most citedSafe Motion Planning against Multimodal Distributions based on a Scenario Approach

15 citations · 15 across the 1 of their papers we have counts for

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eess.SY2024

Recursively Feasible Chance-constrained Model Predictive Control under Gaussian Mixture Model Uncertainty

Kai Ren, Colin Chen, Hyeontae Sung +3

We present a chance-constrained model predictive control (MPC) framework under Gaussian mixture model (GMM) uncertainty. Specifically, we consider the uncertainty that arises from…

eess.SY2021★ 15 cited

Safe Motion Planning against Multimodal Distributions based on a Scenario Approach

Heejin Ahn, Colin Chen, Ian M. Mitchell +1

We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for exa…