most citedAdaptive Stochastic Nonlinear Model Predictive Control with Look-ahead Deep Reinforcement Learning for Autonomous Vehicle Motion Control

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eess.SY2023★ 1 cited

Adaptive Stochastic Nonlinear Model Predictive Control with Look-ahead Deep Reinforcement Learning for Autonomous Vehicle Motion Control

Baha Zarrouki, Chenyang Wang, Johannes Betz

In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints rob…

eess.SY2023

A Stochastic Nonlinear Model Predictive Control with an Uncertainty Propagation Horizon for Autonomous Vehicle Motion Control

Baha Zarrouki, Chenyang Wang, Johannes Betz

Employing Stochastic Nonlinear Model Predictive Control (SNMPC) for real-time applications is challenging due to the complex task of propagating uncertainties through nonlinear sys…