BR-MPPI integrates CBF constraints into MPPI importance sampling for collision-free articulated vehicle control, shown in CarMaker simulator to outperform baselines in parking clearance at real-time rates.
Model predictive contouring control
2 Pith papers cite this work. Polarity classification is still indexing.
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Imitation learning from a model predictive path-following supervisor produces a neural network policy that follows reference paths and avoids unseen obstacles, trained sample-efficiently on the real quadrotor.
citing papers explorer
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GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
BR-MPPI integrates CBF constraints into MPPI importance sampling for collision-free articulated vehicle control, shown in CarMaker simulator to outperform baselines in parking clearance at real-time rates.
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Sample Efficient Learning of Path Following and Obstacle Avoidance Behavior for Quadrotors
Imitation learning from a model predictive path-following supervisor produces a neural network policy that follows reference paths and avoids unseen obstacles, trained sample-efficiently on the real quadrotor.