Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Charles Dawson,Ashkan Jasour,Andreas Hofmann,Brian Williams,Charles Dawson,Ashkan Jasour,Andreas Hofmann,Brian Williams
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of safety as the robot moves, even when the exact locations of nearby obstacles are not known. In this paper, we solve this chance-constrained motion planning pro...
