- Dai, M., Lu, Z., Li, N., Wang, Y., "Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning", European Control Conference (ECC), June 2025.
BibTeX TR2025-092 PDF- @inproceedings{Dai2025jun,
- author = {Dai, Min and Lu, Zehui and Li, Na and Wang, Yebin},
- title = {{Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-092}
- }
- Ma, H., Zhang, T., Li, N., Di Cairano, S., Wang, Y., "A Hierarchical Approach for Tractor-trailer Motion Planning Using Graph Search and Reinforcement Learning", European Control Conference (ECC), June 2025.
BibTeX TR2025-093 PDF- @inproceedings{Ma2025jun,
- author = {Ma, Haitong and Zhang, Tianpeng and Li, Na and {Di Cairano}, Stefano and Wang, Yebin},
- title = {{A Hierarchical Approach for Tractor-trailer Motion Planning Using Graph Search and Reinforcement Learning}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-093}
- }
- Wang, J.-W., Nikovski, D.N., "State Representation Learning for Visual Servo Control", European Control Conference (ECC), June 2025.
BibTeX TR2025-094 PDF- @inproceedings{Wang2025jun,
- author = {Wang, Jen-Wei and Nikovski, Daniel N.},
- title = {{State Representation Learning for Visual Servo Control}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-094}
- }
- Li, X., Wang, Y., Ozbay, K., Jiang, Z.-P., "Physics-informed Machine Learning with Heuristic Feedback Control Layer for Autonomous Vehicle Control", IEEE Intelligent Vehicles Symposium (IV), June 2025.
BibTeX TR2025-087 PDF- @inproceedings{Li2025jun2,
- author = {Li, Xianning and Wang, Yebin and Ozbay, Kaan and Jiang, Zhong-Ping},
- title = {{Physics-informed Machine Learning with Heuristic Feedback Control Layer for Autonomous Vehicle Control}},
- booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-087}
- }
- Vinod, A.P., "pycvxset: A Python package for convex set manipulation", American Control Conference (ACC), June 2025.
BibTeX TR2025-086 PDF Software- @inproceedings{Vinod2025jun,
- author = {Vinod, Abraham P.},
- title = {{pycvxset: A Python package for convex set manipulation}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-086}
- }
- Giammarino, V., Queeney, J., Paschalidis, I.C., "Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
BibTeX TR2025-065 PDF- @inproceedings{Giammarino2025may,
- author = {Giammarino, Vittorio and Queeney, James and Paschalidis, Ioannis Ch.},
- title = {{Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-065}
- }
- Zhou, Z., Di Cairano, S., Wang, Y., Berntorp, K., "Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
BibTeX TR2025-063 PDF- @inproceedings{Zhou2025may,
- author = {Zhou, Ziyi and {Di Cairano}, Stefano and Wang, Yebin and Berntorp, Karl},
- title = {{Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-063}
- }
- Wu, J., Goldsmith, A., Liu, D., Wang, B., Zhou, L., Wang, Y., "A Unified Observer for Smooth Speed-Sensorless Drive Control of Induction Machines at Full Speed Range", IEEE International Electric Machines and Drives Conference (IEMDC), May 2025.
BibTeX TR2025-060 PDF- @inproceedings{Wu2025may,
- author = {Wu, Jingjie and Goldsmith, Abraham and Liu, Dehong and Wang, Bingnan and Zhou, Lei and Wang, Yebin},
- title = {{A Unified Observer for Smooth Speed-Sensorless Drive Control of Induction Machines at Full Speed Range}},
- booktitle = {IEEE International Electric Machines and Drives Conference (IEMDC)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-060}
- }
- Wu, J., Goldsmith, A., Zhou, L., Liu, D., Wang, B., Wang, Y., "A Novel High-Frequency Injection Method Towards Speed-Sensorless Drive Control of Induction Machines over Full Speed Range", IEEE International Electric Machines and Drives Conference (IEMDC), May 2025.
BibTeX TR2025-061 PDF- @inproceedings{Wu2025may2,
- author = {Wu, Jingjie and Goldsmith, Abraham and Zhou, Lei and Liu, Dehong and Wang, Bingnan and Wang, Yebin},
- title = {{A Novel High-Frequency Injection Method Towards Speed-Sensorless Drive Control of Induction Machines over Full Speed Range}},
- booktitle = {IEEE International Electric Machines and Drives Conference (IEMDC)},
- year = 2025,
- month = may,
- url = {https://www.merl.com/publications/TR2025-061}
- }
- Lin, C., Boufounos, P.T., Ma, Y., Wang, Y., Ding, Q., Sels, D., Chien, C.-C., "Time-optimal single-scalar control on a qubit of unitary dynamics", Physical Review, April 2025.
