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Real-time MPC with Control Barrier Functions for Autonomous Driving using Safety Enhanced Collocation
The autonomous driving industry is continuously dealing with more safety-critical scenarios, and nonlinear model predictive control (NMPC) is a powerful control strategy for handling such situations.
Sim2real for Autonomous Vehicle Control using Executable Digital Twin
In this work, we propose a sim2real method to transfer and adapt a nonlinear model predictive controller (NMPC) from simulation to the real target system based on executable digital twin (xDT).
Real-time Nonlinear MPC Strategy with Full Vehicle Validation for Autonomous Driving
In this paper, we present the development and deployment of an embedded optimal control strategy for autonomous driving applications on a Ford Focus road vehicle.
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