20 citations · 37 across the 10 of their papers we have counts for
3 papers · 1 filter
Chance Constrained Motion Planning for High-Dimensional Robots
Siyu Dai, Shawn Schaffert, Ashkan Jasour +2
This paper introduces Probabilistic Chekov (p-Chekov), a chance-constrained motion planning system that can be applied to high degree-of-freedom (DOF) robots under motion uncertain…
Improving Trajectory Optimization using a Roadmap Framework
Siyu Dai, Matthew Orton, Shawn Schaffert +2
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates…
Moment-Sum-Of-Squares Approach For Fast Risk Estimation In Uncertain Environments
Ashkan Jasour, Andreas Hofmann, Brian C. Williams
In this paper, we address the risk estimation problem where one aims at estimating the probability of violation of safety constraints for a robot in the presence of bounded uncerta…