BibTeX TR2025-048 PDF- @article{Lin2025apr2,
- author = {Lin, Chungwei and Boufounos, Petros T. and Ma, Yanting and Wang, Yebin and Ding, Qi and Sels, Dries and Chien, Chih-Chun},
- title = {{Time-optimal single-scalar control on a qubit of unitary dynamics}},
- journal = {Physical Review},
- year = 2025,
- month = apr,
- url = {https://www.merl.com/publications/TR2025-048}
- }
- Wang, J.-W., Nikovski, D.N., "Learning Visual Servoing for Nonholonomic Mobile Robots with Uncalibrated Cameras", The 40th ACM/SIGAPP Symposium On Applied Computing, March 2025.
BibTeX TR2025-042 PDF- @inproceedings{Wang2025mar2,
- author = {Wang, Jen-Wei and Nikovski, Daniel N.},
- title = {{Learning Visual Servoing for Nonholonomic Mobile Robots with Uncalibrated Cameras}},
- booktitle = {The 40th ACM/SIGAPP Symposium On Applied Computing},
- year = 2025,
- month = mar,
- url = {https://www.merl.com/publications/TR2025-042}
- }
- Vinod, A.P., Weiss, A., Di Cairano, S., "Projection-free computation of robust controllable sets with constrained zonotopes", Automatica, DOI: 10.1016/j.automatica.2025.112211, Vol. 175, pp. 112211, March 2025.
BibTeX TR2025-023 PDF Video- @article{Vinod2025mar,
- author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
- title = {{Projection-free computation of robust controllable sets with constrained zonotopes}},
- journal = {Automatica},
- year = 2025,
- volume = 175,
- pages = 112211,
- month = mar,
- doi = {10.1016/j.automatica.2025.112211},
- issn = {0005-1098},
- url = {https://www.merl.com/publications/TR2025-023}
- }
- Cai, X., Queeney, J., Xu, T., Datar, A., Pan, C., Miller, M., Flather, A., Osteen, P.R., Roy, N., Xiao, X., How, J.P., "PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/LRA.2025.3527285, Vol. 10, No. 3, pp. 2359-2366, February 2025.
BibTeX TR2025-022 PDF- @article{Cai2025feb,
- author = {Cai, Xiaoyi and Queeney, James and Xu, Tong and Datar, Aniket and Pan, Chenhui and Miller, Max and Flather, Ashton and Osteen, Philip R. and Roy, Nicholas and Xiao, Xuesu and How, Jonathan P.},
- title = {{PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain}},
- journal = {IEEE Robotics and Automation Letters (RA-L)},
- year = 2025,
- volume = 10,
- number = 3,
- pages = {2359--2366},
- month = feb,
- doi = {10.1109/LRA.2025.3527285},
- url = {https://www.merl.com/publications/TR2025-022}
- }
- Queeney, J., Paschalidis, I.C., Cassandras, C.G., "Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse", IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2024.3454011, Vol. 70, No. 2, pp. 1236-1243, February 2025.
BibTeX TR2025-015 PDF- @article{Queeney2025feb,
- author = {Queeney, James and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
- title = {{Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse}},
- journal = {IEEE Transactions on Automatic Control},
- year = 2025,
- volume = 70,
- number = 2,
- pages = {1236--1243},
- month = feb,
- doi = {10.1109/TAC.2024.3454011},
- url = {https://www.merl.com/publications/TR2025-015}
- }
- Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
BibTeX TR2024-136 PDF- @article{Vinod2025jan,
- author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
- title = {{Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2025,
- volume = 32,
- number = 6,
- pages = {2492--2499},
- month = jan,
- doi = {10.1109/TCST.2024.3433229},
- url = {https://www.merl.com/publications/TR2024-136}
- }
- Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
BibTeX TR2025-010 PDF- @article{Greiff2025jan,
- author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
- title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2025,
- volume = 33,
- number = 2,
- pages = {449--462},
- month = jan,
- doi = {10.1109/TCST.2024.3492813},
- issn = {1063-6536},
- url = {https://www.merl.com/publications/TR2025-010}
- }
- Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance", AIAA SciTech, DOI: 10.2514/6.2025-1894, January 2025, pp. 1-13.
BibTeX TR2025-008 PDF- @inproceedings{Elango2025jan,
- author = {Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
- title = {{Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance}},
- booktitle = {AIAA SCITECH 2025 Forum},
- year = 2025,
- pages = {1--13},
- month = jan,
- publisher = {AIAA},
- doi = {10.2514/6.2025-1894},
- url = {https://www.merl.com/publications/TR2025-008}
- }
- Lu, Z., Zhang, T., Wang, Y., "Torque Constraint Modeling and Reference Shaping for Servo Systems", IEEE Control Systems Letters (L-CSS), DOI: 10.1109/LCSYS.2024.3509495, Vol. 8, pp. 2637-2642, December 2024.
