A 3D dynamic single-track MPC with uncertainty-aware tightening improves trajectory tracking accuracy on non-planar racing circuits while keeping computation times low in high-fidelity simulations.
Autonomous Vehicle Trajectory Fol- lowing: A Flatness Model Predictive Control Approach With Hardware-in-the-Loop Verification
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Robust Nonlinear Trajectory Tracking Control for Autonomous Racing on Three-Dimensional Tracks
A 3D dynamic single-track MPC with uncertainty-aware tightening improves trajectory tracking accuracy on non-planar racing circuits while keeping computation times low in high-fidelity simulations.