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.
Safe motion planning for imprecise robotic manipulators by minimizing probability of collision,
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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.