4 papers
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…
Chance-Constrained Iterative Linear-Quadratic Stochastic Games
Hai Zhong, Yutaka Shimizu, Jianyu Chen
Dynamic game arises as a powerful paradigm for multi-robot planning, for which safety constraint satisfaction is crucial. Constrained stochastic games are of particular interest, a…
Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach
Yutaka Shimizu, Takamasa Horibe, Fumiya Watanabe +1
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to…
Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning
Jianyu Chen, Yutaka Shimizu, Liting Sun +2
Motion planning under uncertainty is of significant importance for safety-critical systems such as autonomous vehicles. Such systems have to satisfy necessary constraints (e.g., co…