Zobrazeno 1 - 7
of 7
pro vyhledávání: '"Zarrouki, Baha"'
Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multiobjective Bayesian Optimization (BO) techniques solve this problem by determinin
Externí odkaz:
http://arxiv.org/abs/2402.02624
In this paper, we present a novel Reduced Robustified NMPC (R$^2$NMPC) algorithm that has the same complexity as an equivalent nominal NMPC while enhancing it with robustified constraints based on the dynamics of ellipsoidal uncertainty sets. This pr
Externí odkaz:
http://arxiv.org/abs/2311.06420
In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints robustification, feasibility, and closed-loop performance. To this end, w
Externí odkaz:
http://arxiv.org/abs/2311.04303
Employing Stochastic Nonlinear Model Predictive Control (SNMPC) for real-time applications is challenging due to the complex task of propagating uncertainties through nonlinear systems. This difficulty becomes more pronounced in high-dimensional syst
Externí odkaz:
http://arxiv.org/abs/2310.18753
EDGAR: An Autonomous Driving Research Platform -- From Feature Development to Real-World Application
Autor:
Karle, Phillip, Betz, Tobias, Bosk, Marcin, Fent, Felix, Gehrke, Nils, Geisslinger, Maximilian, Gressenbuch, Luis, Hafemann, Philipp, Huber, Sebastian, Hübner, Maximilian, Huch, Sebastian, Kaljavesi, Gemb, Kerbl, Tobias, Kulmer, Dominik, Mascetta, Tobias, Maierhofer, Sebastian, Pfab, Florian, Rezabek, Filip, Rivera, Esteban, Sagmeister, Simon, Seidlitz, Leander, Sauerbeck, Florian, Tahiraj, Ilir, Trauth, Rainer, Uhlemann, Nico, Würsching, Gerald, Zarrouki, Baha, Althoff, Matthias, Betz, Johannes, Bengler, Klaus, Carle, Georg, Diermeyer, Frank, Ott, Jörg, Lienkamp, Markus
While current research and development of autonomous driving primarily focuses on developing new features and algorithms, the transfer from isolated software components into an entire software stack has been covered sparsely. Besides that, due to the
Externí odkaz:
http://arxiv.org/abs/2309.15492
Publikováno v:
In IFAC PapersOnLine 2024 58(18):309-316
