Robust trajectory control

A computer-implemented method for controlling a vehicle in an environment comprising:

• during a first period, determining values for a set of control parameters for controlling a trajectory of the vehicle using a first constraint regime;
• and
• in response to detecting a change in an environment complexity, during a second period, determining values for the set of control parameters using a second constraint regime, wherein:
• the first constraint regime is one of elastic tube model predictive control, homothetic tube model predictive control, or rigid tube model predictive control;
• and
• the second constraint regime is a different one of elastic tube model predictive control, homothetic tube model predictive control, or rigid tube model predictive control.

A system comprising one or more processors, configured to perform the steps of:

• during a first period, determining values for a set of control parameters for controlling a trajectory of a vehicle using a first constraint regime;
• in response to detecting a change in an environment complexity, during a second period, determining values for the set of control parameters using a second constraint regime, wherein:
• the first constraint regime is one of elastic tube model predictive control, homothetic tube model predictive control, or rigid tube model predictive control;
• and
• the second constraint regime is a different one of elastic tube model predictive control, homothetic tube model predictive control, or rigid tube model predictive control.

A non-transient machine readable medium comprising instructions for configuring one or more processors to perform the steps of:

• during a first period, determining values for a set of control parameters for controlling a trajectory of a vehicle using a first constraint regime;
• in response to detecting a change in an environment complexity, during a second period, determining values for the set of control parameters using a second constraint regime, wherein:
• the first constraint regime is one of elastic tube model predictive control, homothetic tube model predictive control, or rigid tube model predictive control;
• and
• the second constraint regime is a different one of elastic tube model predictive control, homothetic tube model predictive control, or rigid tube model predictive control.