A neural-predictor plus dual-control-barrier-function MPC framework (NMPCB) achieves about 0.10 s per control step and collision-free navigation in tested scenarios.
Epsilon: An efficient planning system for automated vehicles in highly interactive environ- ments,
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NMPCB: A Lightweight and Safety-Critical Motion Control Framework for Ackermann Mobile Robot
A neural-predictor plus dual-control-barrier-function MPC framework (NMPCB) achieves about 0.10 s per control step and collision-free navigation in tested scenarios.