Cover Image

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

Fuente: arXiv

Saved in:

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
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Risk-aware MPPI for Stochastic Hybrid Systems
by: Parwana, Hardik, et al.
Published: (2024)

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

Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
by: Parwana, Hardik, et al.
Published: (2023)

Neural Configuration Distance Function for Continuum Robot Control
by: Long, Kehan, et al.
Published: (2024)

Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
by: Kim, Taekyung, et al.
Published: (2026)

Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
by: Parwana, Hardik, et al.
Published: (2024)

Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
by: Wang, Xinyi, et al.
Published: (2026)

Safe Model Predictive Diffusion with Shielding
by: Kim, Taekyung, et al.
Published: (2025)

Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
by: Wang, Xinyi, et al.
Published: (2025)

Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
by: Black, Mitchell, et al.
Published: (2024)

FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization
by: Parwana, Hardik, et al.
Published: (2022)

CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
by: Black, Mitchell, et al.
Published: (2024)

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

MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
by: Tuck, Victoria Marie, et al.
Published: (2025)

Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations
by: Hoxha, Bardh, et al.
Published: (2026)

Querying Perception Streams with Spatial Regular Expressions
by: Anderson, Jacob, et al.
Published: (2024)

Spatio-Temporal Grounding of Large Language Models from Perception Streams
by: Anderson, Jacob, et al.
Published: (2026)

LogSTOP: Temporal Scores over Prediction Sequences for Matching and Retrieval
by: Khare, Avishree, et al.
Published: (2025)

From Dashcam Videos to Driving Simulations: Stress Testing Automated Vehicles against Rare Events
by: Miao, Yan, et al.
Published: (2024)

Optimal Planning for Timed Partial Order Specifications
by: Watanabe, Kandai, et al.
Published: (2024)

Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0
by: Miao, Yan, et al.
Published: (2025)

Contingency Constrained Planning with MPPI within MPPI
by: Jung, Leonard, et al.
Published: (2024)

StarV: A Qualitative and Quantitative Verification Tool for Learning-enabled Systems
by: Tran, Dung, et al.
Published: (2025)

Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
by: Kim, Taekyung, et al.
Published: (2024)

Scaling Learning based Policy Optimization for Temporal Logic Tasks by Controller Network Dropout
by: Hashemi, Navid, et al.
Published: (2024)

PerceMon: Online Monitoring for Perception Systems
by: Balakrishnan, Anand, et al.
Published: (2021)

Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
by: Kim, Taekyung, et al.
Published: (2024)

How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane
by: Kim, Taekyung, et al.
Published: (2025)

SMT-Based Dynamic Multi-Robot Task Allocation
by: Tuck, Victoria Marie, et al.
Published: (2024)

Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
by: Park, Hun Kuk, et al.
Published: (2025)

STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies
by: Zhao, Yiqi, et al.
Published: (2025)

Robust Conformal Prediction for STL Runtime Verification under Distribution Shift
by: Zhao, Yiqi, et al.
Published: (2023)

Vision-Guided MPPI for Agile Drone Racing: Navigating Arbitrary Gate Poses via Neural Signed Distance Fields
by: Zhao, Fangguo, et al.
Published: (2026)

CSC-MPPI: A Novel Constrained MPPI Framework with DBSCAN for Reliable Obstacle Avoidance
by: Park, Leesai, et al.
Published: (2025)

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

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

Gauss-Newton accelerated MPPI Control
by: Homburger, Hannes, 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)

Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications
by: Zhao, Yiqi, et al.
Published: (2025)

A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
by: Agrawal, Devansh R., et al.
Published: (2024)