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Risk-Averse Trajectory Optimization via Sample Average Approximation

6 July 2023

Papers citing "Risk-Averse Trajectory Optimization via Sample Average Approximation"

28 / 28 papers shown

Title
Chance-Constrained Trajectory Planning with Multimodal Environmental Uncertainty Kai Ren Heejin Ahn Maryam Kamgarpour 117 22 0 09 Mar 2025
Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy Basant Sharma A. K. Singh 118 0 0 31 Jan 2025
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge Anushri Dixit David D. Fan K. Otsu S. Dey Ali-Akbar Agha-Mohammadi J. W. Burdick 91 73 0 02 Mar 2023
Sample Average Approximation for Stochastic Programming with Equality Constraints T. Lew Riccardo Bonalli Marco Pavone 146 9 0 20 Jun 2022
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments Weiqiao Han A. Jasour B. Williams 59 31 0 06 Mar 2022
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge Marco Tranzatto Frank Mascarich Lukas Bernreiter C. Godinho Marco Camurri ... Marco Hutter Roland Siegwart M. Mueller Maurice F. Fallon Kostas Alexis 91 110 0 18 Jan 2022
Exact and Bounded Collision Probability for Motion Planning under Gaussian Uncertainty Antony Thomas Fulvio Mastrogiovanni M. Baglietto 77 7 0 12 Oct 2021
Vision-Only Robot Navigation in a Neural Radiance World M. Adamkiewicz Timothy Chen Adam Caccavale Rachel Gardner Preston Culbertson Jeannette Bohg Mac Schwager 259 237 0 01 Oct 2021
Safe Motion Planning against Multimodal Distributions based on a Scenario Approach Heejin Ahn Colin Chen Ian M. Mitchell Maryam Kamgarpour 50 13 0 05 Aug 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 161 83 0 12 Jul 2021
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments A. Jasour Weiqiao Han B. Williams 133 17 0 10 Jun 2021
Particle MPC for Uncertain and Learning-Based Control Robert Dyro James Harrison Apoorva Sharma Marco Pavone 116 14 0 06 Apr 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 110 144 0 21 Mar 2021
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty Sleiman Safaoui Benjamin J. Gravell Venkatraman Renganathan Tyler H. Summers LLMSV 76 20 0 09 Mar 2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots Weixuan Zhang M. Tognon Lionel Ott Roland Siegwart Juan I. Nieto 48 7 0 20 Jan 2021
Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity Luke Drnach Ye Zhao 110 31 0 25 Sep 2020
MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control Boris Ivanovic Amine Elhafsi Guy Rosman Adrien Gaidon Marco Pavone 72 54 0 16 Sep 2020
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control Riccardo Bonalli T. Lew Marco Pavone 56 19 0 10 Sep 2020
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework T. Lew Apoorva Sharma James Harrison Andrew Bylard Marco Pavone 60 47 0 26 Aug 2020
Collision Probabilities for Continuous-Time Systems Without Sampling [with Appendices] Kristoffer M. Frey T. Steiner Jonathan P. How 68 16 0 01 Jun 2020
NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis B. Mildenhall Pratul P. Srinivasan Matthew Tancik Jonathan T. Barron R. Ramamoorthi Ren Ng 133 2,592 0 19 Mar 2020
A Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles M. Castillo-Lopez P. Ludivig Seyed Amin Sajadi-Alamdari Jose Luis Sanchez-Lopez Miguel A. Olivares-Mendez H. Voos 72 73 0 22 Jan 2020
DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation Jeong Joon Park Peter R. Florence Julian Straub Richard Newcombe S. Lovegrove 3DV 135 3,709 0 16 Jan 2019
PAMPC: Perception-Aware Model Predictive Control for Quadrotors Davide Falanga Philipp Foehn Peng Lu Davide Scaramuzza 128 217 0 13 Apr 2018
How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics Anirudha Majumdar Marco Pavone 93 195 0 30 Oct 2017
Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance Lucas Janson Brian Ichter Marco Pavone 73 151 0 30 Apr 2015
Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty Lucas Janson Edward Schmerling Marco Pavone 96 102 0 30 Apr 2015
Gaussian Processes for Data-Efficient Learning in Robotics and Control M. Deisenroth Dieter Fox C. Rasmussen 148 695 0 10 Feb 2015