Publications

465 / 3,644 publications found.


  •  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}
    • }
  •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), July 2024.
    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,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-050}
    • }
  •  Johnson, R.S., Di Cairano, S., Sanfelice, R., "Robust Parameter Estimation for Hybrid Dynamical Systems with Linear Parametric Uncertainty", Automatica, 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,
    • url = {https://www.merl.com/publications/TR2024-076}
    • }
  •  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, 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,
    • url = {https://www.merl.com/publications/TR2024-056}
    • }
  •  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), 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,
    • 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, 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,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-049}
    • }
  •  Xu, W., Jones, C., Svetozarevic, B., Laughman, C.R., Chakrabarty, A., "Violation-Aware Contextual Bayesian Optimization for Controller Performance Optimization with Unmodeled Constraints", Journal of Process Control, DOI: 10.1016/​j.jprocont.2024.103212, Vol. 138, April 2024.
    BibTeX TR2024-046 PDF
    • @article{Xu2024apr,
    • author = {Xu, Wenjie and Jones, Colin and Svetozarevic, Bratislav and Laughman, Christopher R. and Chakrabarty, Ankush},
    • title = {Violation-Aware Contextual Bayesian Optimization for Controller Performance Optimization with Unmodeled Constraints},
    • journal = {Journal of Process Control},
    • year = 2024,
    • volume = 138,
    • month = apr,
    • doi = {10.1016/j.jprocont.2024.103212},
    • url = {https://www.merl.com/publications/TR2024-046}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Shao, K., Romeres, D., Chakrabarty, A., Mesbah, A., "Preference-Guided Bayesian Optimization for Control Policy Learning: Application to Personalized Plasma Medicine", Advances in Neural Information Processing Systems (NeurIPS), December 2023.
    BibTeX TR2023-146 PDF
    • @inproceedings{Shao2023dec,
    • author = {Shao, Ketong and Romeres, Diego and Chakrabarty, Ankush and Mesbah, Ali},
    • title = {Preference-Guided Bayesian Optimization for Control Policy Learning: Application to Personalized Plasma Medicine},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2023,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2023-146}
    • }
  •  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}
    • }
  •  Greiff, M., Di Cairano, S., Kim, K.J., Berntorp, K., "A System-Level Cooperative Multi-Agent GNSS Positioning Solution", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2023.3307339, Vol. 32, No. 1, pp. 158-173, October 2023.
    BibTeX TR2023-135 PDF
    • @article{Greiff2023oct,
    • author = {Greiff, Marcus and Di Cairano, Stefano and Kim, Kyeong Jin and Berntorp, Karl},
    • title = {A System-Level Cooperative Multi-Agent GNSS Positioning Solution},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2023,
    • volume = 32,
    • number = 1,
    • pages = {158--173},
    • month = oct,
    • doi = {10.1109/TCST.2023.3307339},
    • url = {https://www.merl.com/publications/TR2023-135}
    • }
  •  Shimane, Y., Miraldo, P., Berntorp, K., Greiff, M., Elango, P., Weiss, A., "High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software", International Astronautical Congress (IAC), October 2023, pp. IAC-23,C1,5,9,x78805.
    BibTeX TR2023-128 PDF
    • @inproceedings{Shimane2023oct,
    • author = {Shimane, Yuri and Miraldo, Pedro and Berntorp, Karl and Greiff, Marcus and Elango, Purnanand and Weiss, Avishai},
    • title = {High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software},
    • booktitle = {International Astronautical Congress (IAC)},
    • year = 2023,
    • pages = {IAC--23,C1,5,9,x78805},
    • month = oct,
    • url = {https://www.merl.com/publications/TR2023-128}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Duan, X., Wang, Y., Romeres, D., Koike-Akino, T., Orlik, P.V., "Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach", IEEE Conference on Automation and Science Engineering, DOI: 10.1109/​CASE56687.2023.10260415, August 2023.
    BibTeX TR2023-106 PDF
    • @inproceedings{Duan2023aug,
    • author = {Duan, Xiaoming and Wang, Yebin and Romeres, Diego and Koike-Akino, Toshiaki and Orlik, Philip V.},
    • title = {Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach},
    • booktitle = {IEEE Conference on Automation and Science Engineering},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CASE56687.2023.10260415},
    • isbn = {979-8-3503-2070-1},
    • url = {https://www.merl.com/publications/TR2023-106}
    • }
  •  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}
    • }
  •  Iqbal, H., Di Cairano, S., Berntorp, K., "Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253020, August 2023.
    BibTeX TR2023-101 PDF
    • @inproceedings{Iqbal2023aug,
    • author = {Iqbal, Hassan and Di Cairano, Stefano and Berntorp, Karl},
    • title = {Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253020},
    • url = {https://www.merl.com/publications/TR2023-101}
    • }
  •  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}
    • }
  •  Menner, M., Di Cairano, S., Hamada, M., Gushima, K., "MPC-based Pedestrian Routing for Congestion Balancing", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10252891, August 2023.
    BibTeX TR2023-099 PDF
    • @inproceedings{Menner2023aug,
    • author = {Menner, Marcel and Di Cairano, Stefano and Hamada, Masaki and Gushima, Kota},
    • title = {MPC-based Pedestrian Routing for Congestion Balancing},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10252891},
    • url = {https://www.merl.com/publications/TR2023-099}
    • }