- 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}
- }
- Di Cairano, S., Danielson, C., "Indirect Adaptive Model Predictive Control and its Application to Uncertain Linear Systems", International Journal of Robust and Nonlinear Control, DOI: 10.1002/rnc.5166, July 2020.
BibTeX TR2020-115 PDF- @article{DiCairano2020jul,
- author = {Di Cairano, Stefano and Danielson, Claus},
- title = {Indirect Adaptive Model Predictive Control and its Application to Uncertain Linear Systems},
- journal = {International Journal of Robust and Nonlinear Control},
- year = 2020,
- month = jul,
- doi = {10.1002/rnc.5166},
- url = {https://www.merl.com/publications/TR2020-115}
- }
- Menner, M., Berntorp, K., Di Cairano, S., "Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning", Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2020.3000323, July 2020.
BibTeX TR2020-106 PDF- @article{Menner2020jul,
- author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
- title = {Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning},
- journal = {Transactions on Intelligent Vehicles},
- year = 2020,
- month = jul,
- doi = {10.1109/TIV.2020.3000323},
- url = {https://www.merl.com/publications/TR2020-106}
- }
- Quirynen, R., Feng, X., Di Cairano, S., "Inexact Adjoint-based SQP Algorithm for Real-Time Stochastic Nonlinear MPC", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., July 2020, pp. 6529-6535.
BibTeX TR2020-103 PDF- @inproceedings{Quirynen2020jul2,
- author = {Quirynen, Rien and Feng, Xuhui and Di Cairano, Stefano},
- title = {Inexact Adjoint-based SQP Algorithm for Real-Time Stochastic Nonlinear MPC},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {6529--6535},
- month = jul,
- publisher = {Elsevier},
- url = {https://www.merl.com/publications/TR2020-103}
- }
- Quirynen, R., Frey, J., Di Cairano, S., "Active-Set based Inexact Interior Point QP Solver for Model Predictive Control", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., July 2020, pp. 6522-6528.
BibTeX TR2020-105 PDF- @inproceedings{Quirynen2020jul3,
- author = {Quirynen, Rien and Frey, Jonathan and Di Cairano, Stefano},
- title = {Active-Set based Inexact Interior Point QP Solver for Model Predictive Control},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
- pages = {6522--6528},
- month = jul,
- publisher = {Elsevier},
- url = {https://www.merl.com/publications/TR2020-105}
- }