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G. Velez

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Open access Oct 2026

Diagnosing the Sim-to-Real Gap in Latency-Aware Nonlinear Predictive Control: An Experimental Evaluation and Refinement Study on an Autonomous Vehicle

This paper presents the design, implementation, and Sim-to-Real evaluation of a Nonlinear Model Predictive Control (NMPC) strategy for autonomous urban shuttles and last-mile transport, focusing on bridging the reality gap. A decoupled NMPC architecture was developed for a by-wire Toyota Prius, explicitly compensating...

Nora Landaberea-Olazagoitia, Josu Pérez, G. Velez et al. · 0 citations

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