ZSG-MPPI: Robust Model-Predictive Path-Integral Method for Disturbance Handling
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DOI: 10.1109/lra.2025.3622999
Abstract: Zero-sum games (ZSGs) provide a robust control framework for autonomous systems operating underdisturbances. However, existing methods often face challenges in achieving real-time computation and maintaining high performance in unseen environments. Recent sampling-based approaches alleviate some… read more here.
Keywords: zsg mppi; model predictive; path integral; real time ... See more keywords