Resilient Branching MPC for Multi-Vehicle Traffic Scenarios Using Adversarial Disturbance Sequences

no code implementations • 17 Dec 2021 • Victor Fors, Björn Olofsson, Erik Frisk

Simulation results from highway driving scenarios show that the proposed method in real-time negotiates traffic situations out of scope for a nominal MPC approach and performs favorably to state-of-the-art reinforcement-learning approaches without requiring prior training.

Autonomous Vehicles Model Predictive Control