Exact and Bounded Collision Probability for Motion Planning Under Gaussian Uncertainty

  title={Exact and Bounded Collision Probability for Motion Planning Under Gaussian Uncertainty},
  author={Antony Thomas and Fulvio Mastrogiovanni and Marco Baglietto},
  journal={IEEE Robotics and Automation Letters},
Computing collision-free trajectories is of prime importance for safe navigation. We present an approach for computing the collision probability under Gaussian distributed motion and sensing uncertainty with the robot and static obstacle shapes approximated as ellipsoids. The collision condition is formulated as the distance between ellipsoids and unlike previous approaches we provide a method for computing the exact collision probability. Furthermore, we provide a tight upper bound that can be… 

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