Model Predictive Control

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Period ending 2026-09-21

38 new papers

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Period ending 2026-09-14

11 new papers

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Period ending 2026-09-07

17 new papers

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  1. Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

    Aug 4, 2026Seulchan Lee, Leesai Park, Minhyeong Kang +1Model Predictive Path IntegralRobotic Arms

  2. CUDA MPC: A GPU-Native Solver for Model Predictive Control

    Aug 4, 2026Babak Akbari, Melissa GreeffModel Predictive ControlAlternating Direction Method Of Multiplier

  3. A Spectral Filtering Approach to Regret Analysis of Distributed Online Control for Linear Dynamical Systems

    Aug 3, 2026Ting-Jui ChangLinear Quadratic RegulatorGradient Descent

  4. Finite-Time Analysis of Discounted Exponential-Utility Reinforcement Learning

    Aug 3, 2026Ankur Naskar, Vivek T A, Aditya Kumar +2Finite Time AnalysisLyapunov Function

  5. Rake-Compress Riccati Recursions for Parallel Scenario-Tree Model Predictive Control

    Aug 2, 2026João Sousa-PintoModel Predictive ControlLinear Quadratic Regulator

  6. Learning-Based Stochastic Optimal Control with Infinite-Horizon Probabilistic Constraints

    Aug 2, 2026Francesco Cordiano, Kanghui He, Bart De SchutterStochastic Optimal ControlModel Predictive Control

  7. Contraction Analysis of Holomorphic Dynamical Systems via the Intrinsic Kobayashi Metric

    Aug 1, 2026Soumic SarkarContractionFeedback Linearization

  8. Staged Multi-Agent Training (SMAT) for Hip Exoskeletons: Metabolic and Biomechanical Validation of a Simulation-Trained Co-Adaptive Controller

    Aug 1, 2026Yifei Yuan, Jakob Wolf, Ghaith Androwis +1ExoskeletonBiomechanics

  9. Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality

    Aug 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaGrasp GenerationCollision-Free Trajectories

  10. SC2^{2}-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments

    Aug 1, 2026Xuan Yao, Yuze Zhu, Junyu Gao +2Vision-Language NavigationObject Goal Navigation

  11. Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control

    Jul 31, 2026Kasra Sinaei, Kasun Weerakoon, Christopher Bradley +2Motion PlannersModel Predictive Control

  12. Convergence and Regret of the Policy Gradient for Multi-Armed Bandits in Diffusion Environment

    Jul 31, 2026Yanwei Jia, Du OuyangPolicy GradientMulti-Armed Bandits

  13. Latent Lie-Poisson Neural Networks (LLPNNs): Discovering the motion of Lie-Poisson systems through observable data and latent dynamics

    Jul 31, 2026Vakhtang PutkaradzeLatent DynamicsHamiltonian Physics

  14. Generalization Bounds on Optimal Control for Transformer Training and Wasserstein Distributional Robustness

    Jul 30, 2026Kağan Akman, Naci Saldi, Serdar YükselGeneralization BoundsDistributional Learning

  15. Strategies for Milestone-driven Start-ups in Multi-activity Settings

    Jul 30, 2026Zhengli WangStochastic Optimal ControlPareto Frontier

  16. GPTQ-2D: Cubic-Time Two-Sided Adaptive Rounding

    Jul 29, 2026Jiale Chen, Torsten Hoefler, Dan AlistarhMatrix MultiplicationQuadratic Programs

  17. A Physics-Informed Framework for PID Tuning of Chemical Processes Using Large Language Model Agents

    Jul 29, 2026Zhoupeng Shou, Xiaodong Hong, Congjing Ren +3Large Language Model Fine-TuningClosed-Loop Control

  18. Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates

    Jul 29, 2026Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1Vehicle DynamicsFeedback Linearization

  19. Sensor-Placement-Agnostic Sonomyography: Toward Continuous High-Dimensional Control by Users with Tetraplegia

    Jul 29, 2026Gavin Sueltz, Vikram Athithan, Emma Ferran +3LegsFeedback Linearization

  20. Time-delay Control Using a New Nonlinear Adaptive Law for Cable-Driven Robots

    Jul 29, 2026Wenbo Gao, Yaoyao Wang, Jiawang Chen +2Adaptive ControllerRobotic Arms

