10 citations · 32 across the 23 of their papers we have counts for
5 papers · 1 filter
Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures
Allen Wang, Xin Huang, Ashkan Jasour +1
This paper presents fast non-sampling based methods to assess the risk of trajectories for autonomous vehicles when probabilistic predictions of other agents' futures are generated…
A Closed-Form Uncertainty Propagation in Non-Rigid Structure from Motion
Jingwei Song, Mitesh Patel, Ashkan Jasour +1
Semi-Definite Programming (SDP) with low-rank prior has been widely applied in Non-Rigid Structure from Motion (NRSfM). Based on a low-rank constraint, it avoids the inherent ambig…
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…
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Charles Dawson, Ashkan Jasour, Andreas Hofmann +1
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning…
Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles under Agent Uncertainty
Allen Wang, Ashkan Jasour, Brian Williams
Agent behavior is arguably the greatest source of uncertainty in trajectory planning for autonomous vehicles. This problem has motivated significant amounts of work in the behavior…