3 accepted papers
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequences and averaging them. However, a key issue with MPPI is the non-smoothness of the optimal control sequence, leading
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof variation of vehicle pose and its associated stability cost in the planning process. To this end, most recent works aim to…
Unmanned aerial vehicles (UAVs) have reached significant maturity over several years for safe civilian operations like mapping, search and rescue. The operation performance can be significantly improved by deploying multiple cooperating UAVs and optimal decision making. In this work, we present…