Stochastic optimal control for autonomous driving applications via polynomial chaos expansions

DOI10.1002/OCA.3047MaRDI QIDQ6180305zbMATH OpenOpenAlexFDO

Authors Petr Listov, Colin N. Jones

Publication date 19 January 2024

Published in Optimal Control Applications \& Methods (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://doi.org/10.1002/oca.3047

zbMATH Keywords

autonomous drivingpolynomial chaos expansionpseudospectral collocationstochastic model predictive control

Mathematics Subject Classification ID

Model predictive control (93B45) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Optimal stochastic control (93E20)

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Cites work

• A dynamical polynomial chaos approach for long-time evolution of SPDEs
• Constrained model predictive control: Stability and optimality
• Introduction to uncertainty quantification
• Nonlinear Model Predictive Control for Constrained Output Path Following
• Numerical methods for stochastic computations. A spectral method approach.
• On distributionally robust chance-constrained linear programs
• PolyMPC: an efficient and extensible tool for real-time nonlinear model predictive tracking and path following for fast mechatronic systems
• Risk-averse model predictive control
• Stochastic Model Predictive Control: An Overview and Perspectives for Future Research
• The Wiener--Askey Polynomial Chaos for Stochastic Differential Equations
• Time-dependent generalized polynomial chaos
• Tube-based robust nonlinear model predictive control

Cited in

(4)

• Personalized driving behavior oriented autonomous vehicle control for typical traffic situations
• Robust safety control for automated driving systems with perception uncertainties
• Multiple hypothesis planning for vehicle control
• Stabilizing optimal control for nonlinear stochastic systems: a parametric gradient-based approach

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