Chance-Constrained Motion Planning with Event-Triggered Estimation
Anne Theurkauf,Qi Heng Ho,Roland Ilyes,Nisar Ahmed,Morteza Lahijanian,Anne Theurkauf,Qi Heng Ho,Roland Ilyes,Nisar Ahmed,Morteza Lahijanian
We consider the problem of motion and communication planning under uncertainty with limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We introduce a fast and efficient sampling-based planner which computes motion plans coupled with ET communication strategies that minim...
