Uncertainty-aware hybrid paradigm of nonlinear MPC and model-based RL for offroad navigation: Exploration of transformers in the predictive model

In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains without relying on predefined maps. Our innovative approach takes...

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Veröffentlicht in:	arXiv.org 2023-10
Hauptverfasser:	Lotfi, Faraz, Virji, Khalil, Faraji, Farnoosh, Berry, Lucas, Holliday, Andrew, Meger, David, Dudek, Gregory
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomous navigation Environment models Kinematics Nonlinear control Prediction models Predictive control Steering Transformers Uncertainty
Online-Zugang:	Volltext
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