Potential MPPI Controller Improvements

[SteveMacenski]

General improvements

• [ ] Add in some hand-crafted trajectories into the mix via https://arxiv.org/pdf/2401.09241 (i.e. drive to goal, stop, slow, fast, even other algorithms perhaps, etc with samples)

Improved smoothness options

• [ ] Test using a Log-Normal sampling distribution as established in Log-MPPI paper. Handles less noise for similar exploration of space, reducing sampling noise needing to process.
• [ ] Add in the derivative SMPPI term (mutually exclusive with 1% sampling). Attempts to smooth using differential changes in control
• [ ] Use the described Tsallis VI variation described below to weight only the best samples in averaging
• [ ] Mostly fine, just needs minorly better path post processing - increase the SG window size or order, recursively call it, or consider other options

Improvements in speed potentially

• [ ] GPU for trajectory rollouts or critic analysis
• [ ] Precomputation and otherwise optimization in a specialized collision checker object
• [ ] Eigen (GPU?)