Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
Weiqiao Han,Ashkan Jasour,Brian Williams,Weiqiao Han,Ashkan Jasour,Brian Williams
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles with arbitrary probabilistic distributions. The goal is to plan a sequence of control input...
