Nonlinear MPC

MPC: Model Predictive Control

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2 papers in the last four weeks, down 50% on the four weeks before. 0.0% of all new papers.

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  1. Robust Integrated Planning and Control for Quadrotors in Dynamic Environments via NMPC with CBF Penalties

    May 31, 2026Zeinab Shayan, Mohammadreza Izadi, Reza FaieghiNonlinear MPCControl Barrier Functions

    Autonomous Vehicles Laboratory, Department of Aerospace Engineering, Toronto Metropolitan University, Toronto, Canada.

  2. Beyond Pure Sampling: Hybrid Optimization Mechanisms for Non-Convex Model Predictive Control

    May 30, 2026Yuichiro Aoyama, Minchan Jung, Akash Ratheesh +1Nonlinear MPCOptimal Control

    School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA · Development Division, Komatsu Ltd., Tokyo, Japan · Department of Electrical and Computer Engineering, Inha University, Incheon, Republic of Korea

  3. Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning

    May 19, 2026Manohari Goarin, Yang Zhou, Giuseppe LoiannoMulti-Robot Motion PlanningNonlinear MPC

    New York University, NY 10012, USA · University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA 94720, USA

  4. Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception

    May 15, 2026Harsh Modi, Xiao Liang, Minghui ZhengAerial RoboticsConstrained Motion Planning

    Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA · Department of Civil & Environmental Engineering, Texas A&M University, College Station, TX 77843, USA

  5. Hierarchical Causal Abduction: A Foundation Framework for Explainable Model Predictive Control

    May 11, 2026Ramesh Arvind Naagarajan, Zühal Wagner, Stefan StreifNonlinear MPCModel Predictive Control

    Professorship for Automatic Control and System Dynamics, Chemnitz University of Technology, Chemnitz, Germany · Department of Bioresources, Fraunhofer Institute for Molecular Biology and Applied Ecology, Giessen, Germany.

  6. Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs

    May 7, 2026Charbel Toumieh, Jack Zeng, Niel Mistry +1Robot Trajectory TrackingAerial Robotics

    Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne (EPFL), CH1015 Lausanne, Switzerland

  7. Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control

    May 7, 2026Tanmay Dokania, Yashwanth Kumar NakkaDynamical SystemsSafety-Critical Control

    Graduate Student, Daniel Guggenheim School of Aerospace Engineering. · Assistant Professor, Director, Aerospace Robotics Lab, Daniel Guggenheim School of Aerospace Engineering.

  8. Bilinear Mamba-Koopman Neural MPC for Varying Dynamics

    May 6, 2026Matan Pagi, Zohar SorekDynamical SystemsKoopman Operator Learning

    Psistar AI

  9. Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking

    May 6, 2026Franek Stark, Felix Wiebe, Shubham Vyas +2Nonlinear MPCWhole-Body Control

    Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI), Bremen, Germany · University Bremen, Germany

  10. Sensorless State Estimation and Control for Agile Cable-Suspended Payload Transport by Quadrotors

    May 5, 2026Ana Maria Nascimento, Augusto Sales, Antonio Marcus Lima +1Aerial RoboticsNonlinear MPC

  11. Robust Path Tracking for Vehicles via Continuous-Time Residual Learning: An ICODE-MPPI Approach

    May 5, 2026Shugen Song, Wenjie Mei, Chengyan ZhaoNonlinear MPCResidual Learning

    School of Automation, Southeast University, Nanjing 210096, China · School of Automation and the Key Laboratory of MCCSE of the Ministry of Education, Southeast University, Nanjing 210096, China · Graduate School of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka-shi, Fukuoka, Japan

  12. Parking Assistance for Trailer-Truck Transport Vehicles Using Sensor Fusion and Motion Planning

    May 4, 2026George Alenchery, Thomas Jeske, Tova Quinones +4Nonlinear MPCAutonomous Parking

    Software Engineering Department Florida Gulf Coast University

  13. Sampling-Based Control via Entropy-Regularized Optimal Transport

    May 4, 2026Vincent Pacelli, Akash Ratheesh, Evangelos A. TheodorouRobotic ControlNonlinear MPC

    Autonomous Control and Decision Systems Laboratory Georgia Institute of Technology

  14. Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty

    Apr 28, 2026Giuseppe Silano, Quentin Sablé, Marco Tognon +2Aerial RoboticsNonlinear MPC

    Ricerca sul Sistema Energetico S.p.A., Milan, Italy, and Czech Technical University, Prague, Czechia · University of Twente, Enschede, The Netherlands · University of Rennes, CNRS, Inria, IRISA, 35042, France +2

  15. Exploiting Differential Flatness for Efficient Learning-based Model Predictive Control of Constrained Multi-Input Control Affine Systems

    Apr 27, 2026Tobias A. Farger, Adam W. Hall, Angela P. SchoelligNonlinear MPCModel Predictive Control

    Learning Systems and Robotics Lab at the Technical University of Munich, Munich, Germany. · Learning Systems and Robotics Lab at the University of Toronto Institute for Aerospace Studies (UTIAS) and the Vector Institute for Artificial Intelligence, Toronto, Canada

  16. 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

  17. HardNet++: Nonlinear Constraint Enforcement in Neural Networks

    Apr 21, 2026Andrea Goertzen, Kaveh Alim, Youngjae Min +1Nonlinear MPCNeural Network Optimization

    Massachusetts Institute of Technology

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

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

  19. 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

  20. TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design

    Feb 1, 2026Xiangyu Li, Tiancheng Lai, Mingwei Lai +6Aerial RoboticsNonlinear MPC

    State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China · Huzhou Institute of Zhejiang University, Huzhou 313000, China · Hainan Red Tower Cigarette Co., Ltd., Hainan 571100, China

  21. A Convex Obstacle Avoidance Formulation

    Dec 15, 2025Ricardo Tapia, Iman SoltaniCollision AvoidanceNonlinear MPC

    Laboratory for AI, Robotics and Automation, University of California at Davis, Davis, CA 95616 USA

  22. RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight

    Dec 9, 2025Vit Kratky, Robert Penicka, Parakh M. Gupta +2Multi-Robot Motion PlanningNonlinear MPC

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

  23. Observed Control - Linearly Scalable Nonlinear Model Predictive Control with Adaptive Horizons

    Aug 18, 2025Eugene T. Hamzezadeh, Andrew J. PetruskaNonlinear MPCModel Predictive Control

    Colorado School of Mines, Golden, CO 80401, USA

  24. AD-MPCC: Adaptive Differentiable Model Predictive Contouring Control for Autonomous Racing

    Date pendingNam T. Nguyen, Binh Nguyen, Ahmad Amine +3Nonlinear MPCAutonomous Racing

    Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816, USA. · Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA. · CTI Lab4EV, School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi 100000, Vietnam.