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

7 July 2017

Evangelos A. Theodorou

ArXiv (abs)PDF HTML

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

50 / 165 papers shown

Title
Efficient Dynamics Modeling in Interactive Environments with Koopman TheoryInternational Conference on Learning Representations (ICLR), 2023 Arnab Kumar Mondal Siba Smarak Panigrahi Sai Rajeswar K. Siddiqi Siamak Ravanbakhsh 229 8 0 20 Jun 2023
Actor-Critic Model Predictive ControlIEEE International Conference on Robotics and Automation (ICRA), 2023 Angel Romero Yunlong Song Davide Scaramuzza 422 65 0 16 Jun 2023
Autonomous Drifting with 3 Minutes of Data via Learned Tire ModelsIEEE International Conference on Robotics and Automation (ICRA), 2023 Franck Djeumou Jonathan Y. Goh Ufuk Topcu Avinash Balachandran 151 29 0 10 Jun 2023
The Hybrid Extended Bicycle: A Simple Model for High Dynamic Vehicle Trajectory Planning Agapius Bou Ghosn Philip Polack A. de La Fortelle 113 1 0 08 Jun 2023
$K$ -Nearest-Neighbor Resampling for Off-Policy Evaluation in Stochastic Control Michael Giegrich Roel Oomen C. Reisinger OffRL 172 2 0 07 Jun 2023
Neural Lyapunov and Optimal Control Daniel Layeghi Steve Tonneau M. Mistry 129 0 0 24 May 2023
Reasoning with Language Model is Planning with World ModelConference on Empirical Methods in Natural Language Processing (EMNLP), 2023 Shibo Hao Yi Gu Haodi Ma Joshua Jiahua Hong Zhen Wang D. Wang Zhiting Hu ReLM LRM LLMAG 355 801 0 24 May 2023
Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics Taekyung Kim Jungwi Mun Junwon Seo Beomsu Kim S. Hong 214 16 0 20 May 2023
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance FunctionsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 V. Vasilopoulos Suveer Garg Pedro Piacenza Jinwook Huh Volkan Isler 179 19 0 17 May 2023
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2023 Jason Gibson Loris Bozzato David D. Fan Rafael Kiesel Daria Stepanova Ali-akbar Agha-mohammadi Evangelos A. Theodorou 110 17 0 03 May 2023
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral ControlIEEE Robotics and Automation Letters (RA-L), 2023 Ho-Woon Lee Taekyung Kim Jungwi Mun Wonsuk Lee 228 21 0 01 May 2023
Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Approach Using Control Barrier FunctionsIEEE Robotics and Automation Letters (RA-L), 2023 Ji Yin Charles Dawson Chuchu Fan Panagiotis Tsiotras 177 31 0 23 Feb 2023
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban CanalsIEEE International Conference on Robotics and Automation (ICRA), 2023 Lucas Streichenberg Elia Trevisan Jen Jen Chung Roland Siegwart Javier Alonso-Mora 148 20 0 13 Feb 2023
RRT Guided Model Predictive Path Integral MethodAmerican Control Conference (ACC), 2023 Chuyuan Tao Hunmin Kim N. Hovakimyan 154 10 0 30 Jan 2023
Real-time Sampling-based Model Predictive Control based on Reverse Kullback-Leibler Divergence and Its Adaptive Acceleration Taisuke Kobayashi Kota Fukumoto 167 6 0 08 Dec 2022
A Control Theoretic Approach to Infrastructure-Centric Blockchain TokenomicsIACR Cryptology ePrint Archive (IACR ePrint), 2022 Oguzhan Akcin Robert P. Streit Benjamin Oommen S. Vishwanath Sandeep Chinchali 62 5 0 23 Oct 2022
Weighted Maximum Likelihood for Controller TuningIEEE International Conference on Robotics and Automation (ICRA), 2022 Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza 197 16 0 20 Oct 2022
Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian ProcessesConference on Robot Learning (CoRL), 2022 Joe Watson Jan Peters 188 20 0 07 Oct 2022
Phy-Taylor: Physics-Model-Based Deep Neural Networks Y. Mao L. Sha Huajie Shao Yuliang Gu Qixin Wang Tarek Abdelzaher PINN AI4CE 193 1 0 27 Sep 2022
ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured EnvironmentsIEEE Robotics and Automation Letters (RA-L), 2022 Junwon Seo Taekyung Kim K. Kwak Jihong Min Inwook Shim 183 40 0 14 Sep 2022
Sparse Representation Learning with Modified q-VAE towards Minimal Realization of World Model Taisuke Kobayashi Ryoma Watanuki DRL 183 7 0 08 Aug 2022
MPPI-IPDDP: Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots Mingeuk Kim Kwang-Ki K. Kim 136 3 0 04 Aug 2022
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection Thomas Power Dmitry Berenson 160 39 0 10 May 2022
Sampling-Based Nonlinear MPC of Neural Network Dynamics with Application to Autonomous Vehicle Motion PlanningAmerican Control Conference (ACC), 2022 Iman Askari Babak Badnava Thomas Woodruff Shen Zeng H. Fang 117 17 0 09 May 2022
