Zongru Yang

Risk-Aware and Scalable Hierarchical Motion Planning for Large-Scale Robotic Swarms Via CVaR-Constrained MPC (I)

Motion planning for large-scale robotic swarms presents significant challenges in terms of scalability and safety assurance in cluttered environments. To address these issues, this manuscript proposes a Closed-loop hierarchical Risk-aware swarm mOtion planner using Conditional ValuE at Risk (C-ROVER…