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Uroš Kalabić

Uroš Kalabić
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  • Biography

    Uroš works on advancements in the theory of predictive control and constrained control, as well as its applications to the control of automotive and aerospace systems. His dissertation dealt with theoretical developments and practical applications of reference governors. Prior to joining MERL, Uroš interned at MERL and at Ford Motor Company.

  • Recent News & Events


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  • Internships with Uroš

    • CD1405: Mechanism design for mobility

      Mobility; externalities; mechanism design. We are looking for a talented and driven individual to help us design an efficient and equitable mobility solution. This position requires a deep understanding of mechanism design and at least some programming ability. Preference will be given to candidates with a background in transportation.

    • CD1413: Distributed computing

      MERL is looking for an individual for collaboration on distributed computing systems. This position requires a deep understanding of algorithms for distributed consensus and experience in C++. Experience in Erlang or Golang is a requirement.

    See All Internships at MERL

  • MERL Publications

    •  Muralidharan, V., Weiss, A., Kalabic, U., "Control Strategy for Long-Term Station-Keeping on Near-Rectilinear Halo Orbits", AAS/AIAA Space Flight Mechanics Meeting, DOI: 10.2514/6.2020-1459, January 2020.
      BibTeX Download PDFAbout TR2020-006
      • @inproceedings{Muralidharan2020jan,
      • author = {Muralidharan, Vivek and Weiss, Avishai and Kalabic, Uros},
      • title = {Control Strategy for Long-Term Station-Keeping on Near-Rectilinear Halo Orbits},
      • booktitle = {AAS/AIAA Space Flight Mechanics Meeting},
      • year = 2020,
      • month = jan,
      • doi = {10.2514/6.2020-1459},
      • url = {https://www.merl.com/publications/TR2020-006}
      • }
    •  Chu, T., Kalabić, U., "Model-based deep reinforcement learning for CACC in mixed-autonomy vehicle platoons", IEEE Conference on Decision and Control (CDC), December 2019.
      BibTeX Download PDFAbout TR2019-142
      • @inproceedings{Chu2019dec,
      • author = {Chu, Tianshu and Kalabić, Uroš},
      • title = {Model-based deep reinforcement learning for CACC in mixed-autonomy vehicle platoons},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2019,
      • month = dec,
      • url = {https://www.merl.com/publications/TR2019-142}
      • }
    •  Maske, H., Chu, T., Kalabić, U., "Large-scale traffic control using autonomous vehicles and decentralized deep reinforcement learning", IEEE Intelligent Transportation Systems Conference (ITSC), DOI: 10.1109/ITSC.2019.8916776, October 2019, pp. 3816-3821.
      BibTeX Download PDFAbout TR2019-126
      • @inproceedings{Maske2019oct,
      • author = {Maske, Harshal and Chu, Tianshu and Kalabić, Uroš},
      • title = {Large-scale traffic control using autonomous vehicles and decentralized deep reinforcement learning},
      • booktitle = {Proc. IEEE Intelligent Transportation Systems Conf.},
      • year = 2019,
      • pages = {3816--3821},
      • month = oct,
      • doi = {10.1109/ITSC.2019.8916776},
      • url = {https://www.merl.com/publications/TR2019-126}
      • }
    •  Kalabić, U., Chakrabarty, A., Quirynen, R., Di Cairano, S., "Learning autonomous vehicle passengers’ preferred driving styles using g-g plots and haptic feedback", IEEE Intelligent Transportation Systems Conference (ITSC), DOI: 10.1109/ITSC.2019.8917328, October 2019, pp. 4012-4017.
      BibTeX Download PDFAbout TR2019-115
      • @inproceedings{Kalabic2019oct,
      • author = {Kalabić, Uroš and Chakrabarty, Ankush and Quirynen, Rien and Di Cairano, Stefano},
      • title = {Learning autonomous vehicle passengers’ preferred driving styles using g-g plots and haptic feedback},
      • booktitle = {Proc. IEEE Intelligent Transportation Systems Conf.},
      • year = 2019,
      • pages = {4012--4017},
      • month = oct,
      • doi = {10.1109/ITSC.2019.8917328},
      • url = {https://www.merl.com/publications/TR2019-115}
      • }
    •  Lin, C., Wang, Y., Kolesov, G., Kalabić, U., "Application of Pontryagin’s Minimum Principle to Grover’s Quantum Search Problem", Physical Review, DOI: 10.1103/PhysRevA.100.022327, Vol. 100, No. 2, August 2019.
      BibTeX Download PDFAbout TR2019-087
      • @article{Lin2019aug,
      • author = {Lin, Chungwei and Wang, Yebin and Kolesov, Grigory and Kalabić, Uroš},
      • title = {Application of Pontryagin’s Minimum Principle to Grover’s Quantum Search Problem},
      • journal = {Physical Review},
      • year = 2019,
      • volume = 100,
      • number = 2,
      • month = aug,
      • doi = {10.1103/PhysRevA.100.022327},
      • url = {https://www.merl.com/publications/TR2019-087}
      • }
    See All Publications for Uroš

