Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering
Ji Yin,Zhiyuan Zhang,Evangelos Theodorou,Panagiotis Tsiotras,Ji Yin,Zhiyuan Zhang,Evangelos Theodorou,Panagiotis Tsiotras
This paper presents a novel control approach for autonomous systems operating under uncertainty. We combine Model Predictive Path Integral (MPPI) control with Covariance Steering (CS) theory to obtain a robust controller for general nonlinear systems. The proposed Covariance-Controlled Model Predictive Path Integral (CC-MPPI) controller addresses the performance degradation observed in some MPPI i...