  21. Self-Adaptive Learning and Model Predictive Control for Tracking Unknown Dynamics with No Regret

    Jul 29, 2026Atharva Navsalkar, Hongyu Zhou, Vasileios TzoumasModel Predictive ControlAdaptive Learning

  22. MetaKoopman: Bayesian Meta-Learning of Koopman Operators for Modeling Structured Dynamics under Distribution Shifts

    Jul 28, 2026Mahmoud Selim, Sriharsha Bhat, Karl H. JohanssonModel Predictive ControlKoopman Operator

  23. Context Assembly as the Controlled Variable: A Control-Theoretic View of Harness Policies for Frozen LLM Agents

    Jul 28, 2026Debjyoti PaulAgentic ControlFeedback Linearization

  24. Temporal-Distance JEPA: Plan-Aware Representation Learning for Latent World Model Predictive Control

    Jul 28, 2026Jiaxin Bai, Jiaxuan XiongJoint-Embedding Predictive ArchitecturesClassical Planning

  25. Belief-Aware Influence and Trust (BAIT): Shaping Human Belief During Repeated Human-Robot Interaction

    Jul 28, 2026Ye-Ji Mun, Mahsa Golchoubian, Shahabedin Sagheb +4Human-Robot InteractionModel Predictive Path Integral

  26. Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation

    Jul 27, 2026Daniel Layeghi, Thomas Corbères, Calum Arnott +4Trajectory OptimizationContact Forces

  27. Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors

    Jul 27, 2026Henrique Silva, Marcelo A. Santos, Guilherme V. RaffoUnmanned Aerial Vehicle TrajectoriesCoverage Path Planning

  28. Effective Parameters, Real Behavior: Renormalization for Robotics -- From Infinite Electron Mass to Sim-to-Real Gap

    Jul 27, 2026Youran Sun, Jiaxuan Guo, Xingyu Ren +2Sim-To-Real GapSoft Robots

  29. Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators

    Jul 27, 2026Lingxiao Xun, Haihong Li, Gang ZhengSoft RobotsModel Predictive Control

  30. Bridging Reinforcement Learning and Optimal Control via Feasible Action Mapping

    Jul 27, 2026Stefan Richter, Alberto Giammarino, Guillem Torrente +2Optimal ControlMotion Planners

  31. BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight

    Jul 26, 2026Parakh M. Gupta, Matej Mihulka, Matej Novosad +2Unmanned Aerial Vehicle TrajectoriesModel Predictive Control

  32. Observer-Assisted Relative-Velocity Compensation with LPV-H∞H_\infty Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean Currents

    Jul 26, 2026Mohammad SabouriAutonomous Underwater VehiclesAdaptive Controller

  33. When Rates Are Geometric: Rate-Certificate Transfer for Contact Splittings in Optimization

    Jul 26, 2026George A KevrekidisHamiltonian PhysicsLyapunov Function

  34. Safe Learning Predictive Control for Ego-World Robotic Systems

    Jul 24, 2026Davide Valenti, Giuseppe NotarstefanoModel Predictive ControlAutonomous Navigation

  35. Trajectory-Regularized Stochastic Optimal Control via KL Divergence

    Jul 24, 2026Mintae Kim, Koushil SreenathStochastic Optimal ControlKullback-Leibler Regularization

  36. An LLM-Driven Workflow for Automated Process Control Strategy Generation and Tuning from Dynamic Process Models

    Jul 23, 2026Ari Luna Rueda, Eike Cramer, Klaus Hellgardt +1Chemical Process SystemsFeedback Linearization

  37. Deep Reinforcement-Learning-Guided Model Predictive Control for Preventing Overtakes in Autonomous Racing

    Jul 23, 2026Yufei Xi, Yijie Liao, Tulga ErsalAutonomous RacingModel Predictive Control

  38. Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction

    Jul 23, 2026Yongyan CaoCatheter Tip TrackingModel Predictive Control

  39. GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

    Jul 22, 2026Leesai Park, Jiho HOng, Sanghyun KimDiffusion PoliciesRobot Policies

  40. End-to-End Learning of Safe Optimal Feedback Control in High Dimensions with Control Barrier Function Layers

    Jul 22, 2026Xingjian Li, Kelvin Kan, Deepanshu Verma +3Control Barrier FunctionsFeedback Linearization

