- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, December 2024.
BibTeX TR2024-008 PDF- @article{Shirai2024dec,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming},
- journal = {Nonlinear Analysis: Hybrid Systems},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-008}
- }
- Jeon, W., Chakrabarty, A., Zemouche, A., Rajamani, R., "LMI-Based Neural Observer for State and Nonlinear Function Estimation", International Journal of Robust and Nonlinear Control, DOI: 10.1002/rnc.7327, April 2024.
BibTeX TR2024-036 PDF- @article{Jeon2024apr,
- author = {Jeon, Woongsun and Chakrabarty, Ankush and Zemouche, Ali and Rajamani, Rajesh},
- title = {LMI-Based Neural Observer for State and Nonlinear Function Estimation},
- journal = {International Journal of Robust and Nonlinear Control},
- year = 2024,
- month = apr,
- doi = {10.1002/rnc.7327},
- url = {https://www.merl.com/publications/TR2024-036}
- }
- Wang, Y., Hansen, E., Ahn, H., "Hierarchical planning for autonomous parking in dynamic environments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3367468, March 2024.
BibTeX TR2024-034 PDF- @article{Wang2024mar2,
- author = {Wang, Yebin and Hansen, Emma and Ahn, Heejin},
- title = {Hierarchical planning for autonomous parking in dynamic environments},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- month = mar,
- doi = {10.1109/TCST.2024.3367468},
- issn = {1558-0865},
- url = {https://www.merl.com/publications/TR2024-034}
- }
- Bortoff, S.A., Eisenhower, B., Adetola, V., O'Neil, Z., "Control Challenges and Opportunities in Building Automation" in The Impact of Automatic Control Research on Industrial Innovation: Enabling a Sustainable Future, February 2024.
BibTeX TR2024-011 PDF- @incollection{Bortoff2024feb,
- author = {Bortoff, Scott A. and Eisenhower, Bryan and Adetola, Veronica and O'Neil, Zheng},
- title = {Control Challenges and Opportunities in Building Automation},
- booktitle = {The Impact of Automatic Control Research on Industrial Innovation: Enabling a Sustainable Future},
- year = 2024,
- month = feb,
- url = {https://www.merl.com/publications/TR2024-011}
- }
- 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}
- }
- Deshpande, V.M., Chakrabarty, A., Vinod, A.P., Laughman, C.R., "Physics-Constrained Deep Autoencoded Kalman Filters for Estimating Vapor Compression System States", IEEE Control Systems Letters, DOI: 10.1109/LCSYS.2023.3334959, November 2023.
BibTeX TR2023-138 PDF- @article{Deshpande2023nov,
- author = {Deshpande, Vedang M. and Chakrabarty, Ankush and Vinod, Abraham P. and Laughman, Christopher R.},
- title = {Physics-Constrained Deep Autoencoded Kalman Filters for Estimating Vapor Compression System States},
- journal = {IEEE Control Systems Letters},
- year = 2023,
- month = nov,
- doi = {10.1109/LCSYS.2023.3334959},
- url = {https://www.merl.com/publications/TR2023-138}
- }
- Farakhor, A., Wu, D., Wang, Y., Fang, H., "Scalable Optimal Power Management for Large-Scale Battery Energy Storage Systems", IEEE Transactions on Transportation Electrification, DOI: 10.1109/TTE.2023.3331243, November 2023.
BibTeX TR2023-137 PDF- @article{Farakhor2023nov,
- author = {Farakhor, Amir and Wu, Di and Wang, Yebin and Fang, Huazhen},
- title = {Scalable Optimal Power Management for Large-Scale Battery Energy Storage Systems},
- journal = {IEEE Transactions on Transportation Electrification},
- year = 2023,
- month = nov,
- doi = {10.1109/TTE.2023.3331243},
- issn = {2332-7782},
- url = {https://www.merl.com/publications/TR2023-137}
- }
- Sholokhov, A., Liu, Y., Mansour, H., Nabi, S., "Physics-Informed Neural ODE (PINODE): Embedding Physics into Models using Collocation Points", Nature Scientific Reports, 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,
- month = oct,
- url = {https://www.merl.com/publications/TR2023-136}
- }
- Huang, B., Yu, J., Jain, S., "EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS55552.2023.10341988, October 2023, pp. 2963-2970.
