dsCEM replaces random sampling in CEM-MPC with deterministic samples from localized cumulative distributions to improve efficiency and smoothness in nonlinear optimal control.
Reduced sigma point filters for the propa- gation of means and covariances through nonlinear transformations,
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Sample-Efficient and Smooth Cross-Entropy Method Model Predictive Control Using Deterministic Samples
dsCEM replaces random sampling in CEM-MPC with deterministic samples from localized cumulative distributions to improve efficiency and smoothness in nonlinear optimal control.