2020
A Real-Time Approach for Chance-Constrained Motion Planning With Dynamic Obstacles
Manuel Castillo-López, Philippe Ludivig, Seyed Amin Sajadi-Alamdari, Jose Luis Sanchez-Lopez, Miguel A. Olivares-Méndez, Holger Voos
RA-L 2020
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on optimal motion planning has employed two main strategies to define a safe bound on an obstacle's space: using a polyhedron or a nonlinear differe