most citedAC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control

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eess.SY2024★ 2 cited

AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control

Rudolf Reiter, Andrea Ghezzi, Katrin Baumgärtner +3

\Ac{MPC} and \ac{RL} are two powerful control strategies with, arguably, complementary advantages. In this work, we show how actor-critic \ac{RL} techniques can be leveraged to imp…

eess.SY2024

Progressive Smoothing for Motion Planning in Real-Time NMPC

Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen +1

Nonlinear model predictive control (NMPC) is a popular strategy for solving motion planning problems, including obstacle avoidance constraints, in autonomous driving applications.…