2025preprint
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
Hardik Parwana, Taekyung Kim, Kehan Long, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Dimitra Panagou
arXiv:2506.07325, 2025
Topics: Optimal Planning and Safe Control; Learning-based Control and Analysis
Citation
@inproceedings{Parwana25,
title = {BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field},
author = {Hardik Parwana and Taekyung Kim and Kehan Long and Bardh Hoxha and Hideki Okamoto and Georgios Fainekos and Dimitra Panagou},
booktitle = {arXiv:2506.07325, 2025},
year = {2025},
url = {https://arxiv.org/pdf/2506.07325},
keywords = {Optimal Planning and Safe Control, Learning-based Control and Analysis}
}