@article{trevisan2024biased,
  title={Biased-MPPI: Informing sampling-based model predictive control by fusing ancillary controllers},
  author={Trevisan, Elia and Alonso-Mora, Javier},
  journal={IEEE Robotics and Automation Letters},
  volume={9},
  number={6},
  pages={5871--5878},
  year={2024},
  publisher={IEEE}
}