Distributed Robust Execution of Qualitative State Plan with Chance Constraints

Masahiro Ono, Brian C. Williams

The research objective is to develop a distributed model-based Qualitative State Plan executive that is robust in a stochastic environment. As the first step towards this goal, a robust kinodynamic path planner called Bi-stage Robust Motion Planning algorithm is developed. The algorithm optimizes the risk allocation in the upper-stage while optimizing the nominal path in the lower-stage. The simulation result shows significant improvement in optimality and computation time compared to prior arts.

Subjects: 3.4 Probabilistic Reasoning; 17. Robotics

Submitted: Apr 8, 2008


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