  • Other Publications

    •  U. V. Kalabic, I. V. Kolmanovsky and E. G. Gilbert, "Reduced order extended command governors", Automatica, Vol. 50, No. 5, pp. 1466-1472, 2014.
      BibTeX
      • @Article{kalabickolmano14,
      • author = {Kalabić, U. V. and Kolmanovsky, I. V. and Gilbert, E. G.},
      • title = {Reduced order extended command governors},
      • journal = {Automatica},
      • year = 2014,
      • volume = 50,
      • number = 5,
      • pages = {1466--1472}
      • }
    •  U. Kalabic and I. Kolmanovsky, "Reference and command governors for systems with slowly time-varying references and time-dependent constraints", Proc. IEEE Conf. Decision and Control, Dec. 2014, pp. 6701-6706.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc14,
      • author = {Kalabić, U. and Kolmanovsky, I.},
      • title = {Reference and command governors for systems with slowly time-varying references and time-dependent constraints},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2014,
      • pages = {6701--6706},
      • address = {Los Angeles, CA},
      • month = {Dec.}
      • }
    •  Q. Li, U. V. Kalabic and I. V. Kolmanovsky, "Fast reference governors for second-order linear systems with constraints and an input time-delay", Automatica, Vol. 50, No. 2, pp. 641-645, 2014.
      BibTeX
      • @Article{likalabic14,
      • author = {Li, Q. and Kalabić, U. V. and Kolmanovsky, I. V.},
      • title = {Fast reference governors for second-order linear systems with constraints and an input time-delay},
      • journal = {Automatica},
      • year = 2014,
      • volume = 50,
      • number = 2,
      • pages = {641--645}
      • }
    •  Q. Li, U. Kalabic and I. Kolmanovsky, "Predictor-based reference governor for second-order linear constrained systems operated over a communication network", Proc. World Congress Intelligent Control Autom., Jun. 2014, pp. 1700-1704.
      BibTeX
      • @Inproceedings{likalabic_wcica14,
      • author = {Li, Q. and Kalabić, U. and Kolmanovsky, I.},
      • title = {Predictor-based reference governor for second-order linear constrained systems operated over a communication network},
      • booktitle = {Proc. World Congress Intelligent Control Autom.},
      • year = 2014,
      • pages = {1700--1704},
      • address = {Shenyang, China},
      • month = {Jun.}
      • }
    •  T. Poloni, U. Kalabic, K. McDonough and I. Kolmanovsky, "Disturbance canceling control based on simple input observers with constraint enforcement for aerospace applications", Proc. IEEE Conf. Control Applicat., Sep. 2014, pp. 158-165.
      BibTeX
      • @Inproceedings{polonikalabic_msc14,
      • author = {Poloni, T. and Kalabić, U. and McDonough, K. and Kolmanovsky, I.},
      • title = {Disturbance canceling control based on simple input observers with constraint enforcement for aerospace applications},
      • booktitle = {Proc. IEEE Conf. Control Applicat.},
      • year = 2014,
      • pages = {158--165},
      • address = {Antibes, France},
      • month = {Sep.}
      • }
    •  M. J. Dillsaver, U. V. Kalabić, I. V. Kolmanovsky and C. E. S. Cesnik, "Constrained Control of very flexible aircraft using reference and extended command governors", Proc. American Control Conf., Jun. 2013, pp. 1608-1613.
      BibTeX
      • @Inproceedings{dillsavkalabic_acc13,
      • author = {Dillsaver, M. J. and Kalabić, U. V. and Kolmanovsky, I. V. and Cesnik, C. E. S.},
      • title = {Constrained Control of very flexible aircraft using reference and extended command governors},
      • booktitle = {Proc. American Control Conf.},
      • year = 2013,
      • pages = {1608--1613},
      • address = {Washington, DC},
      • month = {Jun.}
      • }
    •  U. Kalabic, Y. Chitalia, J. Buckland and I. Kolmanovsky, "Prioritization schemes for reference and command governors", Proc. European Control Conf., Jul. 2013, pp. 2734-2739.
      BibTeX
      • @Inproceedings{kalabicchitali_ecc13,
      • author = {Kalabić, U. and Chitalia, Y. and Buckland, J. and Kolmanovsky, I.},
      • title = {Prioritization schemes for reference and command governors},
      • booktitle = {Proc. European Control Conf.},
      • year = 2013,
      • pages = {2734--2739},
      • address = {Zurich, Switzerland},
      • month = {Jul.}
      • }
    •  U. Kalabic and I. Kolmanovsky, "Decentralized constraint enforcement using reference governors", Proc. IEEE Conf. Decision and Control, Dec. 2013, pp. 6415-6421.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc13,
      • author = {Kalabić, U. and Kolmanovsky, I.},
      • title = {Decentralized constraint enforcement using reference governors},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2013,
      • pages = {6415--6421},
      • address = {Florence, Italy},
