MPPI-based Informative Trajectory Planning for Search and Capture of Drifting Targets with ASVs

arXiv:2606.12019 · cs.RO · Submitted 2026-06-10 · Read on arXiv

cs.RO

Submitted: 2026-06-10

Updated: 2026-10-25

Terminology

• Planner — 2× in this paper · explained in 3 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes

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