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Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making questionable assumptions of Gaussianity.
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2021
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W. Liu, M. H. Ang, Incremental sampling-based algorithm for risk-aware planning under motion uncertainty, in: 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014, pp. 2051–2058
2058
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