2 papers
cs.RO2024
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning
Yuezhe Zhang, Corrado Pezzato, Elia Trevisan +3
Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a…
cs.RO2024
Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers
Elia Trevisan, Javier Alonso-Mora
Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-bas…