A perception-aware tube MPC that treats CNN-based perception noise as a bounded zonotope and is solved as an LP, with hardware validation on a mobile robot.
Vision-based model predictive control for steering of a nonholonomic mobile robot,
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Robust Model Predictive Control Design for Autonomous Vehicles with Perception-based Observers
A perception-aware tube MPC that treats CNN-based perception noise as a bounded zonotope and is solved as an LP, with hardware validation on a mobile robot.