Yiming Yang

Abstract: In this work, we showcase the performance of a Model Predictive Path Integral (MPPI) Controller in adverse weather conditions with our 1：5 testing platform: CODMAX
Methods: We applied the MPPI controller used in AutoRally , tested the car on three diferent surfaces (dirt, snow, ice) to explore how much performance degradation due to lower friction. <img src="/images/presentation_2025_WCX/testing_field.png" alt="Test" width="520" />
Results: The table below shows the test results. <img src="/images/presentation_2025_WCX/testing_results.png" alt="Test" width="520" /> <img src="/images/presentation_2025_WCX/running_on_snow_ice.gif" alt="Test" width="520" />
Download: The paper can be found here . The slides can be downloaded <a href="https://drive.google.com/file/d/1cyTifbzjbTqysdiMa353ZnbybvA86y_6/view?usp=sharing">here

Presentation: Aggressive Autonomous Control on Snow and Ice

April 09, 2025

Conference proceedings talk, World Congress Experience (WCX), 2025, Detroit, MI, USA

January 21, 2021

Conference presentation: Transportation Research Board (TRB), 2021, Virtual

June 16, 2019

Conference presentation, 2019, Beijing, China