Introduces DUCCT-MPPI for dual-uncertainty chance-constrained navigation and a proper-scoring-rule methodology to assess collision risk calibration, reporting 28% higher success rates than baselines in cluttered-environment simulations.
Uncertainty calibration for robotic navigation and vision,
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Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration
Introduces DUCCT-MPPI for dual-uncertainty chance-constrained navigation and a proper-scoring-rule methodology to assess collision risk calibration, reporting 28% higher success rates than baselines in cluttered-environment simulations.