Model Predictive Control

Also known as MPC

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Overview

Model Predictive Control (MPC) predicts how a system will evolve, optimizes a sequence of actions over a finite horizon, applies the first action, and replans as measurements arrive. Work spans linear and nonlinear optimization, sampling-based methods such as MPPI, and learned dynamics from Gaussian processes, Koopman models, and neural world models; these methods are used in robotics, autonomous vehicles, energy systems, and process control. Robust and stochastic MPC, control barrier functions, reachability, and distributed optimization address uncertainty, safety, and coordination, while GPU and embedded solvers aim to meet real-time limits. A central tension is that longer, richer predictions can improve planning but increase computation and sensitivity to model error, so practical controllers must balance performance, safety guarantees, and reliable execution.

Latest papers

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305 papers40 papers in the last four weeks, down 7% on the four weeks before. 0.2% of all new papers.

  1. Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation

    Jun 16, 2026Magnus Dierking, Joao Carvalho, An Thai Le +2Contact-Rich Robotic ManipulationModel Predictive Control

    Intelligent Autonomous Systems Lab, TU Darmstadt, Germany · Interactive Robot Perception & Learning Lab, TU Darmstadt, Germany · German Research Center for AI (DFKI) +2

  2. Skill-Constrained Model Predictive Control for Resilient Manufacturing Supply Chains

    Jun 15, 2026Carlos Eduardo SanojaManufacturingModel Predictive Control

    Quanta Labs, LLC · Professor, FCEA, Universidad Monte´avila · Edificio Lomas del Sol, Calle Humboldt, Lomas del Sol, Caracas, Venezuela

  3. Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC

    Jun 14, 2026Devesh Nath, Anutam Srinivasan, Haoran Yin +3Constrained Motion PlanningWorld Model-Based Planning

    Georgia Institute of Technology

  4. Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction

    Jun 12, 2026Yongyan CaoRobotic ControlRobust Control

    Voryx Robotics, San Jose, CA 95136, USA

  5. Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation

    Jun 12, 2026Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti +2Constrained Motion PlanningContact-Rich Robotic Manipulation

    Georgia Institute of Technology, Atlanta, GA 30308

  6. Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Closed-Loop SEA Outer-Loop Study

    Jun 11, 2026Yongyan Cao, Jinshan TangRobotic ControlModel Predictive Control

    Voryx Robotics · George Mason University, Dept. of Health Administration and Policy

  7. Agentic MPC for Semantic Control System Resynthesis

    Jun 11, 2026Yuya Miyaoka, Masaki InoueLanguage Model-Based ControlModel Predictive Control

    ⋆This work was supported by Grant-in-Aid for Scientific Research (B), No. 25K01254 from The Japan Society for the Promotion of Science (JSPS).

  8. IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

    Jun 9, 2026Jiawei Gao, Chaoqi Liu, Peilin Wu +2Robotic ControlContact-Rich Robotic Manipulation

    Harvard University · Stanford University

  9. Vehicle Prediction Model for Enhanced MPC Path Tracking in Formula Student Driverless

    Jun 9, 2026Sebastian Baader, Tamara Bergerhoff, Pascal Meißner +1Autonomous RacingModel Predictive Control

    Center for Artificial Intelligence and Robotics (CAIRO); TUAS Würzburg-Schweinfurt, Germany

  10. Who Earns the Safety? Intervention-Aware Quantum Predictive Control with Safety Attribution

    Jun 8, 2026Yifan WangSafety-Critical ControlControl Barrier Functions

    Department of Mechanical Engineering, McGill University Montréal, QC H3A 2T7, Canada

  11. Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions

    Jun 8, 2026Alejandro Gonzalez-Garcia, Dries Dirckx, Jan Swevers +1Constrained Motion PlanningControl Barrier Functions

  12. Distributed Model Predictive Control with Adaptive Safety Zones for Multi-Fleet Drone Operations

    Jun 8, 2026Linda Mümken, Diyar Altinses, Michael Schwung +2Collision AvoidanceAerial Robotics

    Department of Automation Technology South Westphalia University of Applied Sciences, Soest, Germany · Institute of Automation and Computer Control, Ruhr University Bochum, 44801 Bochum, Germany · Department of Logistics and Supply Chain Management, South Westphalia University of Applied Sciences, Meschede, Germany

  13. Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction

    Jun 6, 2026Yongyan Cao, Jinshan TangModel Predictive ControlHuman-Robot Interaction

    Voryx Robotics LLC, San Jose, CA 95136, USA · Department of Health Administration and Policy, George Mason University, Fairfax, VA, USA

  14. Learning Predictive Control with Deep Koopman Operators for Autonomous Vehicle Motion Planning

    Jun 6, 2026Xinglong Zhang, Yongqian Xiao, Haotian Cao +3Model Predictive ControlAutonomous Driving Planning

  15. X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting

    Jun 6, 2026Jen-Wei Wang, Sarthak Kaingade, Andrea Tagliabue +1Robot TeleoperationWhole-Body Robotic Manipulation

    Amazon · University of California, Berkeley

  16. Merging model-based control with multi-agent reinforcement learning for multi-agent cooperative teaming strategies

    Jun 4, 2026Christian Llanes, Spencer W. Jensen, Samuel CooganMulti-Agent ControlMulti-Robot Coordination

    School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA. · Sandia National Laboratories, Albuquerque, NM 87123, USA.

