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05/26/2023
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments
In this paper, we address the trajectory planning problem in uncertain n...
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05/23/2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
This paper reports a novel result: with proper robot models on matrix Li...
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03/02/2023
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
We consider the motion planning problem for stochastic nonlinear systems...
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03/02/2023
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
In this paper, we consider the closed-loop control problem of nonlinear ...
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01/31/2023
Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments
Many practical applications of robotics require systems that can operate...
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01/22/2023
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation
This paper develops a new nonlinear filter, called Moment-based Kalman F...
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03/06/2022
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
We address the risk bounded trajectory optimization problem of stochasti...
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10/17/2021
TIP: Task-Informed Motion Prediction for Intelligent Systems
Motion prediction is important for intelligent driving systems, providin...
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10/05/2021
HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling
Modeling multi-modal high-level intent is important for ensuring diversi...
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10/01/2021
Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification
In this paper, we address the real-time risk-bounded safety verification...
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09/21/2021
Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures
This paper presents fast non-sampling based methods to assess the risk f...
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08/04/2021
Risk Conditioned Neural Motion Planning
Risk-bounded motion planning is an important yet difficult problem for s...
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06/10/2021
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
In this paper, we address the trajectory planning problem in uncertain n...
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01/29/2021
Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems
In this paper, we address the problem of uncertainty propagation through...
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05/27/2020
Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures
This paper presents fast non-sampling based methods to assess the risk o...
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03/23/2020
Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning
Chance-constrained motion planning requires uncertainty in dynamics to b...
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03/17/2020
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Real-world environments are inherently uncertain, and to operate safely ...
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02/25/2020
Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents
Agent behavior is arguably the greatest source of uncertainty in traject...
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11/07/2018
Chance Constrained Motion Planning for High-Dimensional Robots
This paper introduces Probabilistic Chekov (p-Chekov), a chance-constrai...
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10/03/2018