The ESKF-PRE-VMPC framework couples quadrotor dynamics with image-feature prediction and disturbance estimation to enable autonomous near-proximity pipeline inspection that outperforms baselines in straight, windy, and bent-pipe scenarios.
Predicting the future state of disturbed lti systems: A solution based on high-order observers,
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InstructMPC uses an LLM plus tunable last layer to map operational context to disturbance trajectories for MPC, proving an O(sqrt(T log T)) regret bound for linear systems and showing lower grid costs on the OpenCEM microgrid.
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Autonomous UAV Pipeline Near-proximity Inspection via Disturbance-Aware Predictive Visual Servoing
The ESKF-PRE-VMPC framework couples quadrotor dynamics with image-feature prediction and disturbance estimation to enable autonomous near-proximity pipeline inspection that outperforms baselines in straight, windy, and bent-pipe scenarios.
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Context-Aware Model Predictive Control for Microgrid Energy Management via LLMs
InstructMPC uses an LLM plus tunable last layer to map operational context to disturbance trajectories for MPC, proving an O(sqrt(T log T)) regret bound for linear systems and showing lower grid costs on the OpenCEM microgrid.