Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars

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Hewing, Lukas; Liniger, Alexander; Zeilinger, Melanie N.;

This paper presents an adaptive high performance control method for autonomous miniature race cars. Racing dynamics are notoriously hard to model from first principles, which is addressed by means of a cautious nonlinear model predictive control (NMPC) approach that lea... View more
  • References (29)
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