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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Alexander Coker

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Preprint Oct 2026

Exact-Safe MPPI: Safety-Aware Sampling with Nonsmooth Control Barrier Functions

Model predictive path integral (MPPI) control plans actions by sampling and evaluating trajectories, but standard MPPI does not guarantee safety. Incorporating control barrier function (CBF) filters into each rollout allows the planner to account for safety corrections. However, combining multiple CBFs through a soft-m...

Alexander Coker, Lei-Lei Cui · 0 citations

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