Publications

@inproceedings{ALLAMAA2022385,

title = {Sim2real for Autonomous Vehicle Control using Executable Digital Twin},

author = {Jean Pierre Allamaa and Panagiotis Patrinos and Herman Van Auweraer and Tong Duy Son},

url = {https://www.sciencedirect.com/science/article/pii/S2405896322023461},

doi = {https://doi.org/10.1016/j.ifacol.2022.10.314},

issn = {2405-8963},

year  = {2022},

date = {2022-01-01},

urldate = {2022-01-01},

booktitle = {10th IFAC Symposium on Advances in Automotive Control (AAC)},

journal = {IFAC-PapersOnLine},

volume = {55},

number = {24},

pages = {385-391},

publisher = {Elsevier Ltd},

abstract = {In this work, we propose a sim2real method to transfer and adapt a nonlinear model predictive controller (NMPC) from simulation to the real target system based on executable digital twin (xDT). The xDT model is a high fidelity vehicle dynamics simulator, executable online in the control parameter randomization and learning process. The parameters are adapted to gradually improve control performance and deal with changing real-world environment. In particular, the performance metric is not required to be differentiable nor analytical with respect to the control parameters and system dynamics are not necessary linearized. Eventually, the proposed sim2real framework leverages altogether online high fidelity simulator, data-driven estimations, and simulation based optimization to transfer and adapt efficiently a controller developed in simulation environment to the real platform. Our experiment demonstrates that a high control performance is achieved without tedious time and labor consuming tuning.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Bonassi2022,

title = {Towards lifelong learning of Recurrent Neural Networks for control design},

author = {Fabio Bonassi and Jing Xie and Marcello Farina and Riccardo Scattolini},

year  = {2022},

date = {2022-01-01},

urldate = {2022-01-01},

booktitle = {2022 European Control Conference (ECC)},

pages = {2018--2023},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ionescuLeastSquaresMoment2022,

title = {Least Squares Moment Matching-Based Model Reduction Using Convex Optimization},

author = {Tudor C. Ionescu and Lahcen El Bourkhissi and Ion Necoara},

doi = {10.1109/ICSTCC55426.2022.9931837},

issn = {2372-1618},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 26th International Conference on System Theory, Control and Computing (ICSTCC)},

pages = {325--330},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{pasAlpaqaMatrixfreeSolver2022,

title = {Alpaqa: A Matrix-Free Solver for Nonlinear MPC and Large-Scale Nonconvex Optimization},

author = {Pieter Pas and Mathijs Schuurmans and Panagiotis Patrinos},

doi = {10.23919/ECC55457.2022.9838172},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 European Control Conference (ECC)},

pages = {417--422},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{pethickEscapingLimitCycles2022,

title = {Escaping Limit Cycles: Global Convergence for Constrained Nonconvex-Nonconcave Minimax Problems},

author = {Thomas Pethick and Puya Latafat and Panagiotis Patrinos and Olivier Fercoq and Volkan Cevher},

year  = {2022},

date = {2022-01-01},

booktitle = {International Conference on Learning Representations},

address = {online, France},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Kessler2023,

title = {On the stabilization of forking and cyclic trajectories},

author = {Nicolas Kessler and Lorenzo Fagiano},

booktitle = {Proceedings of the 2023 Modeling, Estimation and Control Conference},

address = {Lake Tahoe, NV},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}