A multi-modal sampling-based controller, combining Sobol sequences with analytical braking, acceleration, and evasive modes, outperforms a standard MPPI baseline in simulated high- and low-friction collision-avoidance scenarios.
IEEE Transactions on Vehicular Technology 74(6), 8756–8771 (2025)
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Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
A multi-modal sampling-based controller, combining Sobol sequences with analytical braking, acceleration, and evasive modes, outperforms a standard MPPI baseline in simulated high- and low-friction collision-avoidance scenarios.