Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning and Control.
Yashwanth Kumar NakkaSoon-Jo ChungPublished in: CoRR (2021)
Keyphrases
- motion planning
- chance constrained
- stochastic systems
- stochastic programming
- robust optimization
- collision free
- degrees of freedom
- path planning
- linear matrix inequality
- control law
- mobile robot
- multistage
- humanoid robot
- multi robot
- optimization problems
- adaptive control
- control method
- linear program
- control system
- optimal control
- multi modal
- sufficient conditions
- pose estimation
- chaotic systems
- decision theoretic
- steady state
- autonomous robots
- confidence intervals