VA-MPPI is a model predictive path integral controller that uses predicted visibility to update terrain uncertainty inside each rollout, showing in simulation fewer collisions in occluded environments than a deterministic planner.
Probabilistic traversability model for risk-aware motion planning in off-road envi- ronments,
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Implicit Dual-Control for Visibility-Aware Navigation in Unstructured Environments
VA-MPPI is a model predictive path integral controller that uses predicted visibility to update terrain uncertainty inside each rollout, showing in simulation fewer collisions in occluded environments than a deterministic planner.