Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
Sleiman Safaoui,Benjamin J. Gravell,Venkatraman Renganathan,Tyler H. Summers,Sleiman Safaoui,Benjamin J. Gravell,Venkatraman Renganathan,Tyler H. Summers
We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant that incorporates nonlinear dynamics by solving a nonlinear program (NLP) and accounts for risk by approximating the state distribution and performing a distributionally robust (DR) collision check to promote safe planni...
