@article{bcmppiaprobabilisticconstraintlayerforsa,
  title = {BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control},
  author = {Odichimnma Ezeji and Michael Ziegltrum and Giulio Turrisi and Tommaso Belvedere and Valerio Modugno},
  year = {2025},
  eprint = {2510.00272},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.00272},
}