Probabilistic Control and Majorization of Optimal Control Tom Lefebvre 265 2 0 06 May 2022
Gradient-Based Trajectory Optimization With Learned DynamicsIEEE International Conference on Robotics and Automation (ICRA), 2022 Bhavya Sukhija Nathanael Kohler Miguel Zamora Simon Zimmermann Sebastian Curi Andreas Krause Stelian Coros 241 13 0 09 Apr 2022
Model Predictive Optimized Path Integral StrategiesIEEE International Conference on Robotics and Automation (ICRA), 2022 Dylan M. Asmar Ransalu Senanayake Shawn Manuel Mykel J. Kochenderfer 233 19 0 30 Mar 2022
Autonomous Navigation of AGVs in Unknown Cluttered Environments: log-MPPI Control StrategyIEEE Robotics and Automation Letters (RA-L), 2022 Ihab S. Mohamed Kai-Li Yin Lantao Liu 129 56 0 30 Mar 2022
Adaptive Model Predictive Control by Learning ClassifiersConference on Learning for Dynamics & Control (L4DC), 2022 Rel Guzman Rafael Oliveira Fabio Ramos 210 2 0 13 Mar 2022
Bayesian Learning Approach to Model Predictive Control Namhoon Cho Seokwon Lee Hyo-Sang Shin Antonios Tsourdos 114 2 0 05 Mar 2022
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter UncertaintyIEEE International Conference on Robotics and Automation (ICRA), 2022 Rel Guzman Rafael Oliveira Fabio Ramos 269 7 0 01 Mar 2022
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle RacingIEEE Open Journal of Intelligent Transportation Systems (JOITS), 2022 Johannes Betz Hongrui Zheng Alexander Liniger Ugo Rosolia Phillip Karle Madhur Behl Venkat Krovi Rahul Mangharam 213 283 0 14 Feb 2022
TOAST: Trajectory Optimization and Simultaneous Tracking using Shared Neural Network DynamicsIEEE Robotics and Automation Letters (RA-L), 2022 Taekyung Kim Hojin Lee S. Hong Wonsuk Lee 255 11 0 20 Jan 2022
Smooth Model Predictive Path Integral Control without SmoothingIEEE Robotics and Automation Letters (RA-L), 2021 Taekyung Kim Gyuhyun Park K. Kwak Jihwan Bae Wonsuk Lee 380 50 0 18 Dec 2021
Policy Search for Model Predictive Control with Application to Agile Drone Flight Yunlong Song Davide Scaramuzza 204 105 0 07 Dec 2021
Towards Autonomous Driving of Personal Mobility with Small and Noisy Dataset using Tsallis-statistics-based Behavioral Cloning Taisuke Kobayashi Takahito Enomoto 143 3 0 29 Nov 2021
Entropy Regularised Deterministic Optimal Control: From Path Integral Solution to Sample-Based Trajectory Optimisation Tom Lefebvre Guillaume Crevecoeur 139 6 0 06 Oct 2021
Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance SteeringIEEE International Conference on Robotics and Automation (ICRA), 2021 Ji Yin Zhiyuan Zhang Evangelos Theodorou Panagiotis Tsiotras LLMSV 261 72 0 24 Sep 2021
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain Jiunn-Kai Huang J. Grizzle 288 50 0 15 Aug 2021
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds G. Lu Wei Xu Fu Zhang 177 6 0 29 Jun 2021
Learning Modular Robot Control PoliciesIEEE Transactions on robotics (TRO), 2021 Julian Whitman Matthew Travers Howie Choset 199 54 0 20 May 2021
Acting upon Imagination: when to trust imagined trajectories in model based reinforcement learning Adrian Remonda Eduardo E. Veas Granit Luzhnica 241 4 0 12 May 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approachIEEE Transactions on robotics (TRO), 2021 A. Hakobyan Insoon Yang 241 28 0 03 May 2021
Variational Inference MPC using Tsallis Divergence Ziyi Wang Oswin So Jason Gibson Bogdan I. Vlahov Manan S. Gandhi Guan-Horng Liu Evangelos A. Theodorou 198 41 0 01 Apr 2021
Dual Online Stein Variational Inference for Control and Dynamics Lucas Barcelos Alexander Lambert Rafael Oliveira Paulo Borges Byron Boots F. Ramos 162 32 0 23 Mar 2021
Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems Neng Wan Aditya Gahlawat N. Hovakimyan Evangelos A. Theodorou P. Voulgaris 118 4 0 18 Feb 2021
Iterative Semi-parametric Dynamics Model Learning For Autonomous RacingConference on Robot Learning (CoRL), 2020 Ignat Georgiev C. Chatzikomis Timo Volkl Joshua R. Smith M. Mistry 90 5 0 17 Nov 2020
Stein Variational Model Predictive ControlConference on Robot Learning (CoRL), 2020 Alexander Lambert Adam Fishman Dieter Fox Byron Boots F. Ramos 292 67 0 15 Nov 2020
Heteroscedastic Bayesian Optimisation for Stochastic Model Predictive ControlIEEE Robotics and Automation Letters (RA-L), 2020 Rel Guzman Rafael Oliveira F. Ramos 260 19 0 01 Oct 2020
Cooperative Path Integral Control for Stochastic Multi-Agent Systems Neng Wan Aditya Gahlawat N. Hovakimyan Evangelos A. Theodorou P. Voulgaris 125 15 0 30 Sep 2020