Walter Lucia

A Real-Time Affordable Predictive Trajectory Tracking Controller for Differential Drive Robots via Imitation Learning

Nonlinear Model Predictive Control (NMPC) achieves high-accuracy trajectory tracking for mobile robots but is often too computationally demanding for resourceconstrained platforms. We present a learning-based predictive tracking controller that imitates an expert NMPC policy to achieve real-time performance on differen...