The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Aggressive driving with model predictive path integral control
Abstract
In this paper we present a model predictive control algorithm designed for optimizing non-linear systems subject to complex cost criteria. The algorithm is based on a stochastic optimal control framework using a fundamental relationship between the information theoretic notions of free energy and relative entropy. The optimal controls in this setting take the form of a path integral, which we approximate using an efficient importance sampling scheme. We experimentally verify the algorithm by implementing it on a Graphics Processing Unit (GPU) and apply it to the problem of controlling a fifth-scale Auto-Rally vehicle in an aggressive driving task.
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Cites
iSAM2: Incremental smoothing and mapping using the Bayes tree
Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J. J., & Dellaert, F. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911430419 · Cited by 1,362
Model Predictive Path Integral Control using Covariance Variable Importance Sampling
Williams, G., Aldrich, A., & Theodorou, E. (2015) · arXiv · doi:10.48550/arxiv.1509.01149 · Cited by 71
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Cited by
Learning-Based Model Predictive Control for Autonomous Racing
Kabzan, J., Hewing, L., Liniger, A., & Zeilinger, M. N. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2926677 · Cited by 462
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Betz, J., Zheng, H., Liniger, A., Rosolia, U., Karle, P., Behl, M., Krovi, V., & Mangharam, R. (2022) · IEEE Open Journal of Intelligent Transportation Systems · doi:10.1109/ojits.2022.3181510 · Cited by 322
Agile Autonomous Driving using End-to-End Deep Imitation Learning
Pan, Y., Cheng, C.-A., Saigol, K., Lee, K., Yan, X., Theodorou, E., & Boots, B. (2018) · Robotics: Science and Systems XIV · doi:10.15607/rss.2018.xiv.056 · Cited by 257
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Metadata
- Authors
- Williams, G., Drews, P., Goldfain, B., Rehg, J. M., & Theodorou, E. A.
- Venue
- 2016 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2016-05
- Pages
- 1433-1440
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2410617946
- Cited by
- 444
- References
- 2
- FWCI
- 38.35
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Williams, G., Drews, P., Goldfain, B., Rehg, J. M., & Theodorou, E. A. (2016). Aggressive driving with model predictive path integral control. 2016 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2016.7487277
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
