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

DOI10.1016/J.ARTINT.2022.103812OpenAlexW4307483136MaRDI QIDQ2680784FDOQ2680784

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)

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
• On distributionally robust chance-constrained linear programs
• Distributionally robust optimization and its tractable approximations
• 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

Uses Software

• ROME
• CasADi

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