@article{cosmikmppiscalingconstrainedmodelpredict,
  title = {COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments},
  author = {Ege Gursoy and Maxime Sabbah and Arthur Haffemayer and Joao Cavalcanti Santos and Pietro Noah Crestaz and Vladimir Petrik and Nicolas Mansard and Vincent Bonnet},
  year = {2026},
  eprint = {2604.10358},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.10358},
}