MIT 16.S498: Risk Aware and Robust Nonlinear Planning
https://learning-modules.mit.edu/materials/index.html?uuid=/course/16/fa19/16.S498#materials
MIT 16.S498: Risk Aware and Robust Nonlinear Planning
https://learning-modules.mit.edu/materials/index.html?uuid=/course/16/fa19/16.S498#materials