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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Bisimulation metric for Model Predictive ControlInternational Conference on Learning Representations (ICLR), 2024 Yutaka Shimizu Masayoshi Tomizuka 167 2 0 06 Oct 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World Taisuke Kobayashi 360 2 0 29 Sep 2024
Online Adaptation of Learned Vehicle Dynamics Model with Meta-Learning ApproachIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Yuki Tsuchiya Thomas Balch P. Drews Guy Rosman 269 5 0 23 Sep 2024
DROP: Dexterous Reorientation via Online PlanningIEEE International Conference on Robotics and Automation (ICRA), 2024 Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 330 17 0 22 Sep 2024
C-Uniform Trajectory Sampling For Fast Motion PlanningIEEE International Conference on Robotics and Automation (ICRA), 2024 O. G. Poyrazoglu Yukang Cao Volkan Isler 218 2 0 18 Sep 2024
Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle NavigationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Mizuho Aoki Kohei Honda H. Okuda Tatsuya Suzuki LLMSV 148 3 0 13 Sep 2024
MPPI-Generic: A CUDA Library for Stochastic Trajectory Optimization Bogdan I. Vlahov Jason Gibson Manan S. Gandhi Evangelos A. Theodorou 279 5 0 11 Sep 2024
Cooptimizing Safety and Performance with a Control-Constrained FormulationIEEE Control Systems Letters (L-CSS), 2024 Hao Wang Adityaya Dhande Somil Bansal 145 4 0 10 Sep 2024
Robust Stochastic Shortest-Path Planning via Risk-Sensitive Incremental SamplingIEEE Conference on Decision and Control (CDC), 2024 Clinton Enwerem Erfaun Noorani John S. Baras Brian M. Sadler 244 0 0 16 Aug 2024
Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety ShieldingIEEE Conference on Decision and Control (CDC), 2024 Ji Yin Panagiotis Tsiotras K. Berntorp 135 8 0 01 Aug 2024
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles Michal Minarik Robert Pěnička Vojtěch Vonásek Martin Saska 195 19 0 13 Jul 2024
Learning Autonomous Race Driving with Action Mapping Reinforcement Learning Yuanda Wang Xin Yuan Changyin Sun 167 5 0 21 Jun 2024
Auto-Multilift: Distributed Learning and Control for Cooperative Load Transportation With Quadrotors Bingheng Wang Rui Huang Kuankuan Sima Tianyuan Chen 282 2 0 07 Jun 2024
Continuously Optimizing Radar Placement with Model Predictive Path Integrals Owen Howell Shuo Tang Paul Ghanem Milica Stojanovic Pau Closas ... Ben Wright Marius Necsoiu Deniz Erdoğmuş Michael Everett Talees Imbiriba 239 1 0 29 May 2024
Model-Based Diffusion for Trajectory Optimization Chaoyi Pan Zeji Yi Guanya Shi Guannan Qu 229 31 0 28 May 2024
RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashes Kyle Stachowicz Sergey Levine 184 9 0 07 May 2024
Comparing Motion Distortion Between Vehicle Field Deployments Nicolas Samson Dominic Baril Julien Lépine Franccois Pomerleau 238 1 0 30 Apr 2024
Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation Takato Miura Naoki Akai Kohei Honda Susumu Hara 174 9 0 16 Apr 2024
Sampling for Model Predictive Trajectory Planning in Autonomous Driving using Normalizing Flows Georg Rabenstein Lars Ullrich Knut Graichen 199 2 0 15 Apr 2024
Parameterized Fast and Safe Tracking (FaSTrack) using DeepreachConference on Learning for Dynamics & Control (L4DC), 2024 Hyun Joe Jeong Zheng Gong Somil Bansal Sylvia Herbert 151 5 0 11 Apr 2024
Low Frequency Sampling in Model Predictive Path Integral ControlIEEE Robotics and Automation Letters (RA-L), 2024 Bogdan I. Vlahov Jason Gibson David D. Fan Patrick Spieler Ali-akbar Agha-mohammadi Evangelos A. Theodorou 152 13 0 03 Apr 2024
MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints Maria Krinner Angel Romero L. Bauersfeld Melanie Zeilinger Andrea Carron Davide Scaramuzza 270 31 0 26 Mar 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged LocomotionIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 216 12 0 18 Mar 2024
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based LearningIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 Ruihua Han Shuai Wang Shuaijun Wang Zeqing Zhang Jianjun Chen ... Chengyang Li Chengzhong Xu Yonina C. Eldar Qi Hao Jia Pan 3DPC 314 21 0 11 Mar 2024
A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach Skylar X. Wei Lu Gan J. W. Burdick 197 0 0 05 Mar 2024
RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving Jonas Frey Shehryar Khattak Manthan Patel Deegan Atha Julian Nubert Curtis Padgett Marco Hutter Patrick Spieler 221 47 0 29 Feb 2024
Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary ControllersIEEE Robotics and Automation Letters (RA-L), 2024 Elia Trevisan Javier Alonso-Mora 262 30 0 17 Jan 2024
Information-seeking polynomial NARX model-predictive control through expected free energy minimization Wouter M. Kouw 195 7 0 22 Dec 2023
NeuroFlow: Development of lightweight and efficient model integration scheduling strategy for autonomous driving system Eunbin Seo Gwanjun Shin Eunho Lee 145 0 0 15 Dec 2023
Multi-Modal MPPI and Active Inference for Reactive Task and Motion PlanningIEEE Robotics and Automation Letters (RA-L), 2023 Yuezhe Zhang Corrado Pezzato Elia Trevisan C. Salmi C. H. Corbato Javier Alonso-Mora 217 15 0 04 Dec 2023
Data-efficient Deep Reinforcement Learning for Vehicle Trajectory Control Bernd Frauenknecht Tobias Ehlgen Sebastian Trimpe 213 4 0 30 Nov 2023
Motion Control of Two Mobile Robots under Allowable CollisionsIEEE Robotics and Automation Letters (RA-L), 2023 Li Tan Wei Ren Xi-Ming Sun Junlin Xiong 283 1 0 15 Nov 2023
HIO-SDF: Hierarchical Incremental Online Signed Distance Fields V. Vasilopoulos Suveer Garg Jinwook Huh Bhoram Lee Volkan Isler 213 13 0 14 Oct 2023
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road DrivingIEEE International Conference on Robotics and Automation (ICRA), 2023 Sean J. Wang Honghao Zhu Aaron M. Johnson 139 8 0 12 Oct 2023
Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion PlanningIEEE Transactions on robotics (TRO), 2023 Iman Askari Xumein Tu Xuemin Tu Shen Zeng H. Fang 406 12 0 12 Oct 2023
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive MotionsIEEE International Conference on Robotics and Automation (ICRA), 2023 Simon-Pierre Deschênes Dominic Baril Matej Boxan Johann Laconte Philippe Giguère François Pomerleau 235 2 0 11 Oct 2023
Active Learning with Dual Model Predictive Path-Integral Control for Interaction-Aware Autonomous Highway On-ramp MergingIEEE International Conference on Robotics and Automation (ICRA), 2023 Jacob Knaup Jovin D'sa Behdad Chalaki Tyler Naes Hossein Nourkhiz Mahjoub Ehsan Moradi-Pari Panagiotis Tsiotras AI4CE 150 10 0 11 Oct 2023
Interaction-Aware Sampling-Based MPC with Learned Local Goal PredictionsInternational Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023 Walter Jansma Elia Trevisan Álvaro Serra-Gómez Javier Alonso-Mora 754 5 0 26 Sep 2023
Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic PerspectivesAnnual Reviews in Control (ARC), 2023 Muhammad Kazim JunGee Hong Min-Gyeom Kim Kwang-Ki K. Kim 245 32 0 22 Sep 2023
Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering VehiclesIEEE International Conference on Robotics and Automation (ICRA), 2023 Kohei Honda Naoki Akai Kosuke Suzuki Mizuho Aoki H. Hosogaya H. Okuda Tatsuya Suzuki 213 17 0 20 Sep 2023
DRIVE: Data-driven Robot Input Vector ExplorationIEEE International Conference on Robotics and Automation (ICRA), 2023 Dominic Baril Simon-Pierre Deschênes Luc Coupal Cyril Goffin Julien Lépine Philippe Giguère François Pomerleau 154 3 0 19 Sep 2023
Efficient Belief Road Map for Planning Under Uncertainty Zhenyang Chen Hongzhe Yu Yongxin Chen 144 4 0 17 Sep 2023
Stochastic Motion Planning as Gaussian Variational Inference: Theory and Algorithms Hongzhe Yu Yongxin Chen 240 3 0 29 Aug 2023
Constrained Stein Variational Trajectory OptimizationIEEE Transactions on robotics (TRO), 2023 Thomas Power Dmitry Berenson 305 21 0 23 Aug 2023
Path Signatures for Diversity in Probabilistic Trajectory Optimisation Lucas Barcelos Tin Lai Rafael Oliveira Paulo Borges Fabio Ramos 287 8 0 08 Aug 2023
Towards a Safe Real-Time Motion Planning Framework for Autonomous Driving Systems: An MPPI Approach Mehdi Testouri Gamal Elghazaly R. Frank 232 4 0 03 Aug 2023
A Model Predictive Path Integral Method for Fast, Proactive, and Uncertainty-Aware UAV Planning in Cluttered EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Jacob Higgins Nicholas Mohammad Nicola Bezzo 247 15 0 02 Aug 2023
Sampling-based Model Predictive Control Leveraging Parallelizable Physics Simulations Corrado Pezzato C. Salmi Max Spahn Elia Trevisan Javier Alonso-Mora C. H. Corbato 329 31 0 18 Jul 2023
Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception Junwon Seo Jungwi Mun Taekyung Kim 181 7 0 26 Jun 2023
Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control StrategyIEEE Transactions on robotics (TRO), 2023 Ihab S. Mohamed Junhong Xu Gaurav Sukhatme Lantao Liu 226 19 0 21 Jun 2023