Preprint Open access
Reachability-Guided Sequential Quadratic Programming-Guarded Model Predictive Path Integral for Safe Nonlinear Predictive Control
Safe robot control often requires combining long-horizon performance optimization with hard state and input constraints, but existing approaches tend to address this tradeoff partially. Sampling-based model predictive control (MPC) methods such as model predictive path integral (MPPI) are effective in handling nonlinea …