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[Documentation]: MPPI and MPC path tracking #75
Description
Description
Currently, the MPC and MPPI path tracking are integrated in the code base.
I would like to propose documentation for these controllers that explains the maths, code, optimization process, and a comparison of how MPC and MPPI work.
Tasks:
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MPPI doc
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MPC doc
Activity
ShisatoYano commentedon May 16, 2026
@mohitk3000 Sounds great suggestion! I’m looking forward to reviewing your PR!!
mohitk3000 commentedon Jun 7, 2026
Apologies for keeping this active for too long.
MPC doc done and can be viewed here
I am working on explaining MPPI in same way.
Hope to finish it in this week.
ShisatoYano commentedon Jun 12, 2026
No worries! I really appreciate your a lot of contributions!!
I’m looking forward to reviewing your PR
mohitk3000 commentedon Jun 14, 2026
Here is the PR
Looking forward to your review and comments.
mohitk3000 commentedon Jul 4, 2026
@ShisatoYano anything else needs to be added in this issue ? I think it can be closed now.
ShisatoYano commentedon Oct 4, 2026
The MPC and MPPI chapters have been added as
doc/4_path_tracking/4_2_mpc_controller.mdand4_3_mppi_controller.md. Thank you! The remaining work is to make them reachable:doc/DESIGN_DOCUMENT.md/doc/4_path_tracking/4_staley_controller.md(the file is4_1_stanley_controller.md)# 5. MPC Controllerand# 6. MPPI Controllerare in chapter 4)I'll close this issue once these are done. This is tracked in the roadmap issue #131.
mohitk3000 commentedon Oct 7, 2026
Here is the PR for the same.