Preprint
Sep 2026
GNN-Accelerated Mixed-Integer Dual MPC for Interactive Driving
In interactions with uncertain opponents, dual model predictive control (MPC) can improve performance through information-seeking actions that reduce uncertainty about opponents'behavior. Its recent applications to autonomous driving, however, are limited to scenarios involving a single opponent on a single lane. This...
Yi-Dan Zhu, Shu-Hao Qi, Lu-Yao Zhang et al.
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