Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk
Ji Yin,Zhiyuan Zhang,Panagiotis Tsiotras,Ji Yin,Zhiyuan Zhang,Panagiotis Tsiotras
In this paper, we present a novel Model Predictive Control method for autonomous robot planning and control subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model Predictive Path Integral (RA-MPPI) control utilizes the Conditional Value-at-Risk (CVaR) measure to generate optimal control actions for safety-critical robotic applications. Different from most existing Stochastic MPCs...