BibTeX TR2023-118 PDF Video- @inproceedings{Huang2023oct,
- author = {Huang, Baichuan and Yu, Jingjin and Jain, Siddarth},
- title = {EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation},
- booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2023,
- pages = {2963--2970},
- month = oct,
- publisher = {IEEE},
- doi = {10.1109/IROS55552.2023.10341988},
- issn = {2153-0866},
- isbn = {978-1-6654-9190-7},
- url = {https://www.merl.com/publications/TR2023-118}
- }
- Paulson, J.A., Sorouifar, F., Laughman, C.R., Chakrabarty, A., "Self-optimizing vapor compression cycles online with Bayesian optimization under local search region constraints", ASME Journal of Dynamic Systems, Measurements, and Control, DOI: 10.1115/1.4064027, September 2023.
BibTeX TR2023-122 PDF- @article{Paulson2023sep,
- author = {Paulson, Joel A. and Sorouifar, Farshud and Laughman, Christopher R. and Chakrabarty, Ankush},
- title = {Self-optimizing vapor compression cycles online with Bayesian optimization under local search region constraints},
- journal = {ASME Journal of Dynamic Systems, Measurements, and Control},
- year = 2023,
- month = sep,
- doi = {10.1115/1.4064027},
- url = {https://www.merl.com/publications/TR2023-122}
- }
- Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS55552.2023.10341839, September 2023, pp. 3672-3679.
BibTeX TR2023-121 PDF Video- @inproceedings{Shaw2023sep,
- author = {Shaw, Seiji and Jha, Devesh K. and Raghunathan, Arvind and Corcodel, Radu and Romeres, Diego and Konidaris, George and Nikovski, Daniel},
- title = {Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2023,
- pages = {3672--3679},
- month = sep,
- publisher = {IEEE},
- doi = {10.1109/IROS55552.2023.10341839},
- issn = {2153-0866},
- isbn = {978-1-6654-9190-7},
- url = {https://www.merl.com/publications/TR2023-121}
- }
- 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}
- }
- Laughman, C.R., Deshpande, V.M., Qiao, H., Bortoff, S.A., Chakrabarty, A., "Digital Twins for Vapor Compression Cycles: Challenges & Opportunities", International Congress of Refrigeration (ICR), DOI: 10.18462/iir.icr.2023.0765, August 2023.
BibTeX TR2023-103 PDF- @inproceedings{Laughman2023aug,
- author = {Laughman, Christopher R. and Deshpande, Vedang M. and Qiao, Hongtao and Bortoff, Scott A. and Chakrabarty, Ankush},
- title = {Digital Twins for Vapor Compression Cycles: Challenges & Opportunities},
- booktitle = {International Congress of Refrigeration (ICR)},
- year = 2023,
- month = aug,
- publisher = {INTERNATIONAL INSTITUTE OF REFRIGERATION},
- doi = {10.18462/iir.icr.2023.0765},
- issn = {0151-1637},
- isbn = {978-2-36215-055-5},
- url = {https://www.merl.com/publications/TR2023-103}
- }
- Hori, C., Peng, P., Harwath, D., Liu, X., Ota, K., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos", Interspeech, DOI: 10.21437/Interspeech.2023-1983, August 2023, pp. 4663-4667.
BibTeX TR2023-104 PDF- @inproceedings{Hori2023aug,
- author = {Hori, Chiori and Peng, Puyuang and Harwath, David and Liu, Xinyu and Ota, Kei and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and Le Roux, Jonathan},
- title = {Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos},
- booktitle = {Interspeech},
- year = 2023,
- pages = {4663--4667},
- month = aug,
- doi = {10.21437/Interspeech.2023-1983},
- url = {https://www.merl.com/publications/TR2023-104}
- }
- 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}
- }
- Dalla Libera, A., Giacomuzzo, G., Carli, R., Nikovski, D., Romeres, D., "Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning", World Congress of the International Federation of Automatic Control (IFAC), DOI: 10.1016/j.ifacol.2023.10.1620, July 2023, pp. Pages 519-524.
