Incremental sampling-based algorithm for risk-aware planning under motion uncertainty

This paper considers the problem of motion planning for linear systems subject to Gaussian motion noise and proposes a risk-aware planning algorithm: CC-RRT*-D. The proposed CC-RRT*-D employs the chance-constraint approximation and leverages the asymptotically optimal property of RRT* framework to c...

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Bibliographic Details

Published in:	Proceedings - IEEE International Conference on Robotics and Automation pp. 2051 - 2058
Main Authors:	Wei Liu, Ang, Marcelo H.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.05.2014
Subjects:	Approximation algorithms Approximation methods Noise Planning Probabilistic logic Uncertainty Vehicles
ISSN:	1050-4729
Online Access:	Get full text
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