Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization

Planning safe trajectories for nonlinear dynamical systems subject to model uncertainty and disturbances is challenging. In this work, we present a novel approach to tackle chance-constrained trajectory planning problems with nonconvex constraints, whereby obstacle avoidance chance constraints are r...

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Bibliographic Details

Published in:	2020 European Control Conference (ECC) pp. 1871 - 1878
Main Authors:	Lew, Thomas, Bonalli, Riccardo, Pavone, Marco
Format:	Conference Proceeding
Language:	English
Published:	EUCA 01.05.2020
Subjects:	Collision avoidance Heuristic algorithms Planning Programming Trajectory optimization Uncertainty
Online Access:	Get full text
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