/Risk-Bounded-Continuous-Time-Trajectory-Planning

RSS 2021: Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments

Primary LanguageMATLAB

Risk-Bounded Continuous-Time Trajectory Planning

Code for: Ashkan Jasour, Weiqiao Han, Brian Williams, "Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments", Robotics: Science and Systems (RSS) 2021.

Paper: http://www.roboticsproceedings.org/rss17/p069.html

Videos:

  1. https://www.youtube.com/watch?v=zBkbU7e9ZsM
  2. https://www.youtube.com/watch?v=z594Tg8kkg8&ab_channel=AshkanJasour

Prerequisites:

  1. MOSEK(v 9.2): https://www.mosek.com/downloads
  2. RRT-SOS: The Spotless toolbox. https://github.com/spot-toolbox/spotless (Spotless is very sensitive to Matlab version and operating system. Tested with Matlab 2019a and Mac OS X.)
  3. Time-Varying-SOS: Julia (v 1.5)

Contact

Ashkan Jasour: jasour@mit.edu

Weiqiao Han: weiqiaoh@mit.edu