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.
Optimization-based au- tonomous racing of 1: 43 scale rc cars,
2 Pith papers cite this work. Polarity classification is still indexing.
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UNVERDICTED 2representative citing papers
A motorcycle curve guardian system that predicts intra-lane position and roll angle with CNNs, uses HERE map data for road geometry, and an upgraded controller to warn of unsafe trajectories.
citing papers explorer
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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.
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Learning a Curve Guardian for Motorcycles
A motorcycle curve guardian system that predicts intra-lane position and roll angle with CNNs, uses HERE map data for road geometry, and an upgraded controller to warn of unsafe trajectories.