Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives.
Weiqiao HanAshkan JasourBrian C. WilliamsPublished in: IROS (2023)
Keyphrases
- motion planning
- nonlinear systems
- control law
- uncertain environments
- multi robot
- real time
- path planning
- adaptive control
- mobile robot
- humanoid robot
- degrees of freedom
- motion primitives
- fuzzy model
- autonomous systems
- control system
- fuzzy controller
- fuzzy systems
- fuzzy control
- learning rate
- learning algorithm
- reinforcement learning
- human motion
- spatio temporal
- closed loop
- d objects