Safe Autonomous Navigation Using Elastic Tube-based MPC

This research explores a novel Model Predictive Control (MPC) framework for safe autonomous navigation, leveraging zonotopic tubes. The elastic tube approach offers potential improvements in robustness and constraint satisfaction, particularly in dynamic environments.

• •Focuses on safe navigation, a critical aspect of autonomous systems.
• •Utilizes Model Predictive Control (MPC), a well-established control technique.
• •Employs 'elastic tube' methodology, potentially enhancing robustness.