Authors: Viet-Anh Le, Nandan Tumu, Rahul Mangharam

Department of Electrical & Systems Engineering, 

University of Pennsylvania, Philadelphia, PA 19104, USA

Code

The implementation can be found at: 

https://github.com/mlab-upenn/Step-MPPI

Videos of the Examples

Example 1: High-speed Autonomous Vehicle

Example 2: Walking Task for Quadrupedal Robot

Contact

Contact vietanh@seas.upenn.edu to get more information on the project