ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso,Shreyas Kousik,Edward Schmerling,Francesco Braghin,Marco Pavone,Luca Paparusso,Shreyas Kousik,Edward Schmerling,Francesco Braghin,Marco Pavone
The past few years have seen immense progress on two fronts that are critical to safe, widespread mobile robot deployment: predicting uncertain motion of multiple agents, and planning robot motion under uncertainty. However, the numerical methods required on each front have resulted in a mismatch of representation for prediction and planning. In prediction, numerical tractability is usually achiev...
