Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

7 July 2017

Evangelos A. Theodorou

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Papers citing "Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving"

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DR. Nav: Semantic-Geometric Representations for Proactive Dead-End Recovery and Navigation Vignesh Rajagopal Kasun Weerakoon Kulathun Mudiyanselage Gershom Seneviratne Pon Aswin Sankaralingam Mohamed Bashir Elnoor Jing Liang Rohan Chandra Dinesh Manocha 103 0 0 16 Nov 2025
Model Predictive Control via Probabilistic Inference: A Tutorial Kohei Honda 44 0 0 11 Nov 2025
Test-Time Alignment of LLMs via Sampling-Based Optimal Control in pre-logit space Sekitoshi Kanai Tsukasa Yoshida Hiroshi Takahashi Haru Kuroki Kazumune Hashimoto 61 0 0 30 Oct 2025
Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning Abhijeet Mangesh Kulkarni I. Poulakakis Guoquan Huang 80 0 0 26 Oct 2025
Sample-Based Hybrid Mode Control: Asymptotically Optimal Switching of Algorithmic and Non-Differentiable Control Modes Yilang Liu Haoxiang You Ian Abraham 68 0 0 21 Oct 2025
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control Yukang Cao Rahul Moorthy O. G. Poyrazoglu Volkan Isler 36 1 0 19 Oct 2025
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation Abhinav Kumar Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 117 0 0 08 Oct 2025
The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization K. Tracy John Z. Zhang Jon Arrizabalaga S. Schaal Yuval Tassa Tom Erez Zachary Manchester 60 1 0 30 Sep 2025
BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control Odichimnma Ezeji Michael Ziegltrum Giulio Turrisi Tommaso Belvedere Valerio Modugno 53 1 0 30 Sep 2025
MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control Manan Tayal Aditya Singh Shishir Kolathaya Somil Bansal 208 0 0 28 Sep 2025
Cyber Racing Coach: A Haptic Shared Control Framework for Teaching Advanced Driving Skills Congkai Shen Siyuan Yu Yifan Weng Haoran Ma Chen Li Hiroshi Yasuda James Dallas Michael Thompson John Subosits Tulga Ersal 120 0 0 25 Sep 2025
AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation Xin Chen Rui Huang Longbin Tang Tianyuan Chen 68 0 0 22 Sep 2025
Rethinking Reference Trajectories in Agile Drone Racing: A Unified Reference-Free Model-Based Controller via MPPI Fangguo Zhao Xin Guan Shuo Li 68 0 0 18 Sep 2025
Follow-Bench: A Unified Motion Planning Benchmark for Socially-Aware Robot Person Following Hanjing Ye Weixi Situ Jianwei Peng Yu Zhan Bingyi Xia Kuanqi Cai H. Zhang 127 1 0 13 Sep 2025
Joint Model-based Model-free Diffusion for Planning with Constraints Wonsuhk Jung Utkarsh Aashu Mishra Nadun Ranawaka Arachchige Yongxin Chen Danfei Xu Shreyas Kousik DiffM 192 1 0 10 Sep 2025
Reservoir Predictive Path Integral Control for Unknown Nonlinear Dynamics Daisuke Inoue Tadayoshi Matsumori Gouhei Tanaka Yuji Ito 56 0 0 04 Sep 2025
Constraint Learning in Multi-Agent Dynamic Games from Demonstrations of Local Nash Interactions Zhouyu Zhang Chih-Yuan Chiu Glen Chou 91 0 0 27 Aug 2025
BOW: Bayesian Optimization over Windows for Motion Planning in Complex EnvironmentsIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Sourav Raxit Abdullah Al Redwan Newaz Paulo Padrao Jose Fuentes Leonardo Bobadilla 60 0 0 18 Aug 2025
Dynamic Risk-Aware MPPI for Mobile Robots in Crowds via Efficient Monte Carlo Approximations Elia Trevisan Khaled A. Mustafa Godert Notten Xinwei Wang Javier Alonso-Mora 104 2 0 26 Jun 2025
CSC-MPPI: A Novel Constrained MPPI Framework with DBSCAN for Reliable Obstacle Avoidance Leesai Park Keunwoo Jang Sanghyun Kim 93 3 0 19 Jun 2025
DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty Nicolas Samson William Larrivée-Hardy William Dubois Élie Roy-Brouard Edith Brotherton Dominic Baril Julien Lépine F. Pomerleau 93 0 0 19 Jun 2025
Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllersIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Tommaso Belvedere Michael Ziegltrum Giulio Turrisi Valerio Modugno 98 2 0 17 Jun 2025
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 147 2 0 08 Jun 2025
Strategic Jenga Play via Graph Based Dynamics Modeling Kavya Puthuveetil Xinyi Zhang Kazuto Yokoyama Tetsuya Narita 183 0 0 14 May 2025
Motion Planning for Autonomous Vehicles: When Model Predictive Control Meets Ensemble Kalman SmoothingAmerican Control Conference (ACC), 2024 Iman Askari Yebin Wang Vedeng M. Deshpande H. Fang 148 3 0 10 May 2025
