Nora Landaberea-Olazagoitia

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...