2025
Infinite-Horizon Value Function Approximation for Model Predictive Control
Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz de Haro, Justin Carpentier, Nicolas Mansard +1
RA-L 2025
Model Predictive Control has emerged as a popular tool for robots to generate complex motions. However, the real-time requirement has limited the use of hard constraints and large preview horizons, which are necessary to ensure safety and stability. In practice, practitioners have to carefully desig