Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Method Using Control Barrier Functions.
Ji YinCharles DawsonChuchu FanPanagiotis TsiotrasPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- computationally efficient
- statistical model
- mathematical model
- modeling method
- linear model
- probabilistic model
- prior knowledge
- theoretical analysis
- network model
- hybrid model
- objective function
- kalman filter
- bp neural network
- sensitivity analysis
- regression analysis
- prior information
- cost function
- em algorithm
- test data
- parameter space
- energy function
- multiple models
- detection method
- clustering method
- similarity measure
- linear regression
- prediction model
- input data
- closed form
- high order
- computational complexity
- reconstruction method
- neural network
- probability distribution
- control parameters
- control policy
- fourier series
- gaussian distribution
- recognition algorithm
- basis functions
- classification method
- classification algorithm
- tree structure
- segmentation method
- regression model
- parameter estimation
- pairwise