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Decentralized 2-Robot Transportation with Local and Indirect Sensing


Mar 07, 2021
Monimoy Bujarbaruah, Yvonne R. Stürz, Conrad Holda, Karl H. Johansson, Francesco Borrelli

* Submitted to IROS 2021 

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Learning How to Solve Bubble Ball


Nov 20, 2020
Hotae Lee, Monimoy Bujarbaruah, Francesco Borrelli

* Submitted to L4DC 2021 

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Collision Avoidance in Tightly-Constrained Environments without Coordination: a Hierarchical Control Approach


Nov 01, 2020
Xu Shen, Edward L. Zhu, Yvonne R. Stürz, Francesco Borrelli

* 7 pages, 7 figures, submitted to ICRA 2021 

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


Jul 19, 2020
Monimoy Bujarbaruah, Tony Zheng, Akhil Shetty, Martin Sehr, Francesco Borrelli

* Final paper for IEEE CASE, Hong Kong, August, 2020. First three authors contributed equally 

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A Distributed Multi-Robot Coordination Algorithm for Navigation in Tight Environments


Jun 20, 2020
Roya Firoozi, Laura Ferranti, Xiaojing Zhang, Sebastian Nejadnik, Francesco Borrelli


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Learning to Satisfy Unknown Constraints in Iterative MPC


Jun 09, 2020
Monimoy Bujarbaruah, Charlott Vallon, Francesco Borrelli

* Submitted to IEEE-CDC 2020, Jeju, Korea. First two authors contributed equally 

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ParkPredict: Motion and Intent Prediction of Vehicles in Parking Lots


Apr 21, 2020
Xu Shen, Ivo Batkovic, Vijay Govindarajan, Paolo Falcone, Trevor Darrell, Francesco Borrelli

* * Indicates equal contribution. Accepted at IEEE Intelligent Vehicles Symposium (IV) 2020 

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Control of Unknown Nonlinear Systems with Linear Time-Varying MPC


Apr 09, 2020
Dimitris Papadimitriou, Ugo Rosolia, Francesco Borrelli

* Fixed double citation in section 4 

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


Apr 02, 2020
Edward L. Zhu, Yvonne R. Stürz, Ugo Rosolia, Francesco Borrelli

* 8 pages, 4 figures, submitted to Conference on Decision and Control 2020 

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Formation and Reconfiguration of Tight Multi-Lane Platoons


Mar 19, 2020
Roya Firoozi, Xiaojing Zhang, Francesco Borrelli


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Hardware-In-the-Loop for Connected Automated Vehicles Testing in Real Traffic


Jul 21, 2019
Yeojun Kim, Samuel Tay, Jacopo Guanetti, Francesco Borrelli, Ryan Miller

* This work was presented at the 14th International Symposium in Advanced Vehicle Control (AVEC '18) 

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


Jun 19, 2019
Xiaojing Zhang, Monimoy Bujarbaruah, Francesco Borrelli

* IEEE American Control Conference (ACC) 2019, July 9-12, Philadelphia, PA, USA 

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Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations


Jun 03, 2019
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg


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A Hybrid Control Design for Autonomous Vehicles at Uncontrolled Intersections


Feb 02, 2019
Nitin R. Kapania, Vijay Govindarajan, Francesco Borrelli, J. Christian Gerdes


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Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication


Oct 21, 2018
Roya Firoozi, Shima Nazari, Jacopo Guanetti, Ryan O'Gorman, Francesco Borrelli


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


Sep 14, 2018
Ugo Rosolia, Francesco Borrelli

* arXiv admin note: substantial text overlap with arXiv:1609.01387 

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Vehicle Localization and Control on Roads with Prior Grade Map


Sep 11, 2018
Roya Firoozi, Jacopo Guanetti, Roberto Horowitz, Francesco Borrelli


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Optimization-Based Collision Avoidance


Jun 10, 2018
Xiaojing Zhang, Alexander Liniger, Francesco Borrelli

* 27 pages, 9 figures, 2 tables 

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


Dec 14, 2017
Ugo Rosolia, Francesco Borrelli


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Autonomous Racing using Learning Model Predictive Control


Nov 09, 2017
Ugo Rosolia, Ashwin Carvalho, Francesco Borrelli

* Extended version of the paper accepted to ACC 

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