2 papers
eess.SY2026
Toward Single-Step MPPI via Differentiable Predictive Control
Viet-Anh Le, Renukanandan Tumu, Rahul Mangharam
Model predictive path integral (MPPI) is a sampling-based method for solving complex model predictive control (MPC) problems, but its real-time implementation faces two key challen…
cs.RO2026
Nonplanar Model Predictive Control for Autonomous Vehicles with Recursive Sparse Gaussian Process Dynamics
Ahmad Amine, Kabir Puri, Viet-Anh Le +1
This paper proposes a nonplanar model predictive control (MPC) framework for autonomous vehicles operating on nonplanar terrain. To approximate complex vehicle dynamics in such env…