• Corpus ID: 233388002

Optimal Cost Design for Model Predictive Control

  title={Optimal Cost Design for Model Predictive Control},
  author={Avik Jain and Lawrence Chan and Daniel S. Brown and Anca D. Dragan},
Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at every step. The actual task typically requires a much longer horizon than is computationally tractable, and is specified via a cost function that cumulates over that full horizon. For instance, an autonomous car may have a cost function that makes a desired trade-off between efficiency, safety, and obeying traffic laws… 

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