相关论文: MPC Builder for Autonomous Drive: Automatic Genera…

Manufacturing processes are inherently dynamic and uncertain, with varying parameters and nonlinear behaviors, making robust control essential for maintaining quality and reliability. Traditional control methods often fail under these…

Safe and efficient motion planning is of fundamental importance for autonomous vehicles. This paper investigates motion planning based on nonlinear model predictive control (NMPC) over a neural network vehicle model. We aim to overcome the…

Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…

This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…

To enable autonomous vehicles to perform discretionary lane change amidst the random traffic flow on highways, this paper introduces a decision-making and control method for vehicle lane change based on Model Predictive Control (MPC). This…

In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…

This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…

Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at every step. The actual task typically requires a much longer…

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often…

We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…

Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…

Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…

This paper presents a data-driven approach to the design of predictive controllers. The prediction matrices utilized in standard model predictive control (MPC) algorithms are typically constructed using knowledge of a system model such as,…

Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be considered. Since the uncontrolled agents usually demonstrate…

Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…

Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…

Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…

We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory…

This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learning-based MPC (LB-MPC) algorithms to enable safe learning. We…

Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…