Infinite-Horizon Value Function Approximation for Model Predictive Control

Model Predictive Control has emerged as a popular tool for robots to generate complex motions. However, the real-time requirement has limited the use of hard constraints and large preview horizons, which are necessary to ensure safety and stability. In practice, practitioners have to carefully desig...

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Veröffentlicht in:	IEEE robotics and automation letters
Hauptverfasser:	Jordana, Armand, Kleff, Sébastien, Haffemayer, Arthur, Ortiz-Haro, Joaquim, Carpentier, Justin, Mansard, Nicolas, Righetti, Ludovic
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	IEEE 03.11.2025
Schlagworte:	Computer Science Robotics Robotics (cs.RO) FOS: Computer and information sciences
ISSN:	2377-3766
Online-Zugang:	Volltext
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