Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments

  title={Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments},
  author={Weiqiao Han and Ashkan M. Z. Jasour and Brian Charles Williams},
  journal={2022 International Conference on Robotics and Automation (ICRA)},
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles with arbitrary probabilistic distributions. The goal is to plan a sequence of control inputs for the robot to navigate to the target while bounding the probability of colliding with… 

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