- Castroviejo-Fernandez, M., Leung, J., "Relaxed barrier function based model predictive control with hard input constraints", IEEE Control Systems Letters, December 2025.
BibTeX TR2026-005 PDF- @article{Castroviejo-Fernandez2025dec,
- author = {Castroviejo-Fernandez, Miguel and Leung, Jordan},
- title = {{Relaxed barrier function based model predictive control with hard input constraints}},
- journal = {IEEE Control Systems Letters},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2026-005}
- }
- Joshi, A., Mowlavi, S., Benosman, M., "A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations", IEEE Conference on Decision and Control (CDC), December 2025.
BibTeX TR2025-172 PDF- @inproceedings{Joshi2025dec,
- author = {Joshi, Anant and Mowlavi, Saviz and Benosman, Mouhacine},
- title = {{A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-172}
- }
- Uzun, S., Acikmese, B., Di Cairano, S., "Motion Planning for Information Acquisition via Continuous-time Successive Convexification", IEEE Conference on Decision and Control (CDC), December 2025.
BibTeX TR2025-170 PDF- @inproceedings{Uzun2025dec,
- author = {Uzun, Samet and Acikmese, Behcet and {Di Cairano}, Stefano},
- title = {{Motion Planning for Information Acquisition via Continuous-time Successive Convexification}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-170}
- }
- Vinod, A.P., Kamath, A., Weiss, A., Di Cairano, S., "Set-based lossless convexification for a class of robust nonlinear optimal control problems", IEEE Conference on Decision and Control (CDC), December 2025.
BibTeX TR2025-160 PDF- @inproceedings{Vinod2025dec,
- author = {Vinod, Abraham P. and Kamath, Abhinav and Weiss, Avishai and {Di Cairano}, Stefano},
- title = {{Set-based lossless convexification for a class of robust nonlinear optimal control problems}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-160}
- }
- Xie, X., Mowlavi, S., Benosman, M., "Smooth and Sparse Latent Dynamics in Operator Learning with Jerk Regularization", Advances in Neural Information Processing Systems (NeurIPS) workshop on Machine Learning and the Physical Sciences (ML4PS), December 2025.
BibTeX TR2025-166 PDF- @inproceedings{Xie2025dec,
- author = {{{Xie, Xiaoyu and Mowlavi, Saviz and Benosman, Mouhacine}}},
- title = {{{Smooth and Sparse Latent Dynamics in Operator Learning with Jerk Regularization}}},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) workshop on Machine Learning and the Physical Sciences (ML4PS)},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-166}
- }
- Lin, C., Ding, Q., Ma, Y., "Application of Optimal Control to Time-Resolution Protocol for Quantum Sensing", Physical Review, DOI: 10.1103/1nsd-2574, Vol. 112, pp. 052608, November 2025.
BibTeX TR2025-161 PDF- @article{Lin2025nov,
- author = {Lin, Chungwei and Ding, Qi (Andy) and Ma, Yanting},
- title = {{Application of Optimal Control to Time-Resolution Protocol for Quantum Sensing}},
- journal = {Physical Review},
- year = 2025,
- volume = 112,
- pages = 052608,
- month = nov,
- doi = {10.1103/1nsd-2574},
- url = {https://www.merl.com/publications/TR2025-161}
- }
- Shimane, Y., Ho, K., Weiss, A., "Optimization-Based Phase-Constrained x-Axis Crossing Control for Station-Keeping on Libration Point Orbits", Journal of the Astronautical Sciences, DOI: 10.1007/s40295-025-00543-1, Vol. 72, No. 6, pp. 59, November 2025.
BibTeX TR2026-004 PDF- @article{Shimane2025dec3,
- author = {Shimane, Yuri and Ho, Koki and Weiss, Avishai},
- title = {{Optimization-Based Phase-Constrained x-Axis Crossing Control for Station-Keeping on Libration Point Orbits}},
- journal = {Journal of the Astronautical Sciences},
- year = 2025,
- volume = 72,
- number = 6,
- pages = 59,
- month = dec,
- doi = {10.1007/s40295-025-00543-1},
- url = {https://www.merl.com/publications/TR2026-004}
- }
- Karumanchi, S., Rokaha, B., Schperberg, A., Vinod, A.P., "Energy-constrained multi-robot exploration for autonomous map building", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS60139.2025.11247332, October 2025, pp. 9154-9161.
