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MPPI - Matlab example

Simple implementation of MPPI (Model Predictive Path Integral) controller in MATLAB based on the paper of Grady Williams et. al.

MPPI_animation

G. Williams, P. Drews, B. Goldfain, J. M. Rehg and E. A. Theodorou, "Aggressive driving with >model predictive path integral control," 2016 IEEE International Conference on Robotics and >Automation (ICRA), Stockholm, Sweden, 2016, pp. 1433-1440, doi: 10.1109/ICRA.2016.7487277.

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