Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles

Charles Dawson, Ashkan Jasour, Andreas Hofmann, Brian Charles Williams. Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021. pages 6237-6244, IEEE, 2020. [doi]

Abstract

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