A multi-horizon contingency MPC framework combines robust and learning-based MPC, but the hard-constraint safety inheritance proof does not correctly account for the learned model term.
Automated Lane Merging with Safety Guarantees: A Robust Model Predictive Control Approach with Experimental Validation,
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A Contingency Model Predictive Control Framework for Safe Learning
A multi-horizon contingency MPC framework combines robust and learning-based MPC, but the hard-constraint safety inheritance proof does not correctly account for the learned model term.