10 citations · 32 across the 23 of their papers we have counts for
5 papers · 2 filters
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
Sangli Teng, Ashkan Jasour, Ram Vasudevan +1
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} p…
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Weiqiao Han, Ashkan Jasour, Brian Williams
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and…
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
Weiqiao Han, Ashkan Jasour, Brian Williams
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a…
Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments
Charles Dawson, Ashkan Jasour, Andreas Hofmann +1
Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly im…
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation
Yutaka Shimizu, Ashkan Jasour, Maani Ghaffari +1
This paper develops a new nonlinear filter, called Moment-based Kalman Filter (MKF), using the exact moment propagation method. Existing state estimation methods use linearization…