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We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems.
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——, “Wasserstein distributionally robust motion planning and control with safety constraints using conditional value-at-risk,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2020, pp. 490–496
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V. Renganathan, I. Shames, and T. H. Summers, “Towards integrated perception and motion planning with distributionally robust risk constraints,” Proceedings of the IFAC World Congress, Berlin, Germany, 13-17 July 2020 , 2020
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H. Zhu and J. Alonso-Mora, “Chance-constrained collision avoidance for mavs in dynamic environments,” IEEE Robotics and Automation Letters , vol. 4, no. 2, pp. 776–783, 2019
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S. Safaoui, L. Lindemann, D. V. Dimarogonas, I. Shames, and T. H. Summers, “Control design for risk-based signal temporal logic specifications,” IEEE Control Systems Letters , vol. 4, no. 4, pp. 1000–1005, 2020
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