2 papers
cs.RO2025
Model Predictive Control via Probabilistic Inference: A Tutorial and Survey
Kohei Honda
This paper presents a tutorial and survey on Probabilistic Inference-based Model Predictive Control (PI-MPC). PI-MPC reformulates finite-horizon optimal control as inference over a…
cs.RO2024
Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation
Takato Miura, Naoki Akai, Kohei Honda +1
This paper presents a reactive navigation method that leverages a Model Predictive Path Integral (MPPI) control enhanced with spline interpolation for the control input sequence an…