5 accepted papers
We propose PRED-MPPI, the first MPPI variant that seamlessly integrates real-time disturbance preview and adaptive discretization for quadrotor tracking control under significant model inaccuracies and time-varying disturbances. Unlike prior MPPI variants (e.g., mathcal{L}_1-MPPI, DA-MPPI), which as…
SP-based synthesis yields two-time-scale control that allows compliant-joint robots to achieve high-quality tracking at low implementation cost. Composite learning enables exact online identification and control of robots without the stringent condition known as persistent excitation (PE). However, …
Model Predictive Path Integral (MPPI) controllers are drawing increasing attention for their ability to efficiently handle complex systems by leveraging GPU acceleration while with flexible prediction models and cost functions. However, their performance generally degrades with low-quality predictio
Unmanned Aerial Vehicles (UAVs) are gaining attention for inspections due to their improved safety, efficiency, and accuracy, alongside reduced costs and environmental risks. Visual servoing is crucial for autonomous UAV flight in GPS-degraded environments, guiding the UAV by minimizing errors betwe
Accurate modeling of dynamic systems is essential for robotics, enhancing system perception and control performance. This work tackles causal modeling challenges for mobile robots under complex uncertainties, including internal model inaccuracies and external environmental disturbances. Unlike first