Probabilistic Collision Checking With Chance Constraints

@article{Toit2011ProbabilisticCC,
  title={Probabilistic Collision Checking With Chance Constraints},
  author={Noel E. Du Toit and Joel W. Burdick},
  journal={IEEE Transactions on Robotics},
  year={2011},
  volume={27},
  pages={809-815}
}
Obstacle avoidance, and by extension collision checking, is a basic requirement for robot autonomy. Most classical approaches to collision-checking ignore the uncertainties associated with the robot and obstacle's geometry and position. It is natural to use a probabilistic description of the uncertainties. However, constraint satisfaction cannot be guaranteed, in this case, and collision constraints must instead be converted to chance constraints. Standard results for linear probabilistic… CONTINUE READING
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