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 • 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.
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.