Abstract: Model predictive control (MPC) has become a practical approach for implementing active safety control strategies in autonomous vehicles (AVs). This article introduces a Fast Iterative MPC ...
An overview of our SingularTrajectory framework. All models were trained and tested on Ubuntu 20.04 with Python 3.8 and PyTorch 2.0.1 with CUDA 11.7. To train our SingularTrajectory on each task using ...
Abstract: Conventional model predictive control (MPC) relies on accurate motor parameters and has a poor ability to resist unmodeled disturbance, which greatly limits its performance in complex ...
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