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• W3090986656 abstract "This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to mod-eling and integrating dynamical uncertainties into a safe planning framework, and finding a solution in a computationally tractable way. In this work, we first develop a probabilistic model for dynamical uncertainties. Then, we provide a framework to generate a path that maximizes safety for complex missions by incorporating the uncertainty model. We also devise a Monte Carlo method to obtain a safe path efficiently. Finally, we evaluate the performance of our approach and compare it to potential alternatives in several case studies." @default.
• W3090986656 created "2020-10-08" @default.
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• W3090986656 date "2020-05-01" @default.
• W3090986656 modified "2023-10-09" @default.
• W3090986656 title "Safe Mission Planning under Dynamical Uncertainties" @default.
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• W3090986656 doi "https://doi.org/10.1109/icra40945.2020.9196515" @default.
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