Gaussian process approximation of MPC in curvilinear coordinates with residual feedforward learning enables 5x faster real-time trajectory tracking on embedded hardware with comparable closed-loop performance.
Nmpc for racing using a singularity-free path-parametric model with obstacle avoidance
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Real-time Gaussian Process based Approximate Model Predictive Trajectory Tracking Control for Autonomous Vehicles
Gaussian process approximation of MPC in curvilinear coordinates with residual feedforward learning enables 5x faster real-time trajectory tracking on embedded hardware with comparable closed-loop performance.