Wasserstein Distributionally Robust Motion Planning and Control with Safety Constraints Using Conditional Value-at-Risk
Astghik Hakobyan,Insoon Yang,Astghik Hakobyan,Insoon Yang
In this paper, we propose an optimization-based decision-making tool for safe motion planning and control in an environment with randomly moving obstacles. The unique feature of the proposed method is that it limits the risk of unsafety by a pre-specified threshold even when the true probability distribution of the obstacles' movements deviates, within a Wasserstein ball, from an available empiric...
