Abstract: Quadrotor navigation in unknown environments is critical for practical missions such as search-and-rescue. Solving it requires addressing three key challenges: path-planning in non-convex ...
Abstract: Four-wheel independent drive and steering (4WIDS) robot possesses high maneuverability, with exploiting its stemming 8-DoF (Degrees of Freedom) control inputs, for navigation itself in ...
This is an implementation of a Model Predictive Path Integral (MPPI) controller which uses IsaacGym as a dynamic model for the rollouts. We provide several examples of what tasks you can solve with it ...
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