BibTeX TR2025-131 PDF- @inproceedings{Karumanchi2025oct,
- author = {Karumanchi, Sambhu and Rokaha, Bhagawan and Schperberg, Alexander and Vinod, Abraham P.},
- title = {{Energy-constrained multi-robot exploration for autonomous map building}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2025,
- pages = {9154--9161},
- month = oct,
- doi = {10.1109/IROS60139.2025.11247332},
- url = {https://www.merl.com/publications/TR2025-131}
- }
- Schperberg, A., Menner, M., Di Cairano, S., "Energy-Efficient Motion Planner for Legged Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2025.
BibTeX TR2025-151 PDF Video- @inproceedings{Schperberg2025oct,
- author = {Schperberg, Alexander and Menner, Marcel and {Di Cairano}, Stefano},
- title = {{Energy-Efficient Motion Planner for Legged Robots}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2025,
- month = oct,
- url = {https://www.merl.com/publications/TR2025-151}
- }
- Shimane, Y., Di Cairano, S., Ho, K., Weiss, A., "Revolution-Spaced Output-Feedback Model Predictive Control for Station Keeping on Near-Rectilinear Halo Orbits", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2025.3614324, October 2025.
BibTeX TR2026-003 PDF- @article{Shimane2025dec2,
- author = {Shimane, Yuri and {Di Cairano}, Stefano and Ho, Koki and Weiss, Avishai},
- title = {{Revolution-Spaced Output-Feedback Model Predictive Control for Station Keeping on Near-Rectilinear Halo Orbits}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2025,
- month = dec,
- doi = {10.1109/TCST.2025.3614324},
- issn = {1063-6536},
- url = {https://www.merl.com/publications/TR2026-003}
- }
- Hu, Y., Di Cairano, S., Berntorp, K., "Optimal Measurement Projection in GNSS-RTK Factor Graph Optimization", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA53793.2025.11151373, August 2025.
BibTeX TR2025-118 PDF- @inproceedings{Hu2025aug,
- author = {Hu, Yingjie and {Di Cairano}, Stefano and Berntorp, Karl},
- title = {{Optimal Measurement Projection in GNSS-RTK Factor Graph Optimization}},
- booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2025,
- month = aug,
- doi = {10.1109/CCTA53793.2025.11151373},
- url = {https://www.merl.com/publications/TR2025-118}
- }
- Deshpande, V.M., Vinod, A.P., "Dynamic Sensor Scheduling for Spatio-temporal Monitoring of Water Bodies", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA53793.2025.11151521, August 2025, pp. 673-680.
BibTeX TR2025-117 PDF- @inproceedings{Deshpande2025aug,
- author = {Deshpande, Vedang M. and Vinod, Abraham P.},
- title = {{Dynamic Sensor Scheduling for Spatio-temporal Monitoring of Water Bodies}},
- booktitle = {2025 IEEE Conference on Control Technology and Applications (CCTA)},
- year = 2025,
- pages = {673--680},
- month = aug,
- doi = {10.1109/CCTA53793.2025.11151521},
- url = {https://www.merl.com/publications/TR2025-117}
- }
- Zhang, X., Mowlavi, S., Benosman, M., Basar, T., "Policy Optimization for PDE Control with a Warm Start", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107977, July 2025, pp. 3539-3544.
BibTeX TR2025-105 PDF- @inproceedings{Zhang2025jul,
- author = {Zhang, Xiangyuan and Mowlavi, Saviz and Benosman, Mouhacine and Basar, Tamer},
- title = {{Policy Optimization for PDE Control with a Warm Start}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- pages = {3539--3544},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC63710.2025.11107977},
- url = {https://www.merl.com/publications/TR2025-105}
- }
- Cardona, G., Vasile, C.-I., Di Cairano, S., "Truck Fleet Coordination for Warehouse Trailer Management by Temporal Logic with Energy Constraints", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107663, July 2025.
