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

eess.SY, cs.SY

Submitted: 2026-10-05

Updated: 2026-10-05

Comments: 8 pages, 5 figures, 1 table. Submitted to the 2027 American Control Conference (ACC)

Code: https://github.com/lc-lab25/Exact-Safe-MPPI

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• Deterministic Non-Smooth Safety via Dual-Algebraic Control Barrier Functions

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