An Efficient Game-Theoretic Planner for Automated Lane Merging with Multi-Modal Behavior Understanding. - Luyao Zhang 009; Shaohang Han; Sergio Grammatico (ITSC, 2023)

An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors. - Luyao Zhang 009; Georgios Pantazis 001; Shaohang Han; Sergio Grammatico (CDC, 2024)

Parallel Branch Model Predictive Control on GPUs. - Luyao Zhang 009; Chenghuai Lin; Sergio Grammatico (CoRR, 2025)

Automated Lane Merging via Game Theory and Branch Model Predictive Control. - Luyao Zhang 009; Shaohang Han; Sergio Grammatico (IEEE Trans. Control. Syst. Technol., 2025)