The figure on the right shows sets of velocity (Y-axis) vs position (X-axis). The blue region contains all the points from which an MPC planning problem can be solved. The purple region contains all the points that can be reached from the blue. Because the purple is inside the blue, the controller is robustly feasible - the state will always stay inside the blue. The controller being investigated here can be used for simple vehicle control problems. This result is part of on-going research on designing robust controllers.
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