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About this paper
Anas Abdelkarim, Holger Voos, Daniel Görges
The authors introduce a barrier method that adds a specialized inequality factor to factor-graph optimization for model predictive control. It encodes logarithmic penalties for constraints in the graph. In simulated adaptive cruise control at a six-step horizon, BIPM averages 24.7 iterations and 32.1 milliseconds, versus AL’s 37.9 iterations and 41.3. These are simulation averages, not evidence of real-time performance.
Summary by alphaXiv.
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