- Quirynen, R., Safaoui, S., Di Cairano, S., "Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3449703, Vol. 33, No. 1, pp. 77-91, September 2024.
BibTeX TR2024-123 PDF- @article{Quirynen2024sep,
- author = {Quirynen, Rien and Safaoui, Sleiman and {Di Cairano}, Stefano},
- title = {{Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- volume = 33,
- number = 1,
- pages = {77--91},
- month = sep,
- doi = {10.1109/TCST.2024.3449703},
- url = {https://www.merl.com/publications/TR2024-123}
- }
- Shastri, S., Ma, Y., Boufounos, P.T., Mansour, H., "Deep Calibration and Operator Learning for Ground Penetrating Radar Imaging", European Signal Processing Conference (EUSIPCO), DOI: 10.23919/EUSIPCO63174.2024.10715281, August 2024.
BibTeX TR2024-128 PDF- @inproceedings{Shastri2024aug,
- author = {Shastri, Saurav and Ma, Yanting and Boufounos, Petros T. and Mansour, Hassan},
- title = {{Deep Calibration and Operator Learning for Ground Penetrating Radar Imaging}},
- booktitle = {European Signal Processing Conference (EUSIPCO)},
- year = 2024,
- month = aug,
- doi = {10.23919/EUSIPCO63174.2024.10715281},
- issn = {2076-1465},
- isbn = {978-9-4645-9361-7},
- url = {https://www.merl.com/publications/TR2024-128}
- }
- Shimane, Y., Ho, K., Weiss, A., "Optimization-based Phase-Constrained Station-Keeping Control on Libration Point Orbit", AAS/AIAA Astrodynamics Specialist Conference, August 2024.
BibTeX TR2024-109 PDF- @inproceedings{Shimane2024aug,
- author = {Shimane, Yuri and Ho, Koki and Weiss, Avishai},
- title = {{Optimization-based Phase-Constrained Station-Keeping Control on Libration Point Orbit}},
- booktitle = {AAS/AIAA Astrodynamics Specialist Conference},
- year = 2024,
- month = aug,
- url = {https://www.merl.com/publications/TR2024-109}
- }
- Safaoui, S., Vinod, A.P., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning", IEEE Transactions on Robotics, DOI: 10.1109/TRO.2024.3387010, Vol. 40, pp. 2529-2542, July 2024.
BibTeX TR2024-048 PDF Video- @article{Safaoui2024jul,
- author = {Safaoui, Sleiman and Vinod, Abraham P. and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
- title = {{Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning}},
- journal = {IEEE Transactions on Robotics},
- year = 2024,
- volume = 40,
- pages = {2529--2542},
- month = jul,
- doi = {10.1109/TRO.2024.3387010},
- url = {https://www.merl.com/publications/TR2024-048}
- }
- Zhang, X., Mao, W., Mowlavi, S., Benosman, M., Basar, T., "Controlgym: Large-Scale Control Environments for Benchmarking Reinforcement Learning Algorithms", Learning for Dynamics & Control Conference (L4DC), July 2024, pp. 181-196.
BibTeX TR2024-098 PDF- @inproceedings{Zhang2024jul2,
- author = {Zhang, Xiangyuan and Mao, Weichao and Mowlavi, Saviz and Benosman, Mouhacine and Basar, Tamer},
- title = {{Controlgym: Large-Scale Control Environments for Benchmarking Reinforcement Learning Algorithms}},
- booktitle = {Learning for Dynamics \& Control Conference (L4DC)},
- year = 2024,
- pages = {181--196},
- month = jul,
- publisher = {PMLR},
- url = {https://www.merl.com/publications/TR2024-098}
- }
- Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/ACC60939.2024.10644753, July 2024, pp. 375-381.
BibTeX TR2024-050 PDF Video- @inproceedings{Huang2024jul,
- author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and {Di Cairano}, Stefano},
- title = {{Leveraging Computational Fluid Dynamics in UAV Motion Planning}},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- pages = {375--381},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC60939.2024.10644753},
- url = {https://www.merl.com/publications/TR2024-050}
- }
- Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), DOI: 10.23919/ACC60939.2024.10644642, July 2024, pp. 587-593.
BibTeX TR2024-092 PDF- @inproceedings{Kim2024jul,
- author = {Kim, Taewan and Vinod, Abraham P. and {Di Cairano}, Stefano},
- title = {{Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets}},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- pages = {587--593},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC60939.2024.10644642},
- url = {https://www.merl.com/publications/TR2024-092}
- }
- Wang, N., Di Cairano, S., Sanfelice, R., "A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints", American Control Conference (ACC), DOI: 10.23919/ACC60939.2024.10644284, July 2024.
BibTeX TR2024-091 PDF- @inproceedings{Wang2024jul,
- author = {Wang, Nan and {Di Cairano}, Stefano and Sanfelice, Ricardo},
- title = {{A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints}},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jul,
- doi = {10.23919/ACC60939.2024.10644284},
- url = {https://www.merl.com/publications/TR2024-091}
- }
- Zhang, Y., Greiff, M., Ren, W., Berntorp, K., "Distributed Road-Map Monitoring Using Onboard Sensors", American Control Conference (ACC), July 2024.
BibTeX TR2024-093 PDF- @inproceedings{Zhang2024jul,
- author = {Zhang, Yanyu and Greiff, Marcus and Ren, Wei and Berntorp, Karl},
- title = {{Distributed Road-Map Monitoring Using Onboard Sensors}},
- booktitle = {American Control Conference (ACC)},
- year = 2024,
- month = jul,
- url = {https://www.merl.com/publications/TR2024-093}
- }
- Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
BibTeX TR2024-086 PDF- @incollection{DiCairano2024jun,
- author = {{{Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}}},
- title = {{{Parametrized Maneuvers Governor for Decision Making in Automated Driving}}},
- booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
- year = 2024,
- month = jun,
- isbn = {978-3-031-82681-8},
- url = {https://www.merl.com/publications/TR2024-086}
- }
- Berntorp, K., Greiff, M., "Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", European Control Conference (ECC), DOI: 10.23919/ECC64448.2024.10590965, June 2024, pp. 725-730.
BibTeX TR2024-082 PDF- @inproceedings{Berntorp2024jun,
- author = {Berntorp, Karl and Greiff, Marcus},
- title = {{Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
- booktitle = {European Control Conference (ECC)},
- year = 2024,
- pages = {725--730},
- month = jun,
- doi = {10.23919/ECC64448.2024.10590965},
- url = {https://www.merl.com/publications/TR2024-082}
- }
- 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}
- }