Model Predictive Control

Also known as MPC

Ask about this topic

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. Hierarchical Planning with Latent World Models

    Apr 3, 2026Wancong Zhang, Basile Terver, Artem Zholus +7Hierarchical PlanningHierarchical Robot Control

    FAIR at Meta · New York University · Mila - Québec AI Institute +1

  2. Neural Network-Assisted Model Predictive Control for Implicit Balancing

    Apr 2, 2026Seyed Soroush Karimi Madahi, Kenneth Bruninx, Bert Claessens +1Model Predictive ControlData-Driven Control

    IDLab, Ghent University – imec, Ghent, Belgium · Faculty of Technology, Policy & Management, Delft University of Technology, Delft, The Netherlands · Beebop.ai, Belgium

  3. Koopman-Based Nonlinear Identification and Model Predictive Control of a Turbofan Engine

    Apr 2, 2026David GrasevAdaptive MPCExtended Dynamic Mode Decomposition

    Department of Aviation Technology, University of Defence, Brno, Czech Republic.

  4. Soft MPCritic: Value-Based Reinforcement Learning for Non-Differentiable Predictive Control

    Apr 1, 2026Thomas Banker, Nathan P. Lawrence, Ali MesbahModel Predictive ControlModel-Based RL

    Department of Chemical and Biomolecular Engineering, University of California, Berkeley, CA 94720, USA.

  5. An Online Machine Learning Multi-resolution Optimization Framework for Energy System Design Limit of Performance Analysis

    Apr 1, 2026Oluwamayowa O. Amusat, Luka Grbcic, Remi Patureau +3Multi-Fidelity OptimizationModel Predictive Control

    Scientific Data Division, Computing Sciences, Lawrence Berkeley National Laboratory (LBNL), Berkeley, CA 94720 · Applied Mathematics & Computational Research Division (AMCR), Computing Sciences, Lawrence Berkeley National Laboratory (LBNL), Berkeley, CA 94720 · Building & Industrial Energy Systems (BIES) Division, Energy Technologies Area, Lawrence Berkeley National Laboratory (LBNL), Berkeley, CA 94720 +1

  6. Stein Variational Uncertainty-Adaptive Model Predictive Control

    Apr 1, 2026Hrishikesh Sathyanarayan, Ian AbrahamModel Predictive ControlNonlinear MPC

    Department of Mechanical Engineering, Yale University, USA · Department of Electrical Engineering, University of Sydney, Australia

  7. Long-Horizon Geometry-Aware Navigation among Polytopes via MILP-MPC and Minkowski-Based CBFs

    Mar 31, 2026Yi-Hsuan Chen, Salman Ghori, Ania Adil +2Safe Robot NavigationMotion Planning

    Dept. of Aerospace Engineering, University of Maryland, College Park, MD, USA. · Computer, Electrical and Mathematical Science & Engineering Division (CEMSE), KAUST, Saudi Arabia. · Dept. Electrical and Computer Engineering and Dept. Computer Science, University of Maryland, College Park, MD, USA.

  8. Model Predictive Path Integral PID Control for Learning-Based Path Following

    Mar 31, 2026Teruki Kato, Koshi Oishi, Seigo ItoNonlinear MPCResidual Dynamics Learning

    Toyota Central R&D Labs., Inc., Nagakute 480-1192, Japan

  9. Koopman Operator Framework for Modeling and Control of Off-Road Vehicle on Deformable Terrain

    Mar 30, 2026Kartik Loya, Phanindra TallapragadaTerrain-Aware Robot LocomotionVehicle Dynamics

    Department of Mechanical Engineering, Clemson University, Clemson, SC 29607 USA

  10. A Predictive Control Strategy to Offset-Point Tracking for Agricultural Mobile Robots

    Mar 30, 2026Stephane Ngnepiepaye Wembe, Vincent Rousseau, Johann Laconte +1Robot Trajectory TrackingAgricultural Robotics

    Université Clermont Auvergne, INRAE, UR TSCF, 63000, Clermont-Ferrand, France · SABI AGRI, 63360, Saint-Beauzire, France

  11. Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion

    Mar 30, 2026Wenqi Cai, Kyriakos G. Vamvoudakis, Sébastien Gros +1Humanoid Robot LocomotionModel Predictive Control

    Electrical Engineering Program, New York University Abu Dhabi (NYUAD), 129188, UAE. · School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332, United States. · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway.

