What is the Best Way to Optimally Parameterize the MPC Cost Function for Vehicle Guidance?

no code implementations • 11 Dec 2022 • David Stenger, Robert Ritschel, Felix Krabbes, Rick Voßwinkel, Hendrik Richter

However, the parameterization of the MPC with respect to high-level requirements such as passenger comfort as well as lateral and longitudinal tracking is a challenging task.

Autonomous Vehicles Bayesian Optimization +1

Convergence analysis of particle swarm optimization using stochastic Lyapunov functions and quantifier elimination

1 code implementation • 5 Feb 2020 • Maximilian Gerwien, Rick Voßwinkel, Hendrik Richter

This paper adds to the discussion about theoretical aspects of particle swarm stability by proposing to employ stochastic Lyapunov functions and to determine the convergence set by quantifier elimination.