Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.
Successive convexifi- cation: A superlinearly convergent algorithm for non-convex optimal control problems
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Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.