“…In recent research, the use of predictive controllers is becoming increasingly prevalent, i.e., methods that encapsulate both the task of the motion planner and the feedback controller. Predictive controllers are commonly based on receding-horizon optimization, or more commonly, Model Predictive Control (MPC) (Batkovic, 2022, Fors, 2020, Ljungqvist, 2020, Zhou et al, 2022b. The MPC framework is an undeniably interesting application for the behavior prediction problem, in particular, because it conveniently allows for incorporating long-term predictions, offering the potential of developing proactive methods based on inter-agent interactions (Batkovic, 2022).…”