68 citations · 199 across the 10 of their papers we have counts for
10 papers
Robust Model Predictive Path Integral Control: Analysis and Performance Guarantees
Manan Gandhi, Bogdan Vlahov, Jason Gibson +2
In this paper we propose a novel decision making architecture for Robust Model Predictive Path Integral control (RMPPI) and investigate its performance guarantees and applicability…
Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics
Grady Williams, Brian Goldfain, James M. Rehg +1
We consider the problem of online adaptation of a neural network designed to represent vehicle dynamics. The neural network model is intended to be used by an MPC control law to au…
Vision-Based High Speed Driving with a Deep Dynamic Observer
Paul Drews, Grady Williams, Brian Goldfain +2
In this paper we present a framework for combining deep learning-based road detection, particle filters, and Model Predictive Control (MPC) to drive aggressively using only a monoc…
Information Theoretic Model Predictive Control on Jump Diffusion Processes
Ziyi Wang, Grady Williams, Evangelos A. Theodorou
In this paper we present an information theoretic approach to stochastic optimal control problems for systems with compound Poisson noise. We generalize previous work on informatio…
Aggressive Deep Driving: Model Predictive Control with a CNN Cost Model
Paul Drews, Grady Williams, Brian Goldfain +2
We present a framework for vision-based model predictive control (MPC) for the task of aggressive, high-speed autonomous driving. Our approach uses deep convolutional neural networ…
Autonomous Racing with AutoRally Vehicles and Differential Games
Grady Williams, Brian Goldfain, Paul Drews +2
Safe autonomous vehicles must be able to predict and react to the drivers around them. Previous control methods rely heavily on pre-computation and are unable to react to dynamic e…