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cs.RO2024
REVISE: Robust Probabilistic Motion Planning in a Gaussian Random Field
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents Robust samplE-based coVarIance StEering (REVISE), a multi-query algorithm that generates robust belief roadmaps for dynamic systems navigating through spatially…
cs.RO2024
SDP Synthesis of Maximum Coverage Trees for Probabilistic Planning under Control Constraints
Naman Aggarwal, Jonathan P. How
The paper presents Maximal Covariance Backward Reachable Trees (MAXCOVAR BRT), which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty…