2024
Low Frequency Sampling in Model Predictive Path Integral Control
Bogdan I. Vlahov, Jason Gibson, David D. Fan, Patrick Spieler, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou
RA-L 2024
Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show how the default choice of uncorrelated Gaussian distributions can be improved upon with the use of a colored noise distri