Distributionally Robust Risk Map for Learning-Based Motion Planning and Control: A Semidefinite Programming Approach - Hakobyan, Astghik; Yang, Insoon (IEEE transactions on robotics, 2023)
Keywords: Algorithms; Collision avoidance; Computational modeling; Control methods; Errors; Gaussian process; Learning; Motion control; Motion planning; Neural networks; Optimization; Planning; Predictive control; probability distribution; Robot dynamics; Robot kinematics; Robot sensing systems; Robots; Robustness; Safety; Semidefinite programming; Upper bounds