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cs.RO2018
Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding
Bharath Gopalakrishnan, Arun Kumar Singh, K. Madhava Krishna +1
In this paper, we present an efficient algorithm for solving a class of chance constrained optimization under non-parametric uncertainty. Our algorithm is built on the possibility…
math.OC2018
Chance Constraints Integrated MPC Navigation in Uncertainty amongst Dynamic Obstacles: An overlap of Gaussians approach
Dhaivat Bhatt, Akash Garg, Bharath Gopalakrishnan +1
In this paper, we formulate a novel trajectory optimization scheme that takes into consideration the state uncertainty of the robot and obstacle into its collision avoidance routin…
cs.RO2018
Model Predictive Control for Autonomous Driving considering Actuator Dynamics
Mithun Babu, Raghu Ram Theerthala, Arun Kumar Singh +3
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alt…