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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…