CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
Sudarshan S Harithas,Rishabh Dev Yadav,Deepak Singh,Arun Kumar Singh,K Madhava Krishna,Sudarshan S Harithas,Rishabh Dev Yadav,Deepak Singh,Arun Kumar Singh,K Madhava Krishna
We present CCO-VOXEL: the very first chance-constrained optimization (CCO) algorithm that can compute trajectory plans with probabilistic safety guarantees in real-time directly on the voxel-grid representation of the world. CCO-VOXEL maps the distribution over the distance to the closest obstacle to a distribution over collision-constraint violation and computes an optimal trajectory that minimiz...
