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Developments
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Presentation of MPPI for Partially Observable Navigation: A Quadrotor Case Study at ICARCV 2020.

Model Predictive Optimized Path Integral Strategies - ICRA Video

MPPI controller on indoor track
![[IROS2024] 3-min Presentation of MPPI Controller for 4WIDS Vehicle Navigation](https://i.ytimg.com/vi/Ixqi3_PHxTY/mqdefault.jpg)
[IROS2024] 3-min Presentation of MPPI Controller for 4WIDS Vehicle Navigation

Generic Model Predictive Path Integral (MPPI) Control Framework: A Quadrotor Case Study

Uncertainty Averse Pushing with Model Predictive Path Integral Control

MPPI overtake

Output-Sampled Model Predictive Path Integral Control (o-MPPI) for Increased Efficiency

MPPI using IsaacGym - Experimental results

W-Safe MPPI implemented on a dynamic obstacle environment

ROS2 Nav2 Smooth MPPI Implementation - 1 (in progress)
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Last Updated: August 22, 2026
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