Establishes asymptotic stability of the MPC closed loop using symmetry-induced motion primitives for a mobile robot and provides guidelines to derive stability guarantees when the optimization criterion is inconsistent with the symmetry action.
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Symmetry and Motion Primitives in Model Predictive Control
Establishes asymptotic stability of the MPC closed loop using symmetry-induced motion primitives for a mobile robot and provides guidelines to derive stability guarantees when the optimization criterion is inconsistent with the symmetry action.