Particle MPC for Uncertain and Learning-Based Control
Robert Dyro,James Harrison,Apoorva Sharma,Marco Pavone,Robert Dyro,James Harrison,Apoorva Sharma,Marco Pavone
As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a nonlinear particle model predictive control (PMPC) approach to control under uncertainty, which directly incorporates any particle-based uncertainty representation, ...
