Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars

Conference object, Preprint English OPEN
Hewing, Lukas ; Liniger, Alexander ; Zeilinger, Melanie N. (2017)

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
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