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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

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Hao Cheng

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Open access 2026

DAS-MPPI: Disturbance-Aware Safe MPPI Planner With Conservatism-Reducing Reachability Filtering

Safe motion planning in cluttered environments under unknown disturbances remains a major challenge for robotic systems. Model predictive path integral (MPPI) control is attractive for non-convex planning, yet its penalty-based formulation cannot provide deterministic safety guarantees. This paper presents Disturbance-...

Hao Cheng, Li-Qian Dou, Jin-Ya Su et al. · 0 citations

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