Mismatch-Aware Adaptive Constraint Tightening (MACT) sets state-dependent safety margins using a derived T-squared scaling coefficient from model mismatch analysis, achieving full safety with 84% less wasted margin than fixed baselines in simulations.
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Mismatch-Aware Adaptive Constraint Tightening for Bicycle-Model Trajectory Optimization
Mismatch-Aware Adaptive Constraint Tightening (MACT) sets state-dependent safety margins using a derived T-squared scaling coefficient from model mismatch analysis, achieving full safety with 84% less wasted margin than fixed baselines in simulations.