A new robust covariance-steering controller plus belief-roadmap edge rewiring improves median planning accuracy by about 10x and cuts planned goal covariance by about 2.5x in a simulated 6DoF quadrotor under a Gaussian random field.
Chance constrained RRT for prob- abilistic robustness to environmental uncertainty,
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REVISE: Robust Probabilistic Motion Planning in a Gaussian Random Field
A new robust covariance-steering controller plus belief-roadmap edge rewiring improves median planning accuracy by about 10x and cuts planned goal covariance by about 2.5x in a simulated 6DoF quadrotor under a Gaussian random field.