1 code implementation • 26 May 2023 • Ashkan Jasour, Weiqiao Han, Brian Williams
To address the risk bounded trajectory planning problem, we leverage the notion of risk contours to transform the risk bounded planning problem into a deterministic optimization problem.
no code implementations • 2 Mar 2023 • Weiqiao Han, Ashkan Jasour, Brian Williams
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments.
no code implementations • 2 Mar 2023 • Weiqiao Han, Ashkan Jasour, Brian Williams
In particular, in the provided optimization problem, we use moments and characteristic functions to propagate uncertainties throughout the nonlinear motion model of robotic systems.
no code implementations • 10 May 2022 • QIUJING LU, Weiqiao Han, Jeffrey Ling, Minfa Wang, Haoyu Chen, Balakrishnan Varadarajan, Paul Covington
Predicting future trajectories of road agents is a critical task for autonomous driving.