Michal Minarík

Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles

This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full nonlinear model of UAV dynamics and a more general cost functi