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Aggressive driving with model predictive path integral control
Aggressive driving with model predictive path integral control
Grady Williams,P. Drews,2 Auteurs,Evangelos A. Theodorou
2016 · DOI: 10.1109/ICRA.2016.7487277
IEEE International Conference on Robotics and Automation · 505 citations
TLDR
A model predictive control algorithm designed for optimizing non-linear systems subject to complex cost criteria using a stochastic optimal control framework using a fundamental relationship between the information theoretic notions of free energy and relative entropy is presented.