Simple implementation of MPPI (Model Predictive Path Integral) controller in MATLAB based on the paper of Grady Williams et. al.
G. Williams, P. Drews, B. Goldfain, J. M. Rehg and E. A. Theodorou, "Aggressive driving with >model predictive path integral control," 2016 IEEE International Conference on Robotics and >Automation (ICRA), Stockholm, Sweden, 2016, pp. 1433-1440, doi: 10.1109/ICRA.2016.7487277.