CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning.
Sudarshan S. HarithasRishabh Dev YadavDeepak SinghArun Kumar SinghK. Madhava KrishnaPublished in: ICRA (2022)
Keyphrases
- trajectory planning
- chance constrained
- stochastic programming
- robust optimization
- motion planning
- chance constraints
- optimization algorithm
- robot manipulators
- obstacle avoidance
- path planning
- linear program
- mathematical model
- reverse logistics
- knapsack problem
- multistage
- power system
- computationally tractable
- dynamic environments
- optimization problems