{"id":"https://openalex.org/W4383097364","doi":"https://doi.org/10.1109/icra48891.2023.10160929","title":"Model Predictive Optimized Path Integral Strategies","display_name":"Model Predictive Optimized Path Integral Strategies","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097364","doi":"https://doi.org/10.1109/icra48891.2023.10160929"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086270136","display_name":"Dylan M. Asmar","orcid":"https://orcid.org/0000-0001-6849-0999"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dylan M. Asmar","raw_affiliation_strings":["Stanford University,Stanford Intelligent Systems Laboratory (SISL)","Stanford Intelligent Systems Laboratory (SISL), Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL)","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043482412","display_name":"Ransalu Senanayake","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ransalu Senanayake","raw_affiliation_strings":["Stanford University,Stanford Intelligent Systems Laboratory (SISL)","Stanford Intelligent Systems Laboratory (SISL), Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL)","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016926782","display_name":"Shawn Manuel","orcid":"https://orcid.org/0009-0003-6462-6512"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shawn Manuel","raw_affiliation_strings":["Stanford University,Stanford Intelligent Systems Laboratory (SISL)","Stanford Intelligent Systems Laboratory (SISL), Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL)","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University,Stanford Intelligent Systems Laboratory (SISL)","Stanford Intelligent Systems Laboratory (SISL), Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL)","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3182","last_page":"3188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10928","display_name":"Probabilistic and Robust Engineering Design","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6814587116241455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6765044927597046},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.6045341491699219},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.59200519323349},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5745250582695007},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.533647358417511},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5126106142997742},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4935256242752075},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47619593143463135},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4713553786277771},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.459419310092926},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.45031335949897766},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4469173550605774},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44325679540634155},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4384775757789612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20940905809402466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1913195550441742},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11299291253089905}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6814587116241455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6765044927597046},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.6045341491699219},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.59200519323349},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5745250582695007},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.533647358417511},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5126106142997742},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4935256242752075},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47619593143463135},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4713553786277771},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.459419310092926},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.45031335949897766},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4469173550605774},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44325679540634155},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4384775757789612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20940905809402466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1913195550441742},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11299291253089905},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1502364872","https://openalex.org/W1591018827","https://openalex.org/W1600437712","https://openalex.org/W1966514629","https://openalex.org/W1979969656","https://openalex.org/W2132083787","https://openalex.org/W2156840067","https://openalex.org/W2158782408","https://openalex.org/W2341848647","https://openalex.org/W2561027863","https://openalex.org/W2735102987","https://openalex.org/W2738778707","https://openalex.org/W2766478487","https://openalex.org/W2806458225","https://openalex.org/W2807050419","https://openalex.org/W2893725532","https://openalex.org/W2954742730","https://openalex.org/W2963238245","https://openalex.org/W2963882206","https://openalex.org/W2968098989","https://openalex.org/W2990494268","https://openalex.org/W3005581722","https://openalex.org/W3032221564","https://openalex.org/W3035592022","https://openalex.org/W3090123653","https://openalex.org/W3102141330","https://openalex.org/W3105108680","https://openalex.org/W3106340677","https://openalex.org/W3120439403","https://openalex.org/W3123372997","https://openalex.org/W3127454018","https://openalex.org/W3174208427","https://openalex.org/W3189223768","https://openalex.org/W4283311772","https://openalex.org/W6640290305","https://openalex.org/W6770404030","https://openalex.org/W6779414662","https://openalex.org/W6785954647","https://openalex.org/W6789096787","https://openalex.org/W6839361920"],"related_works":["https://openalex.org/W2038693912","https://openalex.org/W1991602789","https://openalex.org/W1582396021","https://openalex.org/W4210985407","https://openalex.org/W312558119","https://openalex.org/W138014004","https://openalex.org/W2075598034","https://openalex.org/W1829869244","https://openalex.org/W2335441444","https://openalex.org/W4323041403"],"abstract_inverted_index":{"We":[0],"generalize":[1],"the":[2,21,28,37,45,63,105,108,116,127],"derivation":[3],"of":[4,30,47,61,107,129,140],"model":[5],"predictive":[6],"path":[7],"integral":[8],"control":[9,22,71,130],"(MPPI)":[10],"to":[11],"allow":[12],"for":[13,27],"a":[14,83,137],"single":[15],"joint":[16],"distribution":[17,65],"across":[18],"controls":[19],"in":[20,75],"sequence.":[23],"This":[24,100],"reformation":[25],"allows":[26],"implementation":[29],"adaptive":[31],"importance":[32,39],"sampling":[33,40],"(AIS)":[34],"algorithms":[35],"into":[36],"original":[38],"step":[41,72],"while":[42],"still":[43],"maintaining":[44],"benefits":[46],"MPPI":[48],"such":[49],"as":[50,104,122],"working":[51],"with":[52,97],"arbitrary":[53],"system":[54],"dynamics":[55],"and":[56],"cost":[57],"functions.":[58],"The":[59,85],"benefit":[60],"optimizing":[62],"proposal":[64],"by":[66],"integrating":[67],"AIS":[68],"at":[69,131],"each":[70,132],"is":[73,88],"demonstrated":[74],"simulated":[76],"environments":[77],"including":[78],"controlling":[79],"multiple":[80],"cars":[81],"around":[82],"track.":[84],"new":[86,117],"algorithm":[87,118],"more":[89],"sample":[90],"efficient":[91],"than":[92],"MPPI,":[93],"achieving":[94],"better":[95],"performance":[96,101],"fewer":[98],"samples.":[99,141],"disparity":[102],"grows":[103],"dimension":[106],"action":[109],"space":[110],"increases.":[111],"Results":[112],"from":[113],"simulations":[114],"suggest":[115],"can":[119],"be":[120],"used":[121],"an":[123],"anytime":[124],"algorithm,":[125],"increasing":[126],"value":[128],"iteration":[133],"versus":[134],"relying":[135],"on":[136],"large":[138],"set":[139],"Repository\u2014https://github.com/sisl/MPOPIS":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
