17 citations · 32 across the 11 of their papers we have counts for
4 papers · 1 filter
RNMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control
Baha Zarrouki, João Nunes, Johannes Betz
In this paper, we present a novel Reduced Robustified NMPC (RNMPC) algorithm that has the same complexity as an equivalent nominal NMPC while enhancing it with robustified cons…
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…
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…
EDGAR: An Autonomous Driving Research Platform -- From Feature Development to Real-World Application
Phillip Karle, Tobias Betz, Marcin Bosk +31
While current research and development of autonomous driving primarily focuses on developing new features and algorithms, the transfer from isolated software components into an ent…