- 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- @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, J.-T., Lu, Z., Wang, Y., "Closed-Loop Co-Design of Motors, Motions, and Feedback Control for Robotic Manipulators", Journal of Artificial Intelligence for Automation, DOI: 10.53941/jaia.2026.100008, Vol. 1, No. 2, June 2026.
BibTeX TR2026-088 PDF- @article{Lin2026jun2,
- author = {Lin, Jue-Te and Lu, Zehui and Wang, Yebin},
- title = {{Closed-Loop Co-Design of Motors, Motions, and Feedback Control for Robotic Manipulators}},
- journal = {Journal of Artificial Intelligence for Automation},
- year = 2026,
- volume = 1,
- number = 2,
- month = jun,
- doi = {10.53941/jaia.2026.100008},
- url = {https://www.merl.com/publications/TR2026-088}
- }
- 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, 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,
- month = jun,
- 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.
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,
- month = may,
- url = {https://www.merl.com/publications/TR2026-064}
- }
- Bortoff, S.A., Quah, T., Rawlings, J.B., "A Comparison of MPC Architectures for a Heat Pump", American Control Conference (ACC), May 2026.
BibTeX TR2026-060 PDF- @inproceedings{Bortoff2026may,
- author = {Bortoff, Scott A. and Quah, Titus and Rawlings, James B.},
- title = {{A Comparison of MPC Architectures for a Heat Pump}},
- booktitle = {American Control Conference (ACC)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-060}
- }
- Leung, J., Vinod, A.P., "A set-based approach for stable MPC with Minkowski cost functions", American Control Conference (ACC), May 2026.
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,
- 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.
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,
- month = may,
- url = {https://www.merl.com/publications/TR2026-063}
- }
- Zinage, S., Dixit, V., Chakrabarty, A., Qiao, H., Laughman, C.R., Bilionis, I., Deshpande, V.M., "Sequential Model Calibration of Vapor Compression Cycles using Approximate Bayesian Computation", American Control Conference (ACC), May 2026.
BibTeX TR2026-061 PDF- @inproceedings{Zinage2026may,
- author = {Zinage, Shrenik and Dixit, Vaibhav and Chakrabarty, Ankush and Qiao, Hongtao and Laughman, Christopher R. and Bilionis, Ilias and Deshpande, Vedang M.},
- title = {{Sequential Model Calibration of Vapor Compression Cycles using Approximate Bayesian Computation}},
- booktitle = {American Control Conference (ACC)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-061}
- }
- Ju, R., Zhang, D., Wang, Y., Zhou, M., Cao, Z., "3D-Dynamic Safety Envelope-Based Control Strategy for Hyper-Redundant Manipulator Moving in Confined Space", IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2026.3682383, May 2026.
BibTeX TR2026-105 PDF- @article{Ju2026may,
- author = {Ju, Renjie and Zhang, Dong and Wang, Yebin and Zhou, Mengchu and Cao, Zhengcai},
- title = {{3D-Dynamic Safety Envelope-Based Control Strategy for Hyper-Redundant Manipulator Moving in Confined Space}},
- journal = {IEEE Transactions on Industrial Electronics},
- year = 2026,
- month = may,
- doi = {10.1109/TIE.2026.3682383},
- url = {https://www.merl.com/publications/TR2026-105}
- }
- 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}
- }
- Gao, W., Wang, Y., Vamvoudakis, K., "Output-Feedback Learning-based Adaptive Optimal Control of Nonlinear Systems", Automatica, DOI: 10.1016/j.automatica.2026.112875, Vol. 187, March 2026.
BibTeX TR2026-028 PDF- @article{Gao2026mar,
- author = {Gao, Weinan and Wang, Yebin and Vamvoudakis, Kyriakos},
- title = {{Output-Feedback Learning-based Adaptive Optimal Control of Nonlinear Systems}},
- journal = {Automatica},
- year = 2026,
- volume = 187,
- month = mar,
- doi = {10.1016/j.automatica.2026.112875},
- url = {https://www.merl.com/publications/TR2026-028}
- }
- 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}
- }
- Elango, P., Vinod, A.P., Kitamura, K., Acikmese, B., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit", AIAA SciTech Forum 2026, DOI: 10.2514/6.2026-2446, January 2026.
BibTeX TR2026-016 PDF- @inproceedings{Elango2026jan,
- author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Acikmese, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
- title = {{Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit}},
- booktitle = {AIAA SciTech Forum 2026},
- year = 2026,
- month = jan,
- publisher = {AIAA},
- doi = {10.2514/6.2026-2446},
- url = {https://www.merl.com/publications/TR2026-016}
- }
- 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}
- }
- 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}
- }
- Vinod, A.P., Kamath, A., Weiss, A., Di Cairano, S., "Set-based lossless convexification for a class of robust nonlinear optimal control problems", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC57313.2025.11312593, December 2025, pp. 1769-1776.
BibTeX TR2025-160 PDF- @inproceedings{Vinod2025dec,
- author = {Vinod, Abraham P. and Kamath, Abhinav and Weiss, Avishai and {Di Cairano}, Stefano},
- title = {{Set-based lossless convexification for a class of robust nonlinear optimal control problems}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2025,
- pages = {1769--1776},
- month = dec,
- doi = {10.1109/CDC57313.2025.11312593},
- url = {https://www.merl.com/publications/TR2025-160}
- }
- Hutchinson, S., Vinod, A.P., Germain, F.G., Di Cairano, S., Laughman, C.R., Chakrabarty, A., "Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers", Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI, December 2025.
BibTeX TR2026-001 PDF- @inproceedings{Hutchinson2025dec,
- author = {{{Hutchinson, Spencer and Vinod, Abraham P. and Germain, François G and Di Cairano, Stefano and Laughman, Christopher R. and Chakrabarty, Ankush}}},
- title = {{{Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers}}},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2026-001}
- }