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Baha Zarrouki

Weights-varying MPC for Autonomous Vehicle Guidance: a Deep Reinforcement Learning Approach
2021 · Baha Zarrouki, Verena Klos, et al. · European Control Conference (ECC) · 29
EDGAR: An Autonomous Driving Research Platform -- From Feature Development to Real-World Application
2023 · Karle, Phillip, Betz, Tobias, et al. · arXiv (Cornell University) · 21
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Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis
2026 · Yuan Gao, Mattia Piccinini, et al. · IEEE Open Journal of Intelligent Transportation Systems · 20
A Safe Reinforcement Learning driven Weights-varying Model Predictive Control for Autonomous Vehicle Motion Control
2024 · Baha Zarrouki, Marios Spanakakis, et al. · IEEE Intelligent Vehicles Symposium · 19
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A Stochastic Nonlinear Model Predictive Control with an Uncertainty Propagation Horizon for Autonomous Vehicle Motion Control
2024 · Baha Zarrouki, Chenyang Wang, et al. · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · 11
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Adaptive Stochastic Nonlinear Model Predictive Control with Look-ahead Deep Reinforcement Learning for Autonomous Vehicle Motion Control
2024 · Baha Zarrouki, Chenyang Wang, et al. · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 6
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R²NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control
2024 · Baha Zarrouki, João Nunes, et al. · IFAC-PapersOnLine · 6
Differentiable Weights-Varying Nonlinear MPC via Gradient-Based Policy Learning: An Autonomous Vehicle Guidance Example
2026 · Felix Jahncke, Baha Zarrouki, et al. · IEEE Robotics and Automation Letters · 3
Safe Reinforcement Learning with a Predictive Safety Filter for Motion Planning and Control: A Drifting Vehicle Example
2025 · Bei Zhou, Baha Zarrouki, et al. · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 1
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Embedding Physics Priors in Robot Learning: A Survey
2026 · Piccinini, Mattia, Schulze, Lucas, et al. · arXiv (Cornell University)
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Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC
2026 · Zarrouki, Baha, Thobani, Arslan, et al. · arXiv (Cornell University)
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bzarr/AV-CONTROL-NMPCs-real-world-demos: Baha Zarrouki's Dissertation Video Repository — Version 1.0
2026 · Baha Zarrouki · Zenodo (CERN European Organization for Nuclear Research)
SGTP: Sampling-based Game-Theoretic Planning for Real-Time Multi-Vehicle Autonomous Racing
2026 · Li, Zhouheng, Zhao, Fangguo, et al. · arXiv (Cornell University)
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EVO-MPCC: Enhanced Velocity Optimization with Learning-Based Auto-Tuning for Real-Time Vehicle Trajectory Planning
2026 · Zhouheng Li, Bei Zhou, et al. · SSRN Electronic Journal
Schlussbericht ATLAS-L4; Teilvorhaben: Teleoperation, Reibwertschätzung und Fahrdynamikregelung
2025 · Lienkamp, Markus, Diermeyer, Frank, et al. · RENATE
Enhancing Physical Consistency in Lightweight World Models
2025 · Wang, Dingrui, Sun, Zhexiao, et al. · arXiv (Cornell University)
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R$^2$NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control
2023 · Zarrouki, Baha, Nunes, João, et al. · arXiv (Cornell University)
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Works count: 18
Citation count: 120
H-index: 6
I10-index: 5
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