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eess.SY2022
What is the Best Way to Optimally Parameterize the MPC Cost Function for Vehicle Guidance?
David Stenger, Robert Ritschel, Felix Krabbes +2
Model predictive control (MPC) is a promising approach for the lateral and longitudinal control of autonomous vehicles. However, the parameterization of the MPC with respect to hig…
eess.SY2022★ 6 cited
Benchmark of Bayesian Optimization and Metaheuristics for Control Engineering Tuning Problems with Crash Constraints
David Stenger, Dirk Abel
Controller tuning based on black-box optimization allows to automatically tune performance-critical parameters w.r.t. mostly arbitrary high-level closed-loop control objectives. Ho…
eess.SY2022
Joint Constrained Bayesian Optimization of Planning, Guidance, Control, and State Estimation of an Autonomous Underwater Vehicle
David Stenger, Maximilian Nitsch, Dirk Abel
The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective…