A terrain-adaptive epsilon-constraint MPC with semi-parametric SGP vehicle-terrain model achieves 94% success rate, 24% lower orientation deviation, and 23% better trade-off quality than MPPI and GAKD baselines.
Effective implementation of theε-constraint method in multi-objective mathematical programming problems
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A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning
A terrain-adaptive epsilon-constraint MPC with semi-parametric SGP vehicle-terrain model achieves 94% success rate, 24% lower orientation deviation, and 23% better trade-off quality than MPPI and GAKD baselines.