Real-Time Robust Receding Horizon Planning Using Hamilton–Jacobi Reachability Analysis
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DOI: 10.1109/tro.2022.3187291
Abstract: Safety guarantee prior to the deployment of robots can be difficult due to unexpected disturbances in runtime. This article presents a real-time receding-horizon robust trajectory planning algorithm for nonlinear closed-loop systems, which guarantees the safety… read more here.
Keywords: time; receding horizon; hamilton jacobi; reachability analysis ... See more keywords