BR-MPPI adds a barrier-rate state to MPPI, converts CBF safety inequalities into equality constraints via a projection, and reports empirical gains over vanilla MPPI in robot navigation.
Biased-mppi: Informing sampling- based model predictive control by fusing ancillary controllers,
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BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
BR-MPPI adds a barrier-rate state to MPPI, converts CBF safety inequalities into equality constraints via a projection, and reports empirical gains over vanilla MPPI in robot navigation.