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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. Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021. pages 3681-3688, IEEE, 2021. [doi]

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