BibTeX TR2025-006 PDF- @article{Lu2024dec2,
- author = {Lu, Zehui and Zhang, Tianpeng and Wang, Yebin},
- title = {{Torque Constraint Modeling and Reference Shaping for Servo Systems}},
- journal = {IEEE Control Systems Letters (L-CSS)},
- year = 2024,
- volume = 8,
- pages = {2637--2642},
- month = dec,
- doi = {10.1109/LCSYS.2024.3509495},
- url = {https://www.merl.com/publications/TR2025-006}
- }
- Lu, Z., Tu, H., Fang, H., Wang, Y., Mou, S., "Integrated Optimal Control for Fast Charging and Active Thermal Management of Lithium-Ion Batteries in Extreme Ambient Temperatures", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3498812, Vol. 33, No. 2, pp. 714-728, December 2024.
BibTeX TR2025-005 PDF- @article{Lu2024dec,
- author = {Lu, Zehui and Tu, Hao and Fang, Huazhen and Wang, Yebin and Mou, Shaoshuai},
- title = {{Integrated Optimal Control for Fast Charging and Active Thermal Management of Lithium-Ion Batteries in Extreme Ambient Temperatures}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2024,
- volume = 33,
- number = 2,
- pages = {714--728},
- month = dec,
- doi = {10.1109/TCST.2024.3498812},
- url = {https://www.merl.com/publications/TR2025-005}
- }
- Zhong, J., Nikovski, D.N., Yerazunis, W.S., Ando, T., "Learning Time-Optimal Control of Gantry Cranes", International Conference on Machine Learning and Applications (ICMLA), DOI: 10.1109/ICMLA61862.2024.00139, December 2024, pp. 945-950.
BibTeX TR2024-181 PDF- @inproceedings{Zhong2024dec,
- author = {Zhong, Junmin and Nikovski, Daniel N. and Yerazunis, William S. and Ando, Taishi},
- title = {{Learning Time-Optimal Control of Gantry Cranes}},
- booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
- year = 2024,
- pages = {945--950},
- month = dec,
- doi = {10.1109/ICMLA61862.2024.00139},
- url = {https://www.merl.com/publications/TR2024-181}
- }
- Chakrabarty, A., Deshpande, V.M., Wichern, G., Berntorp, K., "Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC56724.2024.10886249, December 2024.
BibTeX TR2024-180 PDF- @inproceedings{Chakrabarty2024dec,
- author = {Chakrabarty, Ankush and Deshpande, Vedang M. and Wichern, Gordon and Berntorp, Karl},
- title = {{Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2024,
- month = dec,
- doi = {10.1109/CDC56724.2024.10886249},
- url = {https://www.merl.com/publications/TR2024-180}
- }
- Greiff, M., Di Cairano, S., Berntorp, K., "Bayesian Measurement Masks for GNSS Positioning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC56724.2024.10885938, December 2024.
BibTeX TR2024-172 PDF- @inproceedings{Greiff2024dec,
- author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
- title = {{Bayesian Measurement Masks for GNSS Positioning}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2024,
- month = dec,
- doi = {10.1109/CDC56724.2024.10885938},
- url = {https://www.merl.com/publications/TR2024-172}
- }
- Vinod, A.P., Weiss, A., Di Cairano, S., "Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC56724.2024.10886451, December 2024, pp. 8125-8131.
BibTeX TR2024-173 PDF- @inproceedings{Vinod2024dec,
- author = {Vinod, Abraham P. and Weiss, Avishai and {Di Cairano}, Stefano},
- title = {{Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2024,
- pages = {8125--8131},
- month = dec,
- doi = {10.1109/CDC56724.2024.10886451},
- url = {https://www.merl.com/publications/TR2024-173}
- }
- Lishkova, Y., Vinod, A.P., Di Cairano, S., Weiss, A., "Divert-feasible lunar landing under navigational uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC56724.2024.10886637, December 2024, pp. 7497-7503.
BibTeX TR2024-174 PDF- @inproceedings{Lishkova2024dec,
- author = {Lishkova, Yana and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
- title = {{Divert-feasible lunar landing under navigational uncertainty}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2024,
- pages = {7497--7503},
- month = dec,
- doi = {10.1109/CDC56724.2024.10886637},
- url = {https://www.merl.com/publications/TR2024-174}
- }
- Greiff, M., Berntorp, K., "Asynchronous Variational-Bayes Kalman Filtering", IEEE Conference on Decision and Control (CDC), December 2024.
BibTeX TR2024-177 PDF- @inproceedings{Greiff2024dec2,
- author = {Greiff, Marcus and Berntorp, Karl},
- title = {{Asynchronous Variational-Bayes Kalman Filtering}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-177}
- }