BibTeX TR2023-092 PDF- @inproceedings{DallaLibera2023jul2,
- author = {Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Nikovski, Daniel and Romeres, Diego},
- title = {Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2023,
- pages = {Pages 519--524},
- month = jul,
- doi = {10.1016/j.ifacol.2023.10.1620},
- url = {https://www.merl.com/publications/TR2023-092}
- }
- Chakrabarty, A., Vinod, A.P., Mansour, H., Bortoff, S.A., Laughman, C.R., "Moving Horizon Estimation for Digital Twins using Deep Autoencoders", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/j.ifacol.2023.10.207, July 2023, pp. 5500-5505.
BibTeX TR2023-088 PDF- @inproceedings{Chakrabarty2023jul2,
- author = {Chakrabarty, Ankush and Vinod, Abraham P. and Mansour, Hassan and Bortoff, Scott A. and Laughman, Christopher R.},
- title = {Moving Horizon Estimation for Digital Twins using Deep Autoencoders},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2023,
- editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
- pages = {5500--5505},
- month = jul,
- publisher = {Elseiver},
- doi = {10.1016/j.ifacol.2023.10.207},
- url = {https://www.merl.com/publications/TR2023-088}
- }
- Chakrabarty, A., Wichern, G., Laughman, C.R., "Meta-Learning of Neural State-Space Models Using Data From Similar Systems", World Congress of the International Federation of Automatic Control (IFAC), DOI: 10.1016/j.ifacol.2023.10.1843, July 2023.
BibTeX TR2023-087 PDF- @inproceedings{Chakrabarty2023jul,
- author = {Chakrabarty, Ankush and Wichern, Gordon and Laughman, Christopher R.},
- title = {Meta-Learning of Neural State-Space Models Using Data From Similar Systems},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2023,
- month = jul,
- doi = {10.1016/j.ifacol.2023.10.1843},
- url = {https://www.merl.com/publications/TR2023-087}
- }
- 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}
- }
- Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., "Decision Making for Automated Driving by Reachability of Parameterized Maneuvers", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/j.ifacol.2023.10.018, July 2023, pp. 7852-7857.
BibTeX TR2023-084 PDF- @inproceedings{DiCairano2023jul,
- author = {Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl},
- title = {Decision Making for Automated Driving by Reachability of Parameterized Maneuvers},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2023,
- editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
- pages = {7852--7857},
- month = jul,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2023.10.018},
- url = {https://www.merl.com/publications/TR2023-084}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning", Robotics: Science and Systems (RSS), DOI: 10.15607/RSS.2023.XIX.044, July 2023.
BibTeX TR2023-078 PDF Video- @inproceedings{Zhang2023jul,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
- title = {Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning},
- booktitle = {Robotics: Science and Systems (RSS)},
- year = 2023,
- month = jul,
- doi = {10.15607/RSS.2023.XIX.044},
- url = {https://www.merl.com/publications/TR2023-078}
- }
- Giacomuzzo, G., Dalla Libera, A., Carli, R., Romeres, D., "A Lagrangian Inspired Polynomial Kernel for Robot Dynamics Identification", ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots), May 2023.
BibTeX TR2023-063 PDF- @inproceedings{Giacomuzzo2023may,
- author = {Giacomuzzo, Giulio and Dalla Libera, Alberto and Carli, Ruggero and Romeres, Diego},
- title = {A Lagrangian Inspired Polynomial Kernel for Robot Dynamics Identification},
- booktitle = {ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots)},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-063}
- }
- Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles", Vehicle System Dynamics, DOI: 10.1080/00423114.2023.2219791, May 2023.
BibTeX TR2023-064 PDF- @article{Vaskov2023may2,
- author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
- title = {Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles},
- journal = {Vehicle System Dynamics},
- year = 2023,
- month = may,
- doi = {10.1080/00423114.2023.2219791},
- url = {https://www.merl.com/publications/TR2023-064}
- }
- Amadio, F., Dalla Libera, A., Nikovski, D.N., Carli, R., Romeres, D., "Learning Control from Raw Position Measurements", American Control Conference (ACC), DOI: 10.23919/ACC55779.2023.10156063, May 2023.
BibTeX TR2023-060 PDF- @inproceedings{Amadio2023may,
- author = {Amadio, Fabio and Dalla Libera, Alberto and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
- title = {Learning Control from Raw Position Measurements},
- booktitle = {American Control Conference (ACC)},
- year = 2023,
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC55779.2023.10156063},
- issn = {2378-5861},
- isbn = {979-8-3503-2806-6},
- url = {https://www.merl.com/publications/TR2023-060}
- }