CE-MPPI resolves MPPI averaging-induced failure by pruning colliding rollouts, clustering feasible ones via DBSCAN on a geometric direction feature, and selecting a single cluster for the control update.
Parallel mppi with gradient-velocity modulated sdf cost for high-performance real-time dynamic obstacle avoidance by robot manipulators,
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Clustering-Embedded Model Predictive Path Integral Control: Avoiding Averaging-Induced Failure and Enabling Efficient Cluster Selection for Dynamic Obstacles
CE-MPPI resolves MPPI averaging-induced failure by pruning colliding rollouts, clustering feasible ones via DBSCAN on a geometric direction feature, and selecting a single cluster for the control update.