Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning.
Jianyu ChenYutaka ShimizuLiting SunMasayoshi TomizukaWei ZhanPublished in: IROS (2021)
Keyphrases
- belief space
- motion planning
- chance constrained
- real time
- degrees of freedom
- mobile robot
- stochastic programming
- path planning
- humanoid robot
- robust optimization
- optimal control
- dynamic environments
- linear quadratic
- planning under uncertainty
- multi robot
- control system
- classical planning
- linear program
- computationally tractable
- random variables
- partially observable
- knapsack problem
- partially observable markov decision processes
- initial state
- optimization problems
- reinforcement learning