Real-Time Model Predictive Control of Vehicles with Convex-Polygon-Aware Collision Avoidance in Tight Spaces Haruki Kojima Kohei Honda H. Okuda Tatsuya Suzuki 173 0 0 08 May 2025
LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecture Kazuki Atsuta Kohei Honda H. Okuda Tatsuya Suzuki 899 2 0 08 May 2025
Enhancing System Self-Awareness and Trust of AI: A Case Study in Trajectory Prediction and Planning Lars Ullrich Zurab Mujirishvili Knut Graichen 215 2 0 25 Apr 2025
$π$ -MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial VehiclesIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Edvin Martin Andrejev Amith Manoharan Karl-Eerik Unt Arun Kumar Singh 212 4 0 15 Apr 2025
DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments Takahiro Fuke Masafumi Endo Kohei Honda Genya Ishigami 200 2 0 26 Mar 2025
DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States Fanxin Wang Haolong Jiang Chuyuan Tao Wenbin Wan Yikun Cheng 100 1 0 26 Mar 2025
Computationally and Sample Efficient Safe Reinforcement Learning Using Adaptive Conformal PredictionIEEE International Conference on Robotics and Automation (ICRA), 2025 Hao Zhou Yanze Zhang Wenhao Luo 265 3 0 22 Mar 2025
Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control Gosuke Kojima Kohei Honda Satoshi Nakano Manabu Yamada 99 0 0 20 Mar 2025
An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control O. G. Poyrazoglu Rahul Moorthy Yukang Cao William Chastek Volkan Isler 232 2 0 13 Mar 2025
GSplatVNM: Point-of-View Synthesis for Visual Navigation Models Using Gaussian Splatting Kohei Honda Takeshi Ishita Yasuhiro Yoshimura Ryo Yonetani 3DGS 416 3 0 07 Mar 2025
Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral OptimizationIEEE International Conference on Robotics and Automation (ICRA), 2025 Patrick Halder Hannes Homburger Lothar Kiltz Johannes Reuter Matthias Althoff 144 3 0 03 Mar 2025
Unifying Model Predictive Path Integral Control, Reinforcement Learning, and Diffusion Models for Optimal Control and Planning Yankai Li Mo Chen AI4CE 185 0 0 27 Feb 2025
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier Kanghyun Ryu Kartik Nagpal Qiayuan Liao Koushil Sreenath Negar Mehr 353 10 0 20 Feb 2025
Model Validity in Observers: When to Increase the Complexity of Your Model?IEEE Transactions on Control Systems Technology (IEEE TCST), 2025 Agapius Bou Ghosn Philip Polack A. de La Fortelle 171 0 0 08 Feb 2025
Dynamics Modeling using Visual Terrain Features for High-Speed Autonomous Off-Road DrivingIEEE International Conference on Robotics and Automation (ICRA), 2024 Jason Gibson Anoushka Alavilli Erica Tevere Evangelos A. Theodorou Patrick Spieler 186 3 0 30 Nov 2024
Risk-aware MPPI for Stochastic Hybrid SystemsAmerican Control Conference (ACC), 2024 Hardik Parwana Mitchell Black Bardh Hoxha Hideki Okamoto Georgios Fainekos Danil Prokhorov Dimitra Panagou 217 2 0 14 Nov 2024
Learning Dynamic Cognitive Map with Autonomous Navigation Daria de Tinguy Tim Verbelen Bart Dhoedt 253 6 0 13 Nov 2024
IDF-MFL: Infrastructure-free and Drift-free Magnetic Field Localization for Mobile RobotIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Hongming Shen Zhenyu Wu Wei Wang Qiyang Lyu Huiqin Zhou Danwei W. Wang 170 5 0 09 Nov 2024
Predictability Awareness for Efficient and Robust Multi-Agent CoordinationAdaptive Agents and Multi-Agent Systems (AAMAS), 2024 Roman Chiva Gil Daniel Jarne Ornia Khaled A. Mustafa Javier Alonso-Mora 855 0 0 09 Nov 2024
Path Integral Control for Hybrid Dynamical Systems Hongzhe Yu Diana Frias Franco Aaron M. Johnson Yongxin Chen 153 0 0 01 Nov 2024
Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential AugmentationIEEE/SICE International Symposium on System Integration (SII), 2024 Takahiro Fuke Masafumi Endo Kohei Honda Genya Ishigami 187 3 0 15 Oct 2024
Words to Wheels: Vision-Based Autonomous Driving Understanding Human Language Instructions Using Foundation Models Chanhoe Ryu Hyunki Seong Daegyu Lee Seongwoo Moon Sungjae Min David Hyunchul Shim 158 2 0 14 Oct 2024
BiC-MPPI: Goal-Pursuing, Sampling-Based Bidirectional Rollout Clustering Path Integral for Trajectory Optimization Minchan Jung Kwangki Kim 160 3 0 09 Oct 2024
Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control Mitsuki Morita Satoshi Yamamori Satoshi Yagi Norikazu Sugimoto Jun Morimoto 190 0 0 07 Oct 2024
Bisimulation metric for Model Predictive ControlInternational Conference on Learning Representations (ICLR), 2024 Yutaka Shimizu Masayoshi Tomizuka 147 1 0 06 Oct 2024