Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments
Khaled A. Mustafa,Oscar de Groot,Xinwei Wang,Jens Kober,Javier Alonso-Mora,Khaled A. Mustafa,Oscar de Groot,Xinwei Wang,Jens Kober,Javier Alonso-Mora
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are incorporated into the planning problem to provide probabilistic safety guarantees by imposing an upper bound on the collision probability of the planned trajector...
