DualGuard-MPPI filters every sampled control sequence with a Hamilton-Jacobi safety filter, producing all-safe rollouts and empirically better performance than existing MPPI methods.
Information-theoretic model predictive control: Theory and applications to autonomous driving,
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DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
DualGuard-MPPI filters every sampled control sequence with a Hamilton-Jacobi safety filter, producing all-safe rollouts and empirically better performance than existing MPPI methods.