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

CardsList

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

  1. Dual Control of Linear Systems from Bilinear Observations with Belief Space Model Predictive Control

    Apr 27, 2026Daniel Cao, Beixi Du, Andrew Lowitt +3Belief-Space PlanningModel Predictive Control

    Cornell

  2. Trajectory Planning for an Articulated Commercial Vehicle using Model Predictive Contouring Control

    Apr 27, 2026A. J. Aertssen, R. G. M. Huisman, I. J. M. Besselink +2Autonomous DrivingModel Predictive Control

    Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands. · Safety & Driver Controls Group, Vehicle Development, DAF Trucks N.V., Eindhoven, The Netherlands.

  3. Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control

    Apr 26, 2026Hao Wang, Nam Nguyen, Armand Jordana +2Robotic ControlSafety-Critical Control

    Ming Hsieh Department of Electrical and Computer Engineering, University of Southern California · Department of Aeronautics and Astronautics, Stanford University · Electrical and Computer Engineering Department, New York University

  4. Iterative Model-Learning Scheme via Gaussian Processes for Nonlinear Model Predictive Control of (Semi-)Batch Processes

    Apr 24, 2026Tai Xuan Tan, Alexander Mitsos, Eike CramerNonlinear MPCStochastic Optimal Control

    Process Systems Engineering (AVT.SVT), RWTH Aachen University, Forckenbeckstraße 51, 52074 Aachen, Germany · JARA-CSD, 52056 Aachen, Germany · Institute of Climate and Energy Systems: Energy Systems Engineering (ICE-1), Forschungszentrum Jülich GmbH, 52425 Jülich, Germany +1

  5. False Feasibility in Variable Impedance MPC for Legged Locomotion

    Apr 24, 2026Vishal RameshImpedance ControlModel Predictive Control

  6. Model Predictive Control of Hybrid Dynamical Systems

    Apr 23, 2026Ricardo G. Sanfelice, Berk AltinDynamical SystemsModel Predictive Control

    Department of Electrical and Computer Engineering, University of California, Santa Cruz, CA, 94107 USA

  7. Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform

    Apr 22, 2026Jess Stephenson, Melissa GreeffAerial RoboticsUAV Landing on Moving Platforms

    Robora Lab, Ingenuity Labs Research Institute, Department of Electrical and Computer Engineering, Queen’s University, Kingston, Canada

  8. A Systematic Review and Taxonomy of Reinforcement Learning-Model Predictive Control Integration for Linear Systems

    Apr 22, 2026Mohsen Jalaeian Farimani, Roya Khalili Amirabadi, Davoud Nikkhouy +3RL ControlModel Predictive Control

    Department of Electronics, Information and Bioengineering (DEIB), Politecnico di Milano, Milan, Italy · Department of Applied Mathematics, Ferdowsi University of Mashhad, Mashhad, Iran · Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, Rasht, Iran +2

  9. Safety-Critical Contextual Control via Online Riemannian Optimization with World Models

    Apr 21, 2026Tongxin LiRiemannian OptimizationSafety-Critical Control

    Member, IEEE

  10. Autonomous UAV Pipeline Near-proximity Inspection via Disturbance-Aware Predictive Visual Servoing

    Apr 21, 2026Wen Li, Hui Wang, Jinya Su +3UAV NavigationIndustrial Inspection

    School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing 210096, China · Department of Aeronautical and Automotive Engineering, Loughborough University, LE11 3TU, United Kingdom · Research Centre for Low Altitude Economy and the Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong, China

  11. GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation

    Apr 21, 2026Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam +3Mobile ManipulationBimanual Robotic Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia

  12. DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation

    Apr 20, 2026Autrio Das, Shreya Bollimuntha, Madala Venkata Renu Jeevesh +5Non-Prehensile Robotic ManipulationBimanual Robotic Manipulation

  13. DataCenterGym: A Physics-Grounded Simulator for Multi-Objective Data Center Scheduling

    Apr 17, 2026Nilavra Pathak, Samadrita Biswas, Nirmalya RoyModel Predictive ControlPhysics-Based Simulation

    Marketing Data Science, Expedia Group · Analytical Development, Curia Global · Department of Information Systems, University of Maryland, Baltimore County

  14. Energy-based Regularization for Learning Residual Dynamics in Neural MPC for Omnidirectional Aerial Robots

    Apr 16, 2026Johannes Kübel, Henrik Krauss, Jinjie Li +1Aerial RoboticsResidual Dynamics Learning

    DRAGON Lab, Department of Mechanical Engineering, The University of Tokyo, Tokyo 113-8656, Japan · Department of Advanced Interdisciplinary Studies, The University of Tokyo, Tokyo 153-8904, Japan

  15. Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning

    Apr 15, 2026Saeed Rahmani, Gözde Körpe, Zhenlin +4Autonomous Driving PlanningMulti-Agent Control

    Gavin · TU Delft, Faculty of Civil Engineering and Geosciences, Department of Transport and Planning, Delft, The Netherlands · NVIDIA, San Jose, CA, USA

  16. Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control

    Apr 13, 2026O. Goktug Poyrazoglu, Yukang Cao, Rahul Moorthy +1Uncertainty-Aware ExplorationTrajectory Optimization

    University of Minnesota, Minneapolis, MN 55455, USA. · 2The University of Texas at Austin, Austin, TX 78712, USA.

