VA-MPPI is a model predictive path integral controller that uses predicted visibility to update terrain uncertainty inside each rollout, showing in simulation fewer collisions in occluded environments than a deterministic planner.
Faster: Fast and safe trajectory planner for navigation in unknown environments,
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Implicit Dual-Control for Visibility-Aware Navigation in Unstructured Environments
VA-MPPI is a model predictive path integral controller that uses predicted visibility to update terrain uncertainty inside each rollout, showing in simulation fewer collisions in occluded environments than a deterministic planner.