Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

We present an information-theoretic approach to stochastic optimal control problems that can be used to derive general sampling-based optimization schemes. This new mathematical method is used to develop a sampling-based model predictive control algorithm. We apply this information-theoretic model p...

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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 34; no. 6; pp. 1603 - 1622
Main Authors:	Williams, Grady, Drews, Paul, Goldfain, Brian, Rehg, James M., Theodorou, Evangelos A.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Autonomous vehicles Control algorithms Control theory Dirt Entropy (Information theory) Information theory Mathematical models Monte Carlo methods Nonlinear control systems Optimal control parallel algorithms Parallel processing Predictive control Sampling Stochastic processes
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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