12 citations · 20 across the 23 of their papers we have counts for
3 papers · 1 filter
Path Planning Using Wassertein Distributionally Robust Deep Q-learning
Cem Alpturk, Venkatraman Renganathan
We investigate the problem of risk averse robot path planning using the deep reinforcement learning and distributionally robust optimization perspectives. Our problem formulation i…
Distributionally Robust RRT with Risk Allocation
Kajsa Ekenberg, Venkatraman Renganathan, Björn Olofsson
An integration of distributionally robust risk allocation into sampling-based motion planning algorithms for robots operating in uncertain environments is proposed. We perform non-…
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
Sleiman Safaoui, Benjamin J. Gravell, Venkatraman Renganathan +1
We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant…