MPPI

A sampling based MPC derived from free energy principles implemented in Octave/Matlab.

Dependencies

• Octave or Matlab
  • Octave Download Page
  • Matlab Store Page

Usage

mppi.m is just a function that can be used given the required inputs. In the examples/ directory some example code is provided that uses mppi.m. To run an example code just run example_main.m from Octave or Matlab.

References

G. Williams, P. Drews, B. Goldfain, J. M. Rehg and E. A. Theodorou, "Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving," in IEEE Transactions on Robotics, vol. 34, no. 6, pp. 1603-1622, Dec. 2018.

Citation

To cite acxz/mppi in publications use:

acxz. (2019, November 13). acxz/mppi: MPPI in Octave/Matlab (Version v0.9.0). Zenodo. http://doi.org/10.5281/zenodo.3539762

Here is a BibTex entry for convenience:

@software{acxz_2019_3539762,
  author       = {acxz},
  title        = {acxz/mppi: MPPI in Octave/Matlab},
  month        = nov,
  year         = 2019,
  publisher    = {Zenodo},
  version      = {v0.9.0},
  doi          = {10.5281/zenodo.3539762},
  url          = {https://doi.org/10.5281/zenodo.3539762}
}

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