Teaya Yang

OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight

Autonomous UAV flight through cluttered and partially unknown environments requires reasoning not only about observed obstacles but also about occluded regions that the sensor cannot observe. We present OA-MPPI, an obstacle- and occlusion-aware extension of Model Predictive Path Integral (MPPI) control for quadrotor fl...