Susumu Hara

Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation

This paper presents a reactive navigation method that leverages a Model Predictive Path Integral (MPPI) control enhanced with spline interpolation for the control input sequence and Stein Variational Gradient Descent (SVGD). The MPPI framework addresses a nonlinear optimization problem by determinin…