Chance-Constrained Motion Planning using Modeled Distance- to-Collision Functions.
Jacob J. JohnsonMichael C. YipPublished in: CASE (2021)
Keyphrases
- motion planning
- chance constrained
- collision free
- stochastic programming
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- collision avoidance
- humanoid robot
- robust optimization
- multi robot
- computationally tractable
- knapsack problem
- chance constraints
- multistage
- chance constrained programming
- control law
- linear program
- linear matrix inequality
- dynamic environments
- fuzzy sets
- climbing robot
- video sequences