3 papers
cs.RO2025
DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments
Takahiro Fuke, Masafumi Endo, Kohei Honda +1
Reactive mobile robot navigation in unstructured environments is challenging when robots encounter unexpected obstacles that invalidate previously planned trajectories. Model predi…
cs.RO2025
Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
Gosuke Kojima, Kohei Honda, Satoshi Nakano +1
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion pl…
cs.RO2024
Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential Augmentation
Takahiro Fuke, Masafumi Endo, Kohei Honda +1
Model-based control is a crucial component of robotic navigation. However, it often struggles with entrapment in local minima due to its inherent nature as a finite, myopic optimiz…