Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning Under Uncertainty.
Yashwanth Kumar NakkaSoon-Jo ChungPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- planning under uncertainty
- chance constrained
- stochastic systems
- stochastic programming
- robust optimization
- linear program
- multistage
- decision theoretic
- markov decision processes
- multi agent
- humanoid robot
- motion planning
- dynamical systems
- decision making
- dynamic programming
- dynamic environments
- optimization problems
- search algorithm