Search Results for author: Francesco Borrelli

Found 28 papers, 12 papers with code

Overtaking Maneuvers on a Nonplanar Racetrack

1 code implementation22 Apr 2022 Thomas Fork, H. Eric Tseng, Francesco Borrelli

We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface.

Vehicle Models and Optimal Control on a Nonplanar Surface

1 code implementation20 Apr 2022 Thomas Fork, H. Eric Tseng, Francesco Borrelli

We present a 10 DoF dynamic vehicle model for model-based control on nonplanar road surfaces.

Safe Stochastic Model Predictive Control

no code implementations13 Apr 2022 Tim Brüdigam, Robert Jacumet, Dirk Wollherr, Marion Leibold, Francesco Borrelli

In this work, we propose a safety algorithm that is compatible with any stochastic Model Predictive Control method for linear systems with additive uncertainty and polytopic constraints.

A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria

1 code implementation30 Mar 2022 Edward L. Zhu, Francesco Borrelli

Dynamic games can be an effective approach to modeling interactive behavior between multiple non-cooperative agents and they provide a theoretical framework for simultaneous prediction and control in such scenarios.

Car Racing

Stochastic MPC with Multi-modal Predictions for Traffic Intersections

no code implementations20 Sep 2021 Siddharth H. Nair, Vijay Govindarajan, Theresa Lin, Chris Meissen, H. Eric Tseng, Francesco Borrelli

The use of feedback policies for prediction is motivated by the need for reduced conservatism in handling multi-modal predictions of the surrounding vehicles, especially prevalent in traffic intersection scenarios.

Autonomous Driving

Monocular Camera Localization for Automated Vehicles Using Image Retrieval

no code implementations13 Sep 2021 Eunhyek Joa, Francesco Borrelli

The result is a simple, real-time localization method using an image retrieval method whose performance is comparable to other monocular camera localization methods which use a map built with LiDARs.

Camera Localization Image Retrieval

Compact Cooperative Adaptive Cruise Control for Energy Saving: Air Drag Modelling and Simulation

no code implementations18 Aug 2021 Yeojun Kim, Jacopo Guanetti, Francesco Borrelli

This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs).

Accelerating Quadratic Optimization with Reinforcement Learning

1 code implementation NeurIPS 2021 Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg

First-order methods for quadratic optimization such as OSQP are widely used for large-scale machine learning and embedded optimal control, where many related problems must be rapidly solved.


Data-Driven Strategies for Hierarchical Predictive Control in Unknown Environments

no code implementations13 May 2021 Charlott Vallon, Francesco Borrelli

In addition to task-invariant system state and input constraints, a parameterized environment model generates task-specific state constraints, which are satisfied by the stored trajectories.

Models and Predictive Control for Nonplanar Vehicle Navigation

1 code implementation17 Apr 2021 Thomas Fork, H. Eric Tseng, Francesco Borrelli

We present a simplified model of a vehicle driving on a nonplanar road.

A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty

1 code implementation23 Mar 2021 Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R. Stürz, Francesco Borrelli

We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems.

Learning How to Solve Bubble Ball

no code implementations20 Nov 2020 Hotae Lee, Monimoy Bujarbaruah, Francesco Borrelli

"Bubble Ball" is a game built on a 2D physics engine, where a finite set of objects can modify the motion of a bubble-like ball.

Learning to Play Cup-and-Ball with Noisy Camera Observations

1 code implementation19 Jul 2020 Monimoy Bujarbaruah, Tony Zheng, Akhil Shetty, Martin Sehr, Francesco Borrelli

In this paper, we present a learning model based control strategy for the cup-and-ball game, where a Universal Robots UR5e manipulator arm learns to catch a ball in one of the cups on a Kendama.

Robust MPC for Linear Systems with Parametric and Additive Uncertainty: A Novel Constraint Tightening Approach

2 code implementations2 Jul 2020 Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R Stürz, Xiaojing Zhang, Francesco Borrelli

We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems.

Learning to Satisfy Unknown Constraints in Iterative MPC

no code implementations9 Jun 2020 Monimoy Bujarbaruah, Charlott Vallon, Francesco Borrelli

We propose a control design method for linear time-invariant systems that iteratively learns to satisfy unknown polyhedral state constraints.

ParkPredict: Motion and Intent Prediction of Vehicles in Parking Lots

no code implementations21 Apr 2020 Xu Shen, Ivo Batkovic, Vijay Govindarajan, Paolo Falcone, Trevor Darrell, Francesco Borrelli

We investigate the problem of predicting driver behavior in parking lots, an environment which is less structured than typical road networks and features complex, interactive maneuvers in a compact space.

Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control

1 code implementation2 Apr 2020 Edward L. Zhu, Yvonne R. Stürz, Ugo Rosolia, Francesco Borrelli

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints.

Learning Robustness with Bounded Failure: An Iterative MPC Approach

1 code implementation22 Nov 2019 Monimoy Bujarbaruah, Akhil Shetty, Kameshwar Poolla, Francesco Borrelli

We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task.

Robust Learning Model Predictive Control for Linear Systems Performing Iterative Tasks

no code implementations21 Nov 2019 Ugo Rosolia, Xiaojing Zhang, Francesco Borrelli

At each iteration of the control task the closed-loop state, input and cost are stored and used in the controller design.

Adaptive MPC under Time Varying Uncertainty: Robust and Stochastic

no code implementations30 Sep 2019 Monimoy Bujarbaruah, Xiaojing Zhang, Marko Tanaskovic, Francesco Borrelli

We consider a linear system, in presence of bounded time varying additive uncertainty.

Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks

1 code implementation19 Jun 2019 Xiaojing Zhang, Monimoy Bujarbaruah, Francesco Borrelli

In contrast to most existing approaches, we not only learn the control policy, but also a "certificate policy", that allows us to estimate the sub-optimality of the learned control policy online, during execution-time.

Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks

no code implementations31 May 2019 Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan Mcallister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg

Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes exploration and constraint satisfaction challenging.

Model-based Reinforcement Learning reinforcement-learning

Task Decomposition for Iterative Learning Model Predictive Control

no code implementations16 Mar 2019 Charlott Vallon, Francesco Borrelli

A task decomposition method for iterative learning model predictive control is presented.

Transfer Learning

Distributed Model Predictive Control for Heterogeneous V ehicle Platoons Under Unidirectional Topologies

no code implementations3 Mar 2017 Y ang Zheng, Shengbo Eben Li, Keqiang Li, Francesco Borrelli

This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a p r i o r i unknown desired set point.

Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System

no code implementations23 Feb 2017 Ugo Rosolia, Francesco Borrelli

The control scheme is reference-free and is able to improve its performance by learning from previous iterations.

Autonomous Racing using Learning Model Predictive Control

no code implementations20 Oct 2016 Ugo Rosolia, Ashwin Carvalho, Francesco Borrelli

A novel learning Model Predictive Control technique is applied to the autonomous racing problem.

Learning Model Predictive Control for iterative tasks. A Data-Driven Control Framework

no code implementations6 Sep 2016 Ugo Rosolia, Francesco Borrelli

The controller is reference-free and is able to improve its performance by learning from previous iterations.

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