ICRA 2023 Talk: Curvature-Aware Model Predictive Contouring Control

Talk associated with the paper "Curvature-Aware Model Predictive Contouring Control", that has been accepted for publication in the Proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA).
The authors are Lorenzo Lyons and Laura Ferranti, from the Reliable Robot Control Lab, Department of Cognitive Robotics, Delft University of Technology.
This research is supported by the NWO-TTW Veni project HARMONIA (no. 18165).

[@GustavoRezendeSilva]

Very interesting work!

[@hoeunsu3]

Thank you for the good research. The concept of "Optimization-Based Hierarchical Motion Planning for Autonomous Racing" looks similar to this study. Is it simply changing the optimization formula to curvature in the existing MPCC?