most citedSafe Importance Sampling in Model Predictive Path Integral Control

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eess.SY2023★ 1 cited

Safe Importance Sampling in Model Predictive Path Integral Control

Manan Gandhi, Hassan Almubarak, Evangelos Theodorou

We introduce the notion of importance sampling under embedded barrier state control, titled Safety Controlled Model Predictive Path Integral Control (SC-MPPI). For robotic systems…