2024conference

Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions

Hardik Parwana, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil Prokhorov

Towards Safe Autonomy: Emerging Requirements, Definitions, and Methods, July 2024

Topics: Optimal Planning and Safe Control

Citation

@inproceedings{TSA2024,
  title = {Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions},
  author = {Hardik Parwana and Mitchell Black and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Danil Prokhorov},
  booktitle = {Towards Safe Autonomy: Emerging Requirements, Definitions, and Methods, July 2024},
  year = {2024},
  url = {https://www.bhoxha.com/papers/rss-tsa24.pdf},
  code = {https://github.com/bardhh/cbfkit/tree/mppi-extension},
  keywords = {Optimal Planning and Safe Control}
}