Articles & notes

Engineering deep-dives on robotics, autonomy, and building reliable systems.

Nov 4, 2023

2 min

[MPC] Linear Parameter-Varying - Model Predictive Control for Racing

Linear Parameter-Varying - Model Predictive Control for Racing

Nov 3, 2023

2 min

Learning Model Predictive Control for autonomous racing.

Nov 1, 2023

1 min

Trajectory tracking with a quadrotor by LMPC.

Oct 30, 2023

1 min

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

Oct 23, 2023

1 min

iLQR/DDP algorithm for Non-linear trajectory optimization

May 20, 2023

2 min

Nominal Nonlinear Model Predictive Control

Jan 1, 2023

15 min

A survey of safe-optimal control for motion planning based on reinforcement learning — optimal and safe control, game theory, sequential and …

Sep 23, 2022

3 min

The MPC controller controls vehicle speed and steering based on linearized model.