Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments.
Ashkan JasourWeiqiao HanBrian C. WilliamsPublished in: Robotics: Science and Systems (2021)
Keyphrases
- trajectory planning
- dynamic environments
- strictly convex
- convex optimization
- motion planning
- obstacle avoidance
- path planning
- decision making
- robot manipulators
- damage assessment
- convex functions
- quadratic optimization problems
- mobile robot
- objective function
- global optimization
- real time
- optimization problems
- state space
- neural network