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.
Cooptimizing safety and perfor- mance with a control-constrained formulation,
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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.