Random jitter in sampling times turns aliasing into a usable signal path, enabling DFT-based detection of target frequencies beyond Nyquist.
Empirical quantile bounds turn intractable chance constraints into deterministic motion planning constraints with reliable satisfaction under uncertainty.
A bounded linear search space and fixed pre-calculated grid give NLS a better initial angle pair, cutting search time and computation.
Automatic generation of nonlinear MPC solver code cuts manual coding effort, reduces errors, and simplifies constraint and parameter updates.