2 papers
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…
cs.RO2023
Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Kohei Honda, Naoki Akai, Kosuke Suzuki +4
This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed…