Smooth Model Predictive Path Integral Control Without Smoothing

Model Predictive Path Integral Control using Covariance Variable Importance Sampling

In this paper we present a Model Predictive Path Integral (MPPI) control algorithm that is derived from the path integral control framework and a generalized importance sampling scheme. In order to operate in real time we parallelize the sampling based component of the algorithm and achieve massive speed-up by using a Graphical Processor Unit (GPU). We compare MPPI against traditional model pre...

Continuation model predictive control on smooth manifolds

Model predictive control (MPC) anticipates future events to take appropriate control actions. Nonlinear MPC (NMPC) describes systems with nonlinear models and/or constraints. Continuation MPC, suggested by T. Ohtsuka in 2004, uses Krylov-Newton iterations. Continuation MPC is suitable for nonlinear problems and has been recently adopted for minimum time problems. We extend the continuation MPC ...

Towards Smooth Particle Methods Without Smoothing

In this article we present a new class of particle methods which aim at being accurate in the uniform norm with a minimal amount of smoothing. The crux of our approach is to compute local polynomial expansions of the characteristic flow to transport the particle shapes with improved accuracy. In the first order case the method consists of representing the transported density with linearly-trans...

Path Integral Control

Analysis of explicit model predictive control for path-following control

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can redu...