Safe Path Planning with Multi-Model Risk Level Sets
Zefan Huang,Wilko Schwarting,Alyssa Pierson,Hongliang Guo,Marcelo Ang,Daniela Rus,Zefan Huang,Wilko Schwarting,Alyssa Pierson,Hongliang Guo,Marcelo Ang,Daniela Rus
This paper investigates the safe path planning problem for an autonomous vehicle operating in unstructured, cluttered environments. While some objects may be accurately with canonical perception algorithms, other objects and clutter may be harder to track. We present an approach that combines two methods of risk assessment: for objects with reliable tracking, we use a Gaussian Process (GP) regulat...
