Zidong Liu

Clustering-Embedded Model Predictive Path Integral Control: Avoiding Averaging-Induced Failure and Enabling Efficient Cluster Selection for Dynamic Obstacles

Zidong Liu, Kaixin Chang, Xu Chen

With the widespread availability of parallel computing hardware, sampling-based motion planning methods such as Model Predictive Path Integral (MPPI) control have become increasingly powerful for complex nonlinear systems in non-smooth task spaces. However, the sampling and forwa…Read more