Junwei Ge

PRED-MPPI: Disturbance-Preview and Efficient MPPI for Robust Quadrotor Tracking with Hardware Validation

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…