A constrained MPPI variant that uses primal-dual gradients and DBSCAN clustering to enforce obstacle and control bounds.
Path integral methods with stochastic control barrier functions,
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CSC-MPPI: A Novel Constrained MPPI Framework with DBSCAN for Reliable Obstacle Avoidance
A constrained MPPI variant that uses primal-dual gradients and DBSCAN clustering to enforce obstacle and control bounds.