Risk bounded nonlinear robot motion planning with integrated perception \& control

DOI10.1016/J.ARTINT.2022.103812MaRDI QIDQ2680784zbMATH OpenOpenAlexFDO

Authors Venkatraman Renganathan, Sleiman Safaoui, Aadi Kothari, Benjamin Gravell, Iman Shames, Tyler H. Summers

Publication date 4 January 2023

Published in Artificial Intelligence (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2201.01483

zbMATH Keywords

distributional robustnessintegrated perception \& planningrisk-bounded motion planning

Mathematics Subject Classification ID

Artificial intelligence (68Txx)

Cites work

• CasADi: a software framework for nonlinear optimization and optimal control
• Distributionally robust optimization and its tractable approximations
• On distributionally robust chance-constrained linear programs
• State and output feedback nonlinear model predictive control: an overview

Cited in

(1)

• Risk-averse receding horizon motion planning for obstacle avoidance using coherent risk measures

Describes a project that uses

Uses Software

• CasADi
• ROME

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