Leesai Park

CSC-MPPI: A Novel Constrained MPPI Framework with DBSCAN for Reliable Obstacle Avoidance

This paper proposes Constrained Sampling Cluster Model Predictive Path Integral (CSC-MPPI), a novel constrained formulation of MPPI designed to enhance trajectory optimization while enforcing strict constraints on system states and control inputs. Traditional MPPI, which relies on a probabilistic sa