A projection-retraction MPPI variant that enforces equality and inequality constraints inside sampled rollouts and returns commands that satisfy the closed-chain constraint to numerical tolerance.
Online motion generation via tangential sampling-based MPC around nonconvex obstacles,
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Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators
A projection-retraction MPPI variant that enforces equality and inequality constraints inside sampled rollouts and returns commands that satisfy the closed-chain constraint to numerical tolerance.