Corpus ID: 226227199

Adversarial Attacks on Optimization based Planners

@article{Vemprala2020AdversarialAO,
  title={Adversarial Attacks on Optimization based Planners},
  author={Sai Vemprala and Ashish Kapoor},
  journal={ArXiv},
  year={2020},
  volume={abs/2011.00095}
}
Trajectory planning is a key piece in the algorithmic architecture of a robot. Trajectory planners typically use iterative optimization schemes for generating smooth trajectories that avoid collisions and are optimal for tracking given the robot's physical specifications. Starting from an initial estimate, the planners iteratively refine the solution so as to satisfy the desired constraints. In this paper, we show that such iterative optimization based planners can be vulnerable to adversarial… Expand

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