Zewei Zheng | Searcharxiv

arXiv2026

Constrained finite-time stabilization by model predictive control: an infinite control horizon framework

Existing results on finite-time model predictive control (MPC) often rely on terminal equality constraint, switching inside one-step region, or terminal cost with short control horizon, leading to limited initial feasibility. This paper proposes an infinite-horizon Model Predictive Control (MPC) framework for the constrained finite-time stabilization of discrete-time systems, overcoming limitations found in existing finite-time MPC results. The proposed framework is built upon a terminal cost strategy, but expands it by replacing the short-horizon terminal cost with the sum of stage costs over an infinite control horizon. This design choice significantly enlarges the initial feasibility region and avoids the need for terminal equality constraints or switching strategies during implementation. It is proved that the proposed finite-time MPC guarantees finite-time stabilization performance once the state trajectory enters the predefined terminal set. The infinite-horizon finite-time MPC is shown to be equivalently implementable as a finite-horizon MPC with a terminal cost, thereby ensuring computational tractability. The proposed finite-time MPC is systematically extended and shown to be applicable to both constrained multi-input linear systems and a class of constrained nonlinear systems that are feedback linearizable.

eess.SY↗

arXiv2025

RadarGaussianDet3D: Gaussian Representation-based Real-time 3D Object Detection with 4D Automotive Radars

4D automotive radars have gained increasing attention for autonomous driving due to their low cost, robustness, and inherent velocity measurement capability. However, existing 4D radar-based 3D detectors rely heavily on pillar encoders for BEV feature extraction, where each point contributes to only a single BEV grid, resulting in sparse feature maps and degraded representation quality. In addition, they also optimize bounding box attributes independently, leading to sub-optimal detection accuracy. Moreover, their inference speed, while sufficient for high-end GPUs, may fail to meet the real-time requirement on vehicle-mounted embedded devices. To overcome these limitations, an efficient and effective Gaussian-based 3D detector, namely RadarGaussianDet3D is introduced, leveraging Gaussian primitives and distributions as intermediate representations for radar points and bounding boxes. In RadarGaussianDet3D, a novel Point Gaussian Encoder (PGE) is designed to transform each point into a Gaussian primitive after feature aggregation and employs the 3D Gaussian Splatting (3DGS) technique for BEV rasterization, yielding denser feature maps. PGE exhibits exceptionally low latency, owing to the optimized algorithm for point feature aggregation and fast rendering of 3DGS. In addition, a new Box Gaussian Loss (BGL) is proposed, which converts bounding boxes into 3D Gaussian distributions and measures their distance to enable more comprehensive and consistent optimization. Extensive experiments on TJ4DRadSet and View-of-Delft demonstrate that RadarGaussianDet3D achieves high detection accuracy while delivering substantially faster inference, highlighting its potential for real-time deployment in autonomous driving.

cs.CV↗