xiangshengcn / Risk-Bounded-Continuous-Time-Trajectory-Planning

RSS 2021: Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments

Risk-Bounded Continuous-Time Trajectory Planning

Code for: Ashkan Jasour, Weiqiao Han, Brian Williams, "Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments", Robotics: Science and Systems (RSS) 2021.

Paper: http://www.roboticsproceedings.org/rss17/p069.html

Videos:

1. https://www.youtube.com/watch?v=zBkbU7e9ZsM
2. https://www.youtube.com/watch?v=z594Tg8kkg8&ab_channel=AshkanJasour

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Prerequisites:

1. MOSEK(v 9.2): https://www.mosek.com/downloads
2. RRT-SOS: The Spotless toolbox. https://github.com/spot-toolbox/spotless (Spotless is very sensitive to Matlab version and operating system. Tested with Matlab 2019a and Mac OS X.)
3. Time-Varying-SOS: Julia (v 1.5)

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Contact

Ashkan Jasour: [e-mail]

Weiqiao Han: [e-mail]