Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Safe Control Architecture Based on a Model Predictive Control
  Supervisor for Autonomous Driving   This paper presents a novel, safe control architecture (SCA) for controlling
an important class of systems: safety-critical systems. Ensuring the safety of
control decisions has always been a challenge in automatic control. The
proposed SCA aims to address this challenge by using a Model Predictive
Controller (MPC) that acts as a supervisor for the operating controller, in the
sense that the MPC constantly checks the safety of the control inputs generated
by the operating controller and intervenes if the control input is predicted to
lead to a hazardous situation in the foreseeable future invariably. Then an
appropriate backup scheme can be activated, e.g., a degraded control mechanism,
the transfer of the system to a safe state, or a warning signal issued to a
human supervisor. For a proof of concept, the proposed SCA is applied to an
autonomous driving scenario, where it is illustrated and compared in different
obstacle avoidance scenarios. A major challenge of the SCA lies in the mismatch
between the MPC prediction model and the real system, for which possible
remedies are explored.

25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
28
The categories of this paper are: alg-geom
24
The categories of this paper are: dg-ga
14
The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph
17
The categories of this paper are: q-fin
27
The categories of this paper are: comp-gas
9
The categories of this paper are: nlin
29
The categories of this paper are: funct-an
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
11
The categories of this paper are: hep-lat
12
The categories of this paper are: nucl-th