Zhipeng Wu

Risk Euclidean Distance-based Model Predictive Path Integral to Safety-Critical Obstacle Avoidance

Sampling-based Model Predictive Control (MPC) algorithms such as Model Predictive Path Integral (MPPI) excel in managing nonlinear constraints and complex systems. However, their conventional sampling strategies often result in suboptimal local solutions. To address this problem, we propose RESM-MPP