      • month = {Dec.}
      • }
    •  U. Kalabic, I. Kolmaonvsky and J. Buckland, "Multi-input observer for estimation of compressor flow", Proc. ASME Dynamic Syst. Control Conf., Oct. 2013, pp. DSCC2013-3731.
      BibTeX
      • @Inproceedings{kalabickolmano_dscc13,
      • author = {Kalabić, U. and Kolmaonvsky, I. and Buckland, J.},
      • title = {Multi-input observer for estimation of compressor flow},
      • booktitle = {Proc. ASME Dynamic Syst. Control Conf.},
      • year = 2013,
      • pages = {DSCC2013--3731},
      • address = {Palo Alto, CA},
      • month = {Oct.}
      • }
    •  U. Kalabic, C. Vermillion and I. Kolmanovsky, "Reference governor design for computationally efficient attitude and tether tension constraint enforcement on a lighter-than-air wind energy system", Proc. European Control Conf., Jul. 2013, pp. 1004-1010.
      BibTeX
      • @Inproceedings{kalabicvermill_ecc13,
      • author = {Kalabić, U. and Vermillion, C. and Kolmanovsky, I.},
      • title = {Reference governor design for computationally efficient attitude and tether tension constraint enforcement on a lighter-than-air wind energy system},
      • booktitle = {Proc. European Control Conf.},
      • year = 2013,
      • pages = {1004--1010},
      • address = {Zurich, Switzerland},
      • month = {Jul.}
      • }
    •  U. Kalabic, I. Kolmanovsky, J. Buckland and E. Gilbert, "Reduced Order Reference Governor", Proc. IEEE Conf. Decision and Control, Dec. 2012, pp. 3245-3251.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc12,
      • author = {Kalabić, U. and Kolmanovsky, I. and Buckland, J. and Gilbert, E.},
      • title = {Reduced Order Reference Governor},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {3245--3251},
      • address = {Maui, HI},
      • month = {Dec.}
      • }
    •  I. Kolmanovsky, U. Kalabic and E. Gilbert, "Developments in constrained control using reference governors", Proc. Nonlinear Model Predictive Control Conf., Aug. 2012, pp. 282-290.
      BibTeX
      • @Inproceedings{kolmanokalabic_nmpc12,
      • author = {Kolmanovsky, I. and Kalabić, U. and Gilbert, E.},
      • title = {Developments in constrained control using reference governors},
      • booktitle = {Proc. Nonlinear Model Predictive Control Conf.},
      • year = 2012,
      • pages = {282--290},
      • address = {Noordwijkerhout, Netherlands},
      • month = {Aug.}
      • }
    •  U. Kalabic, I. Kolmanovsky and E. Gilbert, "Reference Governors with Nonlinear Constraints", Proc. IEEE Conf. Decision and Control, Dec. 2011, pp. 2680-2686.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc11,
      • author = {Kalabić, U. and Kolmanovsky, I. and Gilbert, E.},
      • title = {Reference Governors with Nonlinear Constraints},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2011,
      • pages = {2680--2686},
      • address = {Orlando, FL},
      • month = {Dec.}
      • }
    •  U. Kalabic, I. Kolmanovsky, J. Buckland and E. Gilbert, "Reference and extended command governors for control of turbocharged gasoline engines based on linear models", Proc. IEEE Int. Conf. Control Applicat., Sep. 2011, pp. 319-325.
      BibTeX
      • @Inproceedings{kalabickolmano_msc11,
      • author = {Kalabić, U. and Kolmanovsky, I. and Buckland, J. and Gilbert, E.},
      • title = {Reference and extended command governors for control of turbocharged gasoline engines based on linear models},
      • booktitle = {Proc. IEEE Int. Conf. Control Applicat.},
      • year = 2011,
      • pages = {319--325},
      • address = {Denver, CO},
      • month = {Sep.}
      • }

  • Videos

  • MERL Issued Patents

    • Title: "Vehicle Motion Control System and Method"
      Inventors: Kalabic, Uros; Halder, Udit
      Patent No.: 10,409,283
      Issue Date: Sep 10, 2019
    • Title: "System and Method for Controlling Redundant Actuators with Different Dynamics"
      Inventors: Kalabic, Uros; Goldsmith, Abraham M.; Di Cairano, Stefano
      Patent No.: 10,324,446
      Issue Date: Jun 18, 2019
    • Title: "Operation Aware Control of Processing Machine with Redundant Actuators"
      Inventors: Goldsmith, Abraham M.; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 10,216,168
      Issue Date: Feb 26, 2019
    • Title: "System and Method for Controlling Motion of Vehicle"
      Inventors: Di Cairano, Stefano; Kalabic, Uros; Berntorp, Karl
      Patent No.: 9,915,948
      Issue Date: Mar 13, 2018
    • Title: "Model Predictive Control of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 9,874,879
      Issue Date: Jan 23, 2018
    • Title: "Model Predictive Control of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 9,764,858
      Issue Date: Sep 19, 2017
    See All Patents for MERL