  17. Hierarchical RL-MPC Control for Dynamic Wake Steering in Wind Farms

    Apr 13, 2026Marcus Binder Nilsen, Teodor Olof Benedict Åstrand, Tuhfe Göçmen +1RL ControlModel Predictive Control

    Technical University of Denmark, Department of Wind and Energy Systems. Roskilde, Frederiksborgvej 399, Denmark

  18. Mapping High-Performance Regions in Battery Scheduling across Data Uncertainty, Battery Design, and Planning Horizons

    Apr 12, 2026Jaime de Miguel Rodriguez, Artjom Vargunin, Brigitta Robin Raudne +3Power SystemsDecision-Making under Uncertainty

    Enefit, Estonia · University of Seville, Spain · University of Tartu, Estonia +1

  19. AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction

    Apr 12, 2026Yizhe Zhang, Jianping Li, Liangliang Yin +2UAV NavigationLiDAR Odometry

    State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, 430079, China · School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore

  20. COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments

    Apr 11, 2026Ege Gursoy, Maxime Sabbah, Arthur Haffemayer +5Robot Collision AvoidanceModel Predictive Control

    LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France · CIIRC, Czech Technical University, Prague · LIRMM, Université de Montpellier, CNRS, Montpellier, France +3

  21. Density-Driven Optimal Control: Convergence Guarantees for Stochastic LTI Multi-Agent Systems

    Apr 9, 2026Kooktae LeeMulti-Agent ControlStochastic Optimal Control

    Department of Mechanical Engineering, New Mexico Institute of Mining and Technology, Socorro, NM 87801, USA

  22. PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC

    Apr 9, 2026Mohsen Amiri, Mohsen Amiri, Ali Beikmohammadi +2Partially Observable RLLearning Using Privileged Information

    The authors are with the Department of Computer and System Science, Stockholm University, 11419 Stockholm, Sweden · The authors are with the School of Mechanical and Material Engineering, Washington State University, Pullman, WA 99164, USA

  23. Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control

    Apr 8, 2026Xinyang Fan, Zhaoyang Chen, Shu Xin +4Robot TeleoperationDynamic Robotic Manipulation

    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. · Advanced Manufacturing Laboratory, Huawei Technologies, Shenzhen 518129, China.

  24. Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring

    Apr 7, 2026Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer +4Force-Controlled Robotic ManipulationContact-Rich Robotic Manipulation

    LAAS-CNRS, Universite de Toulouse, CNRS, Toulouse, France · Inria, AUCTUS team, Talence, France · Image and Pervasive Access Laboratory (IPAL), CNRS-UMI, 2955, Singapore +1

  25. Neural Parameter Estimation of RC Thermal Building Models for Model Predictive Control

    Apr 7, 2026Fabian Raisch, Timo Germann, Sang-Woo Ham +3Parameter EstimationBuilding Energy Management

    Technical University of Applied Sciences Rosenheim, Rosenheim, Germany · Technical University of Munich, Munich, Germany · Ludwig Maximilian University of Munich, Munich, Germany +2

  26. Physics-Informed Neural Optimal Control for Precision Immobilization Technique in Emergency Scenarios

    Apr 7, 2026Yangye Jiang, Jiachen Wang, Daofei LiOptimal ControlAutonomous Driving Planning

    Institute of Power Machinery and Vehicular Engineering, Zhejiang University and the Zhejiang Key Laboratory of Intelligent Vehicle Comprehensive Safety, Hangzhou 310027, China

  27. Bilinear Model Predictive Control Framework of the OncoReach, a Tendon-Driven Steerable Stylet for Brachytherapy

    Apr 6, 2026Pejman Kheradmand, Behnam Moradkhani, Mir Masoud Ale Ali +3Robotic InsertionRobotic Control

    Healthcare Robotics and Telesurgery Laboratory (Heartlab), University of Louisville, Louisville, KY, USA. · Department of Radiation Oncology, University of Louisville School of Medicine, Louisville, KY, USA.

  28. Receding-Horizon Control via Drifting Models

    Apr 6, 2026Daniele Foffano, Alessio Russo, Alexandre ProutiereTrajectory OptimizationModel Predictive Control

    the Division of Decision and Control Systems of the EECS School at KTH Royal Institute of Technology, Stockholm, Sweden. · the Faculty of Computing and Data Sciences, Boston University, Boston, USA

  29. FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance

    Apr 6, 2026Qintong Xie, Weishu Zhan, Peter ChinMulti-Robot Formation ControlModel Predictive Control

    Thayer School of Engineering, Dartmouth College, NH 03784. · Department of Computer Science, The University of Manchester, Manchester M13 9PL, United Kingdom.

  30. RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments

    Apr 5, 2026Sriram S. K. S. Narayanan, Umesh VaidyaModel Predictive ControlQuadruped Locomotion

    Department of Mechanical Engineering, Clemson University, Clemson, SC 29630, USA