Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
Sleiman Safaoui,Tyler H. Summers,Sleiman Safaoui,Tyler H. Summers
Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict multiple possible obstacle trajectories and generate obstacle-aware ego robot plans. However, planners that ignore the inherent uncertainties in such predictions incu...
