A Model Predictive Path Integral Method for Fast, Proactive, and Uncertainty-Aware UAV Planning in Cluttered Environments
Jacob Higgins,Nicholas Mohammad,Nicola Bezzo,Jacob Higgins,Nicholas Mohammad,Nicola Bezzo
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by many factors, and could lead to potential collisions when the robot must traverse a cluttered environment. To address this problem, this paper proposes a novel re...
