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20212026
most citedTrajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering

61 citations

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cs.RO2021★ 61 cited

Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering

Ji Yin, Zhiyuan Zhang, Evangelos Theodorou +1

This paper presents a novel control approach for autonomous systems operating under uncertainty. We combine Model Predictive Path Integral (MPPI) control with Covariance Steering (…