CC-VPSTO formulates stochastic trajectory optimization as a chance-constrained problem, approximates it with Monte Carlo sampling and padding, and integrates it into MPC for online robot motion planning under uncertainty.
Risk-aware model predictive path integral control using conditional value-at-risk,
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CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
CC-VPSTO formulates stochastic trajectory optimization as a chance-constrained problem, approximates it with Monte Carlo sampling and padding, and integrates it into MPC for online robot motion planning under uncertainty.