  12. MPC as a Copilot: A Predictive Filter Framework with Safety and Stability Guarantees

    Mar 29, 2026Yunda Yan, Chenxi Tao, Jinya Su +2Safety-Critical ControlModel Predictive Control

    Department of Computer Science, University College London, London WC1E 6BT, UK · School of Automation, Southeast University, Nanjing 210096, China · Department of Aeronautical and Automotive Engineering, Loughborough University, Leicestershire LE11 3TU, UK

  13. Towards Safe Learning-Based Non-Linear Model Predictive Control through Recurrent Neural Network Modeling

    Mar 25, 2026Mihaela-Larisa Clement, Mónika Farsang, Agnes Poks +4Nonlinear MPCModel Predictive Control

    Institute of Computer Engineering, TU Wien, Vienna, Austria · AIT Austrian Institute of Technology, Vienna, Austria · Institute of Mechanics and Mechatronics, TU Wien, Vienna, Austria

  14. High-Speed, All-Terrain Autonomy: Ensuring Safety at the Limits of Mobility

    Mar 20, 2026James R. Baxter, Bogdan I. Epureanu, Paramsothy Jayakumar +1Safe Motion PlanningOff-Road Robot Navigation

    Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI · U.S. Army Ground Vehicle Systems Center, Warren, MI

  15. Multi-Agent Motion Planning on Industrial Magnetic Levitation Platforms: A Hybrid ADMM-HOCBF approach

    Mar 20, 2026Bavo Tistaert, Stan Servaes, Alejandro Gonzalez-Garcia +4Decentralized Multi-Agent Motion PlanningMotion Planning

  16. Mixed-Integer vs. Continuous Model Predictive Control for Binary Thrusters: A Comparative Study

    Mar 20, 2026Franek Stark, Jakob Middelberg, Shubham VyasModel Predictive ControlFeedback Control

    Robotics Innovation Center, German Research Center for Artificial Intelligence GmbH, Bremen, Germany · University of Bremen, Germany

  17. ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion

    Mar 19, 2026Yicheng Zeng, Ruturaj S. Sambhus, Basit Muhammad Imran +3Model Predictive ControlMulti-Robot Motion Planning

    Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA · The University of Texas at El Paso, El Paso, TX 79968, USA

  18. Lightweight Model Predictive Control for Spacecraft Rendezvous Attitude Synchronization

    Mar 19, 2026Peter Stadler, Alexander Meinert, Niklas Baldauf +1Spacecraft Attitude DeterminationModel Predictive Control

    Space Applications Group, e:fs TechHub GmbH, 85080 Gaimersheim, Germany · Faculty of Electrical Engineering and Information Technology, Ingolstadt University of Applied Sciences, Germany

  19. Computationally Efficient Density-Driven Optimal Control via Analytical KKT Reduction and Contractive MPC

    Mar 19, 2026Julian Martinez, Kooktae LeeInput-to-State StabilityMulti-Agent Control

    Department of Mechanical and Aerospace Engineering, Texas Tech University, Lubbock, TX 79409, USA

  20. Graph-of-Constraints Model Predictive Control for Reactive Multi-agent Task and Motion Planning

    Mar 19, 2026Anastasios Manganaris, Jeremy Lu, Ahmed H. Qureshi +1Multi-Agent PlanningConstrained Motion Planning

    Department of Computer Science, Purdue University, West Lafayette, IN, USA, 47907.