  41. Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats

    Jul 22, 2026Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao +4Collision AvoidanceControl Barrier Functions

  42. Generalized Kalman filter based temporal difference reinforcement learning

    Jul 22, 2026Vasos Arnaoutis, Eric Lutters, Bojana RosićTemporal DifferenceExtended Kalman Filter

  43. Contact-Persistent Full Actuation for Aerial Physical Interaction

    Jul 22, 2026Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan KumarActuatorFeedback Linearization

  44. Toward Goal-Agnostic Joint-Embedding Predictive Control of Partial Differential Equations

    Jul 21, 2026Jonathan Gallagher, Roberto GuglielmiModel Predictive ControlLatent Dynamics

  45. Emergent Autonomous Drifting for Collision Avoidance in Real-World Winter Driving Scenarios

    Jul 21, 2026Elliot Weiss, Michael Thompson, Thomas Lew +1Vehicle DynamicsCollision Avoidance

  46. Real-time optimal control with shallow recurrent decoder networks

    Jul 21, 2026Matteo Tomasetto, Francesco Braghin, J. Nathan Kutz +1Reduced-Order ModelsOptimal Control

  47. How network perturbations distort agreement trajectories in LTI multi-agent systems

    Jul 21, 2026Gal Barkai, Irinel-Constantin MorărescuMulti-Agent CoordinationRobust Formation Control

  48. Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing

    Jul 21, 2026Stéphane CaronKoopman OperatorModel Predictive Control

  49. Bridging the Sim-to-Real Gap under Real-Time Constraints in Autonomous Racing

    Jul 20, 2026Hossein Maghsoumi, Yaser P. FallahAutonomous RacingSim-To-Real Gap

  50. Integrity-Gated Eco-CACC: Epistemic Admissibility for Cooperative Driving at Signalized Intersections

    Jul 20, 2026Lyes Saad Saoud, Moussa AyyashAdaptive Traffic Signal ControlOptimal Control

  51. A Continual Validation, Updating, and Decision-Making Framework for Self-Adaptive Digital Twins via Robust Model Predictive Control: A Case Study in Additive Manufacturing

    Jul 20, 2026Yi-Ping Chen, Ying-Kuan Tsai, Vispi Karkaria +3Digital Twin FrameworkModel Predictive Control

  52. Beyond the Edge of Chaos: Stability-Expressivity Transfer in Reservoir Forecasting

    Jul 20, 2026Yao Du, Xingang WangReservoir ComputingChaos

  53. Concentration and Mean-Square Bounds for Contractive Stochastic Approximation: A Unified Elementary Approach

    Jul 20, 2026Siddharth ChandakStochastic ApproximationConcentration Inequalities

  54. Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots

    Jul 20, 2026Zhouru Xiao, Sha Luo, Yang Lu +5Vector FieldsMotion Planners

  55. Predicting Grasping Compliance in Robotic Hands through Analytical-Model-Informed Neural Networks

    Jul 20, 2026Qianwen Zhao, Long WangDexterous Robot HandsGrasps

  56. Disturbance-Aware Flight for Aerial Robots in Narrow Space

    Jul 20, 2026Lei Qiang, Tianyu He, Chenyang Sun +3Aerial RobotsQuadrotor Flight

  57. Intermittent Control Is Not Diluted Control: A Switching Effect in Artificial Agency

    Jul 19, 2026Veronique ZieglerAdaptive ControllerAgentic Control

  58. Optimal Safety Control using High-Order Control Barrier Functions

    Jul 19, 2026Neng Li, Zuodong Pan, Jiaxing Wang +2Control Barrier FunctionsLyapunov Function

  59. ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots

    Jul 18, 2026Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1Multi-Robot SystemsModel Predictive Control

  60. Relative Entropy-Bounded Ambiguous Chance Constraints for Robust Planning in Nonlinear Systems

    Jul 18, 2026Trevor N. Wolf, Jay W. McMahonStochastic Optimal ControlInequality Constraints