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Chance-constrained motion planning requires uncertainty in dynamics to be propagated into uncertainty in state.
On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
Lester E Dubins · 1957
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A probabilistic approach to optimal robust path planning with obstacles
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The scenario approach to robust control design
Giuseppe C Calafiore and Marco C Campi · 2006
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On distributionally robust chance-constrained linear programs
Giuseppe Carlo Calafiore and Laurent El Ghaoui · 2006
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Particle rrt for path planning with uncertainty
Nik A Melchior and Reid Simmons · 2007
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Convex chance constrained predictive control without sampling
Lars Blackmore and Masahiro Ono · 2009
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Chance constrained rrt for probabilistic robustness to environmental uncertainty
Brandon D. Luders, Mangal Kothari, and Jonathan P. How · 2010
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Numerical methods for stochastic computations: a spectral method approach
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Optimal trajectory generation with probabilistic system uncertainty using polynomial chaos
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Anytime motion planning using the rrt
Sertac Karaman, Matthew R Walter, Alejandro Perez, Emilio Frazzoli, and Seth Teller · 2011
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Generalized polynomial chaos expansion approaches to approximate stochastic receding horizon control with applications to probabilistic collision checking and avoidance
Kwang-Ki K Kim and Richard D Braatz · 2012
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Moment-sum-of-squares approach for fast risk estimation in uncertain environments
Ashkan M Jasour, Andreas Hofmann, and Brian C Williams · 2018
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Distributionally robust sampling-based motion planning under uncertainty
Tyler Summers · 2018
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Data-driven model predictive control for trajectory tracking with a robotic arm
Andrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Marco Hutter, and Melanie N Zeilinger · 2019
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Cautious model predictive control using gaussian process regression
Lukas Hewing, Juraj Kabzan, and Melanie N Zeilinger · 2019
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Risk contours map for risk bounded motion planning under perception uncertainties
Ashkan M Jasour and Brian C Williams · 2019
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Trajectory optimization for chance-constrained nonlinear stochastic systems
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Probabilistically safe motion planning to avoid dynamic obstacles with uncertain motion patterns
Georges S Aoude, Brandon D Luders, Joshua M Joseph, Nicholas Roy, and Jonathan P How · 2013
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Numerical solution of stochastic differential equations
Peter E Kloeden and Eckhard Platen · 2013
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