BibTeX TR2025-103 PDF- @inproceedings{Cardona2025jul,
- author = {Cardona, Gustavo and Vasile, Cristian-Ioan and {Di Cairano}, Stefano},
- title = {{Truck Fleet Coordination for Warehouse Trailer Management by Temporal Logic with Energy Constraints}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- month = jul,
- doi = {10.23919/ACC63710.2025.11107663},
- url = {https://www.merl.com/publications/TR2025-103}
- }
- Chavez Armijos, A., Berntorp, K., Di Cairano, S., "Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107681, July 2025.
BibTeX TR2025-104 PDF- @inproceedings{ChavezArmijos2025jul,
- author = {Chavez Armijos, Andres and Berntorp, Karl and {Di Cairano}, Stefano},
- title = {{Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- month = jul,
- doi = {10.23919/ACC63710.2025.11107681},
- url = {https://www.merl.com/publications/TR2025-104}
- }
- Hu, Y., Di Cairano, S., Berntorp, K., "GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107797, July 2025.
BibTeX TR2025-102 PDF- @inproceedings{Hu2025jul,
- author = {Hu, Yingjie and {Di Cairano}, Stefano and Berntorp, Karl},
- title = {{GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- month = jul,
- doi = {10.23919/ACC63710.2025.11107797},
- url = {https://www.merl.com/publications/TR2025-102}
- }
- Pavlasek, N., Di Cairano, S., Weiss, A., "Geostationary Satellite Station Keeping and Collocation under High-Thrust Impulsive Control", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107882, July 2025, pp. 4947-4953.
BibTeX TR2025-101 PDF- @inproceedings{Pavlasek2025jul,
- author = {Pavlasek, Natalia and {Di Cairano}, Stefano and Weiss, Avishai},
- title = {{Geostationary Satellite Station Keeping and Collocation under High-Thrust Impulsive Control}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- pages = {4947--4953},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC63710.2025.11107882},
- issn = {2378-5861},
- isbn = {979-8-3315-6937-2},
- url = {https://www.merl.com/publications/TR2025-101}
- }
- Shimane, Y., Di Cairano, S., Ho, K., Weiss, A., "Station-Keeping on Near-Rectilinear Halo Orbits via Full-State Targeting Model Predictive Control", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107827, July 2025.
BibTeX TR2025-100 PDF- @inproceedings{Shimane2025jul,
- author = {Shimane, Yuri and {Di Cairano}, Stefano and Ho, Koki and Weiss, Avishai},
- title = {{Station-Keeping on Near-Rectilinear Halo Orbits via Full-State Targeting Model Predictive Control}},
- booktitle = {American Control Conference (ACC)},
- year = 2025,
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC63710.2025.11107827},
- issn = {2378-5861},
- isbn = {979-8-3315-6937-2},
- url = {https://www.merl.com/publications/TR2025-100}
- }
- 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), DOI: ECC65951.2025.11186833, 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,
- doi = {ECC65951.2025.11186833},
- url = {https://www.merl.com/publications/TR2025-092}
- }
- Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach", European Control Conference (ECC), DOI: 10.23919/ECC65951.2025.11187126, June 2025.
BibTeX TR2025-090 PDF- @inproceedings{Giacomuzzo2025jun,
- author = {Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
- title = {{Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- publisher = {IEEE},
- doi = {10.23919/ECC65951.2025.11187126},
- issn = {2996-8895},
- isbn = {978-3-907144-12-1},
- url = {https://www.merl.com/publications/TR2025-090}
- }
- Vinod, A.P., "pycvxset: A Python package for convex set manipulation", American Control Conference (ACC), DOI: 10.23919/ACC63710.2025.11107986, June 2025, pp. 2515-2521.
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,
- pages = {2515--2521},
- month = jun,
- doi = {10.23919/ACC63710.2025.11107986},
- 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), DOI: 10.1109/ICRA55743.2025.11128205, 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,
- doi = {10.1109/ICRA55743.2025.11128205},
- url = {https://www.merl.com/publications/TR2025-063}
- }
- 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, DOI: 10.1103/PhysRevA.111.042602, Vol. 111, No. 4, pp. 042602, 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,
- volume = 111,
- number = 4,
- pages = 042602,
- month = apr,
- doi = {10.1103/PhysRevA.111.042602},
- url = {https://www.merl.com/publications/TR2025-048}
- }
- 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}
- }