDC42340.2020.9304101},
- url = {https://www.merl.com/publications/TR2020-168}
- }
- Ahn, H., Berntorp, K., Inani, P., Ram, A.J., Di Cairano, S., "Reachability-based Decision Making for Autonomous Driving: Theory and Experiment", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2020.3022721, December 2020.
BibTeX TR2020-165 PDF- @article{Ahn2020dec,
- author = {Ahn, Heejin and Berntorp, Karl and Inani, Pranav and Ram, Arjun Jagdish and Di Cairano, Stefano},
- title = {Reachability-based Decision Making for Autonomous Driving: Theory and Experiment},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2020,
- month = dec,
- doi = {10.1109/TCST.2020.3022721},
- url = {https://www.merl.com/publications/TR2020-165}
- }
- Caverly, R., Di Cairano, S., Weiss, A., "Electric Satellite Station Keeping, Attitude Control, and Momentum Management by MPC", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2020.3014601, Vol. 29, No. 4, pp. 1475-1489, December 2020.
BibTeX TR2020-153 PDF- @article{Caverly2020dec,
- author = {Caverly, Ryan and Di Cairano, Stefano and Weiss, Avishai},
- title = {Electric Satellite Station Keeping, Attitude Control, and Momentum Management by MPC},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2020,
- volume = 29,
- number = 4,
- pages = {1475--1489},
- month = dec,
- doi = {10.1109/TCST.2020.3014601},
- issn = {1063-6536},
- url = {https://www.merl.com/publications/TR2020-153}
- }
- Chakrabarty, A., Raghunathan, A., Di Cairano, S., Danielson, C., "Active Learning for Estimating Reachable Sets for Systems with Unknown Dynamics", IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2020.3000966, December 2020.
BibTeX TR2020-164 PDF- @article{Chakrabarty2020dec,
- author = {Chakrabarty, Ankush and Raghunathan, Arvind and Di Cairano, Stefano and Danielson, Claus},
- title = {Active Learning for Estimating Reachable Sets for Systems with Unknown Dynamics},
- journal = {IEEE Transactions on Cybernetics},
- year = 2020,
- month = dec,
- doi = {10.1109/TCYB.2020.3000966},
- url = {https://www.merl.com/publications/TR2020-164}
- }
- Liang, J., Di Cairano, S., Quirynen, R., "Early Termination of Convex QP Solvers in Mixed-Integer Programming for Real-Time Decision Making", L-CSS with ACC 2021 Option, DOI: 10.1109/LCSYS.2020.3038677, Vol. 5, No. 4, pp. 1417-1422, November 2020.
BibTeX TR2020-152 PDF Video- @article{Liang2020nov,
- author = {Liang, Jiaming and Di Cairano, Stefano and Quirynen, Rien},
- title = {Early Termination of Convex QP Solvers in Mixed-Integer Programming for Real-Time Decision Making},
- journal = {L-CSS with ACC 2021 Option},
- year = 2020,
- volume = 5,
- number = 4,
- pages = {1417--1422},
- month = nov,
- doi = {10.1109/LCSYS.2020.3038677},
- url = {https://www.merl.com/publications/TR2020-152}
- }
- Quirynen, R., Di Cairano, S., "PRESAS: Block-Structured Preconditioning of Iterative Solvers within a Primal Active-Set Method for fast MPC", Optimal Control Applications & Methods, DOI: 10.1002/oca.2652, Vol. 41, No. 6, pp. 2282-2307, September 2020.
BibTeX TR2020-134 PDF- @article{Quirynen2020sep,
- author = {Quirynen, Rien and Di Cairano, Stefano},
- title = {PRESAS: Block-Structured Preconditioning of Iterative Solvers within a Primal Active-Set Method for fast MPC},
- journal = {Optimal Control Applications & Methods},
- year = 2020,
- volume = 41,
- number = 6,
- pages = {2282--2307},
- month = sep,
- doi = {10.1002/oca.2652},
- url = {https://www.merl.com/publications/TR2020-134}
- }
- Samad, T., Di Cairano, S., Fagiano, L., Odgaard, P., Rhinehart, R., Bortoff, S.A., "Industry Engagement with Control Research: Perspective and Messages", Annual Reviews In Control, Vol. 49, pp. 1-14, August 2020.
BibTeX TR2020-119 PDF- @article{Samad2020aug,
- author = {Samad, Tariq and Di Cairano, Stefano and Fagiano, Lorenzo and Odgaard, Peter and Rhinehart, Russel and Bortoff, Scott A.},
- title = {Industry Engagement with Control Research: Perspective and Messages},
- journal = {Annual Reviews In Control},
- year = 2020,
- volume = 49,
- pages = {1--14},
- month = aug,
- url = {https://www.merl.com/publications/TR2020-119}
- }
- Danielson, C., Berntorp, K., Weiss, A., Di Cairano, S., "Robust Motion-Planning for Uncertain Systems with Disturbances using the Invariant-Set Motion-Planner", IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2020.3008126, Vol. 65, No. 10, pp. 4456-4463, July 2020.
BibTeX TR2021-038 PDF- @article{Danielson2020jul,
- author = {Danielson, Claus and Berntorp, Karl and Weiss, Avishai and Di Cairano, Stefano},
- title = {Robust Motion-Planning for Uncertain Systems with Disturbances using the Invariant-Set Motion-Planner},
- journal = {IEEE Transactions on Automatic Control},
- year = 2020,
- volume = 65,
- number = 10,
- pages = {4456--4463},
- month = jul,
- doi = {10.1109/TAC.2020.3008126},
- url = {https://www.merl.com/publications/TR2021-038}
- }