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1. Constrained Covariance Steering Based Tube-MPPI

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   Balci, Isin M.; Bakolas, Efstathios; Vlahov, Bogdan; Theodorou, Evangelos A. (June 2022, American Control Conference)
2. Constrained Covariance Steering Based Tube-MPPI

   https://doi.org/10.23919/ACC53348.2022.9867864  

   Balci, Isin. M; Bakolas, Eustatios; Vlahov, Bogda; Theodorou, Evangelos A. (June 2022, Proceedings of the American Control Conference)
3. Adaptive MPPI Architecture for Robust and Agile Control of Multirotors

   https://doi.org/10.1109/IROS45743.2020.9341154  

   Pravitra, Jintasit; Ackerman, Kasey A.; Cao, Chengyu; Hovakimyan, Naira; Theodorou, Evangelos A. (October 2020, IEEE International Workshop on Intelligent Robots and Systems)

   null (Ed.)

   This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and ℒ 1 adaptive control are combined to achieve both fast model predictive trajectory planning and robust trajectory tracking. MPPI provides a framework to solve nonlinear MPC with complex cost functions in real-time. However, it often lacks robustness, especially when the simulated dynamics are different from the true dynamics. We show that the ℒ 1 adaptive controller robustifies the architecture, allowing the overall system to behave similar to the nominal system simulated with MPPI. The architecture is validated in a simulated multirotor racing environment. 

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4. GP-guided MPPI for Efficient Navigation in Complex Unknown Cluttered Environments

   Mohamed, Ihab S; Ali, Mahmoud; Liu, Lantao (September 2023, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
5. Autonomous Navigation of AGVs in Unknown Cluttered Environments: log-MPPI Control Strategy

   https://doi.org/10.1109/LRA.2022.3192772  

   Mohamed, Ihab; Yin, Kai; Liu, Lantao (January 2022, IEEE Robotics and Automation Letters (RA-L))