Publications

239 / 3,963 publications found.


  •  Elango, P., Vinod, A.P., Kitamura, K., Acikmese, B., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit", AIAA SciTech Forum 2026, January 2026.
    BibTeX TR2026-016 PDF
    • @inproceedings{Elango2026jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Acikmese, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit}},
    • booktitle = {AIAA SciTech Forum 2026},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-016}
    • }
  •  Kamath, A., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming", AIAA SciTech Forum, January 2026.
    BibTeX TR2026-015 PDF
    • @inproceedings{Kamath2026jan,
    • author = {Kamath, Abhinav and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-015}
    • }
  •  Kento, T., Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Powered Descent Decision Making: A Reachability-Steering Approach", AIAA SciTech Forum, January 2026.
    BibTeX TR2026-014 PDF
    • @inproceedings{Kento2026jan,
    • author = {Kento, Tomita and Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Powered Descent Decision Making: A Reachability-Steering Approach}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-014}
    • }
  •  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}
    • }
  •  Hutchinson, S., Vinod, A.P., Germain, F.G., Di Cairano, S., Laughman, C.R., Chakrabarty, A., "Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers", Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI, December 2025.
    BibTeX TR2026-001 PDF
    • @inproceedings{Hutchinson2025dec,
    • author = {{{Hutchinson, Spencer and Vinod, Abraham P. and Germain, François G and Di Cairano, Stefano and Laughman, Christopher R. and Chakrabarty, Ankush}}},
    • title = {{{Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-001}
    • }
  •  Kamath, A.G., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing", arXiv, December 2025.
    BibTeX arXiv
    • @article{Kamath2025dec,
    • author = {Kamath, Abhinav G. and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.07043}
    • }
  •  Shimane, Y., Berntorp, K., Di Cairano, S., Weiss, A., "Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits", arXiv, December 2025.
    BibTeX arXiv
    • @article{Shimane2025dec,
    • author = {Shimane, Yuri and Berntorp, Karl and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.01182}
    • }
  •  Schperberg, A., Tanaka, Y., Di Cairano, S., Hong, D., "MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll", arXiv, November 2025.
    BibTeX arXiv
    • @article{Schperberg2025nov,
    • author = {Schperberg, Alexander and Tanaka, Yusuke and {Di Cairano}, Stefano and Hong, Dennis},
    • title = {{MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll}},
    • journal = {arXiv},
    • year = 2025,
    • month = nov,
    • url = {https://arxiv.org/abs/2511.01774}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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), DOI: 10.23919/​ECC65951.2025.11186959, 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,
    • doi = {10.23919/ECC65951.2025.11186959},
    • url = {https://www.merl.com/publications/TR2025-093}
    • }
  •  Zheng, D., Wang, Y., Di Cairano, S., Tsiotras, P., "Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking", arXiv, June 2025.
    BibTeX arXiv
    • @article{Zheng2025jun,
    • author = {Zheng, Dongliang and Wang, Yebin and {Di Cairano}, Stefano and Tsiotras, Panagiotis},
    • title = {{Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking}},
    • journal = {arXiv},
    • year = 2025,
    • month = jun,
    • url = {https://www.arxiv.org/abs/2506.13421}
    • }
  •  Elango, P., Vinod, A.P., Kitamura, K., Açıkmeşe, B., Di Cairano, S., Weiss, A., "Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit", arXiv, May 2025.
    BibTeX arXiv
    • @article{Elango2025may,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Açıkmeşe, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit}},
    • journal = {arXiv},
    • year = 2025,
    • month = may,
    • url = {https://arxiv.org/abs/2505.17251}
    • }
  •  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}
    • }
  •  Ghezzi, A., Nurkanovic ́, A., Weiss, A., Diehl, M., Di Cairano, S., "A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications", arXiv, April 2025.
    BibTeX arXiv
    • @article{Ghezzi2025apr,
    • author = {Ghezzi, Andrea and Nurkanovic ́, Armin and Weiss, Avishai and Diehl, Moritz and {Di Cairano}, Stefano},
    • title = {{A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications}},
    • journal = {arXiv},
    • year = 2025,
    • month = apr,
    • url = {https://arxiv.org/abs/2504.02375}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Lin, X., Nayak, S., Di Cairano, S., Vinod, A.P., "Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots", arXiv, January 2025.
    BibTeX arXiv
    • @article{Lin2025jan,
    • author = {Lin, Xiaoshan and Nayak, Siddharth and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots}},
    • journal = {arXiv},
    • year = 2025,
    • month = jan,
    • url = {https://arxiv.org/abs/2501.08222}
    • }