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    Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot by Elena Villalba-Aguilera, Joaquim Blesa, Pere Ponsa

    Published 2025-05-01
    “…This planned trajectory is forwarded to the intermediate layer, where the MPC computes the optimal velocity commands to follow the reference path, taking into account the kinematic model and actuator constraints of the robot. …”
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    Comparison of Different Controller Architectures for Autonomous Driving and Recommendations for Robust and Safe Implementations by M. A. Shadab Siddiqui, M. S. Rabbi, Md Jobayer Islam, Radif Uddin Ahmed

    Published 2025-01-01
    “…Temporal reasoning capabilities assessment shows BEVWorld excelling in context maintenance and historical data integration (both 95/100), while Holistic Transformer demonstrates superior noise robustness (95/100). Computational efficiency varies significantly, with VCNN (38.50 FPS) and DSCNN Transformer (34.07 FPS) exceeding real-time thresholds, while complex BEV architectures like BEVSegformer (3.97 FPS) require further optimization. …”
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