Faster Model Predictive Control via Self-Supervised Initialization Learning

Optimization for robot control tasks, spanning various methodologies, includes Model Predictive Control (MPC). However, the complexity of the system, such as non-convex and non-differentiable cost functions and prolonged planning horizons often drastically increases the computation time, limiting MP...

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Hauptverfasser:	Li, Zhaoxin, Chen, Letian, Paleja, Rohan, Nageshrao, Subramanya, Gombolay, Matthew
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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