BR-MPPI integrates CBF constraints into MPPI importance sampling for collision-free articulated vehicle control, shown in CarMaker simulator to outperform baselines in parking clearance at real-time rates.
Guaranteed-safe mppi through composite control barrier functions for efficient sampling in multi-constrained robotic systems
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GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
BR-MPPI integrates CBF constraints into MPPI importance sampling for collision-free articulated vehicle control, shown in CarMaker simulator to outperform baselines in parking clearance at real-time rates.