Learned Terminal Costs for Short-Horizon Model Predictive Control of Autonomous Trucks in Interactive Highway Traffic
This paper proposes a hybrid MPC and RL framework for highway driving in autonomous trucks, where a finite-horizon MPC, solved via dynamic programming, uses a pre-trained RL model for terminal cost estimation.
Hooman Hamze, Benjamin Houshmand, Deepthi Pathare et al.
· 0 citations