3 accepted papers
This letter presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to formulate the distributed trajectory optimization problem with o
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on perception-aware path planning focused on sampling-based planners. H…
We propose a risk-aware motion planning and decision-making method that systematically adjusts the safety and conservativeness in an environment with randomly moving obstacles. The key component of this method is the conditional value-at-risk (CVaR) used to measure the safety risk that a robot faces