A signed distance field minus a learned non-negative neural residual yields a real-time, by-construction-safe MPC terminal constraint, with success-rate gains over baselines reported.
Afanasev, Ren´ e van Bevern, and Oxana Yu
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Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments
A signed distance field minus a learned non-negative neural residual yields a real-time, by-construction-safe MPC terminal constraint, with success-rate gains over baselines reported.