  21. Real-Time Online Learning for Model Predictive Control using a Spatio-Temporal Gaussian Process Approximation

    Mar 18, 2026Lars Bartels, Amon Lahr, Andrea Carron +1Model Predictive ControlGaussian Processes

    Institute for Dynamic Systems and Control, ETH Zürich, CH-8092 Zürich, Switzerland.

  22. Data-driven generalized perimeter control: Zürich case study

    Mar 17, 2026Alessio Rimoldi, Carlo Cenedese, Alberto Padoan +2Data-Driven ControlTraffic Signal Control

    Automatic Control Laboratory, ETH Zürich · Delft Center for Systems and Control, TU Delft · Dep. of Electrical and Computer Engineering, UBC

  23. Sampling-Based MuJoCo MPC for Double-Pendulum Sway Suppression on a Shipboard Crane

    Mar 17, 2026Oscar Pang, Lisa Coiffard, Paul Templier +3Robotic ControlRobust Control

    Adaptive and Intelligent Robotics Lab, Department of Computing, Imperial College London, Exhibition Rd, London, SW7 2BX, United Kingdom

  24. VIP-Loco: A Visually Guided Infinite Horizon Planning Framework for Legged Locomotion

    Mar 15, 2026Aditya Shirwatkar, Satyam Gupta, Shishir KolathayaTerrain-Aware Robot LocomotionVision-Based Robot Control

    Robert Bosch Center for Cyber-Physical Systems, Indian Institute of Science, Bengaluru. · Robert Bosch Center for Cyber-Physical Systems and the Department of Computer Science & Automation, Indian Institute of Science, Bengaluru.

  25. Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds

    Mar 15, 2026Prakrut Kotecha, Aditya Shirwatkar, Shishir KolathayaLagrangian Neural NetworksRL for Legged Locomotion

    the Robert Bosch Center for Cyber-Physical Systems, Indian Institute of Science, Bengaluru. · the Robert Bosch Center for Cyber-Physical Systems and the Department of Computer Science & Automation, Indian Institute of Science, Bengaluru.

  26. Implicit Maximum Likelihood Estimation for Real-time Generative Model Predictive Control

    Mar 14, 2026Grayson Lee, Minh Bui, Shuzi Zhou +3Maximum Marginal Likelihood EstimationModel Predictive Control

    School of Computing Science, Simon Fraser University, Burnaby, BC, Canada.

  27. LPV-MPC for Lateral Control in Full-Scale Autonomous Racing

    Mar 14, 2026Hassan Jardali, Ihab S. Mohamed, Durgakant Pushp +1Model Predictive ControlAutonomous Driving

    Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN 47408 USA

  28. RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion

    Mar 11, 2026Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi +3Robot LocomotionLegged Robotics

    All authors are with the Humanoids and Human-Centred Mechatronics (HHCM) lab, Istituto Italiano di Tecnologia (IIT), Via San Quirico 19d, 16163 Genova · Andrea Patrizi is also with the Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova, Via All’Opera Pia 13, 16145 Genova.

  29. Parallel-in-Time Nonlinear Optimal Control via GPU-native Sequential Convex Programming

    Mar 11, 2026Yilin Zou, Zhong Zhang, Maxime Robic +1Optimal ControlGPU Acceleration

    School of Aerospace Engineering, Tsinghua University, 100084 Beijing, China. · Department of Aerospace Science and Technology, Politecnico di Milano, 20156 Milan, Italy.

  30. Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks

    Mar 10, 2026Xintong Du, Siqi Zhou, Angela P. SchoelligHierarchical Robot ControlMobile Manipulation

    Learning Systems and Robotics Lab (www.learnsyslab.org) at the Technical University of Munich, Germany, and the University of Toronto Institute for Aerospace Studies, Canada · University of Toronto Robotics Institute · Munich Institute of Robotics and Machine Intelligence (MIRMI) +1