Minimum-lap-time planners that tighten track and tire-limit constraints using propagated covariance, with a closed-loop LQR variant that is less conservative than an open-loop horizon-based variant.
A Direct/Indirect Approach to Optimal Control Problems
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Disturbance-aware minimum-time planning strategies for motorsport vehicles with probabilistic safety certificates
Minimum-lap-time planners that tighten track and tire-limit constraints using propagated covariance, with a closed-loop LQR variant that is less conservative than an open-loop horizon-based variant.