BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field

Fuente: arXiv

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Bibliographic Details
Main Authors:	Parwana, Hardik, Kim, Taekyung, Long, Kehan, Hoxha, Bardh, Okamoto, Hideki, Fainekos, Georgios, Panagou, Dimitra
Format:	Preprint
Published:	2025
Subjects:	Robotics Optimization and Control
Online Access:	Acceder al recurso
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Internet

https://arxiv.org/abs/2506.07325