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eess.SY2021★ 1 cited
Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems
Ashkan Jasour, Allen Wang, Brian C. Williams
In this paper, we address the problem of uncertainty propagation through nonlinear stochastic dynamical systems. More precisely, given a discrete-time continuous-state probabilisti…
eess.SY2020
Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning
Allen Wang, Ashkan Jasour, Brian Williams
Chance-constrained motion planning requires uncertainty in dynamics to be propagated into uncertainty in state. When nonlinear models are used, Gaussian assumptions on the state di…