Context-aware Cost Shaping to Reduce the Impact of Model Error in Receding Horizon Control
Christopher D. McKinnon,Angela P. Schoellig,Christopher D. McKinnon,Angela P. Schoellig
This paper presents a method to enable a robot using stochastic Model Predictive Control (MPC) to achieve high performance on a repetitive path-following task. In particular, we consider the case where the accuracy of the model for robot dynamics varies significantly over the path-motivated by the fact that the models used in MPC must be computationally efficient, which limits their expressive pow...
