Cover Image

DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wang, Fanxin, Jiang, Haolong, Tao, Chuyuan, Wan, Wenbin, Cheng, Yikun
Format:	Preprint
Published:	2025
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
by: Wang, Fanxin, et al.
Published: (2025)

Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform
by: Wang, Fanxin, et al.
Published: (2025)

Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
by: Tao, Chuyuan, et al.
Published: (2026)

Resilient Estimator-based Control Barrier Functions for Dynamical Systems with Disturbances and Noise
by: Tao, Chuyuan, et al.
Published: (2024)

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
by: Mohamed, Ihab S., et al.
Published: (2023)

AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
by: Chen, Xin, et al.
Published: (2025)

GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
by: Majd, Keyvan, et al.
Published: (2025)

Multi-Constraint Safe Reinforcement Learning via Closed-form Solution for Log-Sum-Exp Approximation of Control Barrier Functions
by: Wang, Chenggang, et al.
Published: (2025)

DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments
by: Fuke, Takahiro, et al.
Published: (2025)

EB-MBD: Emerging-Barrier Model-Based Diffusion for Safe Trajectory Optimization in Highly Constrained Environments
by: Mishra, Raghav, et al.
Published: (2025)

Dynamic Log-Gaussian Process Control Barrier Function for Safe Robotic Navigation in Dynamic Environments
by: Yin, Xin, et al.
Published: (2025)

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
by: Borquez, Javier, et al.
Published: (2025)

Gauss-Newton accelerated MPPI Control
by: Homburger, Hannes, et al.
Published: (2025)

MPPI-Generic: A CUDA Library for Stochastic Trajectory Optimization
by: Vlahov, Bogdan, et al.
Published: (2024)

LP-MPPI: Low-Pass Filtering for Efficient Model Predictive Path Integral Control
by: Kicki, Piotr
Published: (2025)

SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions
by: Dai, Xiaobing, et al.
Published: (2025)

Computing Safe Control Inputs using Discrete-Time Matrix Control Barrier Functions via Convex Optimization
by: Usevitch, James, et al.
Published: (2025)

Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
by: Das, Ersin, et al.
Published: (2025)

Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints
by: Lee, Seulchan, et al.
Published: (2026)

Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods
by: Suganda, Richie R., et al.
Published: (2024)

Anytime-Feasible First-Order Optimization via Safe Sequential QCQP
by: Wang, Jiarui, et al.
Published: (2025)

Safe Multi-agent Satellite Servicing with Control Barrier Functions
by: Parikh, Deep, et al.
Published: (2025)

Safe and Nonconservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers
by: Yang, Rui, et al.
Published: (2025)

Safe Collective Control under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions
by: Enwerem, Clinton, et al.
Published: (2023)

Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
by: Dickson, Akua K., et al.
Published: (2025)

Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
by: Almubarak, Hassan, et al.
Published: (2025)

Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
by: Cai, Wenqi, et al.
Published: (2026)

Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
by: Tayal, Manan, et al.
Published: (2024)

IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving
by: Ryu, Kanghyun, et al.
Published: (2025)

Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems
by: Sharifi, Maryam, et al.
Published: (2024)

Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
by: Lawan, Faisal, et al.
Published: (2026)

Gaussian Process Implicit Surfaces as Control Barrier Functions for Safe Robot Navigation
by: Khan, Mouhyemen, et al.
Published: (2025)

CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance
by: Dergachev, Stepan, et al.
Published: (2025)

Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
by: Yang, Shuo, et al.
Published: (2023)

Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
by: Safari, Amirsaeid, et al.
Published: (2026)

Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions
by: Mestres, Pol, et al.
Published: (2024)

Robotic Control Optimization Through Kernel Selection in Safe Bayesian Optimization
by: Zheng, Lihao, et al.
Published: (2024)

Surface-Constrained Offline Warping with Contact-Aware Online Pose Projection for Safe Robotic Trajectory Execution
by: Wang, Farong, et al.
Published: (2026)

Optimizing Energy-Efficient Braking Trajectories with Anticipatory Road Data for Automated Vehicles
by: Prado, Andres Alvarez, et al.
Published: (2024)

Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
by: Mao, Wule, et al.
Published: (2025)