Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Weiqiao Han,Ashkan Jasour,Brian Williams,Weiqiao Han,Ashkan Jasour,Brian Williams
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles. Obstacles can be of arbitrary shape, can deform, and can move. All uncertainties do not necessarily have Gaussian distributi...
