BAN-MPC embeds a learned value function and its parameter sensitivity into a short-horizon MPC with control barrier functions, achieving fast, safe, retraining-free control on embedded hardware.
A convergent dynamic window approach to obstacle avoidance,
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Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining
BAN-MPC embeds a learned value function and its parameter sensitivity into a short-horizon MPC with control barrier functions, achieving fast, safe, retraining-free control on embedded hardware.