Optimal Stochastic Vehicle Path Planning Using Covariance Steering

This letter addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, a fundamental robotics problem. While several path planning algorithms have been proposed over the years, many of them have dealt with only deterministic environments or with only open-loop unc...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 4; no. 3; pp. 2276 - 2281
Main Authors:	Okamoto, Kazuhide, Tsiotras, Panagiotis
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerodynamics Algorithms Computer simulation Covariance Disturbances Feedback control formal methods in robotics and automation Gaussian distribution Linear systems Motion and path planning Optimal control Path planning Planning probability and statistical methods Programming Robotics Robots robust/adaptive control of robotic systems Steering Uncertainty
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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