  17. Amortized Nonlinear Model Predictive Control

    Jun 4, 2026Francesco Pillitteri, Alberto BemporadRobotic ControlNonlinear MPC

    IMT School for Advanced Studies, Lucca, Italy

  18. Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation

    Jun 4, 2026Junheng Li, Liang Wu, Sergio A. Esteban +3RL ControlHumanoid Robot Locomotion

    California Institute of Technology, CA 91106, USA · Johns Hopkins University, MD 21218, USA

  19. Distribution-Free Risk-Aware Planning and Control Under Uncertainty Using Conformal Spectral Risk Control

    Jun 2, 2026Junsik Eom, Tulga ErsalModel Predictive ControlConformal Risk Control

    Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109

  20. Motion Planning in Dynamic Environments: A Survey from Classical to Modern Methods

    Jun 1, 2026Zongyuan Shen, Yaming Ou, Shalabh Gupta +6Model Predictive ControlMotion Planning

    College of Information Science and Technology, Jinan University, Guangzhou 510632, China. · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China. · Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT 06269, USA. +2

  21. Behavior Cloning of MPC for 3-DOF Robotic Manipulators

    May 29, 2026Theo Guegan, Dexter Wen Jie TeoRobotic ControlNeural Surrogate Modeling

    Universite de Technologie de Compiégne, France · Opalin, Redwood City, CA · Nanyang Technological University, Singapore +1

  22. CA-AC-MPC: CUDA-Accelerated Actor-Critic Model Predictive Control

    May 27, 2026Antoonio Buo, Vittorio Cammarota, Michele Avagnale +3Autonomous Drone RacingGPU Acceleration

    PRISMA Lab and CREATE Consortium, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy

  23. Compliant Non-Prehensile Pushing Manipulation

    May 25, 2026Francesco Cufino, Mario Selvaggio, Fabio Amadio +1Contact-Rich ManipulationNon-Prehensile Manipulation

    The authors are with the PRISMA Lab, department of Electrical Engineering and Information Technology of the University of Naples Federico II, Via Claudio, 21, Naples, 80125, Italy. · The author is with Inria, CNRS, Université de Lorraine, Nancy, 54000, France (work carried out while at the ABB Corporate Research Center, Västerås, 72226, Sweden).

  24. Parallel Differentiable Reachability for Learning and Planning with Certified Neural Dynamics and Controllers

    May 25, 2026Keyi Shen, Glen ChouRobotic ControlNeural Network Verification

    Georgia Institute of Technology, Atlanta, GA 30308

  25. T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics

    May 24, 2026Zeyu Shen, Zhuoyuan Wang, Laixi ShiAdaptive MPCOnline System Identification

    Department of Applied Mathematics and Statistics, Johns Hopkins University, MD, USA. · Department of Electrical and Computer Engineering, Carnegie Mellon University, PA, USA. · Department of Electrical and Computer Engineering, Johns Hopkins University, MD, USA.

  26. Balancing Accuracy and Efficiency: Adaptive Dynamics Orchestration for Model Predictive Control

    May 22, 2026Francesco Cancelliere, Aniket Datar, Giovanni Muscato +1Off-Road Robot NavigationAdaptive Model Routing

    Department of Electrical, Electronic and Computer Engineering (DIEEI), University of Catania, Italy · Department of Computer Science, George Mason University, USA

  27. Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering

    May 21, 2026Zekun Xing, Ramkrishna Chaudhari, Marion Leibold +2Model Predictive ControlMotion Planning

    Chair of Automatic Control Engineering, Technical University of Munich, Arcisstr. 21, 80333 Munich, Germany

  28. Terminal Constraint Model Predictive Control for Image-Based Visual Servoing of UAVs with Kalman Filter-Based Moment Loss Compensation

    May 21, 2026X. Wang, Y. Cao, W. L. W. Leong +4Model Predictive ControlVision-Based Robot Control

    College of Design and Engineering, National University of Singapore, Singapore

  29. A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning

    May 20, 2026Otobong Jerome, Geesara Kalathunga, Tiago NascimentoConstrained Motion PlanningKinodynamic Motion Planning

    Laborat´orio de Engenharia de Sistemas e Rob´otica, Universidade Federal da Para´ıba (UFPB), Jo˜ao Pessoa, Para´ıba, 58055-000, Brazil · School of Computer Science, University of Lincoln, Lincoln, United Kingdom

  30. VBT-MPC: Vision-Based Tactile MPC for Contour Following

    May 19, 2026Edison Velasco-Sanchez, Luis F. Recalde, Guanrui Li +1Vision-Based Tactile SensingTactile Sensing

    AUROVA Lab, Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain · Worcester Polytechnic Institute, Robotics Engineering, Worcester, MA 01609, USA