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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Title
Strategic Jenga Play via Graph Based Dynamics Modeling Kavya Puthuveetil Xinyi Zhang Kazuto Yokoyama Tetsuya Narita 33 0 0 14 May 2025
Motion Planning for Autonomous Vehicles: When Model Predictive Control Meets Ensemble Kalman Smoothing Iman Askari Yebin Wang Vedeng M. Deshpande H. Fang 21 1 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 44 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 177 0 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 63 0 0 25 Apr 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 52 0 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 52 0 0 07 Mar 2025
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier Kanghyun Ryu Kartik Nagpal Qiayuan Liao K. Sreenath Negar Mehr 88 2 0 20 Feb 2025
Learning Dynamic Cognitive Map with Autonomous Navigation Daria de Tinguy Tim Verbelen Bart Dhoedt 35 0 0 13 Nov 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World Taisuke Kobayashi 71 2 0 29 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 54 7 0 22 Sep 2024
C-Uniform Trajectory Sampling For Fast Motion Planning O. G. Poyrazoglu Yukang Cao Volkan Isler 35 1 0 18 Sep 2024
Cooptimizing Safety and Performance with a Control-Constrained Formulation Hao Wang Adityaya Dhande Somil Bansal 28 1 0 10 Sep 2024
Learning Autonomous Race Driving with Action Mapping Reinforcement Learning Yuanda Wang Xin Yuan Changyin Sun 42 1 0 21 Jun 2024
Continuously Optimizing Radar Placement with Model Predictive Path Integrals Michael Potter Shuo Tang Paul Ghanem Milica Stojanovic Pau Closas ... Ben Wright Marius Necsoiu Deniz Erdoğmuş Michael Everett Talees Imbiriba 28 1 0 29 May 2024
RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashes Kyle Stachowicz Sergey Levine 17 6 0 07 May 2024
Comparing Motion Distortion Between Vehicle Field Deployments Nicolas Samson Dominic Baril Julien Lépine Franccois Pomerleau 29 0 0 30 Apr 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 48 1 0 18 Mar 2024
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning Ruihua Han Shuai Wang Shuaijun Wang Zeqing Zhang Jianjun Chen ... Chengyang Li Chengzhong Xu Yonina C. Eldar Qi Hao Jia Pan 3DPC 40 2 0 11 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 46 24 0 29 Feb 2024
HIO-SDF: Hierarchical Incremental Online Signed Distance Fields V. Vasilopoulos Suveer Garg Jinwook Huh Bhoram Lee Volkan Isler 27 4 0 14 Oct 2023
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving Sean J. Wang Honghao Zhu Aaron M. Johnson 26 6 0 12 Oct 2023
Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning Iman Askari Xumein Tu Shen Zeng Shen Zeng Huazhen Fang 24 5 0 12 Oct 2023
Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives Muhammad Kazim JunGee Hong Min-Gyeom Kim Kwang-Ki K. Kim 37 16 0 22 Sep 2023
Actor-Critic Model Predictive Control Angel Romero Yunlong Song Davide Scaramuzza 47 35 0 16 Jun 2023
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control Ho-Woon Lee Taekyung Kim Jungwi Mun Wonsuk Lee 33 16 0 01 May 2023
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals Lucas Streichenberg Elia Trevisan Jen Jen Chung Roland Siegwart Javier Alonso-Mora 29 11 0 13 Feb 2023
RRT Guided Model Predictive Path Integral Method Chuyuan Tao Hunmin Kim N. Hovakimyan 29 10 0 30 Jan 2023
Weighted Maximum Likelihood for Controller Tuning Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza 41 14 0 20 Oct 2022
Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes Joe Watson Jan Peters 26 15 0 07 Oct 2022
ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environments Junwon Seo Taekyung Kim K. Kwak Jihong Min Inwook Shim 39 34 0 14 Sep 2022
Sparse Representation Learning with Modified q-VAE towards Minimal Realization of World Model Taisuke Kobayashi Ryoma Watanuki DRL 29 6 0 08 Aug 2022
MPPI-IPDDP: Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots Mingeuk Kim Kwang-Ki K. Kim 32 3 0 04 Aug 2022
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection Thomas Power Dmitry Berenson 32 29 0 10 May 2022
Gradient-Based Trajectory Optimization With Learned Dynamics Bhavya Sukhija Nathanael Kohler Miguel Zamora Simon Zimmermann Sebastian Curi Andreas Krause Stelian Coros 30 9 0 09 Apr 2022
Bayesian Learning Approach to Model Predictive Control Namhoon Cho Seokwon Lee Hyo-Sang Shin Antonios Tsourdos 18 1 0 05 Mar 2022
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty Rel Guzman Rafael Oliveira Fabio Ramos 17 3 0 01 Mar 2022
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing Johannes Betz Hongrui Zheng Alexander Liniger Ugo Rosolia Phillip Karle Madhur Behl V. Krovi Rahul Mangharam 35 213 0 14 Feb 2022
TOAST: Trajectory Optimization and Simultaneous Tracking using Shared Neural Network Dynamics Taekyung Kim Hojin Lee S. Hong Wonsuk Lee 19 10 0 20 Jan 2022
Smooth Model Predictive Path Integral Control without Smoothing Taekyung Kim Gyuhyun Park K. Kwak Jihwan Bae Wonsuk Lee 27 38 0 18 Dec 2021
Towards Autonomous Driving of Personal Mobility with Small and Noisy Dataset using Tsallis-statistics-based Behavioral Cloning Taisuke Kobayashi Takahito Enomoto 16 3 0 29 Nov 2021
Entropy Regularised Deterministic Optimal Control: From Path Integral Solution to Sample-Based Trajectory Optimisation Tom Lefebvre Guillaume Crevecoeur 19 6 0 06 Oct 2021
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds G. Lu Wei Xu Fu Zhang 40 6 0 29 Jun 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach A. Hakobyan Insoon Yang 104 25 0 03 May 2021
Dual Online Stein Variational Inference for Control and Dynamics Lucas Barcelos Alexander Lambert Rafael Oliveira Paulo Borges Byron Boots F. Ramos 30 27 0 23 Mar 2021
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction Haruki Nishimura Boris Ivanovic Adrien Gaidon Marco Pavone Mac Schwager 31 36 0 12 Sep 2020
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control Haruki Nishimura Mac Schwager 11 12 0 26 Feb 2020
Deep Learning Tubes for Tube MPC David D. Fan Ali-akbar Agha-mohammadi Evangelos A. Theodorou 22 57 0 05 Feb 2020
Bayesian Learning-Based Adaptive Control for Safety Critical Systems David D. Fan Jennifer Nguyen Rohan Thakker Nikhilesh Alatur Ali-akbar Agha-mohammadi Evangelos A. Theodorou BDL 28 84 0 05 Oct 2019
Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics Grady Williams Brian Goldfain James M. Rehg Evangelos A. Theodorou 13 12 0 13 May 2019