Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning.
Jianyu ChenYutaka ShimizuLiting SunMasayoshi TomizukaWei ZhanPublished in: CoRR (2021)
Keyphrases
- belief space
- motion planning
- chance constrained
- real time
- degrees of freedom
- stochastic programming
- mobile robot
- path planning
- linear quadratic
- planning under uncertainty
- dynamic environments
- initial state
- humanoid robot
- multi robot
- robust optimization
- optimal control
- multistage
- state space
- belief state
- knapsack problem
- computationally tractable
- control system
- action sequences
- probability distribution
- dynamic programming