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