18 citations · 52 across the 16 of their papers we have counts for
5 papers · 1 filter
A software framework for stochastic model predictive control of nonlinear continuous-time systems (GRAMPC-S)
Daniel Landgraf, Andreas Völz, Knut Graichen
This paper presents the open-source stochastic model predictive control framework GRAMPC-S for nonlinear uncertain systems with chance constraints. It provides several uncertainty…
Robust Meta-Learning of Vehicle Yaw Rate Dynamics via Conditional Neural Processes
Lars Ullrich, Andreas Völz, Knut Graichen
Trajectory planners of autonomous vehicles usually rely on physical models to predict the vehicle behavior. However, despite their suitability, physical models have some shortcomin…
Sensitivity-Based Distributed Model Predictive Control for Nonlinear Systems under Inexact Optimization
Maximilian Pierer von Esch, Andreas Völz, Knut Graichen
This paper presents a distributed model predictive control (DMPC) scheme for nonlinear continuous-time systems. The underlying distributed optimal control problem is cooperatively…
Sampling for Model Predictive Trajectory Planning in Autonomous Driving using Normalizing Flows
Georg Rabenstein, Lars Ullrich, Knut Graichen
Alongside optimization-based planners, sampling-based approaches are often used in trajectory planning for autonomous driving due to their simplicity. Model predictive path integra…
Transfer Learning Study of Motion Transformer-based Trajectory Predictions
Lars Ullrich, Alex McMaster, Knut Graichen
Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive resul…