A geometric neural encoder supplies fast distance estimates from LiDAR to an MPPI controller, enabling map-free collision avoidance for articulated tractor-trailer vehicles in simulation.
2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC) , pages=
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Neural Distance-Guided Path Integral Control for Tractor-Trailer Navigation
A geometric neural encoder supplies fast distance estimates from LiDAR to an MPPI controller, enabling map-free collision avoidance for articulated tractor